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Merge branch 'master' of https://github.com/worklist/hifi

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This commit is contained in:
Andrzej Kapolka 2013-04-30 16:06:44 -07:00
commit 13a4058068
3 changed files with 204 additions and 115 deletions
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305
interface/src/Avatar.cpp
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@ -72,71 +72,74 @@ Avatar::Avatar(bool isMine) {
_orientation.setToIdentity();
_velocity = glm::vec3( 0.0, 0.0, 0.0 );
_thrust = glm::vec3( 0.0, 0.0, 0.0 );
_rotation = glm::quat( 0.0f, 0.0f, 0.0f, 0.0f );
_bodyYaw = -90.0;
_bodyPitch = 0.0;
_bodyRoll = 0.0;
_bodyYawDelta = 0.0;
_mousePressed = false;
_mode = AVATAR_MODE_STANDING;
_isMine = isMine;
_maxArmLength = 0.0;
_transmitterHz = 0.0;
_transmitterPackets = 0;
_speed = 0.0;
_pelvisStandingHeight = 0.0f;
_displayingHead = true;
_TEST_bigSphereRadius = 0.3f;
_TEST_bigSpherePosition = glm::vec3( 0.0f, _TEST_bigSphereRadius, 2.0f );
_velocity = glm::vec3( 0.0, 0.0, 0.0 );
_thrust = glm::vec3( 0.0, 0.0, 0.0 );
_rotation = glm::quat( 0.0f, 0.0f, 0.0f, 0.0f );
_bodyYaw = -90.0;
_bodyPitch = 0.0;
_bodyRoll = 0.0;
_bodyYawDelta = 0.0;
_mousePressed = false;
_mode = AVATAR_MODE_STANDING;
_isMine = isMine;
_maxArmLength = 0.0;
_transmitterHz = 0.0;
_transmitterPackets = 0;
_transmitterIsFirstData = true;
_transmitterInitialReading = glm::vec3( 0.f, 0.f, 0.f );
_speed = 0.0;
_pelvisStandingHeight = 0.0f;
_displayingHead = true;
_TEST_bigSphereRadius = 0.3f;
_TEST_bigSpherePosition = glm::vec3( 0.0f, _TEST_bigSphereRadius, 2.0f );
for (int i = 0; i < MAX_DRIVE_KEYS; i++) _driveKeys[i] = false;
_head.pupilSize = 0.10;
_head.interPupilDistance = 0.6;
_head.interBrowDistance = 0.75;
_head.nominalPupilSize = 0.10;
_head.pitchRate = 0.0;
_head.yawRate = 0.0;
_head.rollRate = 0.0;
_head.eyebrowPitch[0] = -30;
_head.eyebrowPitch[1] = -30;
_head.eyebrowRoll [0] = 20;
_head.eyebrowRoll [1] = -20;
_head.mouthPitch = 0;
_head.mouthYaw = 0;
_head.mouthWidth = 1.0;
_head.mouthHeight = 0.2;
_head.eyeballPitch[0] = 0;
_head.eyeballPitch[1] = 0;
_head.eyeballScaleX = 1.2;
_head.eyeballScaleY = 1.5;
_head.eyeballScaleZ = 1.0;
_head.eyeballYaw[0] = 0;
_head.eyeballYaw[1] = 0;
_head.pitchTarget = 0;
_head.yawTarget = 0;
_head.noiseEnvelope = 1.0;
_head.pupilConverge = 10.0;
_head.leanForward = 0.0;
_head.leanSideways = 0.0;
_head.eyeContact = 1;
_head.eyeContactTarget = LEFT_EYE;
_head.scale = 1.0;
_head.audioAttack = 0.0;
_head.averageLoudness = 0.0;
_head.lastLoudness = 0.0;
_head.browAudioLift = 0.0;
_head.noise = 0;
_movedHandOffset = glm::vec3( 0.0, 0.0, 0.0 );
_usingBodySprings = true;
_renderYaw = 0.0;
_renderPitch = 0.0;
_sphere = NULL;
_interactingOther = NULL;
_interactingOtherIsNearby = false;
_handHoldingPosition = glm::vec3( 0.0, 0.0, 0.0 );
_head.pupilSize = 0.10;
_head.interPupilDistance = 0.6;
_head.interBrowDistance = 0.75;
