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Merge pull request #3517 from ctrlaltdavid/20048

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CR for Job #20048 - Leap - Make leapHands.js work with Leap-on-Rift
This commit is contained in:
Philip Rosedale 2014-09-30 21:06:45 -07:00
commit 8f40780af0
6 changed files with 122 additions and 37 deletions
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116
examples/leapHands.js
View file

@ -13,7 +13,10 @@
var leapHands = (function () {
var hands,
var isOnHMD,
LEAP_OFFSET = 0.019, // Thickness of Leap Motion plus HMD clip
HMD_OFFSET = 0.100, // Eyeballs to front surface of Oculus DK2 TODO: Confirm and make depend on device and eye relief
hands,
wrists,
NUM_HANDS = 2, // 0 = left; 1 = right
fingers,
@ -188,8 +191,6 @@ var leapHands = (function () {
function setUp() {
calibrationStatus = UNCALIBRATED;
// TODO: Leap Motion controller joint naming doesn't match up with skeleton joint naming; numbers are out by 1.
hands = [
@ -265,6 +266,20 @@ var leapHands = (function () {
{ jointName: "RightHandPinky3", controller: Controller.createInputController("Spatial", "joint_R_pinky4") }
]
];
isOnHMD = Menu.isOptionChecked("Leap Motion on HMD");
if (isOnHMD) {
print("Leap Motion is on HMD");
// Offset of Leap Motion origin from physical eye position
hands[0].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
hands[1].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
calibrationStatus = CALIBRATED;
} else {
print("Leap Motion is on desk");
calibrationStatus = UNCALIBRATED;
}
}
function moveHands() {
@ -278,7 +293,9 @@ var leapHands = (function () {
handYaw,
handRotation,
wristAbsRotation,
locRotation;
locRotation,
cameraOrientation,
inverseAvatarOrientation;
for (h = 0; h < NUM_HANDS; h += 1) {
side = h === 0 ? -1.0 : 1.0;
@ -291,35 +308,82 @@ var leapHands = (function () {
}
// Hand position ...
handOffset = hands[h].controller.getAbsTranslation();
handOffset = {
x: -handOffset.x,
y: hands[h].zeroPosition.y + handOffset.y,
z: hands[h].zeroPosition.z - handOffset.z
};
if (isOnHMD) {
// TODO: 2.0* scale factor should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
wristAbsRotation = wrists[h].controller.getAbsRotation();
handPitch = 2.0 * -wristAbsRotation.x;
handYaw = 2.0 * wristAbsRotation.y;
// Hand offset in camera coordinates ...
handOffset = hands[h].controller.getAbsTranslation();
handOffset = {
x: hands[h].zeroPosition.x - handOffset.x,
y: hands[h].zeroPosition.y - handOffset.z,
z: hands[h].zeroPosition.z + handOffset.y
};
handOffset.z = -handOffset.z;
// TODO: Leap Motion controller's right-hand roll calculation only works if physical hand is upside down.
// Approximate fix is to add a fudge factor.
if (h === 1 && isWindows) {
handRoll = handRoll + 0.6 * PI;
}
// Hand offset in world coordinates ...
cameraOrientation = Camera.getOrientation();
handOffset = Vec3.sum(Camera.getPosition(), Vec3.multiplyQbyV(cameraOrientation, handOffset));
// Hand position and orientation ...
if (h === 0) {
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
// Hand offset in avatar coordinates ...
inverseAvatarOrientation = Quat.inverse(MyAvatar.orientation);
handOffset = Vec3.subtract(handOffset, MyAvatar.position);
handOffset = Vec3.multiplyQbyV(inverseAvatarOrientation, handOffset);
handOffset.z = -handOffset.z;
handOffset.x = -handOffset.x;
// Hand rotation in camera coordinates ...
// TODO: 2.0* scale factors should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
wristAbsRotation = wrists[h].controller.getAbsRotation();
handPitch = 2.0 * wristAbsRotation.x - PI / 2.0;
handYaw = 2.0 * -wristAbsRotation.y;
// TODO: Roll values only work if hand is upside down; Leap Motion controller code needs investigating.
handRoll = PI + handRoll;
if (h === 0) {
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
} else {
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
}
// Hand rotation in avatar coordinates ...
cameraOrientation.x = -cameraOrientation.x;
cameraOrientation.z = -cameraOrientation.z;
handRotation = Quat.multiply(cameraOrientation, handRotation);
handRotation = Quat.multiply(inverseAvatarOrientation, handRotation);
} else {
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
handOffset = hands[h].controller.getAbsTranslation();
handOffset = {
x: -handOffset.x,
y: hands[h].zeroPosition.y + handOffset.y,
z: hands[h].zeroPosition.z - handOffset.z
};
// TODO: 2.0* scale factors should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
wristAbsRotation = wrists[h].controller.getAbsRotation();
handPitch = 2.0 * -wristAbsRotation.x;
handYaw = 2.0 * wristAbsRotation.y;
// TODO: Leap Motion controller's right-hand roll calculation only works if physical hand is upside down.
// Approximate fix is to add a fudge factor.
if (h === 1 && isWindows) {
handRoll = handRoll + 0.6 * PI;
}
// Hand position and orientation ...
if (h === 0) {
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
} else {
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
}
}
MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset, handRotation, true);
// Finger joints ...

26
interface/src/Application.cpp
View file

@ -599,8 +599,11 @@ void Application::paintGL() {
if (_myCamera.getMode() == CAMERA_MODE_FIRST_PERSON) {
_myCamera.setTightness(0.0f); // In first person, camera follows (untweaked) head exactly without delay
_myCamera.setTargetPosition(_myAvatar->getHead()->getEyePosition());
_myCamera.setTargetRotation(_myAvatar->getHead()->getCameraOrientation());
if (!OculusManager::isConnected()) {
_myCamera.setTargetPosition(_myAvatar->getHead()->getEyePosition());
_myCamera.setTargetRotation(_myAvatar->getHead()->getCameraOrientation());
}
// OculusManager::display() updates camera position and rotation a bit further on.
} else if (_myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) {
//Note, the camera distance is set in Camera::setMode() so we dont have to do it here.
@ -630,7 +633,9 @@ void Application::paintGL() {
}
// Update camera position
_myCamera.update( 1.f/_fps );
if (!OculusManager::isConnected()) {
_myCamera.update(1.f / _fps);
}
// Note: whichCamera is used to pick between the normal camera myCamera for our
// main camera, vs, an alternate camera. The alternate camera we support right now
@ -640,7 +645,7 @@ void Application::paintGL() {
// Why have two cameras? Well, one reason is that because in the case of the renderViewFrustum()
// code, we want to keep the state of "myCamera" intact, so we can render what the view frustum of
// myCamera is. But we also want to do meaningful camera transforms on OpenGL for the offset camera
Camera whichCamera = _myCamera;
Camera* whichCamera = &_myCamera;
if (Menu::getInstance()->isOptionChecked(MenuOption::DisplayFrustum)) {
@ -654,7 +659,7 @@ void Application::paintGL() {
_viewFrustumOffsetCamera.setDistance(viewFrustumOffset.distance);
_viewFrustumOffsetCamera.initialize(); // force immediate snap to ideal position and orientation
_viewFrustumOffsetCamera.update(1.f/_fps);
whichCamera = _viewFrustumOffsetCamera;
whichCamera = &_viewFrustumOffsetCamera;
}
if (Menu::getInstance()->getShadowsEnabled()) {
@ -667,15 +672,16 @@ void Application::paintGL() {
glClear(GL_COLOR_BUFFER_BIT);
//When in mirror mode, use camera rotation. Otherwise, use body rotation
if (whichCamera.getMode() == CAMERA_MODE_MIRROR) {
OculusManager::display(whichCamera.getRotation(), whichCamera.getPosition(), whichCamera);
if (whichCamera->getMode() == CAMERA_MODE_MIRROR) {
OculusManager::display(whichCamera->getRotation(), whichCamera->getPosition(), *whichCamera);
} else {
OculusManager::display(_myAvatar->getWorldAlignedOrientation(), _myAvatar->getDefaultEyePosition(), whichCamera);
OculusManager::display(_myAvatar->getWorldAlignedOrientation(), _myAvatar->getDefaultEyePosition(), *whichCamera);
}
_myCamera.update(1.f / _fps);
} else if (TV3DManager::isConnected()) {
TV3DManager::display(whichCamera);
TV3DManager::display(*whichCamera);
} else {
_glowEffect.prepare();
@ -683,7 +689,7 @@ void Application::paintGL() {
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
glLoadIdentity();
displaySide(whichCamera);
displaySide(*whichCamera);
glPopMatrix();
if (Menu::getInstance()->isOptionChecked(MenuOption::Mirror)) {

3
interface/src/Menu.cpp
View file

@ -453,6 +453,9 @@ Menu::Menu() :
addCheckableActionToQMenuAndActionHash(sixenseOptionsMenu, MenuOption::SixenseMouseInput, 0, true);
addCheckableActionToQMenuAndActionHash(sixenseOptionsMenu, MenuOption::SixenseLasers, 0, false);
QMenu* leapOptionsMenu = handOptionsMenu->addMenu("Leap Motion");
addCheckableActionToQMenuAndActionHash(leapOptionsMenu, MenuOption::LeapMotionOnHMD, 0, false);
QMenu* networkMenu = developerMenu->addMenu("Network");
addCheckableActionToQMenuAndActionHash(networkMenu, MenuOption::DisableNackPackets, 0, false);
addCheckableActionToQMenuAndActionHash(networkMenu,

1
interface/src/Menu.h
View file

@ -403,6 +403,7 @@ namespace MenuOption {
const QString IncreaseAvatarSize = "Increase Avatar Size";
const QString IncreaseVoxelSize = "Increase Voxel Size";
const QString KeyboardMotorControl = "Enable Keyboard Motor Control";
const QString LeapMotionOnHMD = "Leap Motion on HMD";
const QString LoadScript = "Open and Run Script File...";
const QString LoadScriptURL = "Open and Run Script from URL...";
const QString LodTools = "LOD Tools";

9
interface/src/devices/Leapmotion.cpp
View file

@ -8,8 +8,9 @@
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "SharedUtil.h"
#include "Leapmotion.h"
#include "Menu.h"
#include "SharedUtil.h"
const int PALMROOT_NUM_JOINTS = 3;
const int FINGER_NUM_JOINTS = 4;
@ -101,6 +102,12 @@ Leapmotion::Leapmotion() :
}
}
}
#ifdef HAVE_LEAPMOTION
if (Menu::getInstance()->isOptionChecked(MenuOption::LeapMotionOnHMD)) {
_controller.setPolicyFlags(Leap::Controller::POLICY_OPTIMIZE_HMD);
}
#endif
}
Leapmotion::~Leapmotion() {

4
interface/src/devices/OculusManager.cpp
View file

@ -412,6 +412,10 @@ void OculusManager::display(const glm::quat &bodyOrientation, const glm::vec3 &p
glBindTexture(GL_TEXTURE_2D, 0);
// Update camera for use by rest of Interface.
whichCamera.setTargetPosition((_leftEyePosition + _rightEyePosition) / 2.f);
whichCamera.setTargetRotation(_camera->getTargetRotation());
#endif
}