mirror of
https://github.com/HifiExperiments/overte.git
synced 2025-07-23 00:34:26 +02:00
initial testing of hand controller tracking
This commit is contained in:
Sam Gondelman
parent
a923c044a3
commit
a27196dfee
5 changed files with 420 additions and 5 deletions
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@ -64,6 +64,7 @@
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#include <DeferredLightingEffect.h>
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#include <DependencyManager.h>
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#include <display-plugins/DisplayPlugin.h>
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#include <display-plugins/openvr/ViveControllerManager.h>
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#include <EntityScriptingInterface.h>
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#include <ErrorDialog.h>
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#include <GlowEffect.h>
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@ -662,6 +663,8 @@ Application::Application(int& argc, char** argv, QElapsedTimer &startup_time) :
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connect(ddeTracker.data(), &FaceTracker::muteToggled, this, &Application::faceTrackerMuteToggled);
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#endif
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ViveControllerManager::getInstance().activate();
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auto applicationUpdater = DependencyManager::get<AutoUpdater>();
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connect(applicationUpdater.data(), &AutoUpdater::newVersionIsAvailable, dialogsManager.data(), &DialogsManager::showUpdateDialog);
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applicationUpdater->checkForUpdate();
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@ -1556,6 +1559,7 @@ void Application::focusOutEvent(QFocusEvent* event) {
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_keyboardMouseDevice.focusOutEvent(event);
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SixenseManager::getInstance().focusOutEvent();
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SDL2Manager::getInstance()->focusOutEvent();
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ViveControllerManager::getInstance().focusOutEvent();
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// synthesize events for keys currently pressed, since we may not get their release events
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foreach (int key, _keysPressed) {
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@ -2498,6 +2502,7 @@ void Application::update(float deltaTime) {
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SixenseManager::getInstance().update(deltaTime);
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SDL2Manager::getInstance()->update();
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ViveControllerManager::getInstance().update();
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}
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_userInputMapper.update(deltaTime);
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@ -84,7 +84,6 @@ public:
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void registerToUserInputMapper(UserInputMapper& mapper);
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void assignDefaultInputMapping(UserInputMapper& mapper);
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void update();
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void focusOutEvent();
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public slots:
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@ -72,10 +72,12 @@ bool OpenVrDisplayPlugin::isSupported() const {
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}
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void OpenVrDisplayPlugin::activate(PluginContainer * container) {
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vr::HmdError eError = vr::HmdError_None;
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_hmd = vr::VR_Init(&eError);
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Q_ASSERT(eError == vr::HmdError_None);
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Q_ASSERT(_hmd);
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if (!_hmd) {
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vr::HmdError eError = vr::HmdError_None;
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_hmd = vr::VR_Init(&eError);
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Q_ASSERT(eError == vr::HmdError_None);
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Q_ASSERT(_hmd);
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}
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_hmd->GetWindowBounds(&_windowPosition.x, &_windowPosition.y, &_windowSize.x, &_windowSize.y);
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_hmd->GetRecommendedRenderTargetSize(&_renderTargetSize.x, &_renderTargetSize.y);
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@ -0,0 +1,334 @@
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//
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// ViveControllerManager.cpp
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// interface/src/devices
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//
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// Created by Sam Gondelman on 6/29/15.
