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Merge pull request #9252 from ZappoMan/addViewFrustumToAvatarMixer

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cleanup avatar data code to include better documentation
This commit is contained in:
Anthony Thibault 2016-12-21 12:30:23 -08:00 committed by GitHub
commit 52e418481e
1 changed files with 64 additions and 51 deletions
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115
libraries/avatars/src/AvatarData.cpp
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@ -50,9 +50,20 @@ const glm::vec3 DEFAULT_LOCAL_AABOX_SCALE(1.0f);
const QString AvatarData::FRAME_NAME = "com.highfidelity.recording.AvatarData";
namespace AvatarDataPacket {
// NOTE: AvatarDataPackets start with a uint16_t sequence number that is not reflected in the Header structure.
PACKED_BEGIN struct Header {
uint8_t packetStateFlags; // state flags, currently used to indicate if the packet is a minimal or fuller packet
} PACKED_END;
const size_t HEADER_SIZE = 1;
PACKED_BEGIN struct MinimalAvatarInfo {
float globalPosition[3]; // avatar's position
} PACKED_END;
const size_t MINIMAL_AVATAR_INFO_SIZE = 12;
PACKED_BEGIN struct AvatarInfo {
float position[3]; // skeletal model's position
float globalPosition[3]; // avatar's position
float globalBoundingBoxCorner[3]; // global position of the lowest corner of the avatar's bounding box
@ -65,16 +76,16 @@ namespace AvatarDataPacket {
float sensorToWorldTrans[3]; // fourth column of sensor to world matrix
uint8_t flags;
} PACKED_END;
const size_t HEADER_SIZE = 81;
const size_t AVATAR_INFO_SIZE = 81;
// only present if HAS_REFERENTIAL flag is set in header.flags
// only present if HAS_REFERENTIAL flag is set in AvatarInfo.flags
PACKED_BEGIN struct ParentInfo {
uint8_t parentUUID[16]; // rfc 4122 encoded
uint16_t parentJointIndex;
} PACKED_END;
const size_t PARENT_INFO_SIZE = 18;
// only present if IS_FACESHIFT_CONNECTED flag is set in header.flags
// only present if IS_FACESHIFT_CONNECTED flag is set in AvatarInfo.flags
PACKED_BEGIN struct FaceTrackerInfo {
float leftEyeBlink;
float rightEyeBlink;
@ -124,6 +135,8 @@ AvatarData::AvatarData() :
setBodyRoll(0.0f);
ASSERT(sizeof(AvatarDataPacket::Header) == AvatarDataPacket::HEADER_SIZE);
ASSERT(sizeof(AvatarDataPacket::MinimalAvatarInfo) == AvatarDataPacket::MINIMAL_AVATAR_INFO_SIZE);
ASSERT(sizeof(AvatarDataPacket::AvatarInfo) == AvatarDataPacket::AVATAR_INFO_SIZE);
ASSERT(sizeof(AvatarDataPacket::ParentInfo) == AvatarDataPacket::PARENT_INFO_SIZE);
ASSERT(sizeof(AvatarDataPacket::FaceTrackerInfo) == AvatarDataPacket::FACE_TRACKER_INFO_SIZE);
}
@ -132,9 +145,9 @@ AvatarData::~AvatarData() {
delete _headData;
}
// We cannot have a file-level variable (const or otherwise) in the header if it uses PathUtils, because that references Application, which will not yet initialized.
// We cannot have a file-level variable (const or otherwise) in the AvatarInfo if it uses PathUtils, because that references Application, which will not yet initialized.
// Thus we have a static class getter, referencing a static class var.
QUrl AvatarData::_defaultFullAvatarModelUrl = {}; // In C++, if this initialization were in the header, every file would have it's own copy, even for class vars.
