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Merge pull request #10542 from druiz17/arm-pucks

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Added pucks calibration for upper arm/shoulders
This commit is contained in:
Anthony Thibault 2017-05-26 11:17:15 -07:00 committed by GitHub
commit 84901ba94b
15 changed files with 288 additions and 43 deletions
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18
interface/resources/avatar/avatar-animation.json
View file

@ -114,6 +114,24 @@
"weightVar": "headWeight",
"weight": 4.0,
"flexCoefficients": [1, 0.05, 0.25, 0.25, 0.25]
},
{
"jointName": "LeftArm",
"positionVar": "leftArmPosition",
"rotationVar": "leftArmRotation",
"typeVar": "leftArmType",
"weightVar": "leftArmWeight",
"weight": 0.75,
"flexCoefficients": [1.0, 0.35, 0.2, 0.1, 0.05, 0.0, 0.0, 0.0]
},
{
"jointName": "RightArm",
"positionVar": "rightArmPosition",
"rotationVar": "rightArmRotation",
"typeVar": "rightArmType",
"weightVar": "rightArmWeight",
"weight": 0.75,
"flexCoefficients": [1.0, 0.35, 0.2, 0.1, 0.05, 0.0, 0.0, 0.0]
}
]
},

4
interface/resources/controllers/standard.json
View file

@ -66,6 +66,8 @@
{ "from": "Standard.Hips", "to": "Actions.Hips" },
{ "from": "Standard.Spine2", "to": "Actions.Spine2" },
{ "from": "Standard.Head", "to": "Actions.Head" }
{ "from": "Standard.Head", "to": "Actions.Head" },
{ "from": "Standard.LeftArm", "to": "Actions.LeftArm" },
{ "from": "Standard.RightArm", "to": "Actions.RightArm" }
]
}

19
interface/resources/controllers/vive.json
View file

@ -3,7 +3,7 @@
"channels": [
{ "from": "Vive.LY", "when": "Vive.LSY", "filters": ["invert"], "to": "Standard.LY" },
{ "from": "Vive.LX", "when": "Vive.LSX", "to": "Standard.LX" },
{
{
"from": "Vive.LT", "to": "Standard.LT",
"filters": [
{ "type": "deadZone", "min": 0.05 }
@ -17,7 +17,7 @@
{ "from": "Vive.RY", "when": "Vive.RSY", "filters": ["invert"], "to": "Standard.RY" },
{ "from": "Vive.RX", "when": "Vive.RSX", "to": "Standard.RX" },
{
{
"from": "Vive.RT", "to": "Standard.RT",
"filters": [
{ "type": "deadZone", "min": 0.05 }
@ -36,31 +36,34 @@
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] },
{
"from": "Vive.LeftFoot", "to" : "Standard.LeftFoot",
"filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}],
"when": [ "Application.InHMD"]
},
{
"from": "Vive.RightFoot", "to" : "Standard.RightFoot",
"filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}],
"when": [ "Application.InHMD"]
},
{
"from": "Vive.Hips", "to" : "Standard.Hips",
"filters" : [{"type" : "lowVelocity", "rotation" : 0.01, "translation": 0.01}],
"when": [ "Application.InHMD"]
},
{
"from": "Vive.Spine2", "to" : "Standard.Spine2",
"filters" : [{"type" : "lowVelocity", "rotation" : 0.01, "translation": 0.01}],
"when": [ "Application.InHMD"]
},
{ "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] }
{ "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] },
{ "from": "Vive.RightArm", "to" : "Standard.RightArm", "when" : [ "Application.InHMD"] },
{ "from": "Vive.LeftArm", "to" : "Standard.LeftArm", "when" : [ "Application.InHMD"] }
]
}

10
interface/src/Application.cpp
View file

@ -4363,7 +4363,11 @@ void Application::update(float deltaTime) {
myAvatar->getSpine2CalibrationMat(),
myAvatar->getHipsCalibrationMat(),
myAvatar->getLeftFootCalibrationMat(),
myAvatar->getRightFootCalibrationMat()
myAvatar->getRightFootCalibrationMat(),
myAvatar->getRightArmCalibrationMat(),
myAvatar->getLeftArmCalibrationMat(),
myAvatar->getRightHandCalibrationMat(),
myAvatar->getLeftHandCalibrationMat()
};
InputPluginPointer keyboardMousePlugin;
@ -4419,6 +4423,10 @@ void Application::update(float deltaTime) {
controller::Pose headPose = userInputMapper->getPoseState(controller::Action::HEAD);
myAvatar->setHeadControllerPoseInSensorFrame(headPose.transform(avatarToSensorMatrix));
controller::Pose leftArmPose = userInputMapper->getPoseState(controller::Action::LEFT_ARM);
controller::Pose rightArmPose = userInputMapper->getPoseState(controller::Action::RIGHT_ARM);
myAvatar->setArmControllerPosesInSensorFrame(leftArmPose.transform(avatarToSensorMatrix), rightArmPose.transform(avatarToSensorMatrix));
updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
updateDialogs(deltaTime); // update various stats dialogs if present

