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Merge branch 'master' of github.com:highfidelity/hifi into webview-js

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This commit is contained in:
druiz17 2017-04-30 13:17:28 -07:00
commit b1abbbe472
37 changed files with 1067 additions and 263 deletions

76
assignment-client/src/octree/OctreeServer.cpp
View file

@ -11,12 +11,14 @@
#include "OctreeServer.h"
#include <QJsonDocument>
#include <QJsonObject>
#include <QTimer>
#include <time.h>
#include <AccountManager.h>
#include <Gzip.h>
#include <HTTPConnection.h>
#include <LogHandler.h>
#include <shared/NetworkUtils.h>
@ -924,6 +926,57 @@ void OctreeServer::handleJurisdictionRequestPacket(QSharedPointer<ReceivedMessag
_jurisdictionSender->queueReceivedPacket(message, senderNode);
}
void OctreeServer::handleOctreeFileReplacement(QSharedPointer<ReceivedMessage> message) {
if (!_isFinished && !_isShuttingDown) {
// these messages are only allowed to come from the domain server, so make sure that is the case
auto nodeList = DependencyManager::get<NodeList>();
if (message->getSenderSockAddr() == nodeList->getDomainHandler().getSockAddr()) {
// it's far cleaner to load up the new content upon server startup
// so here we just store a special file at our persist path
// and then force a stop of the server so that it can pick it up when it relaunches
if (!_persistAbsoluteFilePath.isEmpty()) {
// before we restart the server and make it try and load this data, let's make sure it is valid
auto compressedOctree = message->getMessage();
QByteArray jsonOctree;
// assume we have GZipped content
bool wasCompressed = gunzip(compressedOctree, jsonOctree);
if (!wasCompressed) {
// the source was not compressed, assume we were sent regular JSON data
jsonOctree = compressedOctree;
}
// check the JSON data to verify it is an object
if (QJsonDocument::fromJson(jsonOctree).isObject()) {
if (!wasCompressed) {
// source was not compressed, we compress it before we write it locally
gzip(jsonOctree, compressedOctree);
}
// write the compressed octree data to a special file
auto replacementFilePath = _persistAbsoluteFilePath.append(OctreePersistThread::REPLACEMENT_FILE_EXTENSION);
QFile replacementFile(replacementFilePath);
if (replacementFile.open(QIODevice::WriteOnly) && replacementFile.write(compressedOctree) != -1) {
// we've now written our replacement file, time to take the server down so it can
// process it when it comes back up
qInfo() << "Wrote octree replacement file to" << replacementFilePath << "- stopping server";
setFinished(true);
} else {
qWarning() << "Could not write replacement octree data to file - refusing to process";
}
} else {
qDebug() << "Received replacement octree file that is invalid - refusing to process";
}
} else {
qDebug() << "Cannot perform octree file replacement since current persist file path is not yet known";
}
} else {
qDebug() << "Received an octree file replacement that was not from our domain server - refusing to process";
}
}
}
bool OctreeServer::readOptionBool(const QString& optionName, const QJsonObject& settingsSectionObject, bool& result) {
result = false; // assume it doesn't exist
bool optionAvailable = false;
@ -1148,6 +1201,7 @@ void OctreeServer::domainSettingsRequestComplete() {
packetReceiver.registerListener(getMyQueryMessageType(), this, "handleOctreeQueryPacket");
packetReceiver.registerListener(PacketType::OctreeDataNack, this, "handleOctreeDataNackPacket");
packetReceiver.registerListener(PacketType::JurisdictionRequest, this, "handleJurisdictionRequestPacket");