QUrl AvatarData::_defaultFullAvatarModelUrl = {}; // In C++, if this initialization were in the AvatarInfo, every file would have it's own copy, even for class vars.
const QUrl& AvatarData::defaultFullAvatarModelUrl() {
if (_defaultFullAvatarModelUrl.isEmpty()) {
_defaultFullAvatarModelUrl = QUrl::fromLocalFile(PathUtils::resourcesPath() + "meshes/defaultAvatar_full.fst");
@ -216,56 +229,56 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail) {
memcpy(destinationBuffer, &_globalPosition, sizeof(_globalPosition));
destinationBuffer += sizeof(_globalPosition);
} else {
auto header = reinterpret_cast<AvatarDataPacket::Header*>(destinationBuffer);
header->position[0] = getLocalPosition().x;
header->position[1] = getLocalPosition().y;
header->position[2] = getLocalPosition().z;
header->globalPosition[0] = _globalPosition.x;
header->globalPosition[1] = _globalPosition.y;
header->globalPosition[2] = _globalPosition.z;
header->globalBoundingBoxCorner[0] = getPosition().x - _globalBoundingBoxCorner.x;
header->globalBoundingBoxCorner[1] = getPosition().y - _globalBoundingBoxCorner.y;
header->globalBoundingBoxCorner[2] = getPosition().z - _globalBoundingBoxCorner.z;
auto avatarInfo = reinterpret_cast<AvatarDataPacket::AvatarInfo*>(destinationBuffer);
avatarInfo->position[0] = getLocalPosition().x;
avatarInfo->position[1] = getLocalPosition().y;
avatarInfo->position[2] = getLocalPosition().z;
avatarInfo->globalPosition[0] = _globalPosition.x;
avatarInfo->globalPosition[1] = _globalPosition.y;
avatarInfo->globalPosition[2] = _globalPosition.z;
avatarInfo->globalBoundingBoxCorner[0] = getPosition().x - _globalBoundingBoxCorner.x;
avatarInfo->globalBoundingBoxCorner[1] = getPosition().y - _globalBoundingBoxCorner.y;
avatarInfo->globalBoundingBoxCorner[2] = getPosition().z - _globalBoundingBoxCorner.z;
glm::vec3 bodyEulerAngles = glm::degrees(safeEulerAngles(getLocalOrientation()));
packFloatAngleToTwoByte((uint8_t*)(header->localOrientation + 0), bodyEulerAngles.y);
packFloatAngleToTwoByte((uint8_t*)(header->localOrientation + 1), bodyEulerAngles.x);
packFloatAngleToTwoByte((uint8_t*)(header->localOrientation + 2), bodyEulerAngles.z);
packFloatRatioToTwoByte((uint8_t*)(&header->scale), getDomainLimitedScale());
header->lookAtPosition[0] = _headData->_lookAtPosition.x;
header->lookAtPosition[1] = _headData->_lookAtPosition.y;
header->lookAtPosition[2] = _headData->_lookAtPosition.z;
header->audioLoudness = _headData->_audioLoudness;
packFloatAngleToTwoByte((uint8_t*)(avatarInfo->localOrientation + 0), bodyEulerAngles.y);
packFloatAngleToTwoByte((uint8_t*)(avatarInfo->localOrientation + 1), bodyEulerAngles.x);
packFloatAngleToTwoByte((uint8_t*)(avatarInfo->localOrientation + 2), bodyEulerAngles.z);
packFloatRatioToTwoByte((uint8_t*)(&avatarInfo->scale), getDomainLimitedScale());
avatarInfo->lookAtPosition[0] = _headData->_lookAtPosition.x;
avatarInfo->lookAtPosition[1] = _headData->_lookAtPosition.y;
avatarInfo->lookAtPosition[2] = _headData->_lookAtPosition.z;
avatarInfo->audioLoudness = _headData->_audioLoudness;
glm::mat4 sensorToWorldMatrix = getSensorToWorldMatrix();
packOrientationQuatToSixBytes(header->sensorToWorldQuat, glmExtractRotation(sensorToWorldMatrix));
