diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 6e27bee06f..bc4dca54f2 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -1984,11 +1984,10 @@ void Rig::copyJointsIntoJointData(QVector<JointData>& jointDataVec) const {
data.rotation = !_sendNetworkNode ? _internalPoseSet._absolutePoses[i].rot() : _networkPoseSet._absolutePoses[i].rot();
data.rotationIsDefaultPose = isEqual(data.rotation, defaultAbsRot);
- // translations are in relative frame but scaled so that they are in meters,
- // instead of model units.
+ // translations are in relative frame.
glm::vec3 defaultRelTrans = _animSkeleton->getRelativeDefaultPose(i).trans();
glm::vec3 currentRelTrans = _sendNetworkNode ? _networkPoseSet._relativePoses[i].trans() : _internalPoseSet._relativePoses[i].trans();
- data.translation = geometryToRigScale * currentRelTrans;
+ data.translation = currentRelTrans;
data.translationIsDefaultPose = isEqual(currentRelTrans, defaultRelTrans);
} else {
data.translationIsDefaultPose = true;
@@ -2015,7 +2014,6 @@ void Rig::copyJointsFromJointData(const QVector<JointData>& jointDataVec) {
std::vector<glm::quat> rotations;
rotations.reserve(numJoints);
const glm::quat rigToGeometryRot(glmExtractRotation(_rigToGeometryTransform));
- const glm::vec3 rigToGeometryScale(extractScale(_rigToGeometryTransform));
for (int i = 0; i < numJoints; i++) {
const JointData& data = jointDataVec.at(i);
@@ -2041,8 +2039,8 @@ void Rig::copyJointsFromJointData(const QVector<JointData>& jointDataVec) {
if (data.translationIsDefaultPose) {
_internalPoseSet._relativePoses[i].trans() = relativeDefaultPoses[i].trans();
} else {
- // JointData translations are in scaled relative-frame so we scale back to regular relative-frame
- _internalPoseSet._relativePoses[i].trans() = rigToGeometryScale * data.translation;
+ // JointData translations are in relative-frame
+ _internalPoseSet._relativePoses[i].trans() = data.translation;
}
}
}
diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp
index bbd461907f..ba3845e8e7 100644
--- a/libraries/avatars/src/AvatarData.cpp
+++ b/libraries/avatars/src/AvatarData.cpp
@@ -54,7 +54,8 @@ using namespace std;
const QString AvatarData::FRAME_NAME = "com.highfidelity.recording.AvatarData";
-static const int TRANSLATION_COMPRESSION_RADIX = 12;
+static const int TRANSLATION_COMPRESSION_RADIX = 14;
+static const int FAUX_JOINT_COMPRESSION_RADIX = 12;
static const int SENSOR_TO_WORLD_SCALE_RADIX = 10;
static const float AUDIO_LOUDNESS_SCALE = 1024.0f;
static const float DEFAULT_AVATAR_DENSITY = 1000.0f; // density of water
@@ -73,6 +74,7 @@ size_t AvatarDataPacket::maxJointDataSize(size_t numJoints, bool hasGrabJoints)
totalSize += validityBitsSize; // Orientations mask
totalSize += numJoints * sizeof(SixByteQuat); // Orientations
totalSize += validityBitsSize; // Translations mask
+ totalSize += sizeof(float); // maxTranslationDimension
totalSize += numJoints * sizeof(SixByteTrans); // Translations
size_t NUM_FAUX_JOINT = 2;
@@ -85,6 +87,23 @@ size_t AvatarDataPacket::maxJointDataSize(size_t numJoints, bool hasGrabJoints)
return totalSize;
}
+size_t AvatarDataPacket::minJointDataSize(size_t numJoints) {
+ const size_t validityBitsSize = calcBitVectorSize((int)numJoints);
+
+ size_t totalSize = sizeof(uint8_t); // numJoints
+
+ totalSize += validityBitsSize; // Orientations mask
+ // assume no valid rotations
+ totalSize += validityBitsSize; // Translations mask
+ totalSize += sizeof(float); // maxTranslationDimension
+ // assume no valid translations
+
+ size_t NUM_FAUX_JOINT = 2;
+ totalSize += NUM_FAUX_JOINT * (sizeof(SixByteQuat) + sizeof(SixByteTrans)); // faux joints
+
+ return totalSize;
+}
+
size_t AvatarDataPacket::maxJointDefaultPoseFlagsSize(size_t numJoints) {
const size_t bitVectorSize = calcBitVectorSize((int)numJoints);
size_t totalSize = sizeof(uint8_t); // numJoints
@@ -611,13 +630,24 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
assert(numJoints <= 255);
const int jointBitVectorSize = calcBitVectorSize(numJoints);
- // Start joints if room for at least the faux joints.
