More work on PrioVR integration.

interface/src/Application.cpp

@@ -2752,6 +2752,9 @@ void Application::displayOverlay() {
         drawText(_glWidget->width() - 100, _glWidget->height() - timerBottom, 0.30f, 0.0f, 0, frameTimer, WHITE_TEXT);
     }
 
+    // give external parties a change to hook in
+    emit renderingOverlay();
+        
     _overlays.render2D();
 
     glPopMatrix();
@@ -3060,6 +3063,8 @@ void Application::resetSensors() {
         OculusManager::reset();
     }
 
+    _prioVR.reset();
+
     QCursor::setPos(_mouseX, _mouseY);
     _myAvatar->reset();
 

interface/src/Application.h

@@ -195,6 +195,7 @@ public:
     Visage* getVisage() { return &_visage; }
     FaceTracker* getActiveFaceTracker();
     SixenseManager* getSixenseManager() { return &_sixenseManager; }
+    PrioVR* getPrioVR() { return &_prioVR; }
     BandwidthMeter* getBandwidthMeter() { return &_bandwidthMeter; }
     QUndoStack* getUndoStack() { return &_undoStack; }
 
@@ -268,6 +269,9 @@ signals:
     /// Fired when we're rendering in-world interface elements; allows external parties to hook in.
     void renderingInWorldInterface();
 
+    /// Fired when we're rendering the overlay.
+    void renderingOverlay();
+
     /// Fired when the import window is closed
     void importDone();
 

interface/src/avatar/MyAvatar.cpp

@@ -244,23 +244,28 @@ void MyAvatar::simulate(float deltaTime) {
 void MyAvatar::updateFromTrackers(float deltaTime) {
     glm::vec3 estimatedPosition, estimatedRotation;
 
-    FaceTracker* tracker = Application::getInstance()->getActiveFaceTracker();
+    if (Application::getInstance()->getPrioVR()->isActive()) {
-    if (tracker) {
+        estimatedRotation = glm::degrees(safeEulerAngles(Application::getInstance()->getPrioVR()->getHeadRotation()));
-        estimatedPosition = tracker->getHeadTranslation();
+    
-        estimatedRotation = glm::degrees(safeEulerAngles(tracker->getHeadRotation()));
+    } else {
-        
+        FaceTracker* tracker = Application::getInstance()->getActiveFaceTracker();
-        //  Rotate the body if the head is turned beyond the screen
+        if (tracker) {
-        if (Menu::getInstance()->isOptionChecked(MenuOption::TurnWithHead)) {
+            estimatedPosition = tracker->getHeadTranslation();
-            const float TRACKER_YAW_TURN_SENSITIVITY = 0.5f;
+            estimatedRotation = glm::degrees(safeEulerAngles(tracker->getHeadRotation()));
-            const float TRACKER_MIN_YAW_TURN = 15.0f;
+        }
-            const float TRACKER_MAX_YAW_TURN = 50.0f;
+    }
-            if ( (fabs(estimatedRotation.y) > TRACKER_MIN_YAW_TURN) &&
+    
-                 (fabs(estimatedRotation.y) < TRACKER_MAX_YAW_TURN) ) {
+    //  Rotate the body if the head is turned beyond the screen
-                if (estimatedRotation.y > 0.0f) {
+    if (Menu::getInstance()->isOptionChecked(MenuOption::TurnWithHead)) {
-                    _bodyYawDelta += (estimatedRotation.y - TRACKER_MIN_YAW_TURN) * TRACKER_YAW_TURN_SENSITIVITY;
+        const float TRACKER_YAW_TURN_SENSITIVITY = 0.5f;
-                } else {
+        const float TRACKER_MIN_YAW_TURN = 15.0f;
-                    _bodyYawDelta += (estimatedRotation.y + TRACKER_MIN_YAW_TURN) * TRACKER_YAW_TURN_SENSITIVITY;
+        const float TRACKER_MAX_YAW_TURN = 50.0f;
-                }
+        if ( (fabs(estimatedRotation.y) > TRACKER_MIN_YAW_TURN) &&
+             (fabs(estimatedRotation.y) < TRACKER_MAX_YAW_TURN) ) {
+            if (estimatedRotation.y > 0.0f) {
+                _bodyYawDelta += (estimatedRotation.y - TRACKER_MIN_YAW_TURN) * TRACKER_YAW_TURN_SENSITIVITY;
+            } else {
+                _bodyYawDelta += (estimatedRotation.y + TRACKER_MIN_YAW_TURN) * TRACKER_YAW_TURN_SENSITIVITY;
             }
         }
     }
@@ -278,6 +283,14 @@ void MyAvatar::updateFromTrackers(float deltaTime) {
     head->setDeltaYaw(estimatedRotation.y * magnifyFieldOfView);
     head->setDeltaRoll(estimatedRotation.z);
 
+    // the priovr can give us exact lean
+    if (Application::getInstance()->getPrioVR()->isActive()) {
+        glm::vec3 eulers = glm::degrees(safeEulerAngles(Application::getInstance()->getPrioVR()->getTorsoRotation()));
+        head->setLeanSideways(eulers.z);
+        head->setLeanForward(eulers.x);
+        return;
+    }
+
     //  Update torso lean distance based on accelerometer data
     const float TORSO_LENGTH = 0.5f;
     glm::vec3 relativePosition = estimatedPosition - glm::vec3(0.0f, -TORSO_LENGTH, 0.0f);

interface/src/avatar/SkeletonModel.cpp

@@ -33,14 +33,28 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
         return; // only simulate for own avatar
     }
 
