Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-23 23:33:48 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Merge pull request #5965 from hyperlogic/tony/avatar-lean-bug-fixes

Browse source 
Bug fix for deriveBodyFromHMDSensor calculations
This commit is contained in:
Brad Hefta-Gaub 2015-09-30 16:54:59 -07:00
commit 066e25bb4a
2 changed files with 68 additions and 11 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

62
interface/src/avatar/MyAvatar.cpp
View file

@ -271,6 +271,25 @@ glm::mat4 MyAvatar::getSensorToWorldMatrix() const {
return _sensorToWorldMatrix;
}
// returns true if pos is OUTSIDE of the vertical capsule
// where the middle cylinder length is defined by capsuleLen and the radius by capsuleRad.
static bool capsuleCheck(const glm::vec3& pos, float capsuleLen, float capsuleRad) {
const float halfCapsuleLen = capsuleLen / 2.0f;
if (fabs(pos.y) <= halfCapsuleLen) {
// cylinder check for middle capsule
glm::vec2 horizPos(pos.x, pos.z);
return glm::length(horizPos) > capsuleRad;
} else if (pos.y > halfCapsuleLen) {
glm::vec3 center(0.0f, halfCapsuleLen, 0.0f);
return glm::length(center - pos) > capsuleRad;
} else if (pos.y < halfCapsuleLen) {
glm::vec3 center(0.0f, -halfCapsuleLen, 0.0f);
return glm::length(center - pos) > capsuleRad;
} else {
return false;
}
}
// Pass a recent sample of the HMD to the avatar.
// This can also update the avatar's position to follow the HMD
// as it moves through the world.
@ -289,11 +308,14 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
_hmdSensorOrientation = glm::quat_cast(hmdSensorMatrix);
const float STRAIGHTING_LEAN_DURATION = 0.5f; // seconds
const float STRAIGHTING_LEAN_THRESHOLD = 0.2f; // meters
// define a vertical capsule
const float STRAIGHTING_LEAN_CAPSULE_RADIUS = 0.2f; // meters
const float STRAIGHTING_LEAN_CAPSULE_LENGTH = 0.05f; // length of the cylinder part of the capsule in meters.
auto newBodySensorMatrix = deriveBodyFromHMDSensor();
glm::vec3 diff = extractTranslation(newBodySensorMatrix) - extractTranslation(_bodySensorMatrix);
if (!_straightingLean && glm::length(diff) > STRAIGHTING_LEAN_THRESHOLD) {
if (!_straightingLean && capsuleCheck(diff, STRAIGHTING_LEAN_CAPSULE_LENGTH, STRAIGHTING_LEAN_CAPSULE_RADIUS)) {
// begin homing toward derived body position.
_straightingLean = true;
@ -1854,13 +1876,39 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
const glm::quat hmdOrientation = getHMDSensorOrientation();
const glm::quat hmdOrientationYawOnly = cancelOutRollAndPitch(hmdOrientation);
// In sensor space, figure out where the avatar body should be,
// by applying offsets from the avatar's neck & head joints.
vec3 localEyes = _skeletonModel.getDefaultEyeModelPosition();
vec3 localNeck(0.0f, 0.48f, 0.0f); // start with some kind of guess if the skeletonModel is not loaded yet.
_skeletonModel.getLocalNeckPosition(localNeck);
const glm::vec3 DEFAULT_RIGHT_EYE_POS(-0.3f, 1.6f, 0.0f);
const glm::vec3 DEFAULT_LEFT_EYE_POS(0.3f, 1.6f, 0.0f);
const glm::vec3 DEFAULT_NECK_POS(0.0f, 1.5f, 0.0f);
const glm::vec3 DEFAULT_HIPS_POS(0.0f, 1.0f, 0.0f);
vec3 localEyes, localNeck;
if (!_debugDrawSkeleton) {
const glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
localEyes = rotY180 * (((DEFAULT_RIGHT_EYE_POS + DEFAULT_LEFT_EYE_POS) / 2.0f) - DEFAULT_HIPS_POS);
localNeck = rotY180 * (DEFAULT_NECK_POS - DEFAULT_HIPS_POS);
} else {
// TODO: At the moment MyAvatar does not have access to the rig, which has the skeleton, which has the bind poses.
// for now use the _debugDrawSkeleton, which is initialized with the same FBX model as the rig.
// TODO: cache these indices.
int rightEyeIndex = _debugDrawSkeleton->nameToJointIndex("RightEye");
int leftEyeIndex = _debugDrawSkeleton->nameToJointIndex("LeftEye");
int neckIndex = _debugDrawSkeleton->nameToJointIndex("Neck");
int hipsIndex = _debugDrawSkeleton->nameToJointIndex("Hips");
glm::vec3 absRightEyePos = rightEyeIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(rightEyeIndex).trans : DEFAULT_RIGHT_EYE_POS;
glm::vec3 absLeftEyePos = leftEyeIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(leftEyeIndex).trans : DEFAULT_LEFT_EYE_POS;
glm::vec3 absNeckPos = neckIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(neckIndex).trans : DEFAULT_NECK_POS;
glm::vec3 absHipsPos = neckIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(hipsIndex).trans : DEFAULT_HIPS_POS;
const glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
localEyes = rotY180 * (((absRightEyePos + absLeftEyePos) / 2.0f) - absHipsPos);
localNeck = rotY180 * (absNeckPos - absHipsPos);
}
// apply simplistic head/neck model
// figure out where the avatar body should be by applying offsets from the avatar's neck & head joints.
// eyeToNeck offset is relative full HMD orientation.
// while neckToRoot offset is only relative to HMDs yaw.
glm::vec3 eyeToNeck = hmdOrientation * (localNeck - localEyes);