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// Copyright 2013 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#include "ViveControllerManager.h"
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#include "Application.h"
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#include <avatar/AvatarManager.h>
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#include "OpenVrDisplayPlugin.h"
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#include "OpenVrHelpers.h"
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#include "UserActivityLogger.h"
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extern vr::IVRSystem *_hmd{ nullptr };
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extern vr::TrackedDevicePose_t _trackedDevicePose[vr::k_unMaxTrackedDeviceCount];
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extern mat4 _trackedDevicePoseMat4[vr::k_unMaxTrackedDeviceCount];
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ViveControllerManager& ViveControllerManager::getInstance() {
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static ViveControllerManager sharedInstance;
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return sharedInstance;
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}
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ViveControllerManager::ViveControllerManager() :
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_isInitialized(false),
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_isEnabled(true),
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_trackedControllers(0)
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{
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_prevPalms[0] = nullptr;
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_prevPalms[1] = nullptr;
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}
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ViveControllerManager::~ViveControllerManager() {
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}
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void ViveControllerManager::activate() {
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if (!_hmd) {
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vr::HmdError eError = vr::HmdError_None;
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_hmd = vr::VR_Init(&eError);
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Q_ASSERT(eError == vr::HmdError_None);
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Q_ASSERT(_hmd);
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}
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_isInitialized = true;
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}
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void ViveControllerManager::update() {
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Hand* hand = DependencyManager::get<AvatarManager>()->getMyAvatar()->getHand();
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if (_isInitialized && _isEnabled) {
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PerformanceTimer perfTimer("Vive Controllers");
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int trackedControllerCount = 0;
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for (vr::TrackedDeviceIndex_t unTrackedDevice = vr::k_unTrackedDeviceIndex_Hmd + 1;
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unTrackedDevice < vr::k_unMaxTrackedDeviceCount && trackedControllerCount < 2; ++unTrackedDevice) {
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if (!_hmd->IsTrackedDeviceConnected(unTrackedDevice)) {
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continue;
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}
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if(_hmd->GetTrackedDeviceClass(unTrackedDevice) != vr::TrackedDeviceClass_Controller) {
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continue;
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}
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trackedControllerCount++;
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if(!_trackedDevicePose[unTrackedDevice].bPoseIsValid) {
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continue;
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}
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const Matrix4 & mat = _trackedDevicePoseMat4[unTrackedDevice];
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PalmData* palm;
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bool foundHand = false;
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// FIXME: this shouldn't use SixenseID
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for (size_t j = 0; j < hand->getNumPalms(); j++) {
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if (hand->getPalms()[j].getSixenseID() == unTrackedDevice) {
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palm = &(hand->getPalms()[j]);
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_prevPalms[trackedControllerCount - 1] = palm;
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foundHand = true;
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}
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}
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if (!foundHand) {
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PalmData newPalm(hand);
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hand->getPalms().push_back(newPalm);
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palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
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palm->setSixenseID(unTrackedDevice);
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_prevPalms[trackedControllerCount - 1] = palm;
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qCDebug(interfaceapp, "Found new Vive hand controller, ID %i", unTrackedDevice);
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}
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palm->setActive(true);
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// handle inputs
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vr::VRControllerState_t* controllerState;
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if(vr::GetControllerState(unTrackedDevice, controllerState)) {
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}
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// set position and rotation
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// m.m[0][0], m.m[1][0], m.m[2][0], 0.0,
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// m.m[0][1], m.m[1][1], m.m[2][1], 0.0,
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// m.m[0][2], m.m[1][2], m.m[2][2], 0.0,
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// m.m[0][3], m.m[1][3], m.m[2][3], 1.0f);
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glm::vec3 position(_trackedDevicePoseMat4[3][0], _trackedDevicePoseMat4[3][1], _trackedDevicePoseMat4[3][2]);
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// position *= METERS_PER_MILLIMETER;
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// // Transform the measured position into body frame.
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// glm::vec3 neck = _neckBase;
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// // Zeroing y component of the "neck" effectively raises the measured position a little bit.
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// neck.y = 0.0f;
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// position = _orbRotation * (position - neck);
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// // Rotation of Palm
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float w = sqrt(1.0f + _trackedDevicePoseMat4[0][0] + _trackedDevicePoseMat4[1][1] + _trackedDevicePoseMat4[2][2]) / 2.0f;
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float x = (_trackedDevicePoseMat4[2][1] - _trackedDevicePoseMat4[1][2])/(4.0f * w);
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float y = (_trackedDevicePoseMat4[0][2] - _trackedDevicePoseMat4[2][0])/(4.0f * w);
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float z = (_trackedDevicePoseMat4[1][0] - _trackedDevicePoseMat4[0][1])/(4.0f * w);
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glm::quat rotation(w, x, y, z);
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rotation = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)) * rotation;
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// // Compute current velocity from position change
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// glm::vec3 rawVelocity;
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// if (deltaTime > 0.0f) {
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// rawVelocity = (position - palm->getRawPosition()) / deltaTime;
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// } else {
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// rawVelocity = glm::vec3(0.0f);
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// }
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// palm->setRawVelocity(rawVelocity); // meters/sec
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//
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// // adjustment for hydra controllers fit into hands
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// float sign = (i == 0) ? -1.0f : 1.0f;
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// rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f));
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//
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// // Angular Velocity of Palm
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// glm::quat deltaRotation = rotation * glm::inverse(palm->getRawRotation());
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// glm::vec3 angularVelocity(0.0f);
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// float rotationAngle = glm::angle(deltaRotation);
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// if ((rotationAngle > EPSILON) && (deltaTime > 0.0f)) {
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// angularVelocity = glm::normalize(glm::axis(deltaRotation));
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// angularVelocity *= (rotationAngle / deltaTime);
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// palm->setRawAngularVelocity(angularVelocity);
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// } else {
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// palm->setRawAngularVelocity(glm::vec3(0.0f));
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// }
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//
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// if (_lowVelocityFilter) {
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// // Use a velocity sensitive filter to damp small motions and preserve large ones with
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// // no latency.