packetReceiver.registerListener(PacketType::OctreeFileReplacement, this, "handleOctreeFileReplacement");
readConfiguration();
@ -1173,25 +1227,25 @@ void OctreeServer::domainSettingsRequestComplete() {
// If persist filename does not exist, let's see if there is one beside the application binary
// If there is, let's copy it over to our target persist directory
QDir persistPath { _persistFilePath };
QString persistAbsoluteFilePath = persistPath.absolutePath();
_persistAbsoluteFilePath = persistPath.absolutePath();
if (persistPath.isRelative()) {
// if the domain settings passed us a relative path, make an absolute path that is relative to the
// default data directory
persistAbsoluteFilePath = QDir(PathUtils::getAppDataFilePath("entities/")).absoluteFilePath(_persistFilePath);
_persistAbsoluteFilePath = QDir(PathUtils::getAppDataFilePath("entities/")).absoluteFilePath(_persistFilePath);
}
static const QString ENTITY_PERSIST_EXTENSION = ".json.gz";
// force the persist file to end with .json.gz
if (!persistAbsoluteFilePath.endsWith(ENTITY_PERSIST_EXTENSION, Qt::CaseInsensitive)) {
persistAbsoluteFilePath += ENTITY_PERSIST_EXTENSION;
if (!_persistAbsoluteFilePath.endsWith(ENTITY_PERSIST_EXTENSION, Qt::CaseInsensitive)) {
_persistAbsoluteFilePath += ENTITY_PERSIST_EXTENSION;
} else {
// make sure the casing of .json.gz is correct
persistAbsoluteFilePath.replace(ENTITY_PERSIST_EXTENSION, ENTITY_PERSIST_EXTENSION, Qt::CaseInsensitive);
_persistAbsoluteFilePath.replace(ENTITY_PERSIST_EXTENSION, ENTITY_PERSIST_EXTENSION, Qt::CaseInsensitive);
}
if (!QFile::exists(persistAbsoluteFilePath)) {
if (!QFile::exists(_persistAbsoluteFilePath)) {
qDebug() << "Persist file does not exist, checking for existence of persist file next to application";
static const QString OLD_DEFAULT_PERSIST_FILENAME = "resources/models.json.gz";
@ -1217,7 +1271,7 @@ void OctreeServer::domainSettingsRequestComplete() {
pathToCopyFrom = oldDefaultPersistPath;
}
QDir persistFileDirectory { QDir::cleanPath(persistAbsoluteFilePath + "/..") };
QDir persistFileDirectory { QDir::cleanPath(_persistAbsoluteFilePath + "/..") };
if (!persistFileDirectory.exists()) {
qDebug() << "Creating data directory " << persistFileDirectory.absolutePath();
@ -1225,15 +1279,15 @@ void OctreeServer::domainSettingsRequestComplete() {
}
if (shouldCopy) {
qDebug() << "Old persist file found, copying from " << pathToCopyFrom << " to " << persistAbsoluteFilePath;
qDebug() << "Old persist file found, copying from " << pathToCopyFrom << " to " << _persistAbsoluteFilePath;
QFile::copy(pathToCopyFrom, persistAbsoluteFilePath);
QFile::copy(pathToCopyFrom, _persistAbsoluteFilePath);
} else {
qDebug() << "No existing persist file found";
}
}
auto persistFileDirectory = QFileInfo(persistAbsoluteFilePath).absolutePath();
auto persistFileDirectory = QFileInfo(_persistAbsoluteFilePath).absolutePath();
if (_backupDirectoryPath.isEmpty()) {
// Use the persist file's directory to store backups
_backupDirectoryPath = persistFileDirectory;
@ -1264,7 +1318,7 @@ void OctreeServer::domainSettingsRequestComplete() {
qDebug() << "Backups will be stored in: " << _backupDirectoryPath;
// now set up PersistThread
_persistThread = new OctreePersistThread(_tree, persistAbsoluteFilePath, _backupDirectoryPath, _persistInterval,
_persistThread = new OctreePersistThread(_tree, _persistAbsoluteFilePath, _backupDirectoryPath, _persistInterval,
_wantBackup, _settings, _debugTimestampNow, _persistAsFileType);
_persistThread->initialize(true);
}

