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Leap interface and Avatar: left-hand IK works for Leap interface.

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This is in and smooth, and there's a decision to be made:
In the case where only one hand is visible, we have to decide if it's the left or right hand. Currently it's simple, based on which side it's detected on.
So far this seems to work best, in the (very) common case where hands go in/out of the sensor's field frequently.
We could also use a history-based heuristic to hold one hand as left/right, but that means that when it guesses wrong the error lingers.
Detecting handedness based on where the thumbs are would be better, but is unreliable on the Leap.
I went for the simple/clear version, but we can do whatever we want.
This commit is contained in:
Eric Johnston 2013-10-14 09:01:50 -07:00
parent 78b2f2665d
commit 7bc2cf6fa9
3 changed files with 55 additions and 25 deletions
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31
interface/src/avatar/Avatar.cpp
View file

@ -463,7 +463,8 @@ void Avatar::updateHandMovementAndTouching(float deltaTime, bool enableHandMovem
//constrain right arm length and re-adjust elbow position as it bends
// NOTE - the following must be called on all avatars - not just _isMine
if (enableHandMovement) {
updateArmIKAndConstraints(deltaTime);
updateArmIKAndConstraints(deltaTime, AVATAR_JOINT_RIGHT_FINGERTIPS);
updateArmIKAndConstraints(deltaTime, AVATAR_JOINT_LEFT_FINGERTIPS);
}
}
@ -640,11 +641,15 @@ void Avatar::updateBodyBalls(float deltaTime) {
_bodyBall[BODY_BALL_HEAD_TOP].rotation * _skeleton.joint[BODY_BALL_HEAD_TOP].bindPosePosition;
}
void Avatar::updateArmIKAndConstraints(float deltaTime) {
void Avatar::updateArmIKAndConstraints(float deltaTime, AvatarJointID fingerTipJointID) {
Skeleton::AvatarJoint& fingerJoint = _skeleton.joint[fingerTipJointID];
Skeleton::AvatarJoint& wristJoint = _skeleton.joint[fingerJoint.parent];
Skeleton::AvatarJoint& elbowJoint = _skeleton.joint[wristJoint.parent];
Skeleton::AvatarJoint& shoulderJoint = _skeleton.joint[elbowJoint.parent];
// determine the arm vector
glm::vec3 armVector = _skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position;
armVector -= _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position;
glm::vec3 armVector = fingerJoint.position;
armVector -= shoulderJoint.position;
// test to see if right hand is being dragged beyond maximum arm length
float distance = glm::length(armVector);
@ -652,28 +657,28 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) {
// don't let right hand get dragged beyond maximum arm length...
if (distance > _maxArmLength) {
// reset right hand to be constrained to maximum arm length
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position;
fingerJoint.position = shoulderJoint.position;
glm::vec3 armNormal = armVector / distance;
armVector = armNormal * _maxArmLength;
distance = _maxArmLength;
glm::vec3 constrainedPosition = _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position;
glm::vec3 constrainedPosition = shoulderJoint.position;
constrainedPosition += armVector;
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = constrainedPosition;
fingerJoint.position = constrainedPosition;
}
// set elbow position
glm::vec3 newElbowPosition = _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position + armVector * ONE_HALF;
glm::vec3 newElbowPosition = shoulderJoint.position + armVector * ONE_HALF;
glm::vec3 perpendicular = glm::cross(getBodyRightDirection(), armVector);
newElbowPosition += perpendicular * (1.0f - (_maxArmLength / distance)) * ONE_HALF;
_skeleton.joint[ AVATAR_JOINT_RIGHT_ELBOW ].position = newElbowPosition;
elbowJoint.position = newElbowPosition;
// set wrist position
glm::vec3 vv(_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position);
vv -= _skeleton.joint[ AVATAR_JOINT_RIGHT_ELBOW ].position;
glm::vec3 newWristPosition = _skeleton.joint[ AVATAR_JOINT_RIGHT_ELBOW ].position + vv * 0.7f;
_skeleton.joint[ AVATAR_JOINT_RIGHT_WRIST ].position = newWristPosition;
glm::vec3 vv(fingerJoint.position);
vv -= elbowJoint.position;
glm::vec3 newWristPosition = elbowJoint.position + vv * 0.7f;
wristJoint.position = newWristPosition;
}
glm::quat Avatar::computeRotationFromBodyToWorldUp(float proportion) const {

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

@ -231,7 +231,7 @@ protected:
glm::vec3 getBodyFrontDirection() const { return getOrientation() * IDENTITY_FRONT; }
glm::quat computeRotationFromBodyToWorldUp(float proportion = 1.0f) const;
void updateBodyBalls(float deltaTime);
void updateArmIKAndConstraints(float deltaTime);
void updateArmIKAndConstraints(float deltaTime, AvatarJointID fingerTipJointID);
void setScale(const float scale);

47
interface/src/avatar/MyAvatar.cpp
View file

@ -912,24 +912,49 @@ void MyAvatar::updateHandMovementAndTouching(float deltaTime, bool enableHandMov
_avatarTouch.setHasInteractingOther(false);
}
// If there's a leap-interaction hand visible, use that as the endpoint
glm::vec3 rightMostHand;
bool anyHandsFound = false;
for (size_t i = 0; i < getHand().getPalms().size(); ++i) {
PalmData& palm = getHand().getPalms()[i];
if (palm.isActive()) {
if (!anyHandsFound || palm.getRawPosition().x > rightMostHand.x) {
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = palm.getPosition();
rightMostHand = palm.getRawPosition();
// If there are leap-interaction hands visible, see if we can use them as the endpoints for IK
if (getHand().getPalms().size() > 0) {
PalmData const* leftLeapHand = NULL;
PalmData const* rightLeapHand = NULL;
// Look through all of the palms available (there may be more than two), and pick
// the leftmost and rightmost. If there's only one, we'll use a heuristic below
// to decode whether it's the left or right.
for (size_t i = 0; i < getHand().getPalms().size(); ++i) {
PalmData& palm = getHand().getPalms()[i];
if (palm.isActive()) {
if (!rightLeapHand || !leftLeapHand) {
rightLeapHand = leftLeapHand = &palm;
}
else if (palm.getRawPosition().x > rightLeapHand->getRawPosition().x) {
rightLeapHand = &palm;
}
else if (palm.getRawPosition().x < leftLeapHand->getRawPosition().x) {
leftLeapHand = &palm;
}
}
anyHandsFound = true;
}
// If there's only one palm visible. Decide if it's the left or right
if (leftLeapHand == rightLeapHand && leftLeapHand) {
if (leftLeapHand->getRawPosition().x > 0) {
leftLeapHand = NULL;
}
else {
rightLeapHand = NULL;
}
}
if (leftLeapHand) {
_skeleton.joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].position = leftLeapHand->getPosition();
}
if (rightLeapHand) {
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = rightLeapHand->getPosition();
}
}
//constrain right arm length and re-adjust elbow position as it bends
// NOTE - the following must be called on all avatars - not just _isMine
if (enableHandMovement) {
updateArmIKAndConstraints(deltaTime);
updateArmIKAndConstraints(deltaTime, AVATAR_JOINT_RIGHT_FINGERTIPS);
updateArmIKAndConstraints(deltaTime, AVATAR_JOINT_LEFT_FINGERTIPS);
}
//Set right hand position and state to be transmitted, and also tell AvatarTouch about it