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// float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);
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// position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter);
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// rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter);
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// palm->setRawPosition(position);
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// palm->setRawRotation(rotation);
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// } else {
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palm->setRawPosition(position);
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palm->setRawRotation(rotation);
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// }
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//
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// // Store the one fingertip in the palm structure so we can track velocity
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// const float FINGER_LENGTH = 0.3f; // meters
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// const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
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// const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
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// glm::vec3 oldTipPosition = palm->getTipRawPosition();
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// if (deltaTime > 0.0f) {
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// palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
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// } else {
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// palm->setTipVelocity(glm::vec3(0.0f));
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// }
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// palm->setTipPosition(newTipPosition);
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}
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if (trackedControllerCount == 0) {
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if (_deviceID != 0) {
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Application::getUserInputMapper()->removeDevice(_deviceID);
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_deviceID = 0;
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if (_prevPalms[0]) {
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_prevPalms[0]->setActive(false);
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}
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if (_prevPalms[1]) {
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_prevPalms[1]->setActive(false);
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}
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}
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_trackedControllers = trackedControllerCount;
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return;
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}
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if (_trackedControllers == 0 && trackedControllerCount > 0) {
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registerToUserInputMapper(*Application::getUserInputMapper());
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assignDefaultInputMapping(*Application::getUserInputMapper());
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UserActivityLogger::getInstance().connectedDevice("spatial_controller", "steamVR");
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}
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_trackedControllers = trackedControllerCount;
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}
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}
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void ViveControllerManager::focusOutEvent() {
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_axisStateMap.clear();
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_buttonPressedMap.clear();
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};
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void ViveControllerManager::handleAxisEvent(float stickX, float stickY, float trigger, int index) {
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// _axisStateMap[makeInput(AXIS_Y_POS, index).getChannel()] = (stickY > 0.0f) ? stickY : 0.0f;
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// _axisStateMap[makeInput(AXIS_Y_NEG, index).getChannel()] = (stickY < 0.0f) ? -stickY : 0.0f;
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// _axisStateMap[makeInput(AXIS_X_POS, index).getChannel()] = (stickX > 0.0f) ? stickX : 0.0f;
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// _axisStateMap[makeInput(AXIS_X_NEG, index).getChannel()] = (stickX < 0.0f) ? -stickX : 0.0f;
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// _axisStateMap[makeInput(BACK_TRIGGER, index).getChannel()] = trigger;
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}
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void ViveControllerManager::handleButtonEvent(unsigned int buttons, int index) {
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// if (buttons & BUTTON_0) {
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// _buttonPressedMap.insert(makeInput(BUTTON_0, index).getChannel());
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// }
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}
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void ViveControllerManager::registerToUserInputMapper(UserInputMapper& mapper) {