2
assignment-client/src/octree/OctreeServer.h
View file

@ -136,6 +136,7 @@ private slots:
void handleOctreeQueryPacket(QSharedPointer<ReceivedMessage> message, SharedNodePointer senderNode);
void handleOctreeDataNackPacket(QSharedPointer<ReceivedMessage> message, SharedNodePointer senderNode);
void handleJurisdictionRequestPacket(QSharedPointer<ReceivedMessage> message, SharedNodePointer senderNode);
void handleOctreeFileReplacement(QSharedPointer<ReceivedMessage> message);
void removeSendThread();
protected:
@ -172,6 +173,7 @@ protected:
QString _statusHost;
QString _persistFilePath;
QString _persistAbsoluteFilePath;
QString _persistAsFileType;
QString _backupDirectoryPath;
int _packetsPerClientPerInterval;

44
domain-server/resources/web/content/index.shtml Normal file
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@ -0,0 +1,44 @@
<!--#include virtual="header.html"-->
<div class="col-md-10 col-md-offset-1">
<div class="row">
<div class="col-xs-12">
<div class="alert" style="display:none;"></div>
</div>
</div>
<div class="row">
<div class="col-xs-12">
<div class="panel panel-default">
<div class="panel-heading">
<h3 class="panel-title">Upload Entities File</h3>
</div>
<form id="upload-form" action="upload" enctype="multipart/form-data" method="post">
<div class="panel-body">
<p>
Upload an entities file (e.g.: models.json.gz) to replace the content of this domain.<br>
Note: <strong>Your domain's content will be replaced by the content you upload</strong>, but the backup files of your domain's content will not immediately be changed.
</p>
<p>
If your domain has any content that you would like to re-use at a later date, save a manual backup of your models.json.gz file, which is usually stored at the following paths:<br>
<pre>C:\Users\[username]\AppData\Roaming\High Fidelity\assignment-client/entities/models.json.gz</pre>
<pre>/Users/[username]/Library/Application Support/High Fidelity/assignment-client/entities/models.json.gz</pre>
<pre>/home/[username]/.local/share/High Fidelity/assignment-client/entities/models.json.gz</pre>
</p>
<br>
<input type="file" name="entities-file" class="form-control-file" accept=".json, .gz">
<br>
</div>
<div class="panel-footer">
<input type="submit" class="btn btn-info" value="Upload">
</div>
</form>
</div>
</div>
</div>
</div>
<!--#include virtual="footer.html"-->
<script src='js/content.js'></script>
<script src='/js/sweetalert.min.js'></script>
<!--#include virtual="page-end.html"-->

45
domain-server/resources/web/content/js/content.js Normal file
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@ -0,0 +1,45 @@
$(document).ready(function(){
function showSpinnerAlert(title) {
swal({
title: title,
text: '<div class="spinner" style="color:black;"><div class="bounce1"></div><div class="bounce2"></div><div class="bounce3"></div></div>',
html: true,
showConfirmButton: false,
allowEscapeKey: false
});
}
var frm = $('#upload-form');
frm.submit(function (ev) {
$.ajax({
type: frm.attr('method'),
url: frm.attr('action'),
data: new FormData($(this)[0]),
cache: false,
contentType: false,
processData: false,
success: function (data) {
swal({
title: 'Uploaded',
type: 'success',
text: 'Your Entity Server is restarting to replace its local content with the uploaded file.',
confirmButtonText: 'OK'
})
},
error: function (data) {
swal({
title: '',
type: 'error',
text: 'Your entities file could not be transferred to the Entity Server.</br>Verify that the file is a <i>.json</i> or <i>.json.gz</i> entities file and try again.',
html: true,
confirmButtonText: 'OK',
});
}
});
ev.preventDefault();
showSpinnerAlert("Uploading Entities File");
});
});

1
domain-server/resources/web/header.html
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@ -36,6 +36,7 @@
<li><a href="/assignment">New Assignment</a></li>
</ul>
</li>
<li><a href="/content/">Content</a></li>
<li><a href="/settings/">Settings</a></li>
</ul>
</div>

0
domain-server/resources/web/settings/js/sweetalert.min.js → domain-server/resources/web/js/sweetalert.min.js vendored
View file

2
domain-server/resources/web/settings/index.shtml
View file

@ -99,7 +99,7 @@
<script src='/js/underscore-keypath.min.js'></script>
<script src='/js/bootbox.min.js'></script>
<script src='js/bootstrap-switch.min.js'></script>
<script src='js/sweetalert.min.js'></script>
<script src='/js/sweetalert.min.js'></script>
<script src='js/settings.js'></script>
<script src='js/form2js.min.js'></script>
<script src='js/sha256.js'></script>

