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This commit is contained in:
Dante Ruiz 2017-05-02 21:33:58 +01:00
parent 67daa4b0a9
commit 15cad1fee9
2 changed files with 83 additions and 5 deletions
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72
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -10,6 +10,7 @@
//
#include "ViveControllerManager.h"
#include <algorithm>
#include <PerfStat.h>
#include <PathUtils.h>
@ -41,9 +42,16 @@ static const char* MENU_PARENT = "Avatar";
static const char* MENU_NAME = "Vive Controllers";
static const char* MENU_PATH = "Avatar" ">" "Vive Controllers";
static const char* RENDER_CONTROLLERS = "Render Hand Controllers";
const quint64 CALIBRATION_TIMELAPSE = 3000000;
const char* ViveControllerManager::NAME { "OpenVR" };
bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
controller::Pose firstPose = firstPuck.second;
controller::Pose secondPose = secondPuck.second;
return (firstPose.translation.y < secondPose.translation.y);
}
bool ViveControllerManager::isSupported() const {
return openVrSupported();
}
@ -125,6 +133,7 @@ void ViveControllerManager::pluginUpdate(float deltaTime, const controller::Inpu
void ViveControllerManager::InputDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {
_poseStateMap.clear();
_buttonPressedMap.clear();
_validTrackedObjects.clear();
// While the keyboard is open, we defer strictly to the keyboard values
if (isOpenVrKeyboardShown()) {
@ -164,10 +173,10 @@ void ViveControllerManager::InputDevice::update(float deltaTime, const controlle
numTrackedControllers++;
}
_trackedControllers = numTrackedControllers;
calibrate(inputCalibrationData);
}
void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData) {
uint32_t poseIndex = controller::TRACKED_OBJECT_00 + deviceIndex;
if (_system->IsTrackedDeviceConnected(deviceIndex) &&
@ -185,12 +194,71 @@ void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceInde
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
_poseStateMap[poseIndex] = pose.transform(controllerToAvatar);
_validTrackedObjects.push_back(std::make_pair(poseIndex, _poseStateMap[poseIndex]));
} else {
controller::Pose invalidPose;
_poseStateMap[poseIndex] = invalidPose;
}
}
void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibrationData& inputCalibration) {
quint64 currentTime = usecTimestampNow();
auto leftTrigger = _buttonPressedMap.find(controller::LT);
auto rightTrigger = _buttonPressedMap.find(controller::RT);
if ((leftTrigger != _buttonPressedMap.end()) && (rightTrigger != _buttonPressedMap.end())) {
if (!_calibrated) {
auto puckCount = _validTrackedObjects.size();
if (puckCount == 2) {
qDebug() << "-------------< configure feet <-------------";
_config = Config::Feet;
} else if (puckCount == 3) {
qDebug() << "-------------> configure feet and hips <-------------";
_config = Config::FeetAndHips;
} else if (puckCount >= 4) {
_config = Config::FeetHipsAndChest;
} else {
qDebug() << "Could not configure # pucks " << puckCount;
return;
}
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
auto firstFoot = _validTrackedObjects[0];
auto secondFoot = _validTrackedObjects[1];
controller::Pose firstFootPose = firstFoot.second;
controller::Pose secondFootPose = secondFoot.second;
if (firstFootPose.translation.x > secondFootPose.translation.x) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
} else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
}
if (_config == Config::Feet) {
// done
} else if (_config == Config::FeetAndHips) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
} else if (_config == Config::FeetHipsAndChest) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[2].first;
}
computePucksOffset(inputCalibration);
_calibrated = true;
} else {
qDebug() << "---- de-calibrated ---";
}
}
}
void ViveControllerManager::InputDevice::computePucksOffset(const controller::InputCalibrationData& inputCalibration) {
}
void ViveControllerManager::InputDevice::handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand) {
if (_system->IsTrackedDeviceConnected(deviceIndex) &&
@ -353,7 +421,7 @@ void ViveControllerManager::InputDevice::hapticsHelper(float deltaTime, bool lef
float hapticTime = strength * MAX_HAPTIC_TIME;
if (hapticTime < duration * 1000.0f) {
_system->TriggerHapticPulse(deviceIndex, 0, hapticTime);
}
}
float remainingHapticTime = duration - (hapticTime / 1000.0f + deltaTime * 1000.0f); // in milliseconds
if (leftHand) {

16
plugins/openvr/src/ViveControllerManager.h
View file

@ -14,9 +14,11 @@
#include <QObject>
#include <unordered_set>
#include <vector>
#include <map>
#include <utility>
#include <GLMHelpers.h>
#include <model/Geometry.h>
#include <gpu/Texture.h>
#include <controllers/InputDevice.h>
@ -58,7 +60,8 @@ private:
bool triggerHapticPulse(float strength, float duration, controller::Hand hand) override;
void hapticsHelper(float deltaTime, bool leftHand);
void calibrate(const controller::InputCalibrationData& inputCalibration);
void computePucksOffset(const controller::InputCalibrationData& inputCalibration);
void handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand);
void handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData);
void handleButtonEvent(float deltaTime, uint32_t button, bool pressed, bool touched, bool isLeftHand);
@ -90,10 +93,14 @@ private:
float _timer { 0.0f };
glm::vec2 _stick { 0.0f, 0.0f };
};
enum class Config { Feet, FeetAndHips, FeetHipsAndChest, NoConfig };
Config _config { Config::NoConfig };
FilteredStick _filteredLeftStick;
FilteredStick _filteredRightStick;
std::vector<std::pair<uint32_t, controller::Pose>> _validTrackedObjects;
std::map<uint32_t, const mat4> _pucksOffset;
std::map<int, uint32_t> _jointToPuckMap;
// perform an action when the InputDevice mutex is acquired.
using Locker = std::unique_lock<std::recursive_mutex>;
template <typename F>
@ -101,10 +108,13 @@ private:
int _trackedControllers { 0 };
vr::IVRSystem*& _system;
quint64 _calibrateAfterTimelapse { 0.f };
float _leftHapticStrength { 0.0f };
float _leftHapticDuration { 0.0f };
float _rightHapticStrength { 0.0f };
float _rightHapticDuration { 0.0f };
bool _calibrate { false };
bool _calibrated { false };
mutable std::recursive_mutex _lock;
friend class ViveControllerManager;