84
interface/src/avatar/MyAvatar.cpp
View file

@ -90,6 +90,14 @@ const float MyAvatar::ZOOM_DEFAULT = 1.5f;
// static const glm::quat DEFAULT_AVATAR_MIDDLE_EYE_ROT { Quaternions::Y_180 };
static const glm::vec3 DEFAULT_AVATAR_MIDDLE_EYE_POS { 0.0f, 0.6f, 0.0f };
static const glm::vec3 DEFAULT_AVATAR_HEAD_POS { 0.0f, 0.53f, 0.0f };
static const glm::vec3 DEFAULT_AVATAR_RIGHTARM_POS { -0.134824f, 0.396348f, -0.0515777f };
static const glm::quat DEFAULT_AVATAR_RIGHTARM_ROT { -0.536241f, 0.536241f, -0.460918f, -0.460918f };
static const glm::vec3 DEFAULT_AVATAR_LEFTARM_POS { 0.134795f, 0.396349f, -0.0515881f };
static const glm::quat DEFAULT_AVATAR_LEFTARM_ROT { 0.536257f, 0.536258f, -0.460899f, 0.4609f };
static const glm::vec3 DEFAULT_AVATAR_RIGHTHAND_POS { -0.72768f, 0.396349f, -0.0515779f };
static const glm::quat DEFAULT_AVATAR_RIGHTHAND_ROT { 0.479184f, -0.520013f, 0.522537f, 0.476365f};
static const glm::vec3 DEFAULT_AVATAR_LEFTHAND_POS { 0.727588f, 0.39635f, -0.0515878f };
static const glm::quat DEFAULT_AVATAR_LEFTHAND_ROT { -0.479181f, -0.52001f, 0.52254f, -0.476369f };
static const glm::vec3 DEFAULT_AVATAR_NECK_POS { 0.0f, 0.445f, 0.025f };
static const glm::vec3 DEFAULT_AVATAR_SPINE2_POS { 0.0f, 0.32f, 0.02f };
static const glm::vec3 DEFAULT_AVATAR_HIPS_POS { 0.0f, 0.0f, 0.0f };
@ -1434,6 +1442,37 @@ controller::Pose MyAvatar::getHeadControllerPoseInAvatarFrame() const {
return getHeadControllerPoseInWorldFrame().transform(invAvatarMatrix);
}
void MyAvatar::setArmControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right) {
_leftArmControllerPoseInSensorFrameCache.set(left);
_rightArmControllerPoseInSensorFrameCache.set(right);
}
controller::Pose MyAvatar::getLeftArmControllerPoseInSensorFrame() const {
return _leftArmControllerPoseInSensorFrameCache.get();
}
controller::Pose MyAvatar::getRightArmControllerPoseInSensorFrame() const {
return _rightArmControllerPoseInSensorFrameCache.get();
}
controller::Pose MyAvatar::getLeftArmControllerPoseInWorldFrame() const {
return getLeftArmControllerPoseInSensorFrame().transform(getSensorToWorldMatrix());
}
controller::Pose MyAvatar::getRightArmControllerPoseInWorldFrame() const {
return getRightArmControllerPoseInSensorFrame().transform(getSensorToWorldMatrix());
}
controller::Pose MyAvatar::getLeftArmControllerPoseInAvatarFrame() const {
glm::mat4 worldToAvatarMat = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
return getLeftArmControllerPoseInWorldFrame().transform(worldToAvatarMat);
}
controller::Pose MyAvatar::getRightArmControllerPoseInAvatarFrame() const {
glm::mat4 worldToAvatarMat = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
return getRightArmControllerPoseInWorldFrame().transform(worldToAvatarMat);
}
void MyAvatar::updateMotors() {
_characterController.clearMotors();
glm::quat motorRotation;
@ -2747,6 +2786,51 @@ glm::mat4 MyAvatar::getRightFootCalibrationMat() const {
}
}
glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
int rightArmIndex = _skeletonModel->getRig().indexOfJoint("RightArm");
if (rightArmIndex >= 0) {
auto rightArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightArmIndex);
auto rightArmRot = getAbsoluteDefaultJointRotationInObjectFrame(rightArmIndex);
return createMatFromQuatAndPos(rightArmRot, rightArmPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTARM_ROT, DEFAULT_AVATAR_RIGHTARM_POS);
}
}
glm::mat4 MyAvatar::getLeftArmCalibrationMat() const {
int leftArmIndex = _skeletonModel->getRig().indexOfJoint("LeftArm");
if (leftArmIndex >= 0) {
auto leftArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftArmIndex);
auto leftArmRot = getAbsoluteDefaultJointRotationInObjectFrame(leftArmIndex);
return createMatFromQuatAndPos(leftArmRot, leftArmPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTARM_ROT, DEFAULT_AVATAR_RIGHTARM_POS);
}
}
glm::mat4 MyAvatar::getRightHandCalibrationMat() const {
int rightHandIndex = _skeletonModel->getRig().indexOfJoint("RightHand");
if (rightHandIndex >= 0) {
auto rightHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightHandIndex);
auto rightHandRot = getAbsoluteDefaultJointRotationInObjectFrame(rightHandIndex);
return createMatFromQuatAndPos(rightHandRot, rightHandPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTHAND_ROT, DEFAULT_AVATAR_RIGHTHAND_POS);
}
}
glm::mat4 MyAvatar::getLeftHandCalibrationMat() const {
int leftHandIndex = _skeletonModel->getRig().indexOfJoint("LeftHand");
if (leftHandIndex >= 0) {
auto leftHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftHandIndex);
auto leftHandRot = getAbsoluteDefaultJointRotationInObjectFrame(leftHandIndex);
return createMatFromQuatAndPos(leftHandRot, leftHandPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTHAND_ROT, DEFAULT_AVATAR_LEFTHAND_POS);
}
}
bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& orientation) {
auto hipsIndex = getJointIndex("Hips");
if (index != hipsIndex) {

