Bug fix for head trackers in desktop mode

Sitting and standing modes work even in desktop mode.
We were inadvertently checking for HMD Mode instead of if the head was valid.
* A change was made to the ViveControllerManager to return head poses in the correct standing universe when in desktop mode.
* The default sensorToWorld matrix in desktop mode is similar to the one returned by the system for Vive and Oculus sensor frame; y = 0 is at floor level.
* Sitting mode, walking mode and recentering flags are now visible in the AnimStats.

interface/resources/qml/AnimStats.qml

@@ -50,6 +50,9 @@ Item {
                     StatText {
                         text: root.positionText
                     }
+                    StatText {
+                        text: root.recenterText
+                    }
                     StatText {
                         text: "Anim Vars:--------------------------------------------------------------------------------"
                     }
@@ -92,6 +95,9 @@ Item {
                     StatText {
                         text: root.rotationText
                     }
+                    StatText {
+                        text: root.sittingText
+                    }
                     StatText {
                         text: "State Machines:---------------------------------------------------------------------------"
                     }
@@ -122,6 +128,9 @@ Item {
                     StatText {
                         text: root.velocityText
                     }
+                    StatText {
+                        text: root.walkingText
+                    }
                     StatText {
                         text: "Alpha Values:--------------------------------------------------------------------------"
                     }

interface/src/Application.cpp

@@ -6471,7 +6471,7 @@ void Application::copyDisplayViewFrustum(ViewFrustum& viewOut) const {
 void Application::resetSensors(bool andReload) {
     DependencyManager::get<DdeFaceTracker>()->reset();
     DependencyManager::get<EyeTracker>()->reset();
-    getActiveDisplayPlugin()->resetSensors();
+    //getActiveDisplayPlugin()->resetSensors();
     _overlayConductor.centerUI();
     getMyAvatar()->reset(true, andReload);
     QMetaObject::invokeMethod(DependencyManager::get<AudioClient>().data(), "reset", Qt::QueuedConnection);

interface/src/avatar/MyAvatar.cpp

@@ -471,7 +471,7 @@ void MyAvatar::updateSitStandState(float newHeightReading, float dt) {
     const float STANDING_TIMEOUT = 0.3333f; // 1/3 second
     const float SITTING_UPPER_BOUND = 1.52f;
     if (!getIsSitStandStateLocked()) {
-        if (!getIsAway() && qApp->isHMDMode()) {
+        if (!getIsAway() && getControllerPoseInAvatarFrame(controller::Action::HEAD).isValid()) {
             if (getIsInSittingState()) {
                 if (newHeightReading > (STANDING_HEIGHT_MULTIPLE * _tippingPoint)) {
                     // if we recenter upwards then no longer in sitting state
@@ -720,6 +720,10 @@ void MyAvatar::recalculateChildCauterization() const {
     _cauterizationNeedsUpdate = true;
 }
 
+bool MyAvatar::isFollowActive(FollowHelper::FollowType followType) const {
+    return _follow.isActive(followType);
+}
+
 void MyAvatar::updateChildCauterization(SpatiallyNestablePointer object, bool cauterize) {
     if (object->getNestableType() == NestableType::Entity) {
         EntityItemPointer entity = std::static_pointer_cast<EntityItem>(object);
@@ -1067,9 +1071,9 @@ void MyAvatar::updateSensorToWorldMatrix() {
 void MyAvatar::updateFromTrackers(float deltaTime) {
     glm::vec3 estimatedRotation;
 
-    bool inHmd = qApp->isHMDMode();
+    bool hasHead = getControllerPoseInAvatarFrame(controller::Action::HEAD).isValid();
     bool playing = DependencyManager::get<recording::Deck>()->isPlaying();
-    if (inHmd && playing) {
+    if (hasHead && playing) {
         return;
     }
 
@@ -1103,7 +1107,7 @@ void MyAvatar::updateFromTrackers(float deltaTime) {
 
 
     Head* head = getHead();
-    if (inHmd || playing) {
+    if (hasHead || playing) {
         head->setDeltaPitch(estimatedRotation.x);
         head->setDeltaYaw(estimatedRotation.y);
         head->setDeltaRoll(estimatedRotation.z);
@@ -3480,7 +3484,7 @@ void MyAvatar::triggerRotationRecenter() {
 
 // old school meat hook style
 glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
-    glm::vec3 headPosition;
+    glm::vec3 headPosition(0.0f, _userHeight.get(), 0.0f);
     glm::quat headOrientation;
     auto headPose = getControllerPoseInSensorFrame(controller::Action::HEAD);
     if (headPose.isValid()) {
@@ -3799,7 +3803,7 @@ float MyAvatar::computeStandingHeightMode(const controller::Pose& head) {
         modeInMeters = ((float)mode) / CENTIMETERS_PER_METER;
         if (!(modeInMeters > getCurrentStandingHeight())) {
             // if not greater check for a reset
-            if (getResetMode() && qApp->isHMDMode()) {
+            if (getResetMode() && getControllerPoseInAvatarFrame(controller::Action::HEAD).isValid()) {
                 setResetMode(false);
                 float resetModeInCentimeters = glm::floor((head.getTranslation().y - MODE_CORRECTION_FACTOR)*CENTIMETERS_PER_METER);
                 modeInMeters = (resetModeInCentimeters / CENTIMETERS_PER_METER);

interface/src/avatar/MyAvatar.h

@@ -54,6 +54,7 @@ Q_DECLARE_METATYPE(AudioListenerMode);
 
 class MyAvatar : public Avatar {
     Q_OBJECT
+    friend class AnimStats;
 
