mirror of
https://github.com/AleziaKurdis/overte.git
synced 2025-08-22 15:46:25 +02:00
WL21317
New MyAvatar functions to support converting from avatar joint space to world space and vice versa. Added some tests to support these functions.
This commit is contained in:
Chris Howe
parent
efe72e1b85
commit
6edc6b2756
4 changed files with 383 additions and 0 deletions
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@ -773,6 +773,115 @@ controller::Pose MyAvatar::getRightHandTipPose() const {
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return pose;
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////
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//:1P: conversion functions for world-space to avatar-space or vice versa
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glm::vec3 MyAvatar::worldToAvatarPoint(const glm::vec3& position, const int jointIndex) const
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{
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glm::vec3 jointPos = getPosition();//default value if no or invalid joint specified
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointPositionInWorldFrame(jointIndex, jointPos))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 modelOffset = position - jointPos;
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glm::vec3 modelPosition = glm::inverse(jointRot) * modelOffset;
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return modelPosition;
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}
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glm::vec3 MyAvatar::worldToAvatarDirection(const glm::vec3& worldDir, const int jointIndex) const
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{
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 avatarDir = glm::inverse(jointRot) * worldDir;
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return avatarDir;
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}
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glm::quat MyAvatar::worldToAvatarRotation(const glm::quat& worldRot, const int jointIndex) const
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{
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::quat avatarRot = glm::inverse(jointRot) * worldRot;
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return avatarRot;
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}
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glm::vec3 MyAvatar::avatarToWorldPoint(const glm::vec3& avatarPos, const int jointIndex) const
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{
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glm::vec3 jointPos = getPosition();//default value if no or invalid joint specified
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointPositionInWorldFrame(jointIndex, jointPos))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 worldOffset = jointRot * avatarPos;
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glm::vec3 worldPos = jointPos + worldOffset;
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return worldPos;
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}
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glm::vec3 MyAvatar::avatarToWorldDirection(const glm::vec3& avatarDir, const int jointIndex) const
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{
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 worldDir = jointRot * avatarDir;
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return worldDir;
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}
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glm::quat MyAvatar::avatarToWorldRotation(const glm::quat& avatarRot, const int jointIndex) const
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{
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::quat worldRot = jointRot * avatarRot;
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return worldRot;
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////
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// virtual
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void MyAvatar::render(RenderArgs* renderArgs) {
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// don't render if we've been asked to disable local rendering
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@ -379,6 +379,19 @@ public:
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Q_INVOKABLE controller::Pose getLeftHandTipPose() const;
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Q_INVOKABLE controller::Pose getRightHandTipPose() const;
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////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////
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//:1P: world-space to avatar-space rigconversion functions
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Q_INVOKABLE glm::vec3 worldToAvatarPoint(const glm::vec3& position, const int jointIndex = -1) const;
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Q_INVOKABLE glm::vec3 worldToAvatarDirection(const glm::vec3& direction, const int jointIndex = -1) const;
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Q_INVOKABLE glm::quat worldToAvatarRotation(const glm::quat& rotation, const int jointIndex = -1) const;
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Q_INVOKABLE glm::vec3 avatarToWorldPoint(const glm::vec3& position, const int jointIndex = -1) const;
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Q_INVOKABLE glm::vec3 avatarToWorldDirection(const glm::vec3& direction, const int jointIndex = -1) const;
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Q_INVOKABLE glm::quat avatarToWorldRotation(const glm::quat& rotation, const int jointIndex = -1) const;
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////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////
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AvatarWeakPointer getLookAtTargetAvatar() const { return _lookAtTargetAvatar; }
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void updateLookAtTargetAvatar();
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void clearLookAtTargetAvatar();
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127
scripts/avatarToWorldTests.js
Normal file
127
scripts/avatarToWorldTests.js
Normal file
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@ -0,0 +1,127 @@
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var AVATAR_SELF_ID = "{00000000-0000-0000-0000-000000000001}";
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var debugSphereBaseProperties = {
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type: "Sphere",
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dimensions: { x: 0.2, y: 0.2, z: 0.2 },
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dynamic: false,
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collisionless: true,
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gravity: { x: 0, y: 0, z: 0 },
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lifetime: 10.0,
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userData: "{ \"grabbableKey\": { \"grabbable\": false, \"kinematic\": false } }"
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};
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var debugBoxBaseProperties = {
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type: "Box",
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dimensions: { x: 0.2, y: 0.2, z: 0.2 },
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dynamic: false,
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collisionless: true,
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gravity: { x: 0, y: 0, z: 0 },
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lifetime: 10.0,
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userData: "{ \"grabbableKey\": { \"grabbable\": false, \"kinematic\": false } }"
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};
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//avatarToWorldPoint
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// create sphere for finger on left hand
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// each frame, calculate world position of finger, with some offset
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// update sphere to match this position
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var avatarToWorldPointTest_sphereEntity;
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function avatarToWorldPointTest() {
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var jointIndex = MyAvatar.getJointIndex("LeftHandPinky4");
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var jointOffset_WorldSpace = { x: 0.1, y: 0, z: 0 };
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var worldPos = MyAvatar.avatarToWorldPoint(jointOffset_WorldSpace, jointIndex);
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var jointSphereProps = Object.create(debugSphereBaseProperties);
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jointSphereProps.name = "avatarToWorldPointTest_Sphere";