- IF_AVATAR_SPACE(PACKET_HAS_JOINT_DATA, 1 + 2 * jointBitVectorSize + AvatarDataPacket::FAUX_JOINTS_SIZE) {
+ // include jointData if there is room for the most minimal section. i.e. no translations or rotations.
+ IF_AVATAR_SPACE(PACKET_HAS_JOINT_DATA, AvatarDataPacket::minJointDataSize(numJoints)) {
// Allow for faux joints + translation bit-vector:
const ptrdiff_t minSizeForJoint = sizeof(AvatarDataPacket::SixByteQuat)
+ jointBitVectorSize + AvatarDataPacket::FAUX_JOINTS_SIZE;
auto startSection = destinationBuffer;
+ // compute maxTranslationDimension before we send any joint data.
+ float maxTranslationDimension = 0.001f;
+ for (int i = sendStatus.rotationsSent; i < numJoints; ++i) {
+ const JointData& data = jointData[i];
+ if (!data.translationIsDefaultPose) {
+ maxTranslationDimension = glm::max(fabsf(data.translation.x), maxTranslationDimension);
+ maxTranslationDimension = glm::max(fabsf(data.translation.y), maxTranslationDimension);
+ maxTranslationDimension = glm::max(fabsf(data.translation.z), maxTranslationDimension);
+ }
+ }
+
// joint rotation data
*destinationBuffer++ = (uint8_t)numJoints;
@@ -684,9 +714,11 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
memset(destinationBuffer, 0, jointBitVectorSize);
destinationBuffer += jointBitVectorSize; // Move pointer past the validity bytes
+ // write maxTranslationDimension
+ AVATAR_MEMCPY(maxTranslationDimension);
+
float minTranslation = (distanceAdjust && cullSmallChanges) ? getDistanceBasedMinTranslationDistance(viewerPosition) : AVATAR_MIN_TRANSLATION;
- float maxTranslationDimension = 0.0;
i = sendStatus.translationsSent;
for (; i < numJoints; ++i) {
const JointData& data = joints[i];
@@ -700,12 +732,8 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
#ifdef WANT_DEBUG
translationSentCount++;
#endif
- maxTranslationDimension = glm::max(fabsf(data.translation.x), maxTranslationDimension);
- maxTranslationDimension = glm::max(fabsf(data.translation.y), maxTranslationDimension);
- maxTranslationDimension = glm::max(fabsf(data.translation.z), maxTranslationDimension);
-
- destinationBuffer +=
- packFloatVec3ToSignedTwoByteFixed(destinationBuffer, data.translation, TRANSLATION_COMPRESSION_RADIX);
+ destinationBuffer += packFloatVec3ToSignedTwoByteFixed(destinationBuffer, data.translation / maxTranslationDimension,
+ TRANSLATION_COMPRESSION_RADIX);
if (sentJoints) {
sentJoints[i].translation = data.translation;
@@ -727,12 +755,12 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
Transform controllerLeftHandTransform = Transform(getControllerLeftHandMatrix());
destinationBuffer += packOrientationQuatToSixBytes(destinationBuffer, controllerLeftHandTransform.getRotation());
destinationBuffer += packFloatVec3ToSignedTwoByteFixed(destinationBuffer, controllerLeftHandTransform.getTranslation(),
- TRANSLATION_COMPRESSION_RADIX);
+ FAUX_JOINT_COMPRESSION_RADIX);
