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add calibration data to filters

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This commit is contained in:
Dante Ruiz 2017-05-18 17:07:28 +01:00
parent a18940142e
commit 90ddc16d09
4 changed files with 23 additions and 8 deletions
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6
interface/resources/controllers/vive.json
View file

@ -39,25 +39,23 @@
{
"from": "Vive.LeftFoot", "to" : "Standard.LeftFoot",
"filters" : [{"type" : "lowVelocity", "rotation" : 9.0, "translation": 9.0 }],
"filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}],
"when": [ "Application.InHMD"]
},
{
"from": "Vive.RightFoot", "to" : "Standard.RightFoot",
"filters" : [{"type" : "lowVelocity", "rotation" : 9.0, "translation": 9.0}]
"filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}]
,"when": [ "Application.InHMD"]
},
{
"from": "Vive.Hips", "to" : "Standard.Hips",
"filters" : [{"type" : "lowVelocity", "rotation" : 10.0, "translation": 10.0}],
"when": [ "Application.InHMD"]
},
{
"from": "Vive.Spine2", "to" : "Standard.Spine2",
"filters" : [{"type" : "lowVelocity", "rotation" : 10.0, "translation": 10.0}],
"when": [ "Application.InHMD"]
},

1
interface/src/Application.cpp
View file

@ -4376,6 +4376,7 @@ void Application::update(float deltaTime) {
}
}
userInputMapper->setInputCalibrationData(calibrationData);
userInputMapper->update(deltaTime);
if (keyboardMousePlugin && keyboardMousePlugin->isActive()) {

5
libraries/controllers/src/controllers/UserInputMapper.h
View file

@ -114,6 +114,9 @@ namespace controller {
void loadDefaultMapping(uint16 deviceID);
void enableMapping(const QString& mappingName, bool enable = true);
void setInputCalibrationData(const InputCalibrationData& data) { inputCalibrationData = data; }
const InputCalibrationData& getInputCalibrationData() { return inputCalibrationData; }
void unloadMappings(const QStringList& jsonFiles);
void unloadMapping(const QString& jsonFile);
@ -187,6 +190,8 @@ namespace controller {
QSet<QString> _loadedRouteJsonFiles;
InputCalibrationData inputCalibrationData;
mutable std::recursive_mutex _lock;
};

19
libraries/controllers/src/controllers/impl/filters/LowVelocityFilter.cpp
View file

@ -11,18 +11,29 @@
#include <QtCore/QJsonObject>
#include <QtCore/QJsonArray>
#include "../../UserInputMapper.h"
#include "../../Input.h"
#include <DependencyManager.h>
static const QString JSON_ROTATION = QStringLiteral("rotation");
static const QString JSON_TRANSLATION = QStringLiteral("translation");
namespace controller {
Pose LowVelocityFilter::apply(Pose newPose) const {
auto userInputMapper = DependencyManager::get<UserInputMapper>();
const InputCalibrationData calibrationData = userInputMapper->getInputCalibrationData();
Pose finalPose = newPose;
if (finalPose.isValid() && _oldPose.isValid()) {
float rotationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _rotationConstant)), 0.0f, 1.0f);
float translationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _translationConstant)), 0.0f, 1.0f);
finalPose.translation = _oldPose.getTranslation() * translationFilter + newPose.getTranslation() * (1.0f - translationFilter);
finalPose.rotation = safeMix(_oldPose.getRotation(), newPose.getRotation(), 1.0f - rotationFilter);
Pose sensorPose = finalPose.transform(calibrationData.avatarMat);
Pose lastPose = _oldPose.transform(calibrationData.avatarMat);
float rotationFilter = glm::clamp(1.0f - (glm::length(lastPose.getVelocity() / _rotationConstant)), 0.0f, 1.0f);
float translationFilter = glm::clamp(1.0f - (glm::length(lastPose.getVelocity() / _translationConstant)), 0.0f, 1.0f);
sensorPose.translation = lastPose.getTranslation() * translationFilter + sensorPose.getTranslation() * (1.0f - translationFilter);
sensorPose.rotation = safeMix(lastPose.getRotation(), sensorPose.getRotation(), 1.0f - rotationFilter);
finalPose = sensorPose.transform(glm::inverse(calibrationData.avatarMat));
finalPose.valid = true;
}
_oldPose = finalPose;
return finalPose;