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jointSphereProps.color = { blue: 240, green: 150, red: 150 };
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jointSphereProps.position = worldPos;
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avatarToWorldPointTest_sphereEntity = Entities.addEntity(jointSphereProps);
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}
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function avatarToWorldPointTest_update(deltaTime) {
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var jointIndex = MyAvatar.getJointIndex("LeftHandPinky4");
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var jointOffset_WorldSpace = { x: 0.1, y: 0, z: 0 };
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var worldPos = MyAvatar.avatarToWorldPoint(jointOffset_WorldSpace, jointIndex);
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var newProperties = { position: worldPos };
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Entities.editEntity(avatarToWorldPointTest_sphereEntity, newProperties);
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}
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//avatarToWorldDirection
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// create line in world space
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// each frame calculate world space direction of players head z axis
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// update line to match
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var avatarToWorldDirectionTest_lineEntity;
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function avatarToWorldDirectionTest() {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var avatarPos = MyAvatar.getJointPosition(jointIndex);
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var jointDir = { x: 1, y: 0, z: 1 };
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var worldDir = MyAvatar.avatarToWorldDirection(jointDir, jointIndex);
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print(worldDir.x);
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print(worldDir.y);
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print(worldDir.z);
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avatarToWorldDirectionTest_lineEntity = Entities.addEntity({
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type: "Line",
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color: {red: 250, green: 0, blue: 0},
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dimensions: {x: 5, y: 5, z: 5},
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lifetime: 10.0,
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linePoints: [{
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x: 0,
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y: 0,
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z: 0
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}, worldDir
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],
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position : avatarPos,
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});
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}
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function avatarToWorldDirection_update(deltaTime) {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var avatarPos = MyAvatar.getJointPosition(jointIndex);
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var jointDir = { x: 1, y: 0, z: 0 };
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var worldDir = MyAvatar.avatarToWorldDirection(jointDir, jointIndex);
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var newProperties = {
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linePoints: [{
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x: 0,
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y: 0,
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z: 0
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}, worldDir
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],
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position : avatarPos
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};
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Entities.editEntity(avatarToWorldDirectionTest_lineEntity, newProperties);
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}
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//avatarToWorldRotation
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// create box in world space
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// each frame calculate world space rotation of players head
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// update box rotation to match
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var avatarToWorldRotationTest_boxEntity;
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function avatarToWorldRotationTest() {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointRot = MyAvatar.getJointRotation(jointIndex);
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var jointRot_WorldSpace = MyAvatar.avatarToWorldRotation(jointRot, jointIndex);
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var boxProps = Object.create(debugBoxBaseProperties);
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boxProps.name = "avatarToWorldRotationTest_Box";
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boxProps.color = { blue: 250, green: 250, red: 250 };
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boxProps.position = jointPosition_WorldSpace;
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boxProps.rotation = jointRot_WorldSpace;
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avatarToWorldRotationTest_boxEntity = Entities.addEntity(boxProps);
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}
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function avatarToWorldRotationTest_update(deltaTime) {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointRot = MyAvatar.getJointRotation(jointIndex);
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var jointRot_WorldSpace = MyAvatar.avatarToWorldRotation(jointRot, jointIndex);
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var newProperties = { position: jointPosition_WorldSpace, rotation: jointRot_WorldSpace };
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Entities.editEntity(avatarToWorldRotationTest_boxEntity, newProperties);
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}
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avatarToWorldPointTest();
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Script.update.connect(avatarToWorldPointTest_update);
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avatarToWorldDirectionTest();
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Script.update.connect(avatarToWorldDirection_update);
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avatarToWorldRotationTest();
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Script.update.connect(avatarToWorldRotationTest_update);
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134
scripts/worldToAvatarTests.js
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134
scripts/worldToAvatarTests.js
Normal file
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@ -0,0 +1,134 @@
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var AVATAR_SELF_ID = "{00000000-0000-0000-0000-000000000001}";
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var debugSphereBaseProperties = {
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type: "Sphere",
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dimensions: { x: 0.2, y: 0.2, z: 0.2 },
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dynamic: false,
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collisionless: true,
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gravity: { x: 0, y: 0, z: 0 },
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lifetime: 10.0,
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userData: "{ \"grabbableKey\": { \"grabbable\": false, \"kinematic\": false } }"
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};
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var debugBoxBaseProperties = {
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type: "Box",
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dimensions: { x: 0.2, y: 0.2, z: 0.2 },
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dynamic: false,
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collisionless: true,
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gravity: { x: 0, y: 0, z: 0 },
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lifetime: 10.0,
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userData: "{ \"grabbableKey\": { \"grabbable\": false, \"kinematic\": false } }"
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};
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//worldToAvatarPoint