packOrientationQuatToSixBytes(avatarInfo->sensorToWorldQuat, glmExtractRotation(sensorToWorldMatrix));
glm::vec3 scale = extractScale(sensorToWorldMatrix);
packFloatScalarToSignedTwoByteFixed((uint8_t*)&header->sensorToWorldScale, scale.x, SENSOR_TO_WORLD_SCALE_RADIX);
header->sensorToWorldTrans[0] = sensorToWorldMatrix[3][0];
header->sensorToWorldTrans[1] = sensorToWorldMatrix[3][1];
header->sensorToWorldTrans[2] = sensorToWorldMatrix[3][2];
packFloatScalarToSignedTwoByteFixed((uint8_t*)&avatarInfo->sensorToWorldScale, scale.x, SENSOR_TO_WORLD_SCALE_RADIX);
avatarInfo->sensorToWorldTrans[0] = sensorToWorldMatrix[3][0];
avatarInfo->sensorToWorldTrans[1] = sensorToWorldMatrix[3][1];
avatarInfo->sensorToWorldTrans[2] = sensorToWorldMatrix[3][2];
setSemiNibbleAt(header->flags, KEY_STATE_START_BIT, _keyState);
setSemiNibbleAt(avatarInfo->flags, KEY_STATE_START_BIT, _keyState);
// hand state
bool isFingerPointing = _handState & IS_FINGER_POINTING_FLAG;
setSemiNibbleAt(header->flags, HAND_STATE_START_BIT, _handState & ~IS_FINGER_POINTING_FLAG);
setSemiNibbleAt(avatarInfo->flags, HAND_STATE_START_BIT, _handState & ~IS_FINGER_POINTING_FLAG);
if (isFingerPointing) {
setAtBit(header->flags, HAND_STATE_FINGER_POINTING_BIT);
setAtBit(avatarInfo->flags, HAND_STATE_FINGER_POINTING_BIT);
}
// faceshift state
if (_headData->_isFaceTrackerConnected) {
setAtBit(header->flags, IS_FACESHIFT_CONNECTED);
setAtBit(avatarInfo->flags, IS_FACESHIFT_CONNECTED);
}
// eye tracker state
if (_headData->_isEyeTrackerConnected) {
setAtBit(header->flags, IS_EYE_TRACKER_CONNECTED);
setAtBit(avatarInfo->flags, IS_EYE_TRACKER_CONNECTED);
}
// referential state
QUuid parentID = getParentID();
if (!parentID.isNull()) {
setAtBit(header->flags, HAS_REFERENTIAL);
setAtBit(avatarInfo->flags, HAS_REFERENTIAL);
}
destinationBuffer += sizeof(AvatarDataPacket::Header);
destinationBuffer += sizeof(AvatarDataPacket::AvatarInfo);
if (!parentID.isNull()) {
auto parentInfo = reinterpret_cast<AvatarDataPacket::ParentInfo*>(destinationBuffer);
@ -510,13 +523,13 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
quint64 now = usecTimestampNow();
PACKET_READ_CHECK(Header, sizeof(AvatarDataPacket::Header));
auto header = reinterpret_cast<const AvatarDataPacket::Header*>(sourceBuffer);
sourceBuffer += sizeof(AvatarDataPacket::Header);
PACKET_READ_CHECK(AvatarInfo, sizeof(AvatarDataPacket::AvatarInfo));
auto avatarInfo = reinterpret_cast<const AvatarDataPacket::AvatarInfo*>(sourceBuffer);
sourceBuffer += sizeof(AvatarDataPacket::AvatarInfo);
glm::vec3 position = glm::vec3(header->position[0], header->position[1], header->position[2]);
_globalPosition = glm::vec3(header->globalPosition[0], header->globalPosition[1], header->globalPosition[2]);
_globalBoundingBoxCorner = glm::vec3(header->globalBoundingBoxCorner[0], header->globalBoundingBoxCorner[1], header->globalBoundingBoxCorner[2]);
glm::vec3 position = glm::vec3(avatarInfo->position[0], avatarInfo->position[1], avatarInfo->position[2]);
_globalPosition = glm::vec3(avatarInfo->globalPosition[0], avatarInfo->globalPosition[1], avatarInfo->globalPosition[2]);
_globalBoundingBoxCorner = glm::vec3(avatarInfo->globalBoundingBoxCorner[0], avatarInfo->globalBoundingBoxCorner[1], avatarInfo->globalBoundingBoxCorner[2]);
if (isNaN(position)) {
if (shouldLogError(now)) {