_head.nominalPupilSize = 0.10;
_head.pitchRate = 0.0;
_head.yawRate = 0.0;
_head.rollRate = 0.0;
_head.eyebrowPitch[0] = -30;
_head.eyebrowPitch[1] = -30;
_head.eyebrowRoll [0] = 20;
_head.eyebrowRoll [1] = -20;
_head.mouthPitch = 0;
_head.mouthYaw = 0;
_head.mouthWidth = 1.0;
_head.mouthHeight = 0.2;
_head.eyeballPitch[0] = 0;
_head.eyeballPitch[1] = 0;
_head.eyeballScaleX = 1.2;
_head.eyeballScaleY = 1.5;
_head.eyeballScaleZ = 1.0;
_head.eyeballYaw[0] = 0;
_head.eyeballYaw[1] = 0;
_head.pitchTarget = 0;
_head.yawTarget = 0;
_head.noiseEnvelope = 1.0;
_head.pupilConverge = 10.0;
_head.leanForward = 0.0;
_head.leanSideways = 0.0;
_head.eyeContact = 1;
_head.eyeContactTarget = LEFT_EYE;
_head.scale = 1.0;
_head.audioAttack = 0.0;
_head.averageLoudness = 0.0;
_head.lastLoudness = 0.0;
_head.browAudioLift = 0.0;
_head.noise = 0;
_head.returnSpringScale = 1.0;
_movedHandOffset = glm::vec3( 0.0, 0.0, 0.0 );
_usingBodySprings = true;
_renderYaw = 0.0;
_renderPitch = 0.0;
_sphere = NULL;
_interactingOther = NULL;
_interactingOtherIsNearby = false;
_handHoldingPosition = glm::vec3( 0.0, 0.0, 0.0 );
initializeSkeleton();
@ -155,27 +158,30 @@ Avatar::Avatar(bool isMine) {
Avatar::Avatar(const Avatar &otherAvatar) {
_velocity = otherAvatar._velocity;
_thrust = otherAvatar._thrust;
_rotation = otherAvatar._rotation;
_interactingOtherIsNearby = otherAvatar._interactingOtherIsNearby;
_bodyYaw = otherAvatar._bodyYaw;
_bodyPitch = otherAvatar._bodyPitch;
_bodyRoll = otherAvatar._bodyRoll;
_bodyYawDelta = otherAvatar._bodyYawDelta;
_mousePressed = otherAvatar._mousePressed;
_mode = otherAvatar._mode;
_isMine = otherAvatar._isMine;
_renderYaw = otherAvatar._renderYaw;
_renderPitch = otherAvatar._renderPitch;
_maxArmLength = otherAvatar._maxArmLength;
_transmitterTimer = otherAvatar._transmitterTimer;
_transmitterHz = otherAvatar._transmitterHz;
_transmitterPackets = otherAvatar._transmitterPackets;
_TEST_bigSphereRadius = otherAvatar._TEST_bigSphereRadius;
_TEST_bigSpherePosition = otherAvatar._TEST_bigSpherePosition;
_movedHandOffset = otherAvatar._movedHandOffset;
_usingBodySprings = otherAvatar._usingBodySprings;
_velocity = otherAvatar._velocity;
_thrust = otherAvatar._thrust;
_rotation = otherAvatar._rotation;
_interactingOtherIsNearby = otherAvatar._interactingOtherIsNearby;
_bodyYaw = otherAvatar._bodyYaw;
_bodyPitch = otherAvatar._bodyPitch;
_bodyRoll = otherAvatar._bodyRoll;
_bodyYawDelta = otherAvatar._bodyYawDelta;
_mousePressed = otherAvatar._mousePressed;
_mode = otherAvatar._mode;
_isMine = otherAvatar._isMine;
_renderYaw = otherAvatar._renderYaw;
_renderPitch = otherAvatar._renderPitch;
_maxArmLength = otherAvatar._maxArmLength;
_transmitterTimer = otherAvatar._transmitterTimer;
_transmitterIsFirstData = otherAvatar._transmitterIsFirstData;
_transmitterTimeLastReceived = otherAvatar._transmitterTimeLastReceived;
_transmitterHz = otherAvatar._transmitterHz;
_transmitterInitialReading = otherAvatar._transmitterInitialReading;
