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AvatarActionHold can ignore IK

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This commit is contained in:
Atlante45 2015-11-10 14:06:59 -08:00
parent 8da8b4db8c
commit d79221edd2
4 changed files with 54 additions and 41 deletions
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89
interface/src/avatar/AvatarActionHold.cpp
View file

@ -45,13 +45,14 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
holdingAvatar = std::static_pointer_cast<Avatar>(holdingAvatarData);
if (holdingAvatar) {
bool isRightHand = (_hand == "right");
glm::vec3 palmPosition;
glm::quat palmRotation;
if (_ignoreIK && holdingAvatar->isMyAvatar()) {
// We cannot ignore other avatars IK and this is not the point of this option
// This is meant to make the grabbing behavior more reactive.
if (_hand == "right") {
if (isRightHand) {
palmPosition = holdingAvatar->getHand()->getCopyOfPalmData(HandData::RightHand).getPosition();
palmRotation = holdingAvatar->getHand()->getCopyOfPalmData(HandData::RightHand).getRotation();
} else {
@ -59,7 +60,7 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
palmRotation = holdingAvatar->getHand()->getCopyOfPalmData(HandData::LeftHand).getRotation();
}
} else {
if (_hand == "right") {
if (isRightHand) {
palmPosition = holdingAvatar->getRightPalmPosition();
palmRotation = holdingAvatar->getRightPalmRotation();
} else {
@ -67,44 +68,26 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
palmRotation = holdingAvatar->getLeftPalmRotation();
}
}
/*
static const float CONTROLLER_LENGTH_OFFSET = 0.0762f; // three inches
static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET * 2.0f);
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat viveToHand = yFlip * quarterX;
static const glm::quat leftQuaterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuaterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat eighthX = glm::angleAxis(PI / 4.0f, Vectors::UNIT_X);
static const glm::quat leftRotationOffset = glm::inverse(leftQuaterZ * eighthX) * viveToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuaterZ * eighthX) * viveToHand;
static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
glm::quat relRot = glm::inverse(rightRotationOffset);
glm::vec3 relPos = -rightTranslationOffset;
relRot = palmRotation * relRot;
relPos = palmPosition + relRot * relPos;
rotation = relRot * _relativeRotation;
position = relPos + rotation * _relativePosition;
glm::quat diffRot = glm::inverse(palmRotation) * rotation;
glm::vec3 diffPos = glm::inverse(rotation) * (position - palmPosition);
qDebug() << "diffRot =" << safeEulerAngles(diffRot);
qDebug() << "diffPos =" << diffPos;
*/
//[11 / 09 17:40 : 14] [DEBUG] diffRot = { type = 'glm::vec3', x = 3.14159, y = 9.04283e-09, z = 0.785398 }
//[11 / 09 17:40 : 14][DEBUG] diffPos = { type = 'glm::vec3', x = 1.0524, y = -0.0381001, z = -0.0380997 }
//_relativeRotation = glm::quat(glm::vec3(3.14159f, 0.0f, 0.785398));
//_relativePosition = glm::vec3(1.0524, -0.0381001, -0.0380997);
rotation = palmRotation * _relativeRotation;
position = palmPosition + rotation * _relativePosition;
if (isRightHand) {
rotation = palmRotation * _perHandRelativeRotation;
position = palmPosition + rotation * _perHandRelativePosition;
} else {
auto mirroredRotation = _perHandRelativeRotation;
auto mirroredPosition = _perHandRelativePosition;
// Mirror along z axis
mirroredRotation.z *= -1;
mirroredRotation.w *= -1;
mirroredPosition.z *= -1;
rotation = palmRotation * mirroredRotation;
position = palmPosition + rotation * mirroredPosition;
}
rotation = rotation * _relativeRotation;
position = position + rotation * _relativePosition;
}
});
@ -175,6 +158,8 @@ void AvatarActionHold::doKinematicUpdate(float deltaTimeStep) {
bool AvatarActionHold::updateArguments(QVariantMap arguments) {
glm::vec3 relativePosition;
glm::quat relativeRotation;
glm::vec3 perHandRelativePosition;
glm::quat perHandRelativeRotation;
float timeScale;
QString hand;
QUuid holderID;
@ -190,12 +175,26 @@ bool AvatarActionHold::updateArguments(QVariantMap arguments) {
if (!ok) {
relativePosition = _relativePosition;
}
ok = true;
relativeRotation = EntityActionInterface::extractQuatArgument("hold", arguments, "relativeRotation", ok, false);
if (!ok) {
relativeRotation = _relativeRotation;
}
ok = true;
perHandRelativePosition = EntityActionInterface::extractVec3Argument("hold", arguments,
"perHandRelativePosition", ok, false);
if (!ok) {
perHandRelativePosition = _perHandRelativePosition;
}
ok = true;
perHandRelativeRotation = EntityActionInterface::extractQuatArgument("hold", arguments,
"perHandRelativeRotation", ok, false);
if (!ok) {
perHandRelativeRotation = _perHandRelativeRotation;
}
ok = true;
timeScale = EntityActionInterface::extractFloatArgument("hold", arguments, "timeScale", ok, false);
@ -235,6 +234,8 @@ bool AvatarActionHold::updateArguments(QVariantMap arguments) {
if (somethingChanged ||
relativePosition != _relativePosition ||
relativeRotation != _relativeRotation ||
perHandRelativePosition != _perHandRelativePosition ||
perHandRelativeRotation != _perHandRelativeRotation ||
timeScale != _linearTimeScale ||
hand != _hand ||
holderID != _holderID ||
@ -249,6 +250,8 @@ bool AvatarActionHold::updateArguments(QVariantMap arguments) {
withWriteLock([&] {
_relativePosition = relativePosition;
_relativeRotation = relativeRotation;
_perHandRelativePosition = perHandRelativePosition;
_perHandRelativeRotation = perHandRelativeRotation;
const float MIN_TIMESCALE = 0.1f;
_linearTimeScale = glm::max(MIN_TIMESCALE, timeScale);
_angularTimeScale = _linearTimeScale;
@ -276,6 +279,8 @@ QVariantMap AvatarActionHold::getArguments() {
arguments["holderID"] = _holderID;
arguments["relativePosition"] = glmToQMap(_relativePosition);
arguments["relativeRotation"] = glmToQMap(_relativeRotation);
arguments["perHandRelativePosition"] = glmToQMap(_perHandRelativePosition);
arguments["perHandRelativeRotation"] = glmToQMap(_perHandRelativeRotation);
arguments["timeScale"] = _linearTimeScale;
arguments["hand"] = _hand;
arguments["kinematic"] = _kinematic;
@ -297,6 +302,8 @@ QByteArray AvatarActionHold::serialize() const {
dataStream << _holderID;
dataStream << _relativePosition;
dataStream << _relativeRotation;
dataStream << _perHandRelativePosition;
dataStream << _perHandRelativeRotation;
dataStream << _linearTimeScale;
dataStream << _hand;
@ -330,6 +337,8 @@ void AvatarActionHold::deserialize(QByteArray serializedArguments) {
dataStream >> _holderID;
dataStream >> _relativePosition;
dataStream >> _relativeRotation;
dataStream >> _perHandRelativePosition;
dataStream >> _perHandRelativeRotation;
dataStream >> _linearTimeScale;
_angularTimeScale = _linearTimeScale;
dataStream >> _hand;