Transform controllerRightHandTransform = Transform(getControllerRightHandMatrix());
destinationBuffer += packOrientationQuatToSixBytes(destinationBuffer, controllerRightHandTransform.getRotation());
destinationBuffer += packFloatVec3ToSignedTwoByteFixed(destinationBuffer, controllerRightHandTransform.getTranslation(),
- TRANSLATION_COMPRESSION_RADIX);
+ FAUX_JOINT_COMPRESSION_RADIX);
IF_AVATAR_SPACE(PACKET_HAS_GRAB_JOINTS, sizeof (AvatarDataPacket::FarGrabJoints)) {
// the far-grab joints may range further than 3 meters, so we can't use packFloatVec3ToSignedTwoByteFixed etc
@@ -785,7 +813,7 @@ QByteArray AvatarData::toByteArray(AvatarDataDetail dataDetail, quint64 lastSent
outboundDataRateOut->jointDataRate.increment(numBytes);
}
}
-
+
IF_AVATAR_SPACE(PACKET_HAS_JOINT_DEFAULT_POSE_FLAGS, 1 + 2 * jointBitVectorSize) {
auto startSection = destinationBuffer;
@@ -871,7 +899,7 @@ const unsigned char* unpackFauxJoint(const unsigned char* sourceBuffer, ThreadSa
glm::vec3 position;
Transform transform;
sourceBuffer += unpackOrientationQuatFromSixBytes(sourceBuffer, orientation);
- sourceBuffer += unpackFloatVec3FromSignedTwoByteFixed(sourceBuffer, position, TRANSLATION_COMPRESSION_RADIX);
+ sourceBuffer += unpackFloatVec3FromSignedTwoByteFixed(sourceBuffer, position, FAUX_JOINT_COMPRESSION_RADIX);
transform.setTranslation(position);
transform.setRotation(orientation);
matrixCache.set(transform.getMatrix());
@@ -1280,6 +1308,12 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
}
} // 1 + bytesOfValidity bytes
+ // read maxTranslationDimension
+ float maxTranslationDimension;
+ PACKET_READ_CHECK(JointMaxTranslationDimension, sizeof(float));
+ memcpy(&maxTranslationDimension, sourceBuffer, sizeof(float));
+ sourceBuffer += sizeof(float);
+
// each joint translation component is stored in 6 bytes.
const int COMPRESSED_TRANSLATION_SIZE = 6;
PACKET_READ_CHECK(JointTranslation, numValidJointTranslations * COMPRESSED_TRANSLATION_SIZE);
@@ -1288,6 +1322,7 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
JointData& data = _jointData[i];
if (validTranslations[i]) {
sourceBuffer += unpackFloatVec3FromSignedTwoByteFixed(sourceBuffer, data.translation, TRANSLATION_COMPRESSION_RADIX);
+ data.translation *= maxTranslationDimension;
_hasNewJointData = true;
data.translationIsDefaultPose = false;
}
diff --git a/libraries/avatars/src/AvatarData.h b/libraries/avatars/src/AvatarData.h
index 0e7c1f47bd..2889e5ffa3 100644
--- a/libraries/avatars/src/AvatarData.h
+++ b/libraries/avatars/src/AvatarData.h
@@ -277,8 +277,8 @@ namespace AvatarDataPacket {
uint8_t rotationValidityBits[ceil(numJoints / 8)]; // one bit per joint, if true then a compressed rotation follows.
SixByteQuat rotation[numValidRotations]; // encodeded and compressed by packOrientationQuatToSixBytes()
uint8_t translationValidityBits[ceil(numJoints / 8)]; // one bit per joint, if true then a compressed translation follows.