17
libraries/animation/src/Rig.cpp
View file

@ -1026,12 +1026,21 @@ static void computeHeadNeckAnimVars(AnimSkeleton::ConstPointer skeleton, const A
const glm::quat hmdOrientation = hmdPose.rot * rotY180; // rotY180 will make z forward not -z
// TODO: cache jointIndices
int rightEyeIndex = skeleton->nameToJointIndex("RightEye");
int leftEyeIndex = skeleton->nameToJointIndex("LeftEye");
int headIndex = skeleton->nameToJointIndex("Head");
int neckIndex = skeleton->nameToJointIndex("Neck");
const glm::vec3 DEFAULT_RIGHT_EYE_POS(-0.3f, 1.6f, 0.0f);
const glm::vec3 DEFAULT_LEFT_EYE_POS(0.3f, 1.6f, 0.0f);
const glm::vec3 DEFAULT_HEAD_POS(0.0f, 1.55f, 0.0f);
const glm::vec3 DEFAULT_NECK_POS(0.0f, 1.5f, 0.0f);
// Use absolute bindPose positions just in case the relBindPose have rotations we don't expect.
glm::vec3 absRightEyePos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("RightEye")).trans;
glm::vec3 absLeftEyePos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("LeftEye")).trans;
glm::vec3 absHeadPos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Head")).trans;
glm::vec3 absNeckPos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Neck")).trans;
glm::vec3 absRightEyePos = rightEyeIndex != -1 ? skeleton->getAbsoluteBindPose(rightEyeIndex).trans : DEFAULT_RIGHT_EYE_POS;
glm::vec3 absLeftEyePos = leftEyeIndex != -1 ? skeleton->getAbsoluteBindPose(leftEyeIndex).trans : DEFAULT_LEFT_EYE_POS;
glm::vec3 absHeadPos = headIndex != -1 ? skeleton->getAbsoluteBindPose(headIndex).trans : DEFAULT_HEAD_POS;
glm::vec3 absNeckPos = neckIndex != -1 ? skeleton->getAbsoluteBindPose(neckIndex).trans : DEFAULT_NECK_POS;
glm::vec3 absCenterEyePos = (absRightEyePos + absLeftEyePos) / 2.0f;
glm::vec3 eyeOffset = absCenterEyePos - absHeadPos;