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

@ -39,6 +39,9 @@ private:
glm::vec3 _relativePosition { 0.0f };
glm::quat _relativeRotation;
glm::vec3 _perHandRelativePosition { 0.0f };
glm::quat _perHandRelativeRotation;
QString _hand { "right" };
QUuid _holderID;

2
libraries/networking/src/udt/PacketHeaders.cpp
View file

@ -38,7 +38,7 @@ PacketVersion versionForPacketType(PacketType packetType) {
case PacketType::EntityAdd:
case PacketType::EntityEdit:
case PacketType::EntityData:
return VERSION_ENTITIES_PARTICLES_ADDITIVE_BLENDING;
return VERSION_ENTITIES_ACTIONS_IGNORE_IK;
case PacketType::AvatarData:
case PacketType::BulkAvatarData:
default:

1
libraries/networking/src/udt/PacketHeaders.h
View file

@ -146,5 +146,6 @@ const PacketVersion VERSION_ENTITIES_ANIMATION_PROPERTIES_GROUP = 46;
const PacketVersion VERSION_ENTITIES_KEYLIGHT_PROPERTIES_GROUP = 47;
const PacketVersion VERSION_ENTITIES_KEYLIGHT_PROPERTIES_GROUP_BIS = 48;
const PacketVersion VERSION_ENTITIES_PARTICLES_ADDITIVE_BLENDING = 49;
const PacketVersion VERSION_ENTITIES_ACTIONS_IGNORE_IK = 50;
#endif // hifi_PacketHeaders_h