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Eye tracking fixes

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This commit is contained in:
Anthony J. Thibault 2015-11-24 16:57:26 -08:00
parent f120e10ff4
commit 76034d62d5
3 changed files with 27 additions and 36 deletions
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7
interface/src/avatar/SkeletonModel.cpp
View file

@ -153,11 +153,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
_rig->updateFromEyeParameters(eyeParams);
/* AJT: FIXME this will likely break eye tracking...
// rebuild the jointState transform for the eyes only. Must be after updateRig.
_rig->updateJointState(eyeParams.leftEyeJointIndex, parentTransform);
_rig->updateJointState(eyeParams.rightEyeJointIndex, parentTransform);
*/
} else {
Model::updateRig(deltaTime, parentTransform);
@ -171,6 +166,7 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
// However, in the !isLookingAtMe case, the eyes aren't rotating the way they should right now.
// We will revisit that as priorities allow, and particularly after the new rig/animation/joints.
const FBXGeometry& geometry = _geometry->getFBXGeometry();
// If the head is not positioned, updateEyeJoints won't get the math right
glm::quat headOrientation;
_rig->getJointRotation(geometry.headJointIndex, headOrientation);
@ -187,6 +183,7 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
eyeParams.modelTranslation = getTranslation();
eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
_rig->updateFromEyeParameters(eyeParams);
}
}

