Baseball test code

interface/src/Application.cpp

@@ -950,8 +950,8 @@ void Application::initializeGL() {
     checkFPStimer.start(1000);
 
     // call our idle function whenever we can
-    connect(&idleTimer, &QTimer::timeout, this, &Application::idle);
+ //   connect(&idleTimer, &QTimer::timeout, this, &Application::idle);
-    idleTimer.start(TARGET_SIM_FRAME_PERIOD_MS);
+ //  idleTimer.start(TARGET_SIM_FRAME_PERIOD_MS);
     _idleLoopStdev.reset();
 
     // update before the first render
@@ -1023,6 +1023,10 @@ void Application::paintGL() {
     if (_inPaint) {
         return;
     }
+	
+	// this is a good idea
+	idle();
+
     _inPaint = true;
     Finally clearFlagLambda([this] { _inPaint = false; });
 
@@ -2070,7 +2074,7 @@ void Application::idle() {
     float secondsSinceLastUpdate = timeSinceLastUpdateUs / USECS_PER_SECOND;
 
     if (isThrottled && (timeSinceLastUpdateUs / USECS_PER_MSEC) < THROTTLED_SIM_FRAME_PERIOD_MS) {
-        return; // bail early, we're throttled and not enough time has elapsed
+        //return; // bail early, we're throttled and not enough time has elapsed
     }
 
     _lastTimeUpdated.start();

interface/src/avatar/AvatarActionHold.cpp

@@ -35,7 +35,8 @@ AvatarActionHold::~AvatarActionHold() {
     qDebug() << "AvatarActionHold::~AvatarActionHold";
     #endif
 }
-
+#include <plugins/PluginManager.h>
+#include <input-plugins/ViveControllerManager.h>
 void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
     bool gotLock = false;
     glm::quat rotation;
@@ -51,7 +52,24 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
             glm::vec3 offset;
             glm::vec3 palmPosition;
             glm::quat palmRotation;
-            if (_hand == "right") {
+
+			const auto& plugins = PluginManager::getInstance()->getInputPlugins();
+			auto it = std::find_if(std::begin(plugins), std::end(plugins), [](const InputPluginPointer& plugin) {
+				return plugin->getName() == ViveControllerManager::NAME;
+			});
+				
+			if (it != std::end(plugins)) {
+				const auto& vive = it->dynamicCast<ViveControllerManager>();
+				auto index = (_hand == "right") ? 0 : 1; auto userInputMapper = DependencyManager::get<UserInputMapper>();
+				auto translation = extractTranslation(userInputMapper->getSensorToWorldMat());
+				auto rotation = glm::quat_cast(userInputMapper->getSensorToWorldMat());
+
+
+				const glm::quat quarterX = glm::angleAxis(PI / 2.0f, glm::vec3(1.0f, 0.0f, 0.0f));
+				const glm::quat yFlip = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
+				palmPosition = translation + rotation * vive->getPosition(index);
+				palmRotation = rotation * vive->getRotation(index) * yFlip * quarterX;
+			} else if (_hand == "right") {
                 palmPosition = holdingAvatar->getRightPalmPosition();
                 palmRotation = holdingAvatar->getRightPalmRotation();
             } else {

libraries/input-plugins/src/input-plugins/ViveControllerManager.cpp

@@ -217,6 +217,15 @@ void ViveControllerManager::renderHand(UserInputMapper::PoseValue pose, gpu::Bat
     batch.drawIndexed(gpu::TRIANGLES, mesh->getNumIndices(), 0);
 }
 
+glm::vec3 ViveControllerManager::getPosition(int hand) const {
+	const mat4& mat = _trackedDevicePoseMat4[hand ? 3 : 4];
+	return extractTranslation(mat);
+}
+glm::quat ViveControllerManager::getRotation(int hand) const {
+	const mat4& mat = _trackedDevicePoseMat4[hand ? 3 : 4];
+	return glm::quat_cast(mat);
+}
+
 void ViveControllerManager::update(float deltaTime, bool jointsCaptured) {
 #ifdef Q_OS_WIN
     _poseStateMap.clear();
@@ -250,7 +259,7 @@ void ViveControllerManager::update(float deltaTime, bool jointsCaptured) {
         numTrackedControllers++;
             
