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finished the head puck

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This commit is contained in:
Dante Ruiz 2017-05-30 22:52:39 +01:00
parent a45bea2c90
commit 4c4811dca8
3 changed files with 70 additions and 12 deletions
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3
libraries/shared/src/GLMHelpers.h
View file

@ -147,8 +147,7 @@ bool isPointBehindTrianglesPlane(glm::vec3 point, glm::vec3 p0, glm::vec3 p1, gl
glm::vec3 extractTranslation(const glm::mat4& matrix);
void setTranslation(glm::mat4& matrix, cons
t glm::vec3& translation);
void setTranslation(glm::mat4& matrix, const glm::vec3& translation);
glm::quat extractRotation(const glm::mat4& matrix, bool assumeOrthogonal = false);
glm::quat glmExtractRotation(const glm::mat4& matrix);

78
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -82,6 +82,28 @@ static bool sortPucksXPosition(PuckPosePair firstPuck, PuckPosePair secondPuck)
return (firstPuck.second.translation.x < secondPuck.second.translation.x);
}
static bool comparePosePositions(const controller::Pose& poseA, const controller::Pose& poseB, glm::vec3 axis, glm::vec3 axisOrigin) {
glm::vec3 poseAPosition = poseA.getTranslation();
glm::vec3 poseBPosition = poseB.getTranslation();
glm::vec3 poseAFinalPosition = poseAPosition - axisOrigin;
glm::vec3 poseBFinalPosition = poseBPosition - axisOrigin;
float poseADistance = glm::dot(poseAFinalPosition, axis);
float poseBDistance = glm::dot(poseBFinalPosition, axis);
return (poseADistance > poseBDistance);
}
static glm::vec3 getHeadXAxis(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) {
glm::mat4 finalHead = defaultToReferenceMat * defaultHead;
return glmExtractRotation(finalHead) * Vectors::UNIT_X;
}
static glm::vec3 getHeadPosition(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) {
glm::mat4 finalHead = defaultToReferenceMat * defaultHead;
return extractTranslation(finalHead);
}
static QString deviceTrackingResultToString(vr::ETrackingResult trackingResult) {
QString result;
auto iterator = TRACKING_RESULT_TO_STRING.find(trackingResult);
@ -361,12 +383,16 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex);
} else if (_config == Config::FeetHipsAndHead && puckCount == MIN_FEET_HIPS_HEAD) {
glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration);
glm::vec3 headXAxis = getHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration, headXAxis, headPosition);
calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
} else if (_config == Config::FeetHipsChestAndHead && puckCount == MIN_FEET_HIPS_CHEST_HEAD) {
glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration);
glm::vec3 headXAxis = getHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration, headXAxis, headPosition);
calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
calibrateChest(headPuckDefaultToReferenceMat, inputCalibration);
calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
@ -468,17 +494,29 @@ glm::mat4 ViveControllerManager::InputDevice::recalculateDefaultToReferenceForHe
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
size_t headPuckIndex = _validTrackedObjects.size() - 1;
controller::Pose headPuckPose = _validTrackedObjects[headPuckIndex].second;
glm::mat4 headPuckSensorMat = avatarToSensorMat * createMatFromQuatAndPos(headPuckPose.getRotation(), headPuckPose.getTranslation());
glm::vec3 headPuckTranslation = extractTranslation(headPuckSensorMat);
glm::vec3 headPuckYRotation = glmExtractRotation(headPuckSensorMat) * glm::vec3(0.0f, 1.0f, 0.0f);
glm::mat4 headPuckAvatarMat = createMatFromQuatAndPos(headPuckPose.getRotation(), headPuckPose.getTranslation()) * Matrices::Y_180;
glm::vec3 headPuckTranslation = extractTranslation(headPuckAvatarMat);
glm::vec3 headPuckZAxis = cancelOutRollAndPitch(glmExtractRotation(headPuckAvatarMat)) * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 worldUp = glm::vec3(0.0f, 1.0f, 0.0f);
glm::vec3 desiredY = glm::vec3(0.0f, 1.0f, 0.0f);
glm::vec3 xPrime = glm::normalize(glm::cross(worldUp, headPuckYRotation));
glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, desiredY));
glm::vec3 yPrime = glm::vec3(0.0f, 1.0f, 0.0f);
glm::vec3 xPrime = glm::normalize(glm::cross(worldUp, headPuckZAxis));
glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, yPrime));
glm::mat4 newHeadPuck = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f),
glm::vec4(zPrime, 0.0f), glm::vec4(headPuckTranslation, 1.0f));
glm::mat4
return glm::mat4();
glm::mat4 headPuckOffset = glm::mat4(glm::vec4(1.0f, 0.0f, 0.0f, 0.0f), glm::vec4(0.0f, 1.0f, 0.0f, 0.0f),
glm::vec4(0.0f, 0.0f, 1.0f, 0.0f), glm::vec4(0.0f, -0.005f, 0.0f, 1.0f));
glm::mat4 finalHeadPuck = newHeadPuck * headPuckOffset;
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::mat4 currentHead = finalHeadPuck * defaultHeadOffset;
// calculate the defaultToRefrenceXform
glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
return defaultToReferenceMat;
}
void ViveControllerManager::InputDevice::partitionTouchpad(int sButton, int xAxis, int yAxis, int centerPseudoButton, int xPseudoButton, int yPseudoButton) {
@ -668,6 +706,26 @@ void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToRefer
}
}
void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, glm::vec3 headXAxis, glm::vec3 headPosition) {
auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
controller::Pose& firstFootPose = firstFoot.second;
controller::Pose& secondFootPose = secondFoot.second;
if (comparePosePositions(firstFootPose, secondFootPose, headXAxis, headPosition)) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
} else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
}
}
void ViveControllerManager::InputDevice::calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);

1
plugins/openvr/src/ViveControllerManager.h
View file

@ -85,6 +85,7 @@ private:
void loadSettings();
void saveSettings() const;
void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, glm::vec3 headXAxis, glm::vec3 headPosition);
void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);