Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-27 06:55:40 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

demo version of the head and hands determining the rotate function

Browse source
This commit is contained in:
amantley 2018-08-24 11:06:36 -07:00
parent 25610c7587
commit a60ab863a3
4 changed files with 38 additions and 21 deletions
interface/src/avatar
MyAvatar.cppMyAvatar.hMySkeletonModel.cpp
scripts/developer
rotateApp.js

45
interface/src/avatar/MyAvatar.cpp
View file

@ -449,7 +449,18 @@ void MyAvatar::update(float deltaTime) {
const float HMD_FACING_TIMESCALE = getRotationRecenterFilterLength();
float tau = deltaTime / HMD_FACING_TIMESCALE;
_headControllerFacingMovingAverage = lerp(_headControllerFacingMovingAverage, _headControllerFacing, tau);
// put the spine facing in sensor space.
// then mix it with head facing to determine rotation recenter
glm::vec3 handHipAzimuthWorldSpace = transformVectorFast(getTransform().getMatrix(), glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y));
glm::mat4 sensorToWorldMat = getSensorToWorldMatrix();
glm::mat4 worldToSensorMat = glm::inverse(sensorToWorldMat);
glm::vec3 handHipAzimuthSensorSpace = transformVectorFast(worldToSensorMat, glm::vec3(handHipAzimuthWorldSpace.x, 0.0f, handHipAzimuthWorldSpace.z));
glm::vec2 normedHandHip = glm::normalize(glm::vec2(handHipAzimuthSensorSpace.x, handHipAzimuthSensorSpace.z));
glm::vec2 headFacingPlusHandHipAzimuthMix = lerp(normedHandHip, _headControllerFacing, 0.5f);
//qCDebug(interfaceapp) << "the hand hip azimuth " << normedHandHip << "the head look at" << _headControllerFacing;
_headControllerFacingMovingAverage = lerp(_headControllerFacingMovingAverage, headFacingPlusHandHipAzimuthMix, tau);
qCDebug(interfaceapp) << "the hand hip azimuth average " << _headControllerFacingMovingAverage;
if (_smoothOrientationTimer < SMOOTH_TIME_ORIENTATION) {
_rotationChanged = usecTimestampNow();
@ -479,7 +490,7 @@ void MyAvatar::update(float deltaTime) {
glm::vec3 handAzimuthMidpoint = transformPoint(getTransform().getMatrix(), glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y));
glm::vec3 worldRHandAzimuth = transformPoint(getTransform().getMatrix(), getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).getTranslation());
glm::vec3 worldLHandAzimuth = transformPoint(getTransform().getMatrix(), getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).getTranslation());
qCDebug(interfaceapp) << "the right hand in avatar space" << worldRHandAzimuth << " " << getWorldPosition();
//qCDebug(interfaceapp) << "the right hand in avatar space" << worldRHandAzimuth << " " << getWorldPosition();
DebugDraw::getInstance().drawRay(getWorldPosition(), worldRHandAzimuth, glm::vec4(0.0f, 1.0f, 0.0f, 1.0f));
DebugDraw::getInstance().drawRay(getWorldPosition(), worldLHandAzimuth, glm::vec4(0.0f, 1.0f, 0.0f, 1.0f));
DebugDraw::getInstance().drawRay(getWorldPosition(), handAzimuthMidpoint, glm::vec4(0.0f, 1.0f, 1.0f, 1.0f));
@ -815,13 +826,17 @@ void MyAvatar::computeHandAzimuth() {
auto leftHandPoseAvatarSpace = getLeftHandPose();
auto rightHandPoseAvatarSpace = getRightHandPose();
glm::vec3 localLookat(0.0f, 0.0f, 1.0f);
glm::vec3 rightHandRigSpace = rightHandPoseAvatarSpace.translation;// transformVectorFast(getTransform().getMatrix(), rightHandPoseAvatarSpace.translation);
glm::vec3 leftHandRigSpace = leftHandPoseAvatarSpace.translation;// transformVectorFast(getTransform().getMatrix(), leftHandPoseAvatarSpace.translation);
//qCDebug(interfaceapp) << "the right hand in avatar space" << rightHandRigSpace;
_hipToHandController = lerp(glm::vec2(rightHandRigSpace.x, rightHandRigSpace.z), glm::vec2(leftHandRigSpace.x, leftHandRigSpace.z),0.5f);
// glm::vec3 rightHandRigSpace = rightHandPoseAvatarSpace.translation;// transformVectorFast(getTransform().getMatrix(), rightHandPoseAvatarSpace.translation);
// glm::vec3 leftHandRigSpace = leftHandPoseAvatarSpace.translation;// transformVectorFast(getTransform().getMatrix(), leftHandPoseAvatarSpace.translation);
// qCDebug(interfaceapp) << "the right hand in avatar space" << rightHandRigSpace;
if (leftHandPoseAvatarSpace.isValid() && rightHandPoseAvatarSpace.isValid()) {
_hipToHandController = lerp(glm::normalize(glm::vec2(rightHandPoseAvatarSpace.translation.x, rightHandPoseAvatarSpace.translation.z)), glm::normalize(glm::vec2(leftHandPoseAvatarSpace.translation.x, leftHandPoseAvatarSpace.translation.z)), 0.5f);
//need to use easing function here.
//var rotateAngle = ((Math.cos((leftRightMidpoint / 180.0) * Math.PI) + 2.0) / 3.0) * leftRightMidpoint;
} else {
_hipToHandController = glm::vec2(0.0f, 1.0f);
}
}
void MyAvatar::updateJointFromController(controller::Action poseKey, ThreadSafeValueCache<glm::mat4>& matrixCache) {
@ -3359,8 +3374,6 @@ glm::mat4 MyAvatar::getSpine2RotationRigSpace() const {
generateBasisVectors(glm::vec3(0.0f,1.0f,0.0f), hipToHandRigSpace, u, v, w);
glm::mat4 spine2RigSpace(glm::vec4(w, 0.0f), glm::vec4(u, 0.0f), glm::vec4(v, 0.0f), glm::vec4(glm::vec3(0.0f, 0.0f, 0.0f), 1.0f));
//glm::quat spine2RigSpace = glm::quat_cast(glm::lookAt(glm::vec3(0.0f, 0.0f, 0.0f), glm::normalize(hipToHandRigSpace), glm::vec3(0.0f, 1.0f, 0.0f)));
return spine2RigSpace;
}
@ -3977,15 +3990,15 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
if (myAvatar.getHMDLeanRecenterEnabled() &&
qApp->getCamera().getMode() != CAMERA_MODE_MIRROR) {
if (!isActive(Rotation) && getForceActivateRotation()) {
activate(Rotation);
myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
setForceActivateRotation(false);
}
//if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
//if (!isActive(Rotation) && getForceActivateRotation()) {
// activate(Rotation);
// myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
// setForceActivateRotation(false);
//}
if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
activate(Rotation);
myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
}
if (myAvatar.getCenterOfGravityModelEnabled()) {
if ((!isActive(Horizontal) && (shouldActivateHorizontalCG(myAvatar) || hasDriveInput)) || (isActive(Horizontal) && (currentVelocity > VELOCITY_THRESHHOLD))) {
activate(Horizontal);