- SixByteTrans translation[numValidTranslations]; // encodeded and compressed by packFloatVec3ToSignedTwoByteFixed()
-
+ float maxTranslationDimension; // used to normalize fixed point translation values.
+ SixByteTrans translation[numValidTranslations]; // normalized and compressed by packFloatVec3ToSignedTwoByteFixed()
SixByteQuat leftHandControllerRotation;
SixByteTrans leftHandControllerTranslation;
SixByteQuat rightHandControllerRotation;
@@ -286,6 +286,7 @@ namespace AvatarDataPacket {
};
*/
size_t maxJointDataSize(size_t numJoints, bool hasGrabJoints);
+ size_t minJointDataSize(size_t numJoints);
/*
struct JointDefaultPoseFlags {
diff --git a/libraries/networking/src/udt/PacketHeaders.cpp b/libraries/networking/src/udt/PacketHeaders.cpp
index ee9f784b8c..5be9a937cc 100644
--- a/libraries/networking/src/udt/PacketHeaders.cpp
+++ b/libraries/networking/src/udt/PacketHeaders.cpp
@@ -38,10 +38,10 @@ PacketVersion versionForPacketType(PacketType packetType) {
return static_cast<PacketVersion>(EntityQueryPacketVersion::ConicalFrustums);
case PacketType::AvatarIdentity:
case PacketType::AvatarData:
- return static_cast<PacketVersion>(AvatarMixerPacketVersion::CollisionFlag);
+ return static_cast<PacketVersion>(AvatarMixerPacketVersion::SendMaxTranslationDimension);
case PacketType::BulkAvatarData:
case PacketType::KillAvatar:
- return static_cast<PacketVersion>(AvatarMixerPacketVersion::FasterAvatarEntities);
+ return static_cast<PacketVersion>(AvatarMixerPacketVersion::SendMaxTranslationDimension);
case PacketType::MessagesData:
return static_cast<PacketVersion>(MessageDataVersion::TextOrBinaryData);
// ICE packets
diff --git a/libraries/networking/src/udt/PacketHeaders.h b/libraries/networking/src/udt/PacketHeaders.h
index 37b8a3b1c7..4d013f3d7e 100644
--- a/libraries/networking/src/udt/PacketHeaders.h
+++ b/libraries/networking/src/udt/PacketHeaders.h
@@ -312,7 +312,8 @@ enum class AvatarMixerPacketVersion : PacketVersion {
GrabTraits,
CollisionFlag,
AvatarTraitsAck,
- FasterAvatarEntities
+ FasterAvatarEntities,
+ SendMaxTranslationDimension
};
enum class DomainConnectRequestVersion : PacketVersion {
diff --git a/libraries/shared/src/JointData.h b/libraries/shared/src/JointData.h
index f4c8b89e7a..7a2420262a 100644
--- a/libraries/shared/src/JointData.h
+++ b/libraries/shared/src/JointData.h
@@ -14,7 +14,7 @@ public:
};
// Used by the avatar mixer to describe a single joint
-// Translations relative to their parent and are in meters.
+// Translations relative to their parent joint
// Rotations are absolute (i.e. not relative to parent) and are in rig space.
class JointData {
public:
diff --git a/tools/dissectors/3-hf-avatar.lua b/tools/dissectors/3-hf-avatar.lua
index f4172b01cb..bc449770f5 100644
--- a/tools/dissectors/3-hf-avatar.lua
+++ b/tools/dissectors/3-hf-avatar.lua
@@ -379,6 +379,9 @@ function decode_avatar_data_packet(buf)
i = i + num_validity_bytes
result["valid_translations"] = "Valid Translations: " .. string.format("(%d/%d) {", #indices, num_joints) .. table.concat(indices, ", ") .. "}"
+ -- TODO: skip maxTranslationDimension
+ i = i + 4
+
-- TODO: skip translations for now
i = i + #indices * 6