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More work on PrioVR integration.

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This commit is contained in:
Andrzej Kapolka 2014-05-13 11:38:24 -07:00
parent 4a0b4de178
commit 0321821b55
8 changed files with 81 additions and 54 deletions
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4
interface/src/avatar/MyAvatar.cpp
View file

@ -111,7 +111,7 @@ void MyAvatar::reset() {
void MyAvatar::update(float deltaTime) {
Head* head = getHead();
head->relaxLean(deltaTime);
updateFromFaceTracker(deltaTime);
updateFromTrackers(deltaTime);
if (Menu::getInstance()->isOptionChecked(MenuOption::MoveWithLean)) {
// Faceshift drive is enabled, set the avatar drive based on the head position
moveWithLean();
@ -241,7 +241,7 @@ void MyAvatar::simulate(float deltaTime) {
}
// Update avatar head rotation with sensor data
void MyAvatar::updateFromFaceTracker(float deltaTime) {
void MyAvatar::updateFromTrackers(float deltaTime) {
glm::vec3 estimatedPosition, estimatedRotation;
FaceTracker* tracker = Application::getInstance()->getActiveFaceTracker();

2
interface/src/avatar/MyAvatar.h
View file

@ -38,7 +38,7 @@ public:
void reset();
void update(float deltaTime);
void simulate(float deltaTime);
void updateFromFaceTracker(float deltaTime);
void updateFromTrackers(float deltaTime);
void moveWithLean();
void render(const glm::vec3& cameraPosition, RenderMode renderMode = NORMAL_RENDER_MODE);

12
interface/src/avatar/SkeletonModel.cpp
View file

@ -52,15 +52,12 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
} else if (leftPalmIndex == rightPalmIndex) {
// right hand only
applyPalmData(geometry.rightHandJointIndex, geometry.rightFingerJointIndices, geometry.rightFingertipJointIndices,
hand->getPalms()[leftPalmIndex]);
applyPalmData(geometry.rightHandJointIndex, hand->getPalms()[leftPalmIndex]);
restoreLeftHandPosition(HAND_RESTORATION_RATE);
} else {
applyPalmData(geometry.leftHandJointIndex, geometry.leftFingerJointIndices, geometry.leftFingertipJointIndices,
hand->getPalms()[leftPalmIndex]);
applyPalmData(geometry.rightHandJointIndex, geometry.rightFingerJointIndices, geometry.rightFingertipJointIndices,
hand->getPalms()[rightPalmIndex]);
applyPalmData(geometry.leftHandJointIndex, hand->getPalms()[leftPalmIndex]);
applyPalmData(geometry.rightHandJointIndex, hand->getPalms()[rightPalmIndex]);
}
}
@ -140,8 +137,7 @@ void SkeletonModel::applyHandPosition(int jointIndex, const glm::vec3& position)
applyRotationDelta(jointIndex, rotationBetween(handRotation * glm::vec3(-sign, 0.0f, 0.0f), forearmVector));
}
void SkeletonModel::applyPalmData(int jointIndex, const QVector<int>& fingerJointIndices,
const QVector<int>& fingertipJointIndices, PalmData& palm) {
void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
if (jointIndex == -1) {
return;
}

3
interface/src/avatar/SkeletonModel.h
View file

@ -39,8 +39,7 @@ protected:
void applyHandPosition(int jointIndex, const glm::vec3& position);
void applyPalmData(int jointIndex, const QVector<int>& fingerJointIndices,
const QVector<int>& fingertipJointIndices, PalmData& palm);
void applyPalmData(int jointIndex, PalmData& palm);
/// Updates the state of the joint at the specified index.
virtual void updateJointState(int index);

