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SixenseManager: Added debug draw options

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These debug draw options were added to help debug rare intermittent issues with
configuration the hydra and the Avatar arm IK.
This commit is contained in:
Anthony J. Thibault 2015-12-09 15:17:06 -08:00
parent 1356fb15aa
commit a57a2792a4
2 changed files with 64 additions and 1 deletions
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61
libraries/input-plugins/src/input-plugins/SixenseManager.cpp
View file

@ -21,6 +21,7 @@
#include <controllers/UserInputMapper.h>
#include <GLMHelpers.h>
#include <DebugDraw.h>
#include <NumericalConstants.h>
#include <PathUtils.h>
#include <PerfStat.h>
@ -48,6 +49,8 @@ const QString MENU_PARENT = "Avatar";
const QString MENU_NAME = "Sixense";
const QString MENU_PATH = MENU_PARENT + ">" + MENU_NAME;
const QString TOGGLE_SMOOTH = "Smooth Sixense Movement";
const QString SHOW_DEBUG_RAW = "Debug Draw Raw Data";
const QString SHOW_DEBUG_CALIBRATED = "Debug Draw Calibrated Data";
bool SixenseManager::isSupported() const {
#ifdef HAVE_SIXENSE
@ -72,6 +75,14 @@ void SixenseManager::activate() {
[this] (bool clicked) { setSixenseFilter(clicked); },
true, true);
_container->addMenuItem(PluginType::INPUT_PLUGIN, MENU_PATH, SHOW_DEBUG_RAW,
[this] (bool clicked) { _inputDevice->setDebugDrawRaw(clicked); },
true, false);
_container->addMenuItem(PluginType::INPUT_PLUGIN, MENU_PATH, SHOW_DEBUG_CALIBRATED,
[this] (bool clicked) { _inputDevice->setDebugDrawCalibrated(clicked); },
true, false);
auto userInputMapper = DependencyManager::get<controller::UserInputMapper>();
userInputMapper->registerDevice(_inputDevice);
@ -149,6 +160,9 @@ void SixenseManager::InputDevice::update(float deltaTime, bool jointsCaptured) {
// we only support two controllers
SixenseControllerData controllers[2];
// store the raw controller data for debug rendering
controller::Pose rawPoses[2];
int numActiveControllers = 0;
for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) {
if (!sixenseIsControllerEnabled(i)) {
@ -175,7 +189,7 @@ void SixenseManager::InputDevice::update(float deltaTime, bool jointsCaptured) {
// Rotation of Palm
glm::quat rotation(data->rot_quat[3], data->rot_quat[0], data->rot_quat[1], data->rot_quat[2]);
handlePoseEvent(deltaTime, position, rotation, left);
rawPoses[i] = controller::Pose(position, rotation, glm::vec3(0), glm::quat());
} else {
_poseStateMap.clear();
_collectedSamples.clear();
@ -197,9 +211,54 @@ void SixenseManager::InputDevice::update(float deltaTime, bool jointsCaptured) {
_axisStateMap[axisState.first] = 0.0f;
}
}
if (_debugDrawCalibrated) {
auto poseIter = _poseStateMap.find(controller::StandardPoseChannel::LEFT_HAND);
if (poseIter != _poseStateMap.end() && poseIter->second.isValid()) {
DebugDraw::getInstance().addMyAvatarMarker("SIXENSE_CALIBRATED_LEFT", poseIter->second.rotation, poseIter->second.translation, glm::vec4(1));
} else {
DebugDraw::getInstance().removeMyAvatarMarker("SIXENSE_CALIBRATED_LEFT");
}
poseIter = _poseStateMap.find(controller::StandardPoseChannel::RIGHT_HAND);
if (poseIter != _poseStateMap.end() && poseIter->second.isValid()) {
DebugDraw::getInstance().addMyAvatarMarker("SIXENSE_CALIBRATED_RIGHT", poseIter->second.rotation, poseIter->second.translation, glm::vec4(1));
} else {
DebugDraw::getInstance().removeMyAvatarMarker("SIXENSE_CALIBRATED_RIGHT");
}
}
if (_debugDrawRaw) {
if (rawPoses[0].isValid()) {
DebugDraw::getInstance().addMyAvatarMarker("SIXENSE_RAW_LEFT", rawPoses[0].rotation, rawPoses[0].translation, glm::vec4(1));
} else {
DebugDraw::getInstance().removeMyAvatarMarker("SIXENSE_RAW_LEFT");
}
if (rawPoses[1].isValid()) {
DebugDraw::getInstance().addMyAvatarMarker("SIXENSE_RAW_RIGHT", rawPoses[1].rotation, rawPoses[1].translation, glm::vec4(1));
} else {
DebugDraw::getInstance().removeMyAvatarMarker("SIXENSE_RAW_RIGHT");
}
}
#endif // HAVE_SIXENSE
}
void SixenseManager::InputDevice::setDebugDrawRaw(bool flag) {
_debugDrawRaw = flag;
if (!flag) {
DebugDraw::getInstance().removeMyAvatarMarker("SIXENSE_RAW_LEFT");
DebugDraw::getInstance().removeMyAvatarMarker("SIXENSE_RAW_RIGHT");
}
}
void SixenseManager::InputDevice::setDebugDrawCalibrated(bool flag) {
_debugDrawCalibrated = flag;
if (!flag) {
DebugDraw::getInstance().removeMyAvatarMarker("SIXENSE_CALIBRATED_LEFT");
DebugDraw::getInstance().removeMyAvatarMarker("SIXENSE_CALIBRATED_RIGHT");
}
}
#ifdef HAVE_SIXENSE
// the calibration sequence is:

4
libraries/input-plugins/src/input-plugins/SixenseManager.h
View file

@ -60,6 +60,8 @@ private:
class InputDevice : public controller::InputDevice {
public:
InputDevice() : controller::InputDevice("Hydra") {}
void setDebugDrawRaw(bool flag);
void setDebugDrawCalibrated(bool flag);
private:
// Device functions
virtual controller::Input::NamedVector getAvailableInputs() const override;
@ -82,6 +84,8 @@ private:
float _lastDistance;
bool _requestReset { false };
bool _debugDrawRaw { false };
bool _debugDrawCalibrated { false };
// these are measured values used to compute the calibration results
quint64 _lockExpiry;
glm::vec3 _averageLeft;