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First stab at Leap driving.

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This commit is contained in:
Andrzej Kapolka 2013-11-19 15:10:02 -08:00
parent bc523092ba
commit 38c2abd6d8
3 changed files with 84 additions and 7 deletions
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3
interface/src/Application.cpp
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@ -2202,7 +2202,7 @@ void Application::updateLeap(float deltaTime) {
LeapManager::enableFakeFingers(Menu::getInstance()->isOptionChecked(MenuOption::SimulateLeapHand));
_myAvatar.getHand().setRaveGloveActive(Menu::getInstance()->isOptionChecked(MenuOption::TestRaveGlove));
LeapManager::nextFrame(_myAvatar);
LeapManager::nextFrame();
}
void Application::updateSixense() {
@ -4100,6 +4100,7 @@ void Application::resetSensors() {
}
_webcam.reset();
_faceshift.reset();
LeapManager::reset();
QCursor::setPos(_headMouseX, _headMouseY);
_myAvatar.reset();
_myTransmitter.resetLevels();

84
interface/src/devices/LeapManager.cpp
View file

@ -6,12 +6,16 @@
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
//
#include "LeapManager.h"
#include "avatar/Avatar.h"
#include <Leap.h>
#include <dlfcn.h> // needed for RTLD_LAZY
#include <sstream>
#include <Leap.h>
#include "Application.h"
#include "LeapManager.h"
#include "Menu.h"
// Uncomment the next line to use Leap-smoothed stabilized (slower) data.
//#define USE_STABILIZED_DATA
@ -19,6 +23,7 @@ bool LeapManager::_libraryExists = false;
bool LeapManager::_doFakeFingers = false;
Leap::Controller* LeapManager::_controller = NULL;
HifiLeapListener* LeapManager::_listener = NULL;
glm::vec3 LeapManager::_baseDrivePosition;
class HifiLeapListener : public Leap::Listener {
public:
@ -44,6 +49,25 @@ void LeapManager::initialize() {
#endif
}
static PalmData* getRightmostPalm() {
PalmData* rightmostPalm = NULL;
Hand& hand = Application::getInstance()->getAvatar()->getHand();
for (int i = 0; i < hand.getNumPalms(); i++) {
PalmData* palm = &hand.getPalms()[i];
if (palm->isActive() && (rightmostPalm == NULL || palm->getRawPosition().x > rightmostPalm->getRawPosition().x)) {
rightmostPalm = palm;
}
}
return rightmostPalm;
}
void LeapManager::reset() {
PalmData* rightmostPalm = getRightmostPalm();
if (rightmostPalm != NULL) {
_baseDrivePosition = rightmostPalm->getRawPosition();
}
}
void LeapManager::terminate() {
delete _listener;
delete _controller;
@ -51,9 +75,10 @@ void LeapManager::terminate() {
_controller = NULL;
}
void LeapManager::nextFrame(Avatar& avatar) {
void LeapManager::nextFrame() {
// Apply the frame data directly to the avatar.
Hand& hand = avatar.getHand();
MyAvatar* avatar = Application::getInstance()->getAvatar();
Hand& hand = avatar->getHand();
// If we actually get valid Leap data, this will be set to true;
bool gotRealData = false;
@ -244,6 +269,55 @@ void LeapManager::nextFrame(Avatar& avatar) {
}
}
hand.updateFingerTrails();
// if Leap drive is enabled, drive avatar based on Leap input
if (!Menu::getInstance()->isOptionChecked(MenuOption::LeapDrive)) {
return;
}
glm::vec3 relativePosition;
glm::vec3 eulerAngles;
PalmData* rightmostPalm = getRightmostPalm();
if (rightmostPalm != NULL) {
relativePosition = rightmostPalm->getRawPosition() - _baseDrivePosition;
glm::vec3 directionSum;
int activeFingerCount = 0;
for (int i = 0; i < rightmostPalm->getNumFingers(); i++) {
FingerData& finger = rightmostPalm->getFingers()[i];
glm::vec3 fingerVector = finger.getTipRawPosition() - rightmostPalm->getRawPosition();
if (finger.isActive() && glm::length(fingerVector) > EPSILON) {
directionSum += glm::normalize(fingerVector);
activeFingerCount++;
}
}
const int MIN_DIRECTION_FINGER_COUNT = 3;
glm::vec3 right;
if (activeFingerCount >= MIN_DIRECTION_FINGER_COUNT) {
right = glm::normalize(glm::cross(glm::normalize(directionSum), -rightmostPalm->getRawNormal()));
} else {
right = glm::normalize(glm::cross(IDENTITY_FRONT, -rightmostPalm->getRawNormal()));
}
eulerAngles = safeEulerAngles(glm::quat_cast(glm::mat3(right, -rightmostPalm->getRawNormal(),
glm::cross(right, -rightmostPalm->getRawNormal()))));
}
const float LINEAR_DRIVE_SCALE = 0.1f;
const float LINEAR_DEAD_ZONE = 0.3f;
avatar->setDriveKeys(FWD, glm::clamp(-relativePosition.z * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(BACK, glm::clamp(relativePosition.z * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(LEFT, glm::clamp(-relativePosition.x * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(RIGHT, glm::clamp(relativePosition.x * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(UP, glm::clamp(relativePosition.y * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(DOWN, glm::clamp(-relativePosition.y * LINEAR_DRIVE_SCALE - LINEAR_DEAD_ZONE, 0.0f, 1.0f));
const float ANGULAR_DRIVE_SCALE = 0.1f;
const float ANGULAR_DEAD_ZONE = 0.3f;
avatar->setDriveKeys(ROT_LEFT, glm::clamp(glm::max(eulerAngles.y, eulerAngles.z) * ANGULAR_DRIVE_SCALE -
ANGULAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(ROT_RIGHT, glm::clamp(glm::max(-eulerAngles.y, -eulerAngles.z) * ANGULAR_DRIVE_SCALE -
ANGULAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(ROT_UP, glm::clamp(eulerAngles.x * ANGULAR_DRIVE_SCALE - ANGULAR_DEAD_ZONE, 0.0f, 1.0f));
avatar->setDriveKeys(ROT_DOWN, glm::clamp(-eulerAngles.x * ANGULAR_DRIVE_SCALE - ANGULAR_DEAD_ZONE, 0.0f, 1.0f));
}
void LeapManager::enableFakeFingers(bool enable) {

4
interface/src/devices/LeapManager.h
View file

@ -21,7 +21,7 @@ namespace Leap {
class LeapManager {
public:
static void nextFrame(Avatar& avatar); // called once per frame to get new Leap data
static void nextFrame(); // called once per frame to get new Leap data
static bool controllersExist(); // Returns true if there's at least one active Leap plugged in
static void enableFakeFingers(bool enable); // put fake data in if there's no Leap plugged in
static const std::vector<glm::vec3>& getFingerTips();
@ -30,6 +30,7 @@ public:
static const std::vector<glm::vec3>& getHandNormals();
static std::string statusString();
static void initialize();
static void reset();
static void terminate();
private:
@ -37,6 +38,7 @@ private:
static bool _doFakeFingers;
static Leap::Controller* _controller;
static HifiLeapListener* _listener;
static glm::vec3 _baseDrivePosition;
};
#endif /* defined(__hifi__LeapManager__) */