Mirrors/overte-HifiExperiments
3
0
Fork 0
mirror of https://github.com/HifiExperiments/overte.git synced 2025-04-07 10:02:24 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

NeruonPlugin: translation support

Browse source 
Warn if translations are not present.
This commit is contained in:
Anthony Thibault 2015-12-26 11:50:54 -08:00
parent 878fe80040
commit fd3eed3d41
2 changed files with 85 additions and 25 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

10
examples/controllers/neuron/neuronAvatar.js
View file

@ -62,6 +62,8 @@ var JOINT_PARENT_MAP = {
LeftHandPinky: "LeftHandPinky3",
};
var USE_TRANSLATIONS = false;
function dumpHardwareMapping() {
Object.keys(Controller.Hardware).forEach(function (deviceName) {
Object.keys(Controller.Hardware[deviceName]).forEach(function (input) {
@ -152,8 +154,12 @@ NeuronAvatar.prototype.update = function (deltaTime) {
// Then we transform back into joint local by multiplying by the inverse of the parents absolute rotation.
MyAvatar.setJointRotation(j, Quat.multiply(Quat.inverse(parentDefaultAbsRot), Quat.multiply(pose.rotation, defaultAbsRot)));
// TODO:
//MyAvatar.setJointTranslation(j, Vec3.multiply(100.0, pose.translation));
// translation proportions might be different from the neuron avatar and the user avatar skeleton.
// so this is disabled by default
if (USE_TRANSLATIONS) {
var localTranslation = Vec3.multiplyQbyV(Quat.inverse(parentDefaultAbsRot), pose.translation);
MyAvatar.setJointTranslation(j, localTranslation);
}
}
}
};

