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rotation and thrust work in both 2d and hmd mode

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known issue, hmd does thrust doesnt work when avatar collisons are disabled.
This commit is contained in:
Anthony J. Thibault 2015-07-08 12:25:57 -07:00
parent 754e55553a
commit 07141fd1e3
3 changed files with 51 additions and 44 deletions
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8
interface/src/Application.cpp
View file

@ -2685,7 +2685,8 @@ void Application::update(float deltaTime) {
_physicsEngine.stepSimulation();
_entities.getTree()->unlock();
// AJT: delay the head pose until after the physics step.
// AJT: FIXME due to sensitve order of operations, within MyAvatar,
// delay the head pose until after the physics step.
_headPosition = glm::vec3(getActiveDisplayPlugin()->getHeadPose()[3]);
_headOrientation = glm::quat_cast(getActiveDisplayPlugin()->getHeadPose());
@ -2788,7 +2789,7 @@ void Application::update(float deltaTime) {
}
}
// AJT: hack
// AJT: hack for debug drawing.
extern const int NUM_MARKERS;
extern glm::mat4 markerMats[];
extern glm::vec4 markerColors[];
@ -2827,7 +2828,8 @@ void Application::setPalmData(Hand* hand, UserInputMapper::PoseValue pose, int i
palm->setRawPosition(extractTranslation(objectPose));
palm->setRawRotation(glm::quat_cast(objectPose));
markerMats[index] = sensorToWorldMat * poseMat;
// AJT: Hack for debug drawing.
//markerMats[index] = sensorToWorldMat * poseMat;
}
void Application::emulateMouse(Hand* hand, float click, float shift, int index) {

10
interface/src/avatar/Head.cpp
View file

@ -24,6 +24,7 @@
#include "Util.h"
#include "devices/DdeFaceTracker.h"
#include "devices/Faceshift.h"
#include "InterfaceLogging.h"
using namespace std;
@ -339,8 +340,13 @@ glm::quat Head::getCameraOrientation() const {
// to change the driving direction while in Oculus mode. It is used to support driving toward where you're
// head is looking. Note that in oculus mode, your actual camera view and where your head is looking is not
// always the same.
if (qApp->isHMDMode()) {
return getOrientation();
MyAvatar* myAvatar = dynamic_cast<MyAvatar*>(_owningAvatar);
if (qApp->isHMDMode() && myAvatar) {
if (isRoomTracking) {
return glm::quat_cast(myAvatar->getSensorToWorldMat()) * qApp->getHeadOrientation();
} else {
return getOrientation();
}
}
Avatar* owningAvatar = static_cast<Avatar*>(_owningAvatar);
return owningAvatar->getWorldAlignedOrientation() * glm::quat(glm::radians(glm::vec3(_basePitch, 0.0f, 0.0f)));

