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Added Google glass support, cleaned up gyro code, ready for Oculus!

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This commit is contained in:
Philip Rosedale 2013-04-30 16:04:55 -07:00
parent 55330cf14f
commit 24a636486e
2 changed files with 42 additions and 14 deletions
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50
interface/src/Avatar.cpp
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@ -109,6 +109,7 @@ Avatar::Avatar(bool isMine) {
_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;
@ -442,9 +443,9 @@ void Avatar::updateHead(float deltaTime) {
// 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);
}
if (_head.noise) {
@ -1266,7 +1267,7 @@ void Avatar::SetNewHeadTarget(float pitch, float yaw) {
_head.yawTarget = yaw;
}
// getting data from Android transmitter
// 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
@ -1279,6 +1280,8 @@ void Avatar::processTransmitterData(unsigned char* packetData, int numBytes) {
// 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,
@ -1289,11 +1292,19 @@ void Avatar::processTransmitterData(unsigned char* packetData, int numBytes) {
if (_transmitterPackets++ == 0) {
// If first packet received, note time, turn head spring return OFF, get start rotation
gettimeofday(&_transmitterTimer, NULL);
setHeadReturnToCenter(false);
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 );
printLog("Using Transmitter to drive head, springs OFF.\n");
}
const int TRANSMITTER_COUNT = 100;
if (_transmitterPackets % TRANSMITTER_COUNT == 0) {
@ -1301,10 +1312,13 @@ 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,
@ -1312,12 +1326,22 @@ void Avatar::processTransmitterData(unsigned char* packetData, int numBytes) {
if (eulerAngles.x > 180.f) { eulerAngles.x -= 360.f; }
if (eulerAngles.x < -180.f) { eulerAngles.x += 360.f; }
glm::vec3 angularVelocity(glm::degrees(gyrZ), glm::degrees(-gyrX), glm::degrees(gyrY));
setHeadFromGyros( &eulerAngles, &angularVelocity,
(_transmitterHz == 0.f) ? 0.f : 1.f/_transmitterHz );
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) {
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.
@ -1347,11 +1371,11 @@ void Avatar::setHeadFromGyros(glm::vec3* eulerAngles, glm::vec3* angularVelocity
// Increment by detected velocity
angles += (*angularVelocity) * deltaTime;
// Smooth to slowly follow absolute values
const float SMOOTHING_TIME = 1.0;
angles = ((1.f - deltaTime/SMOOTHING_TIME) * angles) + (deltaTime/SMOOTHING_TIME) * (*eulerAngles);
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);
}
}

6
interface/src/Avatar.h
View file

@ -225,6 +225,9 @@ private:
float lastLoudness;
float averageLoudness;
float audioAttack;
// Strength of return springs
float returnSpringScale;
};
AvatarHead _head;
@ -273,7 +276,8 @@ 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);
void setHeadFromGyros(glm::vec3 * eulerAngles, glm::vec3 * angularVelocity, float deltaTime, float smoothingTime);
void setHeadSpringScale(float s) { _head.returnSpringScale = s; }
};
#endif