100
plugins/hifiNeuron/src/NeuronPlugin.cpp
View file

@ -159,6 +159,73 @@ static controller::StandardPoseChannel neuronJointIndexToPoseIndexMap[NeuronJoin
controller::LEFT_HAND_PINKY4
};
// in rig frame
static glm::vec3 rightHandThumb1DefaultAbsTranslation(-2.155500650405884, -0.7610001564025879, 2.685631036758423);
static glm::vec3 leftHandThumb1DefaultAbsTranslation(2.1555817127227783, -0.7603635787963867, 2.6856393814086914);
// default translations (cm)
static glm::vec3 neuronJointTranslations[NeuronJointIndex::Size] = {
{131.901, 95.6602, -27.9815},
{-9.55907, -1.58772, 0.0760284},
{0.0144232, -41.4683, -0.105322},
{1.59348, -41.5875, -0.557237},
{9.72077, -1.68926, -0.280643},
{0.0886684, -43.1586, -0.0111596},
{-2.98473, -44.0517, 0.0694456},
{0.110967, 16.3959, 0.140463},
{0.0500451, 10.0238, 0.0731921},
{0.061568, 10.4352, 0.0583075},
{0.0500606, 10.0217, 0.0711083},
{0.0317731, 10.7176, 0.0779325},
{-0.0204253, 9.71067, 0.131734},
{-3.24245, 7.13584, 0.185638},
{-13.0885, -0.0877601, 0.176065},
{-27.2674, 0.0688724, 0.0272146},
{-26.7673, 0.0301916, 0.0102847},
{-2.56017, 0.195537, 3.20968},
{-3.78796, 0, 0},
{-2.63141, 0, 0},
{-3.31579, 0.522947, 2.03495},
{-5.36589, -0.0939789, 1.02771},
{-3.72278, 0, 0},
{-2.11074, 0, 0},
{-3.47874, 0.532042, 0.778358},
{-5.32194, -0.0864, 0.322863},
{-4.06232, 0, 0},
{-2.54653, 0, 0},
{-3.46131, 0.553263, -0.132632},
{-4.76716, -0.0227368, -0.492632},
{-3.54073, 0, 0},
{-2.45634, 0, 0},
{-3.25137, 0.482779, -1.23613},
{-4.25937, -0.0227368, -1.12168},
{-2.83528, 0, 0},
{-1.79166, 0, 0},
{3.25624, 7.13148, -0.131575},
{13.149, -0.052598, -0.125076},
{27.2903, 0.00282644, -0.0181535},
{26.6602, 0.000969969, -0.0487599},
{2.56017, 0.195537, 3.20968},
{3.78796, 0, 0},
{2.63141, 0, 0},
{3.31579, 0.522947, 2.03495},
{5.36589, -0.0939789, 1.02771},
{3.72278, 0, 0},
{2.11074, 0, 0},
{3.47874, 0.532042, 0.778358},
{5.32194, -0.0864, 0.322863},
{4.06232, 0, 0},
{2.54653, 0, 0},
{3.46131, 0.553263, -0.132632},
{4.76716, -0.0227368, -0.492632},
{3.54073, 0, 0},
{2.45634, 0, 0},
{3.25137, 0.482779, -1.23613},
{4.25937, -0.0227368, -1.12168},
{2.83528, 0, 0},
{1.79166, 0, 0}
};
static controller::StandardPoseChannel neuronJointIndexToPoseIndex(NeuronJointIndex i) {
assert(i >= 0 && i < NeuronJointIndex::Size);
if (i >= 0 && i < NeuronJointIndex::Size) {
@ -285,31 +352,20 @@ void FrameDataReceivedCallback(void* context, SOCKET_REF sender, BvhDataHeaderEx
memcpy(&(neuronPlugin->_joints[0]), data, sizeof(NeuronPlugin::NeuronJoint) * NUM_JOINTS);
} else {
qCWarning(inputplugins) << "NeuronPlugin: unsuported binary format, please enable displacements";
// enter mutex
std::lock_guard<std::mutex> guard(neuronPlugin->_jointsMutex);
//
// Data is 3 floats per joint: 3 rotation euler angles (degrees)
//
// resize vector if necessary
const size_t NUM_FLOATS_PER_JOINT = 3;
const size_t NUM_JOINTS = header->DataCount / NUM_FLOATS_PER_JOINT;
if (neuronPlugin->_joints.size() != NUM_JOINTS) {
neuronPlugin->_joints.resize(NUM_JOINTS, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f } });
if (neuronPlugin->_joints.size() != NeuronJointIndex::Size) {
neuronPlugin->_joints.resize(NeuronJointIndex::Size, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f } });
}
assert(sizeof(NeuronPlugin::NeuronJoint) == (NUM_FLOATS_PER_JOINT * sizeof(float)));
for (int i = 0; i < NUM_JOINTS; i++) {
// TODO: should probably just copy over default positions?!
memcpy(&(neuronPlugin->_joints[i].euler), data, sizeof(float) * NUM_FLOATS_PER_JOINT);
for (int i = 0; i < NeuronJointIndex::Size; i++) {
neuronPlugin->_joints[i].euler = glm::vec3();
neuronPlugin->_joints[i].pos = neuronJointTranslations[i];
}
qCCritical(inputplugins) << "NeruonPlugin: format not supported";
}
} else {
static bool ONCE = false;
if (!ONCE) {
@ -466,7 +522,7 @@ QString NeuronPlugin::InputDevice::getDefaultMappingConfig() const {
void NeuronPlugin::InputDevice::update(float deltaTime, const std::vector<NeuronPlugin::NeuronJoint>& joints, const std::vector<NeuronPlugin::NeuronJoint>& prevJoints) {
for (int i = 0; i < joints.size(); i++) {
glm::vec3 linearVel, angularVel;
glm::vec3 pos = (joints[i].pos * METERS_PER_CENTIMETER);
glm::vec3 pos = joints[i].pos;
glm::quat rot = eulerToQuat(joints[i].euler);
if (i < prevJoints.size()) {
linearVel = (pos - (prevJoints[i].pos * METERS_PER_CENTIMETER)) / deltaTime; // m/s
@ -478,8 +534,6 @@ void NeuronPlugin::InputDevice::update(float deltaTime, const std::vector<Neuron
_poseStateMap[poseIndex] = controller::Pose(pos, rot, linearVel, angularVel);
}
// fill in missing thumb joints with identity.
// TODO: need a standard displacement
_poseStateMap[controller::RIGHT_HAND_THUMB1] = controller::Pose(glm::vec3(), glm::quat(), glm::vec3(), glm::vec3());
_poseStateMap[controller::LEFT_HAND_THUMB1] = controller::Pose(glm::vec3(), glm::quat(), glm::vec3(), glm::vec3());
_poseStateMap[controller::RIGHT_HAND_THUMB1] = controller::Pose(rightHandThumb1DefaultAbsTranslation, glm::quat(), glm::vec3(), glm::vec3());
_poseStateMap[controller::LEFT_HAND_THUMB1] = controller::Pose(leftHandThumb1DefaultAbsTranslation, glm::quat(), glm::vec3(), glm::vec3());
}