77
interface/src/avatar/MyAvatar.cpp
View file

@ -1288,12 +1288,17 @@ void MyAvatar::updateOrientation(float deltaTime) {
glm::quat twist = glm::quat(glm::radians(glm::vec3(0.0f, _bodyYawDelta, 0.0f) * deltaTime));
// update sensor mat, so that rotation will take effect when room tracking.
glm::vec3 bodyPosition = calcBodyPositionFromSensors();
glm::quat bodyOrientation = calcBodyOrientationFromSensors();
glm::mat4 bodyMat = createMatFromQuatAndPos(bodyOrientation, bodyPosition);
glm::mat4 sensorOffset = bodyMat * glm::mat4_cast(twist) * glm::inverse(bodyMat);
_sensorToWorldMat = sensorOffset * _sensorToWorldMat;
if (!(qApp->isHMDMode() && isRoomTracking)) {
setOrientation(twist * getOrientation());
}
// decay body rotation momentum
const float BODY_SPIN_FRICTION = 7.5f;
float bodySpinMomentum = 1.0f - BODY_SPIN_FRICTION * deltaTime;
@ -1373,6 +1378,8 @@ glm::vec3 MyAvatar::applyKeyboardMotor(float deltaTime, const glm::vec3& localVe
glm::vec3 direction = front + right + up;
float directionLength = glm::length(direction);
qCDebug(interfaceapp, "direction = (%.5f, %.5f, %.5f)", direction.x, direction.y, direction.z);
// Compute motor magnitude
if (directionLength > EPSILON) {
direction /= directionLength;
@ -1448,7 +1455,7 @@ glm::vec3 MyAvatar::applyScriptedMotor(float deltaTime, const glm::vec3& localVe
void MyAvatar::updatePosition(float deltaTime) {
// rotate velocity into camera frame
glm::quat rotation = glm::quat_cast(_sensorToWorldMat) * qApp->getHeadOrientation(); /* getHead()->getCameraOrientation() */;
glm::quat rotation = getHead()->getCameraOrientation();
glm::vec3 localVelocity = glm::inverse(rotation) * _targetVelocity;
bool isHovering = _characterController.isHovering();
@ -1572,50 +1579,35 @@ void MyAvatar::goToLocation(const glm::vec3& newPosition,
qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - moving to " << newPosition.x << ", "
<< newPosition.y << ", " << newPosition.z;
glm::mat4 m;
m[3] = glm::vec4(newPosition, 1);
_sensorToWorldMat = m;
if (qApp->isHMDMode() && isRoomTracking) {
// AJT: FIXME, does not work with orientation.
// AJT: FIXME, does not work with shouldFaceLocation flag.
// Set the orientation of the sensor room, not the avatar itself.
glm::mat4 m;
m[3] = glm::vec4(newPosition, 1);
_sensorToWorldMat = m;
} else {
glm::vec3 shiftedPosition = newPosition;
if (hasOrientation) {
qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - new orientation is "
<< newOrientation.x << ", " << newOrientation.y << ", " << newOrientation.z << ", " << newOrientation.w;
// AJT: FIXME, goToLocation doens't work with orientation.
/*
// Set the orientation of the sensor room, not the avatar itself.
if (hasOrientation) {
qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - new orientation is "
<< newOrientation.x << ", " << newOrientation.y << ", " << newOrientation.z << ", " << newOrientation.w;
// orient the user to face the target
glm::quat quatOrientation = newOrientation;
glm::vec3 axis = glm::axis(newOrientation);
qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - new orientation is axis = ("
<< axis.x << ", " << axis.y << ", " << axis.z << "), theta = " << glm::angle(newOrientation);
if (shouldFaceLocation) {
quatOrientation = newOrientation * glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
// TODO: FIXME: add support for shouldFaceLocation
m = glm::mat4_cast(newOrientation);
}
*/
// move the user a couple units away
const float DISTANCE_TO_USER = 2.0f;
shiftedPosition = newPosition - quatOrientation * IDENTITY_FRONT * DISTANCE_TO_USER;
}
/*
glm::vec3 shiftedPosition = newPosition;
if (hasOrientation) {
qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - new orientation is "
<< newOrientation.x << ", " << newOrientation.y << ", " << newOrientation.z << ", " << newOrientation.w;
// orient the user to face the target
glm::quat quatOrientation = newOrientation;
if (shouldFaceLocation) {
quatOrientation = newOrientation * glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
// move the user a couple units away
const float DISTANCE_TO_USER = 2.0f;
shiftedPosition = newPosition - quatOrientation * IDENTITY_FRONT * DISTANCE_TO_USER;
setOrientation(quatOrientation);
}
setOrientation(quatOrientation);
slamPosition(shiftedPosition);
}
slamPosition(shiftedPosition);
*/
emit transformChanged();
}
@ -1695,21 +1687,28 @@ void MyAvatar::setAvatarOrientation(glm::quat quat) {
Avatar::setOrientation(quat);
}
// these are overriden, because they must move the sensor mat, such that the avatar will be at the given location.
// overriden, because they must move the sensor mat, so that the avatar will be at the given location.
void MyAvatar::setPosition(const glm::vec3 position, bool overideReferential) {
// update the sensor mat so that the body position will end up in the desired
// position when driven from the head.
glm::vec3 bodyPos = calcBodyPositionFromSensors();
glm::vec3 desiredPos = position;
glm::vec3 sensorPos(_sensorToWorldMat[3]);
_sensorToWorldMat[3] = glm::vec4(desiredPos - bodyPos + sensorPos, 1);
setAvatarPosition(position);
}
// overriden, because they must move the sensor mat, so that the avatar will face the given orienation.
void MyAvatar::setOrientation(const glm::quat& orientation, bool overideReferential) {
// update the sensor mat so that the body orientation will end up in the desired
// location when driven from the head.
glm::vec3 bodyPos = calcBodyPositionFromSensors();
glm::quat bodyOrientation = calcBodyOrientationFromSensors();
glm::mat4 bodyMat = createMatFromQuatAndPos(bodyOrientation, bodyPos);
glm::mat4 desiredMat = createMatFromQuatAndPos(orientation, bodyPos);
_sensorToWorldMat = desiredMat * glm::inverse(bodyMat) * _sensorToWorldMat;
setAvatarOrientation(orientation);
}