_transmitterPackets = otherAvatar._transmitterPackets;
_TEST_bigSphereRadius = otherAvatar._TEST_bigSphereRadius;
_TEST_bigSpherePosition = otherAvatar._TEST_bigSpherePosition;
_movedHandOffset = otherAvatar._movedHandOffset;
_usingBodySprings = otherAvatar._usingBodySprings;
_orientation.set( otherAvatar._orientation );
_sphere = NULL;
@ -258,9 +264,9 @@ void Avatar::UpdateGyros(float frametime, SerialInterface * serialInterface, glm
float measured_pitch_rate = serialInterface->getRelativeValue(HEAD_PITCH_RATE);
_head.yawRate = serialInterface->getRelativeValue(HEAD_YAW_RATE);
float measured_lateral_accel = serialInterface->getRelativeValue(ACCEL_X) -
ROLL_ACCEL_COUPLING*serialInterface->getRelativeValue(HEAD_ROLL_RATE);
ROLL_ACCEL_COUPLING * serialInterface->getRelativeValue(HEAD_ROLL_RATE);
float measured_fwd_accel = serialInterface->getRelativeValue(ACCEL_Z) -
PITCH_ACCEL_COUPLING*serialInterface->getRelativeValue(HEAD_PITCH_RATE);
PITCH_ACCEL_COUPLING * serialInterface->getRelativeValue(HEAD_PITCH_RATE);
float measured_roll_rate = serialInterface->getRelativeValue(HEAD_ROLL_RATE);
//printLog("Pitch Rate: %d ACCEL_Z: %d\n", serialInterface->getRelativeValue(PITCH_RATE),
@ -455,19 +461,23 @@ void Avatar::simulate(float deltaTime) {
void Avatar::updateHead(float deltaTime) {
if (!_head.noise) {
// Decay head back to center if turned on
if (_returnHeadToCenter) {
// Decay back toward center
_headPitch *= (1.0f - DECAY * 2 * deltaTime);
_headYaw *= (1.0f - DECAY * 2 * deltaTime);
_headRoll *= (1.0f - DECAY * 2 * deltaTime);
_headPitch *= (1.0f - DECAY * _head.returnSpringScale * 2 * deltaTime);
_headYaw *= (1.0f - DECAY * _head.returnSpringScale * 2 * deltaTime);
_headRoll *= (1.0f - DECAY * _head.returnSpringScale * 2 * deltaTime);
}
else {
if (_head.noise) {
// Move toward new target
_headPitch += (_head.pitchTarget - _headPitch) * 10 * deltaTime; // (1.f - DECAY*deltaTime)*Pitch + ;
_headYaw += (_head.yawTarget - _headYaw ) * 10 * deltaTime; // (1.f - DECAY*deltaTime);
_headRoll *= 1.f - (DECAY * deltaTime);
}
_head.leanForward *= (1.f - DECAY * 30 * deltaTime);
_head.leanSideways *= (1.f - DECAY * 30 * deltaTime);
@ -1286,14 +1296,21 @@ void Avatar::SetNewHeadTarget(float pitch, float yaw) {
_head.yawTarget = yaw;
}
// getting data from Android transmitte app
// Process UDP interface data from Android transmitter or Google Glass
void Avatar::processTransmitterData(unsigned char* packetData, int numBytes) {
// Read a packet from a transmitter app, process the data
float accX, accY, accZ,
graX, graY, graZ,
gyrX, gyrY, gyrZ,
linX, linY, linZ,
rot1, rot2, rot3, rot4;
float
accX, accY, accZ, // Measured acceleration
graX, graY, graZ, // Gravity
gyrX, gyrY, gyrZ, // Gyro velocity in radians/sec as (pitch, roll, yaw)
linX, linY, linZ, // Linear Acceleration (less gravity)
rot1, rot2, rot3, rot4; // Rotation of device:
// rot1 = roll, ranges from -1 to 1, 0 = flat on table
