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Added critically damped spring behavior to hand, and added simulateHand() routine to main.cpp that uses mouse to correctly move hand controller.

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This commit is contained in:
Philip Rosedale 2013-02-26 09:41:16 -08:00
parent f7b20a7c9c
commit 26a87b3b43
2 changed files with 27 additions and 25 deletions
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19
interface/src/Hand.cpp
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@ -59,7 +59,8 @@ void Hand::simulate(float deltaTime)
{
const float VNOISE = 0.01;
const float RSPRING = 0.01;
const float PSPRING = 0.4;
const float LINEAR_SPRING_CONSTANT = 500;
const float LINEAR_DAMPING_COEFFICIENT = 2.0*powf(LINEAR_SPRING_CONSTANT,0.5);
const float RNOISE = 0.1;
const float VDECAY = 5.0;
@ -79,15 +80,15 @@ void Hand::simulate(float deltaTime)
yaw += yawRate;
roll += rollRate;
// Spring effect to return hand to target;
glm::vec3 sVel = target - position;
sVel *= PSPRING;
addVelocity(sVel);
// Decay position of hand toward target
//position -= deltaTime*(position - target);
// Use a spring to attempt to return the hand to the target position
glm::vec3 springForce = target - position;
springForce *= LINEAR_SPRING_CONSTANT;
addVelocity(springForce * deltaTime);
// Decay velocity
velocity *= 1.0 - deltaTime*VDECAY;
// Critically damp the spring
glm::vec3 dampingForce(velocity);
dampingForce *= LINEAR_DAMPING_COEFFICIENT;
addVelocity(-dampingForce * deltaTime);
// Decay Angular Velocity
pitchRate *= 1.0 - deltaTime;

33
interface/src/main.cpp
View file

@ -391,7 +391,20 @@ void reset_sensors()
}
}
void update_pos(float frametime)
void simulateHand(float deltaTime) {
// If mouse is being dragged, send current force to the hand controller
if (mouse_pressed == 1)
{
// Add a velocity to the hand corresponding to the detected size of the drag vector
const float MOUSE_HAND_FORCE = 3.0;
float dx = mouse_x - mouse_start_x;
float dy = mouse_y - mouse_start_y;
glm::vec3 vel(dx*MOUSE_HAND_FORCE, -dy*MOUSE_HAND_FORCE*(WIDTH/HEIGHT), 0);
myHead.hand->addVelocity(vel*deltaTime);
}
}
void simulateHead(float frametime)
// Using serial data, update avatar/render position and angles
{
// float measured_pitch_rate = serialPort.getRelativeValue(PITCH_RATE);
@ -766,7 +779,9 @@ void idle(void)
{
steps_per_frame++;
// Simulation
update_pos(1.f/FPS);
simulateHead(1.f/FPS);
simulateHand(1.f/FPS);
if (simulate_on) {
field.simulate(1.f/FPS);
myHead.simulate(1.f/FPS);
@ -830,22 +845,8 @@ void motionFunc( int x, int y)
{
mouse_x = x;
mouse_y = y;
if (mouse_pressed == 1)
{
// Send network packet containing mouse location
char mouse_string[20];
sprintf(mouse_string, "M %d %d\n", mouse_x, mouse_y);
//network_send(UDP_socket, mouse_string, strlen(mouse_string));
// Send dragged mouse vector to the hand;
float dx = mouse_x - mouse_start_x;
float dy = mouse_y - mouse_start_y;
glm::vec3 vel(dx*0.003, -dy*0.003, 0);
myHead.hand->addVelocity(vel);
}
lattice.mouseClick((float)x/(float)WIDTH,(float)y/(float)HEIGHT);
}
void mouseoverFunc( int x, int y)