49
domain-server/src/DomainServer.cpp
View file

@ -1633,6 +1633,15 @@ QString pathForAssignmentScript(const QUuid& assignmentUUID) {
return directory.absoluteFilePath(uuidStringWithoutCurlyBraces(assignmentUUID));
}
QString DomainServer::pathForRedirect(QString path) const {
// make sure the passed path has a leading slash
if (!path.startsWith('/')) {
path.insert(0, '/');
}
return "http://" + _hostname + ":" + QString::number(_httpManager.serverPort()) + path;
}
const QString URI_OAUTH = "/oauth";
bool DomainServer::handleHTTPRequest(HTTPConnection* connection, const QUrl& url, bool skipSubHandler) {
const QString JSON_MIME_TYPE = "application/json";
@ -1640,6 +1649,7 @@ bool DomainServer::handleHTTPRequest(HTTPConnection* connection, const QUrl& url
const QString URI_ASSIGNMENT = "/assignment";
const QString URI_NODES = "/nodes";
const QString URI_SETTINGS = "/settings";
const QString URI_ENTITY_FILE_UPLOAD = "/content/upload";
const QString UUID_REGEX_STRING = "[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}";
@ -1869,6 +1879,25 @@ bool DomainServer::handleHTTPRequest(HTTPConnection* connection, const QUrl& url
// respond with a 200 code for successful upload
connection->respond(HTTPConnection::StatusCode200);
return true;
} else if (url.path() == URI_ENTITY_FILE_UPLOAD) {
// this is an entity file upload, ask the HTTPConnection to parse the data
QList<FormData> formData = connection->parseFormData();
Headers redirectHeaders;
if (formData.size() > 0 && formData[0].second.size() > 0) {
// invoke our method to hand the new octree file off to the octree server
QMetaObject::invokeMethod(this, "handleOctreeFileReplacement",
Qt::QueuedConnection, Q_ARG(QByteArray, formData[0].second));
// respond with a 200 for success
connection->respond(HTTPConnection::StatusCode200);
} else {
// respond with a 400 for failure
connection->respond(HTTPConnection::StatusCode400);
}
return true;
}
} else if (connection->requestOperation() == QNetworkAccessManager::DeleteOperation) {
@ -2159,8 +2188,7 @@ Headers DomainServer::setupCookieHeadersFromProfileReply(QNetworkReply* profileR
cookieHeaders.insert("Set-Cookie", cookieString.toUtf8());
// redirect the user back to the homepage so they can present their cookie and be authenticated
QString redirectString = "http://" + _hostname + ":" + QString::number(_httpManager.serverPort());
cookieHeaders.insert("Location", redirectString.toUtf8());
cookieHeaders.insert("Location", pathForRedirect().toUtf8());
return cookieHeaders;
}
@ -2560,3 +2588,20 @@ void DomainServer::setupGroupCacheRefresh() {
_metaverseGroupCacheTimer->start(REFRESH_GROUPS_INTERVAL_MSECS);
}
}
void DomainServer::handleOctreeFileReplacement(QByteArray octreeFile) {
// enumerate the nodes and find any octree type servers with active sockets
auto limitedNodeList = DependencyManager::get<LimitedNodeList>();
limitedNodeList->eachMatchingNode([](const SharedNodePointer& node) {
return node->getType() == NodeType::EntityServer && node->getActiveSocket();
}, [&octreeFile, limitedNodeList](const SharedNodePointer& octreeNode) {
// setup a packet to send to this octree server with the new octree file data
auto octreeFilePacketList = NLPacketList::create(PacketType::OctreeFileReplacement, QByteArray(), true, true);
octreeFilePacketList->write(octreeFile);
qDebug() << "Sending an octree file replacement of" << octreeFile.size() << "bytes to" << octreeNode;
limitedNodeList->sendPacketList(std::move(octreeFilePacketList), *octreeNode);
});
}

4
domain-server/src/DomainServer.h
View file

@ -100,6 +100,8 @@ private slots:
void handleSuccessfulICEServerAddressUpdate(QNetworkReply& requestReply);
void handleFailedICEServerAddressUpdate(QNetworkReply& requestReply);
void handleOctreeFileReplacement(QByteArray octreeFile);
signals:
void iceServerChanged();
void userConnected();
@ -161,6 +163,8 @@ private:
void setupGroupCacheRefresh();
QString pathForRedirect(QString path = QString()) const;
SubnetList _acSubnetWhitelist;
DomainGatekeeper _gatekeeper;