2
interface/src/avatar/MyAvatar.h
View file

@ -1663,7 +1663,7 @@ private:
glm::vec2 _headControllerFacingMovingAverage { 0.0f, 0.0f }; // facing vector in xz plane (sensor space)
glm::quat _averageHeadRotation { 0.0f, 0.0f, 0.0f, 1.0f };
glm::vec2 _hipToHandController; // facing vector in xz plane (sensor space)
glm::vec2 _hipToHandController; // spine2 facing vector in xz plane (avatar space)
float _currentStandingHeight { 0.0f };
bool _resetMode { true };

5
interface/src/avatar/MySkeletonModel.cpp
View file

@ -240,9 +240,12 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
// spine 2 hack to be improved.
AnimPose currentPose;
bool ret = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Spine2"),currentPose);
AnimPose newSpinePose(myAvatar->getSpine2RotationRigSpace());
currentPose.rot() = newSpinePose.rot();
//newSpinePose.rot() = myAvatar->getSpine2RotationRigSpace();// *newSpinePose.rot();
params.primaryControllerPoses[Rig::PrimaryControllerType_Spine2] = newSpinePose;
params.primaryControllerPoses[Rig::PrimaryControllerType_Spine2] = currentPose;
params.primaryControllerFlags[Rig::PrimaryControllerType_Spine2] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
} else {

7
scripts/developer/rotateApp.js
View file

@ -29,6 +29,7 @@ var spine2Rotation = { x: 0, y: 0, z: 0, w: 1 };
var hipToLHandAverage = { x: 0, y: 0, z: 0, w: 1 };
var hipToRHandAverage = { x: 0, y: 0, z: 0, w: 1 };
/*
var ikTypes = {
RotationAndPosition: 0,
RotationOnly: 1,
@ -65,7 +66,7 @@ var handlerId = MyAvatar.addAnimationStateHandler(function (props) {
return result;
}, ANIM_VARS);
*/
// define state readings constructor
function StateReading(headPose, rhandPose, lhandPose, diffFromAverageEulers) {
this.headPose = headPose;
@ -298,7 +299,7 @@ function computeHandAzimuths(timeElapsed) {
var raySpineRotation = Quat.fromVec3Degrees({ x: 0, y: leftRightMidpointAverage, z: 0 });
var zAxisSpineRotation = Vec3.multiplyQbyV(raySpineRotation, { x: 0, y: 0, z: -1 });
var zAxisWorldSpace = Vec3.multiplyQbyV(MyAvatar.orientation, zAxisSpineRotation);
DebugDraw.drawRay(MyAvatar.position, Vec3.sum(MyAvatar.position, zAxisWorldSpace), { x: 1, y: 0, z: 0, w: 1 });
// DebugDraw.drawRay(MyAvatar.position, Vec3.sum(MyAvatar.position, zAxisWorldSpace), { x: 1, y: 0, z: 0, w: 1 });
//print(leftRightMidpoint);
@ -312,7 +313,7 @@ function computeHandAzimuths(timeElapsed) {
var headPlusHands = (leftRightMidpointAverage + headPoseAverageEulers.y) / 2.0;
if ((Math.abs(headPlusHands / 180.0) * Math.PI) > angleThresholdProperty.value) {
//print("recenter the feet under the head");
MyAvatar.triggerRotationRecenter();
// MyAvatar.triggerRotationRecenter();
hipToLHandAverage = { x: 0, y: 0, z: 0, w: 1 };
hipToRHandAverage = { x: 0, y: 0, z: 0, w: 1 };
headPoseAverageOrientation = { x: 0, y: 0, z: 0, w: 1 };