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// Grab the current free device ID
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_deviceID = mapper.getFreeDeviceID();
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auto proxy = UserInputMapper::DeviceProxy::Pointer(new UserInputMapper::DeviceProxy("SteamVR Controller"));
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proxy->getButton = [this] (const UserInputMapper::Input& input, int timestamp) -> bool { return this->getButton(input.getChannel()); };
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proxy->getAxis = [this] (const UserInputMapper::Input& input, int timestamp) -> float { return this->getAxis(input.getChannel()); };
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proxy->getAvailabeInputs = [this] () -> QVector<UserInputMapper::InputPair> {
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QVector<UserInputMapper::InputPair> availableInputs;
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_0, 0), "Left Start"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_1, 0), "Left Button 1"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_2, 0), "Left Button 2"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_3, 0), "Left Button 3"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_4, 0), "Left Button 4"));
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//
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_FWD, 0), "L1"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BACK_TRIGGER, 0), "L2"));
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//
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// availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_Y_POS, 0), "Left Stick Up"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_Y_NEG, 0), "Left Stick Down"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_X_POS, 0), "Left Stick Right"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_X_NEG, 0), "Left Stick Left"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_TRIGGER, 0), "Left Trigger Press"));
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//
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_0, 1), "Right Start"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_1, 1), "Right Button 1"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_2, 1), "Right Button 2"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_3, 1), "Right Button 3"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_4, 1), "Right Button 4"));
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//
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_FWD, 1), "R1"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BACK_TRIGGER, 1), "R2"));
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//
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// availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_Y_POS, 1), "Right Stick Up"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_Y_NEG, 1), "Right Stick Down"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_X_POS, 1), "Right Stick Right"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_X_NEG, 1), "Right Stick Left"));
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// availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_TRIGGER, 1), "Right Trigger Press"));
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return availableInputs;
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};
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proxy->resetDeviceBindings = [this, &mapper] () -> bool {
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mapper.removeAllInputChannelsForDevice(_deviceID);
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this->assignDefaultInputMapping(mapper);
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return true;
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};
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mapper.registerDevice(_deviceID, proxy);
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}
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void ViveControllerManager::assignDefaultInputMapping(UserInputMapper& mapper) {
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const float JOYSTICK_MOVE_SPEED = 1.0f;
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const float JOYSTICK_YAW_SPEED = 0.5f;
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const float JOYSTICK_PITCH_SPEED = 0.25f;
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const float BUTTON_MOVE_SPEED = 1.0f;
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const float BOOM_SPEED = 0.1f;
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// // Left Joystick: Movement, strafing
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// mapper.addInputChannel(UserInputMapper::LONGITUDINAL_FORWARD, makeInput(AXIS_Y_POS, 0), JOYSTICK_MOVE_SPEED);
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// mapper.addInputChannel(UserInputMapper::LONGITUDINAL_BACKWARD, makeInput(AXIS_Y_NEG, 0), JOYSTICK_MOVE_SPEED);
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// mapper.addInputChannel(UserInputMapper::LATERAL_RIGHT, makeInput(AXIS_X_POS, 0), JOYSTICK_MOVE_SPEED);
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// mapper.addInputChannel(UserInputMapper::LATERAL_LEFT, makeInput(AXIS_X_NEG, 0), JOYSTICK_MOVE_SPEED);
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//
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// // Right Joystick: Camera orientation
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// mapper.addInputChannel(UserInputMapper::YAW_RIGHT, makeInput(AXIS_X_POS, 1), JOYSTICK_YAW_SPEED);
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// mapper.addInputChannel(UserInputMapper::YAW_LEFT, makeInput(AXIS_X_NEG, 1), JOYSTICK_YAW_SPEED);
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// mapper.addInputChannel(UserInputMapper::PITCH_UP, makeInput(AXIS_Y_POS, 1), JOYSTICK_PITCH_SPEED);
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// mapper.addInputChannel(UserInputMapper::PITCH_DOWN, makeInput(AXIS_Y_NEG, 1), JOYSTICK_PITCH_SPEED);
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//
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// // Buttons
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// mapper.addInputChannel(UserInputMapper::BOOM_IN, makeInput(BUTTON_3, 0), BOOM_SPEED);
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// mapper.addInputChannel(UserInputMapper::BOOM_OUT, makeInput(BUTTON_1, 0), BOOM_SPEED);
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//
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// mapper.addInputChannel(UserInputMapper::VERTICAL_UP, makeInput(BUTTON_3, 1), BUTTON_MOVE_SPEED);
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// mapper.addInputChannel(UserInputMapper::VERTICAL_DOWN, makeInput(BUTTON_1, 1), BUTTON_MOVE_SPEED);
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//
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// mapper.addInputChannel(UserInputMapper::SHIFT, makeInput(BUTTON_2, 0));
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// mapper.addInputChannel(UserInputMapper::SHIFT, makeInput(BUTTON_2, 1));
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//
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// mapper.addInputChannel(UserInputMapper::ACTION1, makeInput(BUTTON_4, 0));
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// mapper.addInputChannel(UserInputMapper::ACTION2, makeInput(BUTTON_4, 1));
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}
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float ViveControllerManager::getButton(int channel) const {
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if (!_buttonPressedMap.empty()) {
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if (_buttonPressedMap.find(channel) != _buttonPressedMap.end()) {
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return 1.0f;
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||||
} else {
|
||||
return 0.0f;
|
||||
}
|
||||
}
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
float ViveControllerManager::getAxis(int channel) const {
|
||||
auto axis = _axisStateMap.find(channel);
|
||||
if (axis != _axisStateMap.end()) {
|
||||
return (*axis).second;
|
||||
} else {
|
||||
return 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
UserInputMapper::Input ViveControllerManager::makeInput(unsigned int button, int index) {
|
||||
return UserInputMapper::Input(0);
|
||||
// return UserInputMapper::Input(_deviceID, button | (index == 0 ? LEFT_MASK : RIGHT_MASK), UserInputMapper::ChannelType::BUTTON);
|
||||
}
|
||||
|
||||
UserInputMapper::Input ViveControllerManager::makeInput(ViveControllerManager::JoystickAxisChannel axis, int index) {
|
||||
return UserInputMapper::Input(0);
|
||||
// return UserInputMapper::Input(_deviceID, axis | (index == 0 ? LEFT_MASK : RIGHT_MASK), UserInputMapper::ChannelType::AXIS);
|
||||
}
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
//
|
||||
// ViveControllerManager.h
|
||||
// interface/src/devices
|
||||
//
|
||||
// Created by Sam Gondelman on 6/29/15.
|
||||
// Copyright 2013 High Fidelity, Inc.
|
||||
//
|
||||
// Distributed under the Apache License, Version 2.0.
|
||||
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
|
||||
//
|
||||
|
||||
#ifndef hifi__ViveControllerManager
|
||||
#define hifi__ViveControllerManager
|
||||
|
||||
#include <QObject>
|
||||
#include <unordered_set>
|
||||
|
||||
#include "ui/UserInputMapper.h"
|
||||
|
||||
class PalmData;
|
||||
|
||||
class ViveControllerManager : public QObject {
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
enum JoystickAxisChannel {
|
||||
AXIS_Y_POS = 1U << 0,
|
||||
AXIS_Y_NEG = 1U << 3,
|
||||
AXIS_X_POS = 1U << 4,
|
||||
AXIS_X_NEG = 1U << 5,
|
||||
BACK_TRIGGER = 1U << 6,
|
||||
};
|
||||
|
||||
void focusOutEvent();
|
||||
|
||||
void update();
|
||||
|
||||
static ViveControllerManager& getInstance();
|
||||
|
||||
typedef std::unordered_set<int> ButtonPressedMap;
|
||||
typedef std::map<int, float> AxisStateMap;
|
||||
|
||||
float getButton(int channel) const;
|
||||
float getAxis(int channel) const;
|
||||
|
||||
UserInputMapper::Input makeInput(unsigned int button, int index);
|
||||
UserInputMapper::Input makeInput(JoystickAxisChannel axis, int index);
|
||||
|
||||
void registerToUserInputMapper(UserInputMapper& mapper);
|
||||
void assignDefaultInputMapping(UserInputMapper& mapper);
|
||||
|
||||
void activate();
|
||||
|
||||
private:
|
||||
ViveControllerManager();
|
||||
~ViveControllerManager();
|
||||
|
||||
void handleButtonEvent(unsigned int buttons, int index);
|
||||
void handleAxisEvent(float x, float y, float trigger, int index);
|
||||
|
||||
bool _isInitialized;
|
||||
bool _isEnabled;
|
||||
int _trackedControllers;
|
||||
|
||||
PalmData* _prevPalms[2];
|
||||
|
||||
protected:
|
||||
int _deviceID = 0;
|
||||
|
||||
ButtonPressedMap _buttonPressedMap;
|
||||
AxisStateMap _axisStateMap;
|
||||
};
|
||||
|
||||
|
||||
#endif // hifi__ViveControllerManager
|
||||
Loading…
Reference in a new issue