54
libraries/animation/src/Rig.cpp
View file

@ -267,7 +267,7 @@ void Rig::setModelOffset(const glm::mat4& modelOffsetMat) {
}
bool Rig::getJointStateRotation(int index, glm::quat& rotation) const {
if (isValid(index)) {
if (isIndexValid(index)) {
rotation = _relativePoses[index].rot;
return !isEqual(rotation, _animSkeleton->getRelativeDefaultPose(index).rot);
} else {
@ -276,7 +276,7 @@ bool Rig::getJointStateRotation(int index, glm::quat& rotation) const {
}
bool Rig::getJointStateTranslation(int index, glm::vec3& translation) const {
if (isValid(index)) {
if (isIndexValid(index)) {
translation = _relativePoses[index].trans;
return !isEqual(translation, _animSkeleton->getRelativeDefaultPose(index).trans);
} else {
@ -285,7 +285,7 @@ bool Rig::getJointStateTranslation(int index, glm::vec3& translation) const {
}
void Rig::clearJointState(int index) {
if (isValid(index)) {
if (isIndexValid(index)) {
_overrideFlags[index] = false;
}
}
@ -296,13 +296,13 @@ void Rig::clearJointStates() {
}
void Rig::clearJointAnimationPriority(int index) {
if (isValid(index)) {
if (isIndexValid(index)) {
_overrideFlags[index] = false;
}
}
void Rig::setJointTranslation(int index, bool valid, const glm::vec3& translation, float priority) {
if (isValid(index)) {
if (isIndexValid(index)) {
if (valid) {
assert(_overrideFlags.size() == _overridePoses.size());
_overrideFlags[index] = true;
@ -312,7 +312,7 @@ void Rig::setJointTranslation(int index, bool valid, const glm::vec3& translatio
}
void Rig::setJointState(int index, bool valid, const glm::quat& rotation, const glm::vec3& translation, float priority) {
if (isValid(index)) {
if (isIndexValid(index)) {
assert(_overrideFlags.size() == _overridePoses.size());
_overrideFlags[index] = true;
_overridePoses[index].rot = rotation;
@ -323,7 +323,7 @@ void Rig::setJointState(int index, bool valid, const glm::quat& rotation, const
// Deprecated.
// WARNING: this is not symmetric with getJointRotation. It's historical. Use the appropriate specific variation.
void Rig::setJointRotation(int index, bool valid, const glm::quat& rotation, float priority) {
if (isValid(index)) {
if (isIndexValid(index)) {
if (valid) {
ASSERT(_overrideFlags.size() == _overridePoses.size());
_overrideFlags[index] = true;
@ -343,7 +343,7 @@ void Rig::restoreJointTranslation(int index, float fraction, float priority) {
}
bool Rig::getJointPositionInWorldFrame(int jointIndex, glm::vec3& position, glm::vec3 translation, glm::quat rotation) const {
if (isValid(jointIndex)) {
if (isIndexValid(jointIndex)) {
position = (rotation * _absolutePoses[jointIndex].trans) + translation;
return true;
} else {
@ -352,7 +352,7 @@ bool Rig::getJointPositionInWorldFrame(int jointIndex, glm::vec3& position, glm:
}
bool Rig::getJointPosition(int jointIndex, glm::vec3& position) const {
if (isValid(jointIndex)) {
if (isIndexValid(jointIndex)) {
position = _absolutePoses[jointIndex].trans;
return true;
} else {
@ -361,7 +361,7 @@ bool Rig::getJointPosition(int jointIndex, glm::vec3& position) const {
}
bool Rig::getJointRotationInWorldFrame(int jointIndex, glm::quat& result, const glm::quat& rotation) const {
if (isValid(jointIndex)) {
if (isIndexValid(jointIndex)) {
result = rotation * _absolutePoses[jointIndex].rot;
return true;
} else {
@ -372,7 +372,7 @@ bool Rig::getJointRotationInWorldFrame(int jointIndex, glm::quat& result, const
// Deprecated.
// WARNING: this is not symmetric with setJointRotation. It's historical. Use the appropriate specific variation.
bool Rig::getJointRotation(int jointIndex, glm::quat& rotation) const {
if (isValid(jointIndex)) {
if (isIndexValid(jointIndex)) {
rotation = _relativePoses[jointIndex].rot;
return true;
} else {
@ -381,7 +381,7 @@ bool Rig::getJointRotation(int jointIndex, glm::quat& rotation) const {
}
bool Rig::getJointTranslation(int jointIndex, glm::vec3& translation) const {
if (isValid(jointIndex)) {
if (isIndexValid(jointIndex)) {
translation = _relativePoses[jointIndex].trans;
return true;
} else {
@ -804,7 +804,7 @@ static const glm::vec3 Y_AXIS(0.0f, 1.0f, 0.0f);
static const glm::vec3 Z_AXIS(0.0f, 0.0f, 1.0f);
void Rig::updateLeanJoint(int index, float leanSideways, float leanForward, float torsoTwist) {
if (isValid(index)) {
if (isIndexValid(index)) {
glm::quat absRot = (glm::angleAxis(-RADIANS_PER_DEGREE * leanSideways, Z_AXIS) *
glm::angleAxis(-RADIANS_PER_DEGREE * leanForward, X_AXIS) *
glm::angleAxis(RADIANS_PER_DEGREE * torsoTwist, Y_AXIS));
@ -891,25 +891,19 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
}
void Rig::updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::quat& worldHeadOrientation, const glm::vec3& lookAtSpot, const glm::vec3& saccade) {
// AJT: TODO: fix eye tracking!
/*
if (index >= 0 && _jointStates[index].getParentIndex() >= 0) {
auto& state = _jointStates[index];
auto& parentState = _jointStates[state.getParentIndex()];
if (isIndexValid(index)) {
glm::mat4 rigToWorld = createMatFromQuatAndPos(modelRotation, modelTranslation);
glm::mat4 worldToRig = glm::inverse(rigToWorld);
glm::vec3 zAxis = glm::normalize(_absolutePoses[index].trans - transformPoint(worldToRig, lookAtSpot));
glm::quat q = rotationBetween(IDENTITY_FRONT, zAxis);
// NOTE: at the moment we do the math in the world-frame, hence the inverse transform is more complex than usual.
glm::mat4 inverse = glm::inverse(glm::mat4_cast(modelRotation) * parentState.getTransform() *
glm::translate(state.getUnscaledDefaultTranslation()) *
state.getPreTransform() * glm::mat4_cast(state.getPreRotation() * state.getDefaultRotation()));
glm::vec3 front = glm::vec3(inverse * glm::vec4(worldHeadOrientation * IDENTITY_FRONT, 0.0f));
glm::vec3 lookAtDelta = lookAtSpot - modelTranslation;
glm::vec3 lookAt = glm::vec3(inverse * glm::vec4(lookAtDelta + glm::length(lookAtDelta) * saccade, 1.0f));
glm::quat between = rotationBetween(front, lookAt);
// limit rotation
const float MAX_ANGLE = 30.0f * RADIANS_PER_DEGREE;
state.setRotationInConstrainedFrame(glm::angleAxis(glm::clamp(glm::angle(between), -MAX_ANGLE, MAX_ANGLE), glm::axis(between)) *
state.getDefaultRotation(), DEFAULT_PRIORITY);
q = glm::angleAxis(glm::clamp(glm::angle(q), -MAX_ANGLE, MAX_ANGLE), glm::axis(q));
// directly set absolutePose rotation
_absolutePoses[index].rot = q;
}
*/
}
void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
@ -1043,7 +1037,7 @@ void Rig::buildAbsoluteRigPoses(const AnimPoseVec& relativePoses, AnimPoseVec& a
}
glm::mat4 Rig::getJointTransform(int jointIndex) const {
if (isValid(jointIndex)) {
if (isIndexValid(jointIndex)) {
return _absolutePoses[jointIndex];
} else {
return glm::mat4();

2
libraries/animation/src/Rig.h
View file

@ -198,7 +198,7 @@ public:
void copyJointsFromJointData(const QVector<JointData>& jointDataVec);
protected:
bool isValid(int index) const { return _animSkeleton && index >= 0 && index < _animSkeleton->getNumJoints(); }
bool isIndexValid(int index) const { return _animSkeleton && index >= 0 && index < _animSkeleton->getNumJoints(); }
void updateAnimationStateHandlers();
void applyOverridePoses();
void buildAbsoluteRigPoses(const AnimPoseVec& relativePoses, AnimPoseVec& absolutePosesOut);