14
interface/src/avatar/MyAvatar.h
View file

@ -471,6 +471,14 @@ public:
controller::Pose getHeadControllerPoseInWorldFrame() const;
controller::Pose getHeadControllerPoseInAvatarFrame() const;
void setArmControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right);
controller::Pose getLeftArmControllerPoseInSensorFrame() const;
controller::Pose getRightArmControllerPoseInSensorFrame() const;
controller::Pose getLeftArmControllerPoseInWorldFrame() const;
controller::Pose getRightArmControllerPoseInWorldFrame() const;
controller::Pose getLeftArmControllerPoseInAvatarFrame() const;
controller::Pose getRightArmControllerPoseInAvatarFrame() const;
bool hasDriveInput() const;
Q_INVOKABLE void setCollisionsEnabled(bool enabled);
@ -488,6 +496,10 @@ public:
glm::mat4 getHipsCalibrationMat() const;
glm::mat4 getLeftFootCalibrationMat() const;
glm::mat4 getRightFootCalibrationMat() const;
glm::mat4 getRightArmCalibrationMat() const;
glm::mat4 getLeftArmCalibrationMat() const;
glm::mat4 getLeftHandCalibrationMat() const;
glm::mat4 getRightHandCalibrationMat() const;
void addHoldAction(AvatarActionHold* holdAction); // thread-safe
void removeHoldAction(AvatarActionHold* holdAction); // thread-safe
@ -737,6 +749,8 @@ private:
ThreadSafeValueCache<controller::Pose> _hipsControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _spine2ControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _headControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _leftArmControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _rightArmControllerPoseInSensorFrameCache{ controller::Pose() };
bool _hmdLeanRecenterEnabled = true;

20
interface/src/avatar/MySkeletonModel.cpp
View file

@ -92,6 +92,26 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
headParams.spine2Enabled = false;
}
auto avatarRightArmPose = myAvatar->getRightArmControllerPoseInAvatarFrame();
if (avatarRightArmPose.isValid()) {
glm::mat4 rightArmMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarRightArmPose.getRotation(), avatarRightArmPose.getTranslation());
headParams.rightArmPosition = extractTranslation(rightArmMat);
headParams.rightArmRotation = glmExtractRotation(rightArmMat);
headParams.rightArmEnabled = true;
} else {
headParams.rightArmEnabled = false;
}
auto avatarLeftArmPose = myAvatar->getLeftArmControllerPoseInAvatarFrame();
if (avatarLeftArmPose.isValid()) {
glm::mat4 leftArmMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarLeftArmPose.getRotation(), avatarLeftArmPose.getTranslation());
headParams.leftArmPosition = extractTranslation(leftArmMat);
headParams.leftArmRotation = glmExtractRotation(leftArmMat);
headParams.leftArmEnabled = true;
} else {
headParams.leftArmEnabled = false;
}
headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f;
_rig.updateFromHeadParameters(headParams, deltaTime);

16
libraries/animation/src/Rig.cpp
View file

@ -1047,6 +1047,22 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
} else {
_animVars.set("spine2Type", (int)IKTarget::Type::Unknown);
}
if (params.leftArmEnabled) {
_animVars.set("leftArmType", (int)IKTarget::Type::RotationAndPosition);
_animVars.set("leftArmPosition", params.leftArmPosition);
_animVars.set("leftArmRotation", params.leftArmRotation);
} else {
_animVars.set("leftArmType", (int)IKTarget::Type::Unknown);
}
if (params.rightArmEnabled) {
_animVars.set("rightArmType", (int)IKTarget::Type::RotationAndPosition);
_animVars.set("rightArmPosition", params.rightArmPosition);
_animVars.set("rightArmRotation", params.rightArmRotation);
} else {
_animVars.set("rightArmType", (int)IKTarget::Type::Unknown);
}
}
void Rig::updateFromEyeParameters(const EyeParameters& params) {

6
libraries/animation/src/Rig.h
View file

@ -46,9 +46,15 @@ public:
glm::mat4 spine2Matrix = glm::mat4(); // rig space
glm::quat rigHeadOrientation = glm::quat(); // rig space (-z forward)
glm::vec3 rigHeadPosition = glm::vec3(); // rig space
glm::vec3 rightArmPosition = glm::vec3(); // rig space
glm::quat rightArmRotation = glm::quat(); // rig space
glm::vec3 leftArmPosition = glm::vec3(); // rig space
glm::quat leftArmRotation = glm::quat(); // rig space
bool hipsEnabled = false;
bool headEnabled = false;
bool spine2Enabled = false;
bool leftArmEnabled = false;
bool rightArmEnabled = false;
bool isTalking = false;
};

2
libraries/controllers/src/controllers/Actions.cpp
View file

@ -51,6 +51,8 @@ namespace controller {
makePosePair(Action::LEFT_HAND, "LeftHand"),
makePosePair(Action::RIGHT_HAND, "RightHand"),
makePosePair(Action::RIGHT_ARM, "RightArm"),
makePosePair(Action::LEFT_ARM, "LeftArm"),
makePosePair(Action::LEFT_FOOT, "LeftFoot"),
makePosePair(Action::RIGHT_FOOT, "RightFoot"),
makePosePair(Action::HIPS, "Hips"),

2
libraries/controllers/src/controllers/Actions.h
View file

@ -42,6 +42,8 @@ enum class Action {
LEFT_HAND = NUM_COMBINED_AXES,
RIGHT_HAND,
LEFT_ARM,
RIGHT_ARM,
LEFT_FOOT,
RIGHT_FOOT,
HIPS,

6
libraries/controllers/src/controllers/Input.h
View file

@ -24,7 +24,11 @@ struct InputCalibrationData {
glm::mat4 defaultSpine2; // default pose for spine2 joint in avatar space
glm::mat4 defaultHips; // default pose for hips joint in avatar space
glm::mat4 defaultLeftFoot; // default pose for leftFoot joint in avatar space
glm::mat4 defaultRightFoot; // default pose for leftFoot joint in avatar space
glm::mat4 defaultRightFoot; // default pose for rightFoot joint in avatar space
glm::mat4 defaultRightArm; // default pose for rightArm joint in avatar space
glm::mat4 defaultLeftArm; // default pose for leftArm joint in avatar space
glm::mat4 defaultRightHand; // default pose for rightHand joint in avatar space
glm::mat4 defaultLeftHand; // default pose for leftHand joint in avatar space
};
enum class ChannelType {

2
libraries/controllers/src/controllers/StandardController.cpp
View file

@ -104,6 +104,8 @@ Input::NamedVector StandardController::getAvailableInputs() const {
makePair(RIGHT_HAND, "RightHand"),
makePair(LEFT_FOOT, "LeftFoot"),
makePair(RIGHT_FOOT, "RightFoot"),
makePair(RIGHT_ARM, "RightArm"),
makePair(LEFT_ARM, "LeftArm"),
makePair(HIPS, "Hips"),
makePair(SPINE2, "Spine2"),
makePair(HEAD, "Head"),