31
interface/resources/avatar/avatar-animation.json
View file

@ -50,6 +50,12 @@
"type": "inverseKinematics",
"data": {
"targets": [
{
"jointName": "Hips",
"positionVar": "hipsPosition",
"rotationVar": "hipsRotation",
"typeVar": "hipsType"
},
{
"jointName": "RightHand",
"positionVar": "rightHandPosition",
@ -75,10 +81,10 @@
"typeVar": "leftFootType"
},
{
"jointName": "Neck",
"positionVar": "neckPosition",
"rotationVar": "neckRotation",
"typeVar": "neckType"
"jointName": "Spine2",
"positionVar": "spine2Position",
"rotationVar": "spine2Rotation",
"typeVar": "spine2Type"
},
{
"jointName": "Head",
@ -91,20 +97,27 @@
"children": []
},
{
"id": "manipulatorOverlay",
"id": "hipsManipulatorOverlay",
"type": "overlay",
"data": {
"alpha": 1.0,
"boneSet": "spineOnly"
"alpha": 0.0,
"boneSet": "hipsOnly"
},
"children": [
{
"id": "spineLean",
"id": "hipsManipulator",
"type": "manipulator",
"data": {
"alpha": 0.0,
"alphaVar": "hipsManipulatorAlpha",
"joints": [
{ "type": "absoluteRotation", "jointName": "Spine", "var": "lean" }
{
"jointName": "Hips",
"rotationType": "absolute",
"translationType": "absolute",
"rotationVar": "hipsManipulatorRotation",
"translationVar": "hipsManipulatorPosition"
}
]
},
"children": []

40
interface/src/Application.cpp
View file

@ -798,7 +798,7 @@ Application::Application(int& argc, char** argv, QElapsedTimer& startupTimer, bo
connect(&domainHandler, SIGNAL(resetting()), SLOT(resettingDomain()));
connect(&domainHandler, SIGNAL(connectedToDomain(const QString&)), SLOT(updateWindowTitle()));
connect(&domainHandler, SIGNAL(disconnectedFromDomain()), SLOT(updateWindowTitle()));
connect(&domainHandler, SIGNAL(disconnectedFromDomain()), SLOT(clearDomainOctreeDetails()));
connect(&domainHandler, &DomainHandler::disconnectedFromDomain, this, &Application::clearDomainAvatars);
connect(&domainHandler, &DomainHandler::disconnectedFromDomain, this, [this]() {
getOverlays().deleteOverlay(getTabletScreenID());
getOverlays().deleteOverlay(getTabletHomeButtonID());
@ -5179,7 +5179,6 @@ void Application::clearDomainOctreeDetails() {
qCDebug(interfaceapp) << "Clearing domain octree details...";
resetPhysicsReadyInformation();
getMyAvatar()->setAvatarEntityDataChanged(true); // to recreate worn entities
// reset our node to stats and node to jurisdiction maps... since these must be changing...
_entityServerJurisdictions.withWriteLock([&] {
@ -5198,14 +5197,18 @@ void Application::clearDomainOctreeDetails() {
skyStage->setBackgroundMode(model::SunSkyStage::SKY_DEFAULT);
_recentlyClearedDomain = true;
DependencyManager::get<AvatarManager>()->clearOtherAvatars();
DependencyManager::get<AnimationCache>()->clearUnusedResources();
DependencyManager::get<ModelCache>()->clearUnusedResources();
DependencyManager::get<SoundCache>()->clearUnusedResources();
DependencyManager::get<TextureCache>()->clearUnusedResources();
}
void Application::clearDomainAvatars() {
getMyAvatar()->setAvatarEntityDataChanged(true); // to recreate worn entities
DependencyManager::get<AvatarManager>()->clearOtherAvatars();
}
void Application::domainChanged(const QString& domainHostname) {
updateWindowTitle();
// disable physics until we have enough information about our new location to not cause craziness.
@ -5275,33 +5278,8 @@ void Application::nodeKilled(SharedNodePointer node) {
if (node->getType() == NodeType::AudioMixer) {
QMetaObject::invokeMethod(DependencyManager::get<AudioClient>().data(), "audioMixerKilled");
} else if (node->getType() == NodeType::EntityServer) {
QUuid nodeUUID = node->getUUID();
// see if this is the first we've heard of this node...
_entityServerJurisdictions.withReadLock([&] {
if (_entityServerJurisdictions.find(nodeUUID) == _entityServerJurisdictions.end()) {
return;
}
auto rootCode = _entityServerJurisdictions[nodeUUID].getRootOctalCode();
VoxelPositionSize rootDetails;
voxelDetailsForCode(rootCode.get(), rootDetails);
qCDebug(interfaceapp, "model server going away...... v[%f, %f, %f, %f]",
(double)rootDetails.x, (double)rootDetails.y, (double)rootDetails.z, (double)rootDetails.s);
});
// If the model server is going away, remove it from our jurisdiction map so we don't send voxels to a dead server
_entityServerJurisdictions.withWriteLock([&] {
_entityServerJurisdictions.erase(_entityServerJurisdictions.find(nodeUUID));
});
// also clean up scene stats for that server
_octreeServerSceneStats.withWriteLock([&] {
if (_octreeServerSceneStats.find(nodeUUID) != _octreeServerSceneStats.end()) {
_octreeServerSceneStats.erase(nodeUUID);
}
});
// we lost an entity server, clear all of the domain octree details
clearDomainOctreeDetails();
} else if (node->getType() == NodeType::AvatarMixer) {
// our avatar mixer has gone away - clear the hash of avatars
DependencyManager::get<AvatarManager>()->clearOtherAvatars();

