Mirrors/overte-HifiExperiments
3
0
Fork 0
mirror of https://github.com/HifiExperiments/overte.git synced 2025-04-10 08:12:08 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Merge pull request #13952 from amantley/steppingReboot

Browse source 
Fix for lurching walk(case 16945), when walking in hmd.
This commit is contained in:
John Conklin II 2018-09-07 11:43:03 -07:00 committed by GitHub
commit 2ac0377a6e
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
4 changed files with 43 additions and 16 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

53
interface/src/avatar/MyAvatar.cpp
View file

@ -516,6 +516,10 @@ void MyAvatar::update(float deltaTime) {
head->relax(deltaTime);
updateFromTrackers(deltaTime);
if (getIsInWalkingState() && glm::length(getControllerPoseInAvatarFrame(controller::Action::HEAD).getVelocity()) < DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
setIsInWalkingState(false);
}
// Get audio loudness data from audio input device
// Also get the AudioClient so we can update the avatar bounding box data
// on the AudioClient side.
@ -3678,10 +3682,10 @@ static bool headAngularVelocityBelowThreshold(const controller::Pose& head) {
return isBelowThreshold;
}
static bool isWithinThresholdHeightMode(const controller::Pose& head,const float& newMode) {
static bool isWithinThresholdHeightMode(const controller::Pose& head, const float& newMode, const float& scale) {
bool isWithinThreshold = true;
if (head.isValid()) {
isWithinThreshold = (head.getTranslation().y - newMode) > DEFAULT_AVATAR_MODE_HEIGHT_STEPPING_THRESHOLD;
isWithinThreshold = (head.getTranslation().y - newMode) > (DEFAULT_AVATAR_MODE_HEIGHT_STEPPING_THRESHOLD * scale);
}
return isWithinThreshold;
}
@ -3802,6 +3806,10 @@ float MyAvatar::getUserEyeHeight() const {
return userHeight - userHeight * ratio;
}
bool MyAvatar::getIsInWalkingState() const {
return _isInWalkingState;
}
float MyAvatar::getWalkSpeed() const {
return _walkSpeed.get() * _walkSpeedScalar;
}
@ -3818,6 +3826,10 @@ void MyAvatar::setSprintMode(bool sprint) {
_walkSpeedScalar = sprint ? _sprintSpeed.get() : AVATAR_WALK_SPEED_SCALAR;
}
void MyAvatar::setIsInWalkingState(bool isWalking) {
_isInWalkingState = isWalking;
}
void MyAvatar::setWalkSpeed(float value) {
_walkSpeed.set(value);
}
@ -3912,7 +3924,6 @@ void MyAvatar::lateUpdatePalms() {
Avatar::updatePalms();
}
static const float FOLLOW_TIME = 0.5f;
MyAvatar::FollowHelper::FollowHelper() {
@ -4004,24 +4015,36 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontalCG(MyAvatar& myAvatar) cons
controller::Pose currentRightHandPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND);
bool stepDetected = false;
if (!withinBaseOfSupport(currentHeadPose) &&
float myScale = myAvatar.getAvatarScale();
if (myAvatar.getIsInWalkingState()) {
stepDetected = true;
} else {
if (!withinBaseOfSupport(currentHeadPose) &&
headAngularVelocityBelowThreshold(currentHeadPose) &&
isWithinThresholdHeightMode(currentHeadPose, myAvatar.getCurrentStandingHeight()) &&
isWithinThresholdHeightMode(currentHeadPose, myAvatar.getCurrentStandingHeight(), myScale) &&
handDirectionMatchesHeadDirection(currentLeftHandPose, currentRightHandPose, currentHeadPose) &&
handAngularVelocityBelowThreshold(currentLeftHandPose, currentRightHandPose) &&
headVelocityGreaterThanThreshold(currentHeadPose) &&
isHeadLevel(currentHeadPose, myAvatar.getAverageHeadRotation())) {
// a step is detected
stepDetected = true;
} else {
glm::vec3 defaultHipsPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Hips"));
glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head"));
glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
if (!isActive(Horizontal) &&
(glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance)))) {
myAvatar.setResetMode(true);
// a step is detected
stepDetected = true;
if (glm::length(currentHeadPose.velocity) > DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
myAvatar.setIsInWalkingState(true);
}
} else {
glm::vec3 defaultHipsPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Hips"));
glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head"));
glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
if (!isActive(Horizontal) &&
(glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance)))) {
myAvatar.setResetMode(true);
stepDetected = true;
if (glm::length(currentHeadPose.velocity) > DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
myAvatar.setIsInWalkingState(true);
}
}
}
}
return stepDetected;

3
interface/src/avatar/MyAvatar.h
View file

@ -1086,6 +1086,8 @@ public:
const QUuid& getSelfID() const { return AVATAR_SELF_ID; }
void setIsInWalkingState(bool isWalking);
bool getIsInWalkingState() const;
void setWalkSpeed(float value);
float getWalkSpeed() const;
void setWalkBackwardSpeed(float value);
@ -1788,6 +1790,7 @@ private:
ThreadSafeValueCache<float> _walkBackwardSpeed { DEFAULT_AVATAR_MAX_WALKING_BACKWARD_SPEED };
ThreadSafeValueCache<float> _sprintSpeed { AVATAR_SPRINT_SPEED_SCALAR };
float _walkSpeedScalar { AVATAR_WALK_SPEED_SCALAR };
bool _isInWalkingState { false };
// load avatar scripts once when rig is ready
bool _shouldLoadScripts { false };

2
interface/src/avatar/MySkeletonModel.cpp
View file

@ -46,7 +46,7 @@ static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
}
glm::mat4 hipsMat;
if (myAvatar->getCenterOfGravityModelEnabled() && !isFlying) {
if (myAvatar->getCenterOfGravityModelEnabled() && !isFlying && !(myAvatar->getIsInWalkingState())) {
// then we use center of gravity model
hipsMat = myAvatar->deriveBodyUsingCgModel();
} else {

1
libraries/shared/src/AvatarConstants.h
View file

@ -68,6 +68,7 @@ const glm::quat DEFAULT_AVATAR_RIGHTFOOT_ROT { -0.4016716778278351f, 0.915461599
const float DEFAULT_AVATAR_MAX_WALKING_SPEED = 2.6f; // meters / second
const float DEFAULT_AVATAR_MAX_WALKING_BACKWARD_SPEED = 2.2f; // meters / second
const float DEFAULT_AVATAR_MAX_FLYING_SPEED = 30.0f; // meters / second
const float DEFAULT_AVATAR_WALK_SPEED_THRESHOLD = 0.15f;
const float DEFAULT_AVATAR_GRAVITY = -5.0f; // meters / second^2
const float DEFAULT_AVATAR_JUMP_SPEED = 3.5f; // meters / second