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Code review feedback and bug fixes for calibraiton matrices

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This commit is contained in:
Anthony Thibault 2018-09-04 11:55:52 -07:00
parent 3a034fdf66
commit b21fa1037f
3 changed files with 21 additions and 22 deletions
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21
interface/src/avatar/MyAvatar.cpp
View file

@ -4314,7 +4314,7 @@ glm::mat4 MyAvatar::getCenterEyeCalibrationMat() const {
return createMatFromQuatAndPos(centerEyeRot, centerEyePos / getSensorToWorldScale());
} else {
glm::mat4 headMat = getHeadCalibrationMat();
return createMatFromQuatAndPos(DEFAULT_AVATAR_MIDDLE_EYE_ROT, extractTranslation(headMat) + (DEFAULT_AVATAR_HEAD_TO_MIDDLE_EYE_OFFSET / getSensorToWorldScale()));
return createMatFromQuatAndPos(DEFAULT_AVATAR_MIDDLE_EYE_ROT, extractTranslation(headMat) + DEFAULT_AVATAR_HEAD_TO_MIDDLE_EYE_OFFSET);
}
}
@ -4327,7 +4327,7 @@ glm::mat4 MyAvatar::getHeadCalibrationMat() const {
return createMatFromQuatAndPos(headRot, headPos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_HEAD_ROT, DEFAULT_AVATAR_HEAD_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_HEAD_ROT, DEFAULT_AVATAR_HEAD_POS);
}
}
@ -4339,7 +4339,7 @@ glm::mat4 MyAvatar::getSpine2CalibrationMat() const {
auto spine2Rot = getAbsoluteDefaultJointRotationInObjectFrame(spine2Index);
return createMatFromQuatAndPos(spine2Rot, spine2Pos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_SPINE2_ROT, DEFAULT_AVATAR_SPINE2_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_SPINE2_ROT, DEFAULT_AVATAR_SPINE2_POS);
}
}
@ -4351,7 +4351,7 @@ glm::mat4 MyAvatar::getHipsCalibrationMat() const {
auto hipsRot = getAbsoluteDefaultJointRotationInObjectFrame(hipsIndex);
return createMatFromQuatAndPos(hipsRot, hipsPos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_HIPS_ROT, DEFAULT_AVATAR_HIPS_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_HIPS_ROT, DEFAULT_AVATAR_HIPS_POS);
}
}
@ -4363,7 +4363,7 @@ glm::mat4 MyAvatar::getLeftFootCalibrationMat() const {
auto leftFootRot = getAbsoluteDefaultJointRotationInObjectFrame(leftFootIndex);
return createMatFromQuatAndPos(leftFootRot, leftFootPos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTFOOT_ROT, DEFAULT_AVATAR_LEFTFOOT_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTFOOT_ROT, DEFAULT_AVATAR_LEFTFOOT_POS);
}
}
@ -4375,11 +4375,10 @@ glm::mat4 MyAvatar::getRightFootCalibrationMat() const {
auto rightFootRot = getAbsoluteDefaultJointRotationInObjectFrame(rightFootIndex);
return createMatFromQuatAndPos(rightFootRot, rightFootPos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTFOOT_ROT, DEFAULT_AVATAR_RIGHTFOOT_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTFOOT_ROT, DEFAULT_AVATAR_RIGHTFOOT_POS);
}
}
glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
int rightArmIndex = _skeletonModel->getRig().indexOfJoint("RightArm");
if (rightArmIndex >= 0) {
@ -4387,7 +4386,7 @@ glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
auto rightArmRot = getAbsoluteDefaultJointRotationInObjectFrame(rightArmIndex);
return createMatFromQuatAndPos(rightArmRot, rightArmPos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTARM_ROT, DEFAULT_AVATAR_RIGHTARM_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTARM_ROT, DEFAULT_AVATAR_RIGHTARM_POS);
}
}
@ -4398,7 +4397,7 @@ glm::mat4 MyAvatar::getLeftArmCalibrationMat() const {
auto leftArmRot = getAbsoluteDefaultJointRotationInObjectFrame(leftArmIndex);
return createMatFromQuatAndPos(leftArmRot, leftArmPos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTARM_ROT, DEFAULT_AVATAR_LEFTARM_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTARM_ROT, DEFAULT_AVATAR_LEFTARM_POS);
}
}
@ -4409,7 +4408,7 @@ glm::mat4 MyAvatar::getRightHandCalibrationMat() const {
auto rightHandRot = getAbsoluteDefaultJointRotationInObjectFrame(rightHandIndex);
return createMatFromQuatAndPos(rightHandRot, rightHandPos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTHAND_ROT, DEFAULT_AVATAR_RIGHTHAND_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTHAND_ROT, DEFAULT_AVATAR_RIGHTHAND_POS);
}
}
@ -4420,7 +4419,7 @@ glm::mat4 MyAvatar::getLeftHandCalibrationMat() const {
auto leftHandRot = getAbsoluteDefaultJointRotationInObjectFrame(leftHandIndex);
return createMatFromQuatAndPos(leftHandRot, leftHandPos / getSensorToWorldScale());
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTHAND_ROT, DEFAULT_AVATAR_LEFTHAND_POS / getSensorToWorldScale());
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTHAND_ROT, DEFAULT_AVATAR_LEFTHAND_POS);
}
}

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

@ -1034,7 +1034,7 @@ public:
virtual glm::quat getAbsoluteJointRotationInObjectFrame(int index) const override;
virtual glm::vec3 getAbsoluteJointTranslationInObjectFrame(int index) const override;
// all calibration matrices are in absolute avatar space.
// all calibration matrices are in absolute sensor space.
glm::mat4 getCenterEyeCalibrationMat() const;
glm::mat4 getHeadCalibrationMat() const;
glm::mat4 getSpine2CalibrationMat() const;

20
libraries/controllers/src/controllers/Input.h
View file

@ -19,16 +19,16 @@ struct InputCalibrationData {
glm::mat4 sensorToWorldMat; // sensor to world
glm::mat4 avatarMat; // avatar to world
glm::mat4 hmdSensorMat; // hmd pos and orientation in sensor space
glm::mat4 defaultCenterEyeMat; // default pose for the center of the eyes in avatar space.
glm::mat4 defaultHeadMat; // default pose for head joint in avatar space
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 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
glm::mat4 defaultCenterEyeMat; // default pose for the center of the eyes in sensor space.
glm::mat4 defaultHeadMat; // default pose for head joint in sensor space
glm::mat4 defaultSpine2; // default pose for spine2 joint in sensor space
glm::mat4 defaultHips; // default pose for hips joint in sensor space
glm::mat4 defaultLeftFoot; // default pose for leftFoot joint in sensor space
glm::mat4 defaultRightFoot; // default pose for rightFoot joint in sensor space
glm::mat4 defaultRightArm; // default pose for rightArm joint in sensor space
glm::mat4 defaultLeftArm; // default pose for leftArm joint in sensor space
glm::mat4 defaultRightHand; // default pose for rightHand joint in sensor space
glm::mat4 defaultLeftHand; // default pose for leftHand joint in sensor space
};
enum class ChannelType {