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Work on hold action

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This commit is contained in:
Atlante45 2015-11-09 18:05:45 -08:00
parent b3cdee278a
commit 765bca9a7b
1 changed files with 64 additions and 46 deletions
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110
interface/src/avatar/AvatarActionHold.cpp
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@ -51,61 +51,79 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
glm::vec3 palmPosition;
glm::quat palmRotation;
if (_hand == "right") {
palmPosition = holdingAvatar->getRightPalmPosition();
palmRotation = holdingAvatar->getRightPalmRotation();
bool ignoreIK = true;
if (ignoreIK) {
if (_hand == "right") {
palmPosition = holdingAvatar->getHand()->getCopyOfPalmData(HandData::RightHand).getPosition();
palmRotation = holdingAvatar->getHand()->getCopyOfPalmData(HandData::RightHand).getRotation();
} else {
palmPosition = holdingAvatar->getHand()->getCopyOfPalmData(HandData::LeftHand).getPosition();
palmRotation = holdingAvatar->getHand()->getCopyOfPalmData(HandData::LeftHand).getRotation();
}
} else {
palmPosition = holdingAvatar->getLeftPalmPosition();
palmRotation = holdingAvatar->getLeftPalmRotation();
}
static const float CONTROLLER_LENGTH_OFFSET = 0.0762f; // three inches
static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET * 2.0f);
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat viveToHand = yFlip * quarterX;
static const glm::quat leftQuaterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuaterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat eighthX = glm::angleAxis(PI / 4.0f, Vectors::UNIT_X);
static const glm::quat leftRotationOffset = glm::inverse(leftQuaterZ * eighthX) * viveToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuaterZ * eighthX) * viveToHand;
static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
if (_hand == "left") {
_relativeRotation = leftRotationOffset;
_relativePosition = glm::inverse(_relativeRotation) * leftTranslationOffset;
} else {
_relativeRotation = rightRotationOffset;
_relativePosition = glm::inverse(_relativeRotation) * rightTranslationOffset;
if (_hand == "right") {
palmPosition = holdingAvatar->getRightPalmPosition();
palmRotation = holdingAvatar->getRightPalmRotation();
} else {
palmPosition = holdingAvatar->getLeftPalmPosition();
palmRotation = holdingAvatar->getLeftPalmRotation();
}
}
/*
static const float CONTROLLER_LENGTH_OFFSET = 0.0762f; // three inches
static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET * 2.0f);
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat viveToHand = yFlip * quarterX;
static const glm::quat leftQuaterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuaterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat eighthX = glm::angleAxis(PI / 4.0f, Vectors::UNIT_X);
static const glm::quat leftRotationOffset = glm::inverse(leftQuaterZ * eighthX) * viveToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuaterZ * eighthX) * viveToHand;
static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
glm::quat relRot = glm::inverse(rightRotationOffset);
glm::vec3 relPos = -rightTranslationOffset;
relRot = palmRotation * relRot;
relPos = palmPosition + relRot * relPos;
rotation = relRot * _relativeRotation;
position = relPos + rotation * _relativePosition;
glm::quat diffRot = glm::inverse(palmRotation) * rotation;
glm::vec3 diffPos = glm::inverse(rotation) * (position - palmPosition);
qDebug() << "diffRot =" << safeEulerAngles(diffRot);
qDebug() << "diffPos =" << diffPos;
*/
//[11 / 09 17:40 : 14] [DEBUG] diffRot = { type = 'glm::vec3', x = 3.14159, y = 9.04283e-09, z = 0.785398 }
//[11 / 09 17:40 : 14][DEBUG] diffPos = { type = 'glm::vec3', x = 1.0524, y = -0.0381001, z = -0.0380997 }
//_relativeRotation = glm::quat(glm::vec3(3.14159f, 0.0f, 0.785398));
//_relativePosition = glm::vec3(1.0524, -0.0381001, -0.0380997);
rotation = palmRotation * _relativeRotation;
position = palmPosition + rotation * _relativePosition;
}
});
if (holdingAvatar) {
if (holdingAvatar && gotLock) {
gotLock = withTryWriteLock([&]{
_positionalTarget = position;
_rotationalTarget = rotation;
_positionalTargetSet = true;
_rotationalTargetSet = true;
_active = true;
});
if (gotLock) {
gotLock = withTryWriteLock([&]{
_positionalTarget = position;
_rotationalTarget = rotation;
_positionalTargetSet = true;
_rotationalTargetSet = true;
_active = true;
});
if (gotLock) {
if (_kinematic) {
doKinematicUpdate(deltaTimeStep);
} else {
activateBody();
ObjectActionSpring::updateActionWorker(deltaTimeStep);
}
if (_kinematic) {
doKinematicUpdate(deltaTimeStep);
} else {
activateBody();
ObjectActionSpring::updateActionWorker(deltaTimeStep);
}
}
}