         const mat4& mat = _trackedDevicePoseMat4[device];
-                  
+		
         if (!jointsCaptured) {
             handlePoseEvent(mat, numTrackedControllers - 1);
         }
@@ -372,16 +381,23 @@ void ViveControllerManager::handlePoseEvent(const mat4& mat, int index) {
     //    Q = (deltaQ * QOffset) * (yFlip * quarterTurnAboutX)
     //
     //    Q = (deltaQ * inverse(deltaQForAlignedHand)) * (yFlip * quarterTurnAboutX)
-   
+
+    float sign = (index == LEFT_HAND) ? -1.0f : 1.0f;
+
     const glm::quat quarterX = glm::angleAxis(PI / 2.0f, glm::vec3(1.0f, 0.0f, 0.0f));
     const glm::quat yFlip = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
-    float sign = (index == LEFT_HAND) ? -1.0f : 1.0f;
     const glm::quat signedQuaterZ = glm::angleAxis(sign * PI / 2.0f, glm::vec3(0.0f, 0.0f, 1.0f)); 
     const glm::quat eighthX = glm::angleAxis(PI / 4.0f, glm::vec3(1.0f, 0.0f, 0.0f));
-    const glm::quat offset = glm::inverse(signedQuaterZ * eighthX);
+    
-    rotation = rotation * offset * yFlip * quarterX;
+	
+	const glm::quat rotationOffset = glm::inverse(signedQuaterZ * eighthX) * yFlip * quarterX;
+	const glm::vec3 translationOffset = glm::vec3(sign * CONTROLLER_LENGTH_OFFSET / 2.0f,
+												  CONTROLLER_LENGTH_OFFSET / 2.0f,
+												  2.0f * CONTROLLER_LENGTH_OFFSET); 
 
-    position += rotation * glm::vec3(0, 0, -CONTROLLER_LENGTH_OFFSET);
+	position += rotation * translationOffset;
+	rotation = rotation * rotationOffset;
+	//{quat, x = 0.653281, y = -0.270598, z = 0.653281, w = 0.270598}{vec3, x = 0.0381, y = -0.0381, z = -0.1524}
 
     _poseStateMap[makeInput(JointChannel(index)).getChannel()] = UserInputMapper::PoseValue(position, rotation);
 }

libraries/input-plugins/src/input-plugins/ViveControllerManager.h

@@ -27,6 +27,8 @@
 class ViveControllerManager : public InputPlugin, public InputDevice {
     Q_OBJECT
 public:
+	static const QString NAME;
+
     enum JoystickAxisChannel {
         AXIS_Y_POS = 1U << 1,
         AXIS_Y_NEG = 1U << 2,
@@ -74,6 +76,10 @@ public:
     UserInputMapper::Input makeInput(unsigned int button, int index);
     UserInputMapper::Input makeInput(JoystickAxisChannel axis, int index);
     UserInputMapper::Input makeInput(JointChannel joint);
+
+	int getNumDevices() const; 
+	glm::vec3 getPosition(int device) const;
+	glm::quat getRotation(int device) const;
     
 private:
     void renderHand(UserInputMapper::PoseValue pose, gpu::Batch& batch, int index);
@@ -92,8 +98,6 @@ private:
     int _rightHandRenderID;
 
     bool _renderControllers;
-
-    static const QString NAME;
 };
 
 #endif // hifi__ViveControllerManager

libraries/shared/src/PhysicsHelpers.h

@@ -16,7 +16,7 @@
 #include <glm/gtc/quaternion.hpp>
 
 const int PHYSICS_ENGINE_MAX_NUM_SUBSTEPS = 6; // Bullet will start to "lose time" at 10 FPS.
-const float PHYSICS_ENGINE_FIXED_SUBSTEP = 1.0f / 60.0f;
+const float PHYSICS_ENGINE_FIXED_SUBSTEP = 1.0f / 90.0f;
 
 // return incremental rotation (Bullet-style) caused by angularVelocity over timeStep
 glm::quat computeBulletRotationStep(const glm::vec3& angularVelocity, float timeStep);