35
interface/src/devices/PrioVR.cpp
View file

@ -11,22 +11,44 @@
#include <QtDebug>
#include <FBXReader.h>
#include "PrioVR.h"
const unsigned int SERIAL_LIST[] = { 0x00000001, 0x00000000, 0x00000008, 0x00000009, 0x0000000A, 0x0000000C, 0x0000000D,
0x0000000E, 0x00000004, 0x00000005, 0x00000010, 0x00000011 };
const unsigned int SERIAL_LIST[] = { 0x00000001, 0x00000000, 0x00000008, 0x00000009, 0x0000000A,
0x0000000C, 0x0000000D, 0x0000000E, 0x00000004, 0x00000005, 0x00000010, 0x00000011 };
const unsigned char AXIS_LIST[] = { 9, 43, 37, 37, 37, 13, 13, 13, 52, 52, 28, 28 };
const int LIST_LENGTH = sizeof(SERIAL_LIST) / sizeof(SERIAL_LIST[0]);
const char* JOINT_NAMES[] = { "Head", "Spine", "LeftArm", "LeftForeArm", "LeftHand", "RightArm",
"RightForeArm", "RightHand", "LeftUpLeg", "LeftLeg", "RightUpLeft", "RightLeg" };
#ifdef HAVE_PRIOVR
static int indexOfHumanIKJoint(const char* jointName) {
for (int i = 0;; i++) {
QByteArray humanIKJoint = HUMANIK_JOINTS[i];
if (humanIKJoint.isEmpty()) {
return -1;
}
if (humanIKJoint == jointName) {
return i;
}
}
}
#endif
PrioVR::PrioVR() {
#ifdef HAVE_PRIOVR
_jointsDiscovered.resize(LIST_LENGTH);
char jointsDiscovered[LIST_LENGTH];
_skeletalDevice = yei_setUpPrioVRSensors(0x00000000, const_cast<unsigned int*>(SERIAL_LIST),
const_cast<unsigned char*>(AXIS_LIST), _jointsDiscovered.data(), LIST_LENGTH, YEI_TIMESTAMP_SYSTEM);
const_cast<unsigned char*>(AXIS_LIST), jointsDiscovered, LIST_LENGTH, YEI_TIMESTAMP_SYSTEM);
if (!_skeletalDevice) {
return;
}
_jointRotations.resize(LIST_LENGTH);
for (int i = 0; i < LIST_LENGTH; i++) {
_humanIKJointIndices.append(jointsDiscovered[i] ? indexOfHumanIKJoint(JOINT_NAMES[i]) : -1);
}
yei_tareSensors(_skeletalDevice);
#endif
}
@ -47,10 +69,5 @@ void PrioVR::update() {
unsigned int timestamp;
yei_getLastStreamDataAll(_skeletalDevice, (char*)_jointRotations.data(),
_jointRotations.size() * sizeof(glm::quat), &timestamp);
for (int i = 0; i < _jointsDiscovered.size(); i++) {
if (_jointsDiscovered.at(i)) {
qDebug() << i << _jointRotations.at(i).x << _jointRotations.at(i).y << _jointRotations.at(i).z << _jointRotations.at(i).w;
}
}
#endif
}

5
interface/src/devices/PrioVR.h
View file

@ -31,6 +31,9 @@ public:
PrioVR();
virtual ~PrioVR();
const QVector<int>& getHumanIKJointIndices() const { return _humanIKJointIndices; }
const QVector<glm::quat>& getJointRotations() const { return _jointRotations; }
void update();
@ -39,7 +42,7 @@ private:
YEI_Device_Id _skeletalDevice;
#endif
QVector<char> _jointsDiscovered;
QVector<int> _humanIKJointIndices;
QVector<glm::quat> _jointRotations;
};

