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Debug rendering of tracked objects, remove filters from body.

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This commit is contained in:
Anthony Thibault 2018-10-10 17:52:26 -07:00
parent 09c3b39f0d
commit a3a87ef48b
3 changed files with 46 additions and 23 deletions
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29
interface/resources/controllers/vive.json
View file

@ -51,30 +51,15 @@
{ "from": "Vive.RSCenter", "to": "Standard.RightPrimaryThumb" },
{ "from": "Vive.RightApplicationMenu", "to": "Standard.RightSecondaryThumb" },
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand"},
{ "from": "Vive.RightHand", "to": "Standard.RightHand"},
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand" },
{ "from": "Vive.RightHand", "to": "Standard.RightHand" },
{
"from": "Vive.LeftFoot", "to" : "Standard.LeftFoot",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.3}]
},
{ "from": "Vive.LeftFoot", "to" : "Standard.LeftFoot" },
{ "from": "Vive.RightFoot", "to" : "Standard.RightFoot" },
{ "from": "Vive.Hips", "to" : "Standard.Hips" },
{ "from": "Vive.Spine2", "to" : "Standard.Spine2" },
{
"from": "Vive.RightFoot", "to" : "Standard.RightFoot",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.3}]
},
{
"from": "Vive.Hips", "to" : "Standard.Hips",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.3}]
},
{
"from": "Vive.Spine2", "to" : "Standard.Spine2",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.3}]
},
{ "from": "Vive.Head", "to" : "Standard.Head"},
{ "from": "Vive.Head", "to" : "Standard.Head" },
{ "from": "Vive.RightArm", "to" : "Standard.RightArm" },
{ "from": "Vive.LeftArm", "to" : "Standard.LeftArm" },

38
interface/src/Application.cpp
View file

@ -5801,6 +5801,44 @@ void Application::update(float deltaTime) {
controller::Pose pose = userInputMapper->getPoseState(action);
myAvatar->setControllerPoseInSensorFrame(action, pose.transform(avatarToSensorMatrix));
}
// AJT: TODO put a nice menu around this.
// Make sure to remove all markers when menu is turned off.
{
static const std::vector<controller::Action> trackedObjectActions = {
controller::Action::TRACKED_OBJECT_00,
controller::Action::TRACKED_OBJECT_01,
controller::Action::TRACKED_OBJECT_02,
controller::Action::TRACKED_OBJECT_03,
controller::Action::TRACKED_OBJECT_04,
controller::Action::TRACKED_OBJECT_05,
controller::Action::TRACKED_OBJECT_06,
controller::Action::TRACKED_OBJECT_07,
controller::Action::TRACKED_OBJECT_08,
controller::Action::TRACKED_OBJECT_09,
controller::Action::TRACKED_OBJECT_10,
controller::Action::TRACKED_OBJECT_11,
controller::Action::TRACKED_OBJECT_12,
controller::Action::TRACKED_OBJECT_13,
controller::Action::TRACKED_OBJECT_14,
controller::Action::TRACKED_OBJECT_15
};
int i = 0;
glm::vec4 BLUE(0.0f, 0.0f, 1.0f, 1.0f);
for (auto& action : trackedObjectActions) {
QString key = QString("_TrackedObject%1").arg(i);
controller::Pose pose = userInputMapper->getPoseState(action);
if (pose.valid) {
glm::vec3 pos = transformPoint(myAvatarMatrix, pose.translation);
glm::quat rot = glmExtractRotation(myAvatarMatrix) * pose.rotation;
DebugDraw::getInstance().addMarker(key, rot, pos, BLUE);
} else {
DebugDraw::getInstance().removeMarker(key);
}
i++;
}
}
}
updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...

2
libraries/controllers/src/controllers/impl/filters/ExponentialSmoothingFilter.cpp
View file

@ -35,7 +35,7 @@ namespace controller {
if (_prevSensorValue.isValid()) {
// exponential smoothing filter
sensorValue.translation = _translationConstant * sensorValue.getTranslation() + (1.0f - _translationConstant) * _prevSensorValue.getTranslation();
sensorValue.rotation = safeMix(sensorValue.getRotation(), _prevSensorValue.getRotation(), _rotationConstant);
sensorValue.rotation = safeMix(sensorValue.getRotation(), _prevSensorValue.getRotation(), (1.0f - _rotationConstant));
// remember previous sensor space value.
_prevSensorValue = sensorValue;