104
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -33,6 +33,7 @@
#include <controllers/StandardControls.h>
extern PoseData _nextSimPoseData;
vr::IVRSystem* acquireOpenVrSystem();
@ -49,6 +50,7 @@ static const char* RENDER_CONTROLLERS = "Render Hand Controllers";
static const int MIN_PUCK_COUNT = 2;
static const int MIN_FEET_AND_HIPS = 3;
static const int MIN_FEET_HIPS_CHEST = 4;
static const int MIN_FEET_HIPS_SHOULDERS = 5;
static const int FIRST_FOOT = 0;
static const int SECOND_FOOT = 1;
static const int HIP = 2;
@ -70,10 +72,14 @@ static glm::mat4 computeOffset(glm::mat4 defaultToReferenceMat, glm::mat4 defaul
return glm::inverse(poseMat) * referenceJointMat;
}
static bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
static bool sortPucksYPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) {
return (firstPuck.second.translation.y < secondPuck.second.translation.y);
}
static bool sortPucksXPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) {
return (firstPuck.second.translation.x < secondPuck.second.translation.x);
}
static QString deviceTrackingResultToString(vr::ETrackingResult trackingResult) {
QString result;
auto iterator = TRACKING_RESULT_TO_STRING.find(trackingResult);
@ -168,6 +174,7 @@ ViveControllerManager::InputDevice::InputDevice(vr::IVRSystem*& system) : contro
_configStringMap[Config::Feet] = QString("Feet");
_configStringMap[Config::FeetAndHips] = QString("FeetAndHips");
_configStringMap[Config::FeetHipsAndChest] = QString("FeetHipsAndChest");
_configStringMap[Config::FeetHipsAndShoulders] = QString("FeetHipsAndShoulders");
if (openVrSupported()) {
createPreferences();
@ -333,34 +340,21 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
controller::Pose& firstFootPose = firstFoot.second;
controller::Pose& secondFootPose = secondFoot.second;
if (firstFootPose.translation.x < secondFootPose.translation.x) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
} else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
}
if (_config == Config::Feet) {
// done
calibrateFeet(defaultToReferenceMat, inputCalibration);
} else if (_config == Config::FeetAndHips && puckCount >= MIN_FEET_AND_HIPS) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
calibrateFeet(defaultToReferenceMat, inputCalibration);
calibrateHips(defaultToReferenceMat, inputCalibration);
} else if (_config == Config::FeetHipsAndChest && puckCount >= MIN_FEET_HIPS_CHEST) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
calibrateFeet(defaultToReferenceMat, inputCalibration);
calibrateHips(defaultToReferenceMat, inputCalibration);
calibrateChest(defaultToReferenceMat, inputCalibration);
} else if (_config == Config::FeetHipsAndShoulders && puckCount >= MIN_FEET_HIPS_SHOULDERS) {
calibrateFeet(defaultToReferenceMat, inputCalibration);
calibrateHips(defaultToReferenceMat, inputCalibration);
int firstShoulderIndex = 3;
int secondShoulderIndex = 4;
calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex);
} else {
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
uncalibrate();
@ -382,6 +376,8 @@ void ViveControllerManager::InputDevice::updateCalibratedLimbs() {
_poseStateMap[controller::RIGHT_FOOT] = addOffsetToPuckPose(controller::RIGHT_FOOT);
_poseStateMap[controller::HIPS] = addOffsetToPuckPose(controller::HIPS);
_poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2);
_poseStateMap[controller::RIGHT_ARM] = addOffsetToPuckPose(controller::RIGHT_ARM);
_poseStateMap[controller::LEFT_ARM] = addOffsetToPuckPose(controller::LEFT_ARM);
}
controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joint) const {
@ -615,6 +611,56 @@ void ViveControllerManager::InputDevice::hapticsHelper(float deltaTime, bool lef
}
}
void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
controller::Pose& firstFootPose = firstFoot.second;
controller::Pose& secondFootPose = secondFoot.second;
if (firstFootPose.translation.x < secondFootPose.translation.x) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
} else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
}
}
void ViveControllerManager::InputDevice::calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
}
void ViveControllerManager::InputDevice::calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
}
void ViveControllerManager::InputDevice::calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
int firstShoulderIndex, int secondShoulderIndex) {
const PuckPosePair& firstShoulder = _validTrackedObjects[firstShoulderIndex];
const PuckPosePair& secondShoulder = _validTrackedObjects[secondShoulderIndex];
const controller::Pose& firstShoulderPose = firstShoulder.second;
const controller::Pose& secondShoulderPose = secondShoulder.second;
if (firstShoulderPose.translation.x < secondShoulderPose.translation.x) {
_jointToPuckMap[controller::LEFT_ARM] = firstShoulder.first;
_pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftArm, firstShoulder.second);
_jointToPuckMap[controller::RIGHT_ARM] = secondShoulder.first;
_pucksOffset[secondShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, secondShoulder.second);
} else {
_jointToPuckMap[controller::LEFT_ARM] = secondShoulder.first;
_pucksOffset[secondShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftArm, secondShoulder.second);
_jointToPuckMap[controller::RIGHT_ARM] = firstShoulder.first;
_pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, firstShoulder.second);
}
}
void ViveControllerManager::InputDevice::loadSettings() {
Settings settings;
settings.beginGroup("PUCK_CONFIG");
@ -646,6 +692,8 @@ void ViveControllerManager::InputDevice::setConfigFromString(const QString& valu
_preferedConfig = Config::FeetAndHips;
} else if (value == "FeetHipsAndChest") {
_preferedConfig = Config::FeetHipsAndChest;
} else if (value == "FeetHipsAndShoulders") {
_preferedConfig = Config::FeetHipsAndShoulders;
}
}
@ -658,7 +706,7 @@ void ViveControllerManager::InputDevice::createPreferences() {
auto getter = [this]()->QString { return _configStringMap[_preferedConfig]; };
auto setter = [this](const QString& value) { setConfigFromString(value); saveSettings(); };
auto preference = new ComboBoxPreference(VIVE_PUCKS_CONFIG, "Configuration", getter, setter);
QStringList list = (QStringList() << "Auto" << "Feet" << "FeetAndHips" << "FeetHipsAndChest");
QStringList list = {"Auto", "Feet", "FeetAndHips", "FeetHipsAndChest", "FeetHipsAndShoulders"};
preference->setItems(list);
preferences->addPreference(preference);
@ -710,6 +758,8 @@ controller::Input::NamedVector ViveControllerManager::InputDevice::getAvailableI
makePair(HIPS, "Hips"),
makePair(SPINE2, "Spine2"),
makePair(HEAD, "Head"),
makePair(LEFT_ARM, "LeftArm"),
makePair(RIGHT_ARM, "RightArm"),
// 16 tracked poses
makePair(TRACKED_OBJECT_00, "TrackedObject00"),

