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Merge pull request #10793 from druiz17/wide-stance-fix

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MoCap wide stance fix for calibration
This commit is contained in:
Seth Alves 2017-06-26 10:13:27 -07:00 committed by GitHub
commit 59e72470f3
2 changed files with 27 additions and 8 deletions
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34
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -959,15 +959,33 @@ void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToRefer
controller::Pose& secondFootPose = secondFoot.second;
if (determineLimbOrdering(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);
calibrateFoot(defaultToReferenceMat, inputCalibration, firstFoot, true);
calibrateFoot(defaultToReferenceMat, inputCalibration, secondFoot, false);
} 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);
calibrateFoot(defaultToReferenceMat, inputCalibration, secondFoot, true);
calibrateFoot(defaultToReferenceMat, inputCalibration, firstFoot, false);
}
}
void ViveControllerManager::InputDevice::calibrateFoot(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& footPair, bool isLeftFoot){
controller::Pose footPose = footPair.second;
glm::mat4 puckPoseAvatarMat = createMatFromQuatAndPos(footPose.getRotation(), footPose.getTranslation());
glm::mat4 defaultFoot = isLeftFoot ? inputCalibration.defaultLeftFoot : inputCalibration.defaultRightFoot;
glm::mat4 footOffset = computeOffset(defaultToReferenceMat, defaultFoot, footPose);
glm::quat rotationOffset = glmExtractRotation(footOffset);
glm::vec3 translationOffset = extractTranslation(footOffset);
glm::vec3 avatarXAxisInPuckFrame = glm::normalize(transformVectorFast(glm::inverse(puckPoseAvatarMat), glm::vec3(-1.0f, 0.0f, 0.0f)));
float distance = glm::dot(translationOffset, avatarXAxisInPuckFrame);
glm::vec3 finalTranslation = translationOffset - (distance * avatarXAxisInPuckFrame);
glm::mat4 finalOffset = createMatFromQuatAndPos(rotationOffset, finalTranslation);
if (isLeftFoot) {
_jointToPuckMap[controller::LEFT_FOOT] = footPair.first;
_pucksOffset[footPair.first] = finalOffset;
} else {
_jointToPuckMap[controller::RIGHT_FOOT] = footPair.first;
_pucksOffset[footPair.first] = finalOffset;
}
}

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

@ -98,6 +98,7 @@ private:
void calibrateLeftHand(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& handPair);
void calibrateRightHand(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& handPair);
void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateFoot(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& footPair, bool isLeftFoot);
void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,