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    PrioVR* prioVR = Application::getInstance()->getPrioVR();
+    if (prioVR->isActive()) {
+        for (int i = 0; i < prioVR->getJointRotations().size(); i++) {
+            int humanIKJointIndex = prioVR->getHumanIKJointIndices().at(i);
+            if (humanIKJointIndex == -1) {
+                continue;
+            }
+            int jointIndex = geometry.humanIKJointIndices.at(humanIKJointIndex);
+            if (jointIndex != -1) {
+                setJointRotation(jointIndex, _rotation * prioVR->getJointRotations().at(i), true);
+            }
+        }
+        return;
+    }
+
     // find the left and rightmost active Leap palms
     int leftPalmIndex, rightPalmIndex;
     Hand* hand = _owningAvatar->getHand();
     hand->getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
 
-    const float HAND_RESTORATION_RATE = 0.25f;
+    const float HAND_RESTORATION_RATE = 0.25f;    
-
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
     if (leftPalmIndex == -1) {
         // no Leap data; set hands from mouse
         if (_owningAvatar->getHandState() == HAND_STATE_NULL) {

interface/src/devices/PrioVR.cpp

@@ -13,7 +13,9 @@
 
 #include <FBXReader.h>
 
+#include "Application.h"
 #include "PrioVR.h"
+#include "ui/TextRenderer.h"
 
 const unsigned int SERIAL_LIST[] = { 0x00000001, 0x00000000, 0x00000008, 0x00000009, 0x0000000A,
     0x0000000C, 0x0000000D, 0x0000000E, 0x00000004, 0x00000005, 0x00000010, 0x00000011 };
@@ -49,7 +51,6 @@ PrioVR::PrioVR() {
     for (int i = 0; i < LIST_LENGTH; i++) {
         _humanIKJointIndices.append(jointsDiscovered[i] ? indexOfHumanIKJoint(JOINT_NAMES[i]) : -1);
     }
-    yei_tareSensors(_skeletalDevice);
 #endif
 }
 
@@ -61,6 +62,16 @@ PrioVR::~PrioVR() {
 #endif
 }
 
+glm::quat PrioVR::getHeadRotation() const {
+    const int HEAD_ROTATION_INDEX = 0;
+    return _jointRotations.size() > HEAD_ROTATION_INDEX ? _jointRotations.at(HEAD_ROTATION_INDEX) : glm::quat();
+}
+
+glm::quat PrioVR::getTorsoRotation() const {
+    const int TORSO_ROTATION_INDEX = 1;
+    return _jointRotations.size() > TORSO_ROTATION_INDEX ? _jointRotations.at(TORSO_ROTATION_INDEX) : glm::quat();
+}
+
 void PrioVR::update() {
 #ifdef HAVE_PRIOVR
     if (!_skeletalDevice) {
@@ -71,3 +82,30 @@ void PrioVR::update() {
         _jointRotations.size() * sizeof(glm::quat), &timestamp);
 #endif
 }
+
+void PrioVR::reset() {
+#ifdef HAVE_PRIOVR
+    if (!_skeletalDevice) {
+        return;
+    }
+    connect(Application::getInstance(), SIGNAL(renderingOverlay()), SLOT(renderCalibrationCountdown()));
+    _calibrationCountdownStarted = QDateTime::currentDateTime();
+#endif
+}
+
+void PrioVR::renderCalibrationCountdown() {
+#ifdef HAVE_PRIOVR
+    const int COUNTDOWN_SECONDS = 3;
+    int secondsRemaining = COUNTDOWN_SECONDS - _calibrationCountdownStarted.secsTo(QDateTime::currentDateTime());
+    if (secondsRemaining == 0) {
+        yei_tareSensors(_skeletalDevice);
+        Application::getInstance()->disconnect(this);
+        return;
+    }
+    static TextRenderer textRenderer(MONO_FONT_FAMILY, 18, QFont::Bold, false, TextRenderer::OUTLINE_EFFECT, 2);
+    QByteArray text = "Assume T-Pose in " + QByteArray::number(secondsRemaining) + "...";
+    textRenderer.draw((Application::getInstance()->getGLWidget()->width() - textRenderer.computeWidth(text.constData())) / 2,
+        Application::getInstance()->getGLWidget()->height() / 2,
+        text);
+#endif  
+}

interface/src/devices/PrioVR.h

@@ -12,6 +12,7 @@
 #ifndef hifi_PrioVR_h
 #define hifi_PrioVR_h
 
+#include <QDateTime>
 #include <QObject>
 #include <QVector>
 
@@ -32,10 +33,20 @@ public:
     PrioVR();
     virtual ~PrioVR();
 
+    bool isActive() const { return !_jointRotations.isEmpty(); }
+
+    glm::quat getHeadRotation() const;
+    glm::quat getTorsoRotation() const;
+
     const QVector<int>& getHumanIKJointIndices() const { return _humanIKJointIndices; }
     const QVector<glm::quat>& getJointRotations() const { return _jointRotations; }
     
     void update();
+    void reset();
+
+private slots:
+
+    void renderCalibrationCountdown();
 
 private:
 #ifdef HAVE_PRIOVR
@@ -44,6 +55,8 @@ private:
 
     QVector<int> _humanIKJointIndices;
     QVector<glm::quat> _jointRotations;
+    
+    QDateTime _calibrationCountdownStarted;
 };
 
 #endif // hifi_PrioVR_h