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// calculate position offset from joint using getJointPosition
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// pass through worldToAvatarPoint to get offset in joint space of players joint
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// create a blue sphere and attach it to players joint using the joint space offset
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// The two spheres should appear in the same place, but the blue sphere will follow the avatar
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function worldToAvatarPointTest() {
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var jointIndex = MyAvatar.getJointIndex("LeftHandPinky4");
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var avatarPos = MyAvatar.position;
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointOffset_WorldSpace = { x: 0.1, y: 0, z: 0 };
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var jointPosition_WorldSpaceOffset = Vec3.sum(jointPosition_WorldSpace, jointOffset_WorldSpace);
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var jointPosition_JointSpaceOffset = MyAvatar.worldToAvatarPoint(jointPosition_WorldSpaceOffset, jointIndex);
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var jointSphereProps = Object.create(debugSphereBaseProperties);
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jointSphereProps.name = "worldToAvatarPointTest_Joint";
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jointSphereProps.color = { blue: 240, green: 150, red: 150 };
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jointSphereProps.localPosition = jointPosition_JointSpaceOffset;
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jointSphereProps.parentID = AVATAR_SELF_ID;
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jointSphereProps.parentJointIndex = jointIndex;
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Entities.addEntity(jointSphereProps);
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var worldSphereProps = Object.create(debugSphereBaseProperties);
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worldSphereProps.name = "worldToAvatarPointTest_World";
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worldSphereProps.color = { blue: 150, green: 250, red: 150 };
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worldSphereProps.position = jointPosition_WorldSpaceOffset;
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Entities.addEntity(worldSphereProps);
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}
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//worldToAvatarDirection
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// create line and attach to avatars head
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// each frame calculate direction of world x axis in joint space of players head
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// update arrow orientation to match
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var worldToAvatarDirectionTest_lineEntity;
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function worldToAvatarDirectionTest() {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointOffset_WorldSpace = { x: 0, y: 0, z: 0 };
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var jointPosition_WorldSpaceOffset = Vec3.sum(jointPosition_WorldSpace, jointOffset_WorldSpace);
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var jointPosition_JointSpaceOffset = MyAvatar.worldToAvatarPoint(jointPosition_WorldSpaceOffset, jointIndex);
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var worldDir = { x: 1, y: 0, z: 0 };
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var avatarDir = MyAvatar.worldToAvatarDirection(worldDir, jointIndex);
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worldToAvatarDirectionTest_lineEntity = Entities.addEntity({
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type: "Line",
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color: {red: 200, green: 250, blue: 0},
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dimensions: {x: 5, y: 5, z: 5},
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lifetime: 10.0,
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linePoints: [{
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x: 0,
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y: 0,
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z: 0
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}, avatarDir
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],
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localPosition : jointOffset_WorldSpace,
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parentID : AVATAR_SELF_ID,
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parentJointIndex : jointIndex
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});
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}
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function worldToAvatarDirectionTest_update(deltaTime) {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var worldDir = { x: 1, y: 0, z: 0 };
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var avatarDir = MyAvatar.worldToAvatarDirection(worldDir, jointIndex);
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var newProperties = { linePoints: [{
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x: 0,
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y: 0,
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z: 0
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}, avatarDir
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]};
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Entities.editEntity(worldToAvatarDirectionTest_lineEntity, newProperties);
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}
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//worldToAvatarRotation
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// create box and parent to some player joint
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// convert world identity rotation to joint space rotation
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// each frame, update box with new orientation
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var worldToAvatarRotationTest_boxEntity;
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function worldToAvatarRotationTest() {
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var jointIndex = MyAvatar.getJointIndex("RightHandPinky4");
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var avatarPos = MyAvatar.position;
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointOffset_WorldSpace = { x: 0.0, y: 0, z: 0 };
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var jointPosition_WorldSpaceOffset = Vec3.sum(jointPosition_WorldSpace, jointOffset_WorldSpace);
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var jointPosition_JointSpaceOffset = MyAvatar.worldToAvatarPoint(jointPosition_WorldSpaceOffset, jointIndex);
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var jointBoxProps = Object.create(debugBoxBaseProperties);
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jointBoxProps.name = "worldToAvatarRotationTest_Box";
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jointBoxProps.color = { blue: 0, green: 0, red: 250 };
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jointBoxProps.localPosition = jointPosition_JointSpaceOffset;
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jointBoxProps.parentID = AVATAR_SELF_ID;
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jointBoxProps.parentJointIndex = jointIndex;
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worldToAvatarRotationTest_boxEntity = Entities.addEntity(jointBoxProps);
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}
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function worldToAvatarRotationTest_update(deltaTime) {
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var jointIndex = MyAvatar.getJointIndex("RightHandPinky4");
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var worldRot = Quat.fromPitchYawRollDegrees(0,0,0);
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var avatarRot = MyAvatar.worldToAvatarRotation(worldRot, jointIndex);
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var newProperties = { localRotation: avatarRot };
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Entities.editEntity(worldToAvatarRotationTest_boxEntity, newProperties);
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}
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worldToAvatarPointTest();
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worldToAvatarDirectionTest();
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worldToAvatarRotationTest();
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Script.update.connect(worldToAvatarDirectionTest_update);
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Script.update.connect(worldToAvatarRotationTest_update);
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