24
plugins/openvr/src/ViveControllerManager.h
View file

@ -27,6 +27,8 @@
#include <render/Scene.h>
#include "OpenVrHelpers.h"
using PuckPosePair = std::pair<uint32_t, controller::Pose>;
namespace vr {
class IVRSystem;
}
@ -78,6 +80,15 @@ private:
const vec3& angularVelocity);
void partitionTouchpad(int sButton, int xAxis, int yAxis, int centerPsuedoButton, int xPseudoButton, int yPseudoButton);
void printDeviceTrackingResultChange(uint32_t deviceIndex);
void setConfigFromString(const QString& value);
void loadSettings();
void saveSettings() const;
void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
int firstShoulderIndex, int secondShoulderIndex);
class FilteredStick {
public:
@ -102,13 +113,19 @@ private:
float _timer { 0.0f };
glm::vec2 _stick { 0.0f, 0.0f };
};
enum class Config { Feet, FeetAndHips, FeetHipsAndChest, Auto };
enum class Config {
Auto,
Feet,
FeetAndHips,
FeetHipsAndChest,
FeetHipsAndShoulders,
};
Config _config { Config::Auto };
Config _preferedConfig { Config::Auto };
FilteredStick _filteredLeftStick;
FilteredStick _filteredRightStick;
std::vector<std::pair<uint32_t, controller::Pose>> _validTrackedObjects;
std::vector<PuckPosePair> _validTrackedObjects;
std::map<uint32_t, glm::mat4> _pucksOffset;
std::map<int, uint32_t> _jointToPuckMap;
std::map<Config, QString> _configStringMap;
@ -131,9 +148,6 @@ private:
mutable std::recursive_mutex _lock;
QString configToString(Config config);
void setConfigFromString(const QString& value);
void loadSettings();
void saveSettings() const;
friend class ViveControllerManager;
};