65
libraries/fbx/src/FBXReader.cpp
View file

@ -577,6 +577,25 @@ const char* FACESHIFT_BLENDSHAPES[] = {
""
};
const char* HUMANIK_JOINTS[] = {
"RightHand",
"RightForeArm",
"RightArm",
"Head",
"LeftArm",
"LeftForeArm",
"LeftHand",
"Spine",
"Hips",
"RightUpLeg",
"LeftUpLeg",
"RightLeg",
"LeftLeg",
"RightFoot",
"LeftFoot",
""
};
class FBXModel {
public:
QString name;
@ -1012,10 +1031,6 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
QString jointHeadName = processID(getString(joints.value("jointHead", "jointHead")));
QString jointLeftHandName = processID(getString(joints.value("jointLeftHand", "jointLeftHand")));
QString jointRightHandName = processID(getString(joints.value("jointRightHand", "jointRightHand")));
QVariantList jointLeftFingerNames = joints.values("jointLeftFinger");
QVariantList jointRightFingerNames = joints.values("jointRightFinger");
QVariantList jointLeftFingertipNames = joints.values("jointLeftFingertip");
QVariantList jointRightFingertipNames = joints.values("jointRightFingertip");
QString jointEyeLeftID;
QString jointEyeRightID;
QString jointNeckID;
@ -1024,10 +1039,16 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
QString jointHeadID;
QString jointLeftHandID;
QString jointRightHandID;
QVector<QString> jointLeftFingerIDs(jointLeftFingerNames.size());
QVector<QString> jointRightFingerIDs(jointRightFingerNames.size());
QVector<QString> jointLeftFingertipIDs(jointLeftFingertipNames.size());
QVector<QString> jointRightFingertipIDs(jointRightFingertipNames.size());
QVector<QString> humanIKJointNames;
for (int i = 0;; i++) {
QByteArray jointName = HUMANIK_JOINTS[i];
if (jointName.isEmpty()) {
break;
}
humanIKJointNames.append(processID(getString(joints.value(jointName, jointName))));
}
QVector<QString> humanIKJointIDs(humanIKJointNames.size());
QVariantHash blendshapeMappings = mapping.value("bs").toHash();
QMultiHash<QByteArray, WeightedIndex> blendshapeIndices;
@ -1091,7 +1112,6 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
} else {
name = getID(object.properties);
}
int index;
if (name == jointEyeLeftName || name == "EyeL" || name == "joint_Leye") {
jointEyeLeftID = getID(object.properties);
@ -1115,19 +1135,12 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
} else if (name == jointRightHandName) {
jointRightHandID = getID(object.properties);
} else if ((index = jointLeftFingerNames.indexOf(name)) != -1) {
jointLeftFingerIDs[index] = getID(object.properties);
} else if ((index = jointRightFingerNames.indexOf(name)) != -1) {
jointRightFingerIDs[index] = getID(object.properties);
} else if ((index = jointLeftFingertipNames.indexOf(name)) != -1) {
jointLeftFingertipIDs[index] = getID(object.properties);
} else if ((index = jointRightFingertipNames.indexOf(name)) != -1) {
jointRightFingertipIDs[index] = getID(object.properties);
}
int humanIKJointIndex = humanIKJointNames.indexOf(name);
if (humanIKJointIndex != -1) {
humanIKJointIDs[humanIKJointIndex] = getID(object.properties);
}
glm::vec3 translation;
// NOTE: the euler angles as supplied by the FBX file are in degrees
glm::vec3 rotationOffset;
@ -1513,11 +1526,11 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
geometry.headJointIndex = modelIDs.indexOf(jointHeadID);
geometry.leftHandJointIndex = modelIDs.indexOf(jointLeftHandID);
geometry.rightHandJointIndex = modelIDs.indexOf(jointRightHandID);
geometry.leftFingerJointIndices = getIndices(jointLeftFingerIDs, modelIDs);
geometry.rightFingerJointIndices = getIndices(jointRightFingerIDs, modelIDs);
geometry.leftFingertipJointIndices = getIndices(jointLeftFingertipIDs, modelIDs);
geometry.rightFingertipJointIndices = getIndices(jointRightFingertipIDs, modelIDs);
foreach (const QString& id, humanIKJointIDs) {
geometry.humanIKJointIndices.append(modelIDs.indexOf(id));
}
// extract the translation component of the neck transform
if (geometry.neckJointIndex != -1) {
const glm::mat4& transform = geometry.joints.at(geometry.neckJointIndex).transform;

9
libraries/fbx/src/FBXReader.h
View file

@ -30,6 +30,9 @@ typedef QList<FBXNode> FBXNodeList;
/// The names of the blendshapes expected by Faceshift, terminated with an empty string.
extern const char* FACESHIFT_BLENDSHAPES[];
/// The names of the joints in the Maya HumanIK rig, terminated with an empty string.
extern const char* HUMANIK_JOINTS[];
class Extents {
public:
/// set minimum and maximum to FLT_MAX and -FLT_MAX respectively
@ -199,11 +202,7 @@ public:
int leftHandJointIndex;
int rightHandJointIndex;
QVector<int> leftFingerJointIndices;
QVector<int> rightFingerJointIndices;
QVector<int> leftFingertipJointIndices;
QVector<int> rightFingertipJointIndices;
QVector<int> humanIKJointIndices;
glm::vec3 palmDirection;