qCWarning(avatars) << "Discard AvatarData packet: position NaN, uuid " << getSessionUUID();
@ -526,9 +539,9 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
setLocalPosition(position);
float pitch, yaw, roll;
unpackFloatAngleFromTwoByte(header->localOrientation + 0, &yaw);
unpackFloatAngleFromTwoByte(header->localOrientation + 1, &pitch);
unpackFloatAngleFromTwoByte(header->localOrientation + 2, &roll);
unpackFloatAngleFromTwoByte(avatarInfo->localOrientation + 0, &yaw);
unpackFloatAngleFromTwoByte(avatarInfo->localOrientation + 1, &pitch);
unpackFloatAngleFromTwoByte(avatarInfo->localOrientation + 2, &roll);
if (isNaN(yaw) || isNaN(pitch) || isNaN(roll)) {
if (shouldLogError(now)) {
qCWarning(avatars) << "Discard AvatarData packet: localOriention is NaN, uuid " << getSessionUUID();
@ -545,7 +558,7 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
}
float scale;
unpackFloatRatioFromTwoByte((uint8_t*)&header->scale, scale);
unpackFloatRatioFromTwoByte((uint8_t*)&avatarInfo->scale, scale);
if (isNaN(scale)) {
if (shouldLogError(now)) {
qCWarning(avatars) << "Discard AvatarData packet: scale NaN, uuid " << getSessionUUID();
@ -554,7 +567,7 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
}
setTargetScale(scale);
glm::vec3 lookAt = glm::vec3(header->lookAtPosition[0], header->lookAtPosition[1], header->lookAtPosition[2]);
glm::vec3 lookAt = glm::vec3(avatarInfo->lookAtPosition[0], avatarInfo->lookAtPosition[1], avatarInfo->lookAtPosition[2]);
if (isNaN(lookAt)) {
if (shouldLogError(now)) {
qCWarning(avatars) << "Discard AvatarData packet: lookAtPosition is NaN, uuid " << getSessionUUID();
@ -563,7 +576,7 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
}
_headData->_lookAtPosition = lookAt;
float audioLoudness = header->audioLoudness;
float audioLoudness = avatarInfo->audioLoudness;
if (isNaN(audioLoudness)) {
if (shouldLogError(now)) {
qCWarning(avatars) << "Discard AvatarData packet: audioLoudness is NaN, uuid " << getSessionUUID();
@ -573,16 +586,16 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
_headData->_audioLoudness = audioLoudness;
glm::quat sensorToWorldQuat;
unpackOrientationQuatFromSixBytes(header->sensorToWorldQuat, sensorToWorldQuat);
unpackOrientationQuatFromSixBytes(avatarInfo->sensorToWorldQuat, sensorToWorldQuat);
float sensorToWorldScale;
unpackFloatScalarFromSignedTwoByteFixed((int16_t*)&header->sensorToWorldScale, &sensorToWorldScale, SENSOR_TO_WORLD_SCALE_RADIX);
glm::vec3 sensorToWorldTrans(header->sensorToWorldTrans[0], header->sensorToWorldTrans[1], header->sensorToWorldTrans[2]);
unpackFloatScalarFromSignedTwoByteFixed((int16_t*)&avatarInfo->sensorToWorldScale, &sensorToWorldScale, SENSOR_TO_WORLD_SCALE_RADIX);
glm::vec3 sensorToWorldTrans(avatarInfo->sensorToWorldTrans[0], avatarInfo->sensorToWorldTrans[1], avatarInfo->sensorToWorldTrans[2]);
glm::mat4 sensorToWorldMatrix = createMatFromScaleQuatAndPos(glm::vec3(sensorToWorldScale), sensorToWorldQuat, sensorToWorldTrans);
_sensorToWorldMatrixCache.set(sensorToWorldMatrix);
{ // bitFlags and face data
uint8_t bitItems = header->flags;
uint8_t bitItems = avatarInfo->flags;
// key state, stored as a semi-nibble in the bitItems
_keyState = (KeyState)getSemiNibbleAt(bitItems, KEY_STATE_START_BIT);