     /**jsdoc
      * Your avatar is your in-world representation of you. The <code>MyAvatar</code> API is used to manipulate the avatar.
@@ -1163,7 +1164,7 @@ public:
     virtual QVariantList getAttachmentsVariant() const override;
     virtual void setAttachmentsVariant(const QVariantList& variant) override;
 
-    glm::vec3 getNextPosition() { return _goToPending ? _goToPosition : getWorldPosition(); };
+    glm::vec3 getNextPosition() { return _goToPending ? _goToPosition : getWorldPosition(); }
 
 public slots:
 
@@ -1780,8 +1781,11 @@ private:
         std::atomic<bool> _forceActivateHorizontal { false };
         std::atomic<bool> _toggleHipsFollowing { true };
     };
+
     FollowHelper _follow;
 
+    bool isFollowActive(FollowHelper::FollowType followType) const;
+
     bool _goToPending { false };
     bool _physicsSafetyPending { false };
     bool _goToSafe { true };

interface/src/ui/AnimStats.cpp

@@ -65,6 +65,35 @@ void AnimStats::updateStats(bool force) {
         arg(QString::number(localVelocity.z, 'f', 2));
     emit velocityTextChanged();
 
+    // print if we are recentering or not.
+    _recenterText = "Recenter: ";
+    if (myAvatar->isFollowActive(MyAvatar::FollowHelper::Rotation)) {
+        _recenterText += "Rotation ";
+    }
+    if (myAvatar->isFollowActive(MyAvatar::FollowHelper::Horizontal)) {
+        _recenterText += "Horizontal ";
+    }
+    if (myAvatar->isFollowActive(MyAvatar::FollowHelper::Vertical)) {
+        _recenterText += "Vertical ";
+    }
+    emit recenterTextChanged();
+
+    // print current standing vs sitting state.
+    if (myAvatar->getIsInSittingState()) {
+        _sittingText = "SittingState: Sit";
+    } else {
+        _sittingText = "SittingState: Stand";
+    }
+    emit sittingTextChanged();
+
+    // print current walking vs leaning state.
+    if (myAvatar->getIsInWalkingState()) {
+        _walkingText = "WalkingState: Walk";
+    } else {
+        _walkingText = "WalkingState: Lean";
+    }
+    emit walkingTextChanged();
+
     // update animation debug alpha values
     QStringList newAnimAlphaValues;
     qint64 now = usecTimestampNow();

interface/src/ui/AnimStats.h

@@ -22,6 +22,9 @@ class AnimStats : public QQuickItem {
     Q_PROPERTY(QString positionText READ positionText NOTIFY positionTextChanged)
     Q_PROPERTY(QString rotationText READ rotationText NOTIFY rotationTextChanged)
     Q_PROPERTY(QString velocityText READ velocityText NOTIFY velocityTextChanged)
+    Q_PROPERTY(QString recenterText READ recenterText NOTIFY recenterTextChanged)
+    Q_PROPERTY(QString sittingText READ sittingText NOTIFY sittingTextChanged)
+    Q_PROPERTY(QString walkingText READ walkingText NOTIFY walkingTextChanged)
 
 public:
     static AnimStats* getInstance();
@@ -37,6 +40,9 @@ public:
     QString positionText() const { return _positionText; }
     QString rotationText() const { return _rotationText; }
     QString velocityText() const { return _velocityText; }
+    QString recenterText() const { return _recenterText; }
+    QString sittingText() const { return _sittingText; }
+    QString walkingText() const { return _walkingText; }
 
 public slots:
     void forceUpdateStats() { updateStats(true); }
@@ -49,6 +55,9 @@ signals:
     void positionTextChanged();
     void rotationTextChanged();
     void velocityTextChanged();
+    void recenterTextChanged();
+    void sittingTextChanged();
+    void walkingTextChanged();
 
 private:
     QStringList _animAlphaValues;
@@ -64,6 +73,9 @@ private:
     QString _positionText;
     QString _rotationText;
     QString _velocityText;
+    QString _recenterText;
+    QString _sittingText;
+    QString _walkingText;
 };
 
 #endif // hifi_AnimStats_h

plugins/openvr/src/ViveControllerManager.cpp

@@ -180,9 +180,6 @@ void ViveControllerManager::setConfigurationSettings(const QJsonObject configura
     if (isSupported()) {
         if (configurationSettings.contains("desktopMode")) {
             _desktopMode = configurationSettings["desktopMode"].toBool();
-            if (!_desktopMode) {
-                _resetMatCalculated = false;
-            }
         }
 
         if (configurationSettings.contains("hmdDesktopTracking")) {
@@ -267,13 +264,8 @@ void ViveControllerManager::pluginUpdate(float deltaTime, const controller::Inpu
     }
 
     if (isDesktopMode() && _desktopMode) {
-        if (!_resetMatCalculated) {
-            _resetMat = calculateResetMat();
-            _resetMatCalculated = true;
-        }
-
         _system->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseStanding, 0, _nextSimPoseData.vrPoses, vr::k_unMaxTrackedDeviceCount);
-        _nextSimPoseData.update(_resetMat);
+        _nextSimPoseData.update(Matrices::IDENTITY);
     } else if (isDesktopMode()) {
         _nextSimPoseData.resetToInvalid();
     }

plugins/openvr/src/ViveControllerManager.h

@@ -213,12 +213,10 @@ private:
     bool isDesktopMode();
     bool _registeredWithInputMapper { false };
     bool _modelLoaded { false };
-    bool _resetMatCalculated { false };
 
     bool _desktopMode { false };
     bool _hmdDesktopTracking { false };
-    
+
-    glm::mat4 _resetMat { glm::mat4() };
     graphics::Geometry _modelGeometry;
     gpu::TexturePointer _texture;