1
interface/src/Application.h
View file

@ -409,6 +409,7 @@ public slots:
private slots:
void showDesktop();
void clearDomainOctreeDetails();
void clearDomainAvatars();
void aboutToQuit();
void resettingDomain();

8
interface/src/avatar/MyAvatar.h
View file

@ -465,6 +465,10 @@ public:
void removeHoldAction(AvatarActionHold* holdAction); // thread-safe
void updateHoldActions(const AnimPose& prePhysicsPose, const AnimPose& postUpdatePose);
// derive avatar body position and orientation from the current HMD Sensor location.
// results are in HMD frame
glm::mat4 deriveBodyFromHMDSensor() const;
public slots:
void increaseSize();
void decreaseSize();
@ -553,9 +557,7 @@ private:
void setVisibleInSceneIfReady(Model* model, const render::ScenePointer& scene, bool visiblity);
// derive avatar body position and orientation from the current HMD Sensor location.
// results are in HMD frame
glm::mat4 deriveBodyFromHMDSensor() const;
private:
virtual void updatePalms() override {}
void lateUpdatePalms();

6
interface/src/avatar/SkeletonModel.cpp
View file

@ -119,7 +119,13 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
headParams.rigHeadPosition = extractTranslation(rigHMDMat);
headParams.rigHeadOrientation = extractRotation(rigHMDMat);
headParams.worldHeadOrientation = extractRotation(worldHMDMat);
// TODO: if hips target sensor is valid.
// Copy it into headParams.hipsMatrix, and set headParams.hipsEnabled to true.
headParams.hipsEnabled = false;
} else {
headParams.hipsEnabled = false;
headParams.isInHMD = false;
// We don't have a valid localHeadPosition.

296
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -86,7 +86,9 @@ void AnimInverseKinematics::setTargetVars(
void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses) {
// build a list of valid targets from _targetVarVec and animVars
_maxTargetIndex = -1;
_hipsTargetIndex = -1;
bool removeUnfoundJoints = false;
for (auto& targetVar : _targetVarVec) {
if (targetVar.jointIndex == -1) {
// this targetVar hasn't been validated yet...
@ -105,15 +107,18 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
glm::quat rotation = animVars.lookupRigToGeometry(targetVar.rotationVar, defaultPose.rot());
glm::vec3 translation = animVars.lookupRigToGeometry(targetVar.positionVar, defaultPose.trans());
if (target.getType() == IKTarget::Type::HipsRelativeRotationAndPosition) {
translation += _hipsOffset;
}
target.setPose(rotation, translation);
target.setIndex(targetVar.jointIndex);
targets.push_back(target);
if (targetVar.jointIndex > _maxTargetIndex) {
_maxTargetIndex = targetVar.jointIndex;
}
// record the index of the hips ik target.
if (target.getIndex() == _hipsIndex) {
_hipsTargetIndex = (int)targets.size() - 1;
}
}
}
}
@ -242,18 +247,21 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
// the tip's parent-relative as we proceed up the chain
glm::quat tipParentOrientation = absolutePoses[pivotIndex].rot();
// NOTE: if this code is removed, the head will remain rigid, causing the spine/hips to thrust forward backward
// as the head is nodded.
if (targetType == IKTarget::Type::HmdHead) {
// rotate tip directly to target orientation
tipOrientation = target.getRotation();
glm::quat tipRelativeRotation = glm::normalize(tipOrientation * glm::inverse(tipParentOrientation));
glm::quat tipRelativeRotation = glm::inverse(tipParentOrientation) * tipOrientation;
// enforce tip's constraint
// then enforce tip's constraint
RotationConstraint* constraint = getConstraint(tipIndex);
if (constraint) {
bool constrained = constraint->apply(tipRelativeRotation);
if (constrained) {
tipOrientation = glm::normalize(tipRelativeRotation * tipParentOrientation);
tipRelativeRotation = glm::normalize(tipOrientation * glm::inverse(tipParentOrientation));
tