moved low velocity filter in the input system

interface/src/Application.cpp

@@ -3622,10 +3622,6 @@ void Application::idle(float nsecsElapsed) {
     _overlayConductor.update(secondsSinceLastUpdate);
 }
 
-void Application::setLowVelocityFilter(bool lowVelocityFilter) {
-    controller::InputDevice::setLowVelocityFilter(lowVelocityFilter);
-}
-
 ivec2 Application::getMouse() const {
     return getApplicationCompositor().getReticlePosition();
 }

interface/src/Application.h

@@ -324,7 +324,6 @@ public slots:
     void updateThreadPoolCount() const;
     void updateSystemTabletMode();
 
-    static void setLowVelocityFilter(bool lowVelocityFilter);
     Q_INVOKABLE void loadDialog();
     Q_INVOKABLE void loadScriptURLDialog() const;
     void toggleLogDialog();

interface/src/Menu.cpp

@@ -538,8 +538,6 @@ Menu::Menu() {
     MenuWrapper* handOptionsMenu = developerMenu->addMenu("Hands");
     addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::DisplayHandTargets, 0, false,
         avatar.get(), SLOT(setEnableDebugDrawHandControllers(bool)));
-    addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::LowVelocityFilter, 0, true,
-        qApp, SLOT(setLowVelocityFilter(bool)));
 
     MenuWrapper* leapOptionsMenu = handOptionsMenu->addMenu("Leap Motion");
     addCheckableActionToQMenuAndActionHash(leapOptionsMenu, MenuOption::LeapMotionOnHMD, 0, false);

interface/src/avatar/MyAvatar.cpp

@@ -1301,28 +1301,10 @@ void MyAvatar::rebuildCollisionShape() {
     _characterController.setLocalBoundingBox(corner, diagonal);
 }
 
-static controller::Pose applyLowVelocityFilter(const controller::Pose& oldPose, const controller::Pose& newPose) {
-    controller::Pose finalPose = newPose;
-    if (newPose.isValid()) {
-        //  Use a velocity sensitive filter to damp small motions and preserve large ones with
-        //  no latency.
-        float velocityFilter = glm::clamp(1.0f - glm::length(oldPose.getVelocity()), 0.0f, 1.0f);
-        finalPose.translation = oldPose.getTranslation() * velocityFilter + newPose.getTranslation() * (1.0f - velocityFilter);
-        finalPose.rotation = safeMix(oldPose.getRotation(), newPose.getRotation(), 1.0f - velocityFilter);
-    }
-    return finalPose;
-}
 
 void MyAvatar::setHandControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right) {
-    if (controller::InputDevice::getLowVelocityFilter()) {
-        auto oldLeftPose = getLeftHandControllerPoseInSensorFrame();
-        auto oldRightPose = getRightHandControllerPoseInSensorFrame();
-        _leftHandControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldLeftPose, left));
-        _rightHandControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldRightPose, right));
-    } else {
-        _leftHandControllerPoseInSensorFrameCache.set(left);
-        _rightHandControllerPoseInSensorFrameCache.set(right);
-    }
+    _leftHandControllerPoseInSensorFrameCache.set(left);
+    _rightHandControllerPoseInSensorFrameCache.set(right);
 }
 
 controller::Pose MyAvatar::getLeftHandControllerPoseInSensorFrame() const {
@@ -1352,15 +1334,8 @@ controller::Pose MyAvatar::getRightHandControllerPoseInAvatarFrame() const {
 }
 
 void MyAvatar::setFootControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right) {
-    if (controller::InputDevice::getLowVelocityFilter()) {
-        auto oldLeftPose = getLeftFootControllerPoseInSensorFrame();
-        auto oldRightPose = getRightFootControllerPoseInSensorFrame();
-        _leftFootControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldLeftPose, left));
-        _rightFootControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldRightPose, right));
-    } else {
-        _leftFootControllerPoseInSensorFrameCache.set(left);
-        _rightFootControllerPoseInSensorFrameCache.set(right);
-    }
+    _leftFootControllerPoseInSensorFrameCache.set(left);
+    _rightFootControllerPoseInSensorFrameCache.set(right);
 }
 
 controller::Pose MyAvatar::getLeftFootControllerPoseInSensorFrame() const {
@@ -1390,15 +1365,8 @@ controller::Pose MyAvatar::getRightFootControllerPoseInAvatarFrame() const {
 }
 
 void MyAvatar::setSpineControllerPosesInSensorFrame(const controller::Pose& hips, const controller::Pose& spine2) {
-    if (controller::InputDevice::getLowVelocityFilter()) {
-        auto oldHipsPose = getHipsControllerPoseInSensorFrame();
-        auto oldSpine2Pose = getSpine2ControllerPoseInSensorFrame();
-        _hipsControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldHipsPose, hips));
-        _spine2ControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldSpine2Pose, spine2));
-    } else {
-        _hipsControllerPoseInSensorFrameCache.set(hips);
-        _spine2ControllerPoseInSensorFrameCache.set(spine2);
-    }
+    _hipsControllerPoseInSensorFrameCache.set(hips);
+    _spine2ControllerPoseInSensorFrameCache.set(spine2);
 }
 
 controller::Pose MyAvatar::getHipsControllerPoseInSensorFrame() const {
@@ -1428,12 +1396,7 @@ controller::Pose MyAvatar::getSpine2ControllerPoseInAvatarFrame() const {
 }
 
 void MyAvatar::setHeadControllerPoseInSensorFrame(const controller::Pose& head) {
-    if (controller::InputDevice::getLowVelocityFilter()) {
-        auto oldHeadPose = getHeadControllerPoseInSensorFrame();
-        _headControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldHeadPose, head));
-    } else {
-        _headControllerPoseInSensorFrameCache.set(head);
-    }
+    _headControllerPoseInSensorFrameCache.set(head);
 }
 
 controller::Pose MyAvatar::getHeadControllerPoseInSensorFrame() const {

libraries/controllers/src/controllers/InputDevice.cpp

@@ -15,10 +15,6 @@
 
 namespace controller {
 
-    bool InputDevice::_lowVelocityFilter = false;
-    float InputDevice::_translationFilterConstant = 0.1f;
-    float InputDevice::_rotationFilterConstant = 0.1f;
-
     const float DEFAULT_HAND_RETICLE_MOVE_SPEED = 37.5f;
     float InputDevice::_reticleMoveSpeed = DEFAULT_HAND_RETICLE_MOVE_SPEED;
 

libraries/controllers/src/controllers/InputDevice.h

@@ -77,17 +77,13 @@ public:
     static float getReticleMoveSpeed() { return _reticleMoveSpeed; }
     static void setReticleMoveSpeed(float reticleMoveSpeed) { _reticleMoveSpeed = reticleMoveSpeed; }
 
-    static bool getLowVelocityFilter() { return _lowVelocityFilter; };
-
     Input makeInput(StandardButtonChannel button) const;
     Input makeInput(StandardAxisChannel axis) const;
     Input makeInput(StandardPoseChannel pose) const;
     Input::NamedPair makePair(StandardButtonChannel button, const QString& name) const;
     Input::NamedPair makePair(StandardAxisChannel button, const QString& name) const;
     Input::NamedPair makePair(StandardPoseChannel button, const QString& name) const;
-public slots:
-    static void setLowVelocityFilter(bool newLowVelocityFilter) { _lowVelocityFilter = newLowVelocityFilter; };
-
+    
 protected:
     friend class UserInputMapper;
 
@@ -104,10 +100,6 @@ protected:
     AxisStateMap _axisStateMap;
     PoseStateMap _poseStateMap;
 
-    static bool _lowVelocityFilter;
-    static float _translationFilterConstant;
-    static float _rotationFilterConstant;
-
 private:
     static float _reticleMoveSpeed;
 };

libraries/controllers/src/controllers/impl/Filter.cpp

@@ -28,6 +28,7 @@
 #include "filters/TransformFilter.h"
 #include "filters/PostTransformFilter.h"
 #include "filters/RotateFilter.h"
+#include "filters/LowVelocityFilter.h"
 
 using namespace controller;
 
@@ -45,6 +46,7 @@ REGISTER_FILTER_CLASS_INSTANCE(TranslateFilter, "translate")
 REGISTER_FILTER_CLASS_INSTANCE(TransformFilter, "transform")
 REGISTER_FILTER_CLASS_INSTANCE(PostTransformFilter, "postTransform")
 REGISTER_FILTER_CLASS_INSTANCE(RotateFilter, "rotate")
+REGISTER_FILTER_CLASS_INSTANCE(LowVelocityFilter, "lowVelocity")
 
 const QString JSON_FILTER_TYPE = QStringLiteral("type");
 const QString JSON_FILTER_PARAMS = QStringLiteral("params");
@@ -286,4 +288,4 @@ namespace controller {
     //    const float _max;
     //};
 }
-#endif
+#endif

libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp

@@ -30,6 +30,7 @@
 #include "filters/TransformFilter.h"
 #include "filters/PostTransformFilter.h"
 #include "filters/RotateFilter.h"
+#include "filters/LowVelocityFilter.h"
 #include "conditionals/AndConditional.h"
 
 using namespace controller;
@@ -127,6 +128,11 @@ QObject* RouteBuilderProxy::rotate(glm::quat rotation) {
     return this;
 }
 
+QObject* RouteBuilderProxy::lowVelocity(float rotationConstant, float translationConstant) {
+    addFilter(std::make_shared<LowVelocityFilter>(rotationConstant, translationConstant));
+    return this;
+}
+
 QObject* RouteBuilderProxy::constrainToInteger() {
     addFilter(std::make_shared<ConstrainToIntegerFilter>());
     return this;

libraries/controllers/src/controllers/impl/RouteBuilderProxy.h

@@ -52,6 +52,7 @@ class RouteBuilderProxy : public QObject {
         Q_INVOKABLE QObject* transform(glm::mat4 transform);
         Q_INVOKABLE QObject* postTransform(glm::mat4 transform);
         Q_INVOKABLE QObject* rotate(glm::quat rotation);
+        Q_INVOKABLE QObject* lowVelocity(float rotationConstant, float translationConstant);
 
     private:
         void to(const Endpoint::Pointer& destination);

libraries/controllers/src/controllers/impl/filters/LowVelocityFilter.cpp

@@ -0,0 +1,46 @@
+//
+//  Created by Dante Ruiz 2017/05/15
+//  Copyright 2017 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+
+#include "LowVelocityFilter.h"
+
+#include <QtCore/QJsonObject>
+#include <QtCore/QJsonArray>
+
+static const QString JSON_ROTATION = QStringLiteral("rotation");
+static const QString JSON_TRANSLATION = QStringLiteral("translation");
+namespace controller {
+
+    Pose LowVelocityFilter::apply(Pose newPose) const {
+        Pose finalPose = newPose;
+        if (finalPose.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);
+        }
+        _oldPose = finalPose;
+        return finalPose;
+    }
+
+    bool LowVelocityFilter::parseParameters(const QJsonValue& parameters) {
+
+        if (parameters.isObject()) {
+            auto obj = parameters.toObject();
+            if (obj.contains(JSON_ROTATION) && obj.contains(JSON_TRANSLATION)) {
+                _rotationConstant = obj[JSON_ROTATION].toDouble();
+                _translationConstant = obj[JSON_TRANSLATION].toDouble();
+                qDebug() << "--------->Successfully parsed low velocity filter";
+                return true;
+            }
+        }
+        qDebug() << "--------->failed parsed low velocity filter";
+        return false;
+    }
+    
+}

libraries/controllers/src/controllers/impl/filters/LowVelocityFilter.h

@@ -0,0 +1,36 @@
+//
+//  Created by Dante Ruiz 2017/05/15
+//  Copyright 2017 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_Controllers_Filters_Low_Velocity_h
+#define hifi_Controllers_Filters_Low_Velocity_h
+
+#include "../Filter.h"
+
+namespace controller {
+
+    class LowVelocityFilter : public Filter {
+        REGISTER_FILTER_CLASS(LowVelocityFilter);
+
+    public:
+        LowVelocityFilter() {}
+        LowVelocityFilter(float rotationConstant, float translationConstant) :
+            _translationConstant(translationConstant), _rotationConstant(rotationConstant) {}
+
+        virtual float apply(float value) const override { return value; }
+        virtual Pose apply(Pose newPose) const;
+        virtual bool parseParameters(const QJsonValue& parameters) override;
+
+    private:
+        float _translationConstant { 0.1f };
+        float _rotationConstant { 0.1f };
+        mutable Pose _oldPose { Pose() };
+    };
+
+}
+
+#endif

plugins/openvr/src/ViveControllerManager.cpp

@@ -169,7 +169,6 @@ ViveControllerManager::InputDevice::InputDevice(vr::IVRSystem*& system) : contro
     _configStringMap[Config::Feet] =  QString("Feet");
     _configStringMap[Config::FeetAndHips] =  QString("FeetAndHips");
     _configStringMap[Config::FeetHipsAndChest] =  QString("FeetHipsAndChest");
-    _lowVelocityFilter = false;
 }
 
 void ViveControllerManager::InputDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {
@@ -661,11 +660,6 @@ void ViveControllerManager::InputDevice::createPreferences() {
         preferences->addPreference(preference);
 
     }
-
-    {
-        auto getter = [this]()->float { return _translationFilterConstant; };
-        auto setter = [this](const float& value) { _translationFilterConstant; };
-    }
         
 }