// rot2 = pitch, ranges from -1 to 1, 0 = flat on table
// rot3 = yaw, ranges from -1 to 1
const bool IS_GLASS = false; // Whether to assume this is a Google glass transmitting
sscanf((char *)packetData, "tacc %f %f %f gra %f %f %f gyr %f %f %f lin %f %f %f rot %f %f %f %f",
&accX, &accY, &accZ,
&graX, &graY, &graZ,
@ -1302,7 +1319,21 @@ void Avatar::processTransmitterData(unsigned char* packetData, int numBytes) {
&rot1, &rot2, &rot3, &rot4);
if (_transmitterPackets++ == 0) {
// If first packet received, note time, turn head spring return OFF, get start rotation
gettimeofday(&_transmitterTimer, NULL);
if (IS_GLASS) {
setHeadReturnToCenter(true);
setHeadSpringScale(10.f);
printLog("Using Google Glass to drive head, springs ON.\n");
} else {
setHeadReturnToCenter(false);
printLog("Using Transmitter to drive head, springs OFF.\n");
}
_transmitterInitialReading = glm::vec3( rot3,
rot2,
rot1 );
}
const int TRANSMITTER_COUNT = 100;
if (_transmitterPackets % TRANSMITTER_COUNT == 0) {
@ -1310,27 +1341,71 @@ void Avatar::processTransmitterData(unsigned char* packetData, int numBytes) {
timeval now;
gettimeofday(&now, NULL);
double msecsElapsed = diffclock(&_transmitterTimer, &now);
_transmitterHz = static_cast<float>( (double)TRANSMITTER_COUNT/(msecsElapsed/1000.0) );
_transmitterHz = static_cast<float>( (double)TRANSMITTER_COUNT / (msecsElapsed / 1000.0) );
_transmitterTimer = now;
printLog("Transmitter Hz: %3.1f\n", _transmitterHz);
}
//printLog("Gyr: %3.1f, %3.1f, %3.1f\n", glm::degrees(gyrZ), glm::degrees(-gyrX), glm::degrees(gyrY));
//printLog("Rot: %3.1f, %3.1f, %3.1f, %3.1f\n", rot1, rot2, rot3, rot4);
// Update the head with the transmitter data
glm::vec3 eulerAngles((rot3 - _transmitterInitialReading.x) * 180.f,
-(rot2 - _transmitterInitialReading.y) * 180.f,
(rot1 - _transmitterInitialReading.z) * 180.f);
if (eulerAngles.x > 180.f) { eulerAngles.x -= 360.f; }
if (eulerAngles.x < -180.f) { eulerAngles.x += 360.f; }
glm::vec3 angularVelocity;
if (!IS_GLASS) {
angularVelocity = glm::vec3(glm::degrees(gyrZ), glm::degrees(-gyrX), glm::degrees(gyrY));
setHeadFromGyros( &eulerAngles, &angularVelocity,
(_transmitterHz == 0.f) ? 0.f : 1.f / _transmitterHz, 1.0);
} else {
angularVelocity = glm::vec3(glm::degrees(gyrY), glm::degrees(-gyrX), glm::degrees(-gyrZ));
setHeadFromGyros( &eulerAngles, &angularVelocity,
(_transmitterHz == 0.f) ? 0.f : 1.f / _transmitterHz, 1000.0);
}
}
void Avatar::setHeadFromGyros(glm::vec3* eulerAngles, glm::vec3* angularVelocity, float deltaTime, float smoothingTime) {
//
// Given absolute position and angular velocity information, update the avatar's head angles
// with the goal of fast instantaneous updates that gradually follow the absolute data.
//
// Euler Angle format is (Yaw, Pitch, Roll) in degrees
//
// Angular Velocity is (Yaw, Pitch, Roll) in degrees per second
//
// SMOOTHING_TIME is the time is seconds over which the head should average to the
// absolute eulerAngles passed.
//
//
float const MAX_YAW = 90.f;
float const MIN_YAW = -90.f;
float const MAX_PITCH = 85.f;
float const MIN_PITCH = -85.f;
float const MAX_ROLL = 90.f;
float const MIN_ROLL = -90.f;
if (deltaTime == 0.f) {
// On first sample, set head to absolute position
setHeadYaw(eulerAngles->x);
setHeadPitch(eulerAngles->y);
setHeadRoll(eulerAngles->z);
} else {
glm::vec3 angles(getHeadYaw(), getHeadPitch(), getHeadRoll());
// Increment by detected velocity
angles += (*angularVelocity) * deltaTime;
// Smooth to slowly follow absolute values
angles = ((1.f - deltaTime / smoothingTime) * angles) + (deltaTime / smoothingTime) * (*eulerAngles);
setHeadYaw(fmin(fmax(angles.x, MIN_YAW), MAX_YAW));
setHeadPitch(fmin(fmax(angles.y, MIN_PITCH), MAX_PITCH));
setHeadRoll(fmin(fmax(angles.z, MIN_ROLL), MAX_ROLL));
//printLog("Y/P/R: %3.1f, %3.1f, %3.1f\n", angles.x, angles.y, angles.z);
}
/* NOTE: PR: Will add back in when ready to animate avatar hand
// Add rotational forces to the hand
const float ANG_VEL_SENSITIVITY = 4.0;
const float ANG_VEL_THRESHOLD = 0.0;
float angVelScale = ANG_VEL_SENSITIVITY*(1.0f/getTransmitterHz());
addAngularVelocity(fabs(gyrX*angVelScale)>ANG_VEL_THRESHOLD?gyrX*angVelScale:0,
fabs(gyrZ*angVelScale)>ANG_VEL_THRESHOLD?gyrZ*angVelScale:0,
fabs(-gyrY*angVelScale)>ANG_VEL_THRESHOLD?-gyrY*angVelScale:0);
// Add linear forces to the hand
//const float LINEAR_VEL_SENSITIVITY = 50.0;
const float LINEAR_VEL_SENSITIVITY = 5.0;
float linVelScale = LINEAR_VEL_SENSITIVITY*(1.0f/getTransmitterHz());
glm::vec3 linVel(linX*linVelScale, linZ*linVelScale, -linY*linVelScale);
addVelocity(linVel);
*/
}
// Find and return the gravity vector at my location

13
interface/src/Avatar.h
View file

@ -143,6 +143,10 @@ public:
// Find out what the local gravity vector is at this location
glm::vec3 getGravity(glm::vec3 pos);
// Do you want head to try to return to center (depends on interface detected)
void setHeadReturnToCenter(bool r) { _returnHeadToCenter = r; };
const bool getHeadReturnToCenter() const { return _returnHeadToCenter; };
private:
struct AvatarBone
@ -199,6 +203,9 @@ private:
float lastLoudness;
float averageLoudness;
float audioAttack;
// Strength of return springs
float returnSpringScale;
};
AvatarHead _head;
@ -222,9 +229,12 @@ private:
GLUquadric* _sphere;
float _renderYaw;
float _renderPitch; // Pitch from view frustum when this is own head
bool _transmitterIsFirstData;
timeval _transmitterTimeLastReceived;
timeval _transmitterTimer;
float _transmitterHz;
int _transmitterPackets;
glm::vec3 _transmitterInitialReading;
Avatar* _interactingOther;
bool _interactingOtherIsNearby;
float _pelvisStandingHeight;
@ -232,6 +242,7 @@ private:
Balls* _balls;
AvatarTouch _avatarTouch;
bool _displayingHead; // should be false if in first-person view
bool _returnHeadToCenter;
// private methods...
void initializeSkeleton();
@ -243,6 +254,8 @@ private:
void updateHead( float deltaTime );
void updateCollisionWithSphere( glm::vec3 position, float radius, float deltaTime );
void updateCollisionWithOtherAvatar( Avatar * other, float deltaTime );
void setHeadFromGyros(glm::vec3 * eulerAngles, glm::vec3 * angularVelocity, float deltaTime, float smoothingTime);
void setHeadSpringScale(float s) { _head.returnSpringScale = s; }
};
#endif

1
interface/src/main.cpp
View file

@ -1428,6 +1428,7 @@ void* networkReceive(void* args)
switch (incomingPacket[0]) {
case PACKET_HEADER_TRANSMITTER_DATA:
// Process UDP packets that are sent to the client from local sensor devices
myAvatar.processTransmitterData(incomingPacket, bytesReceived);
break;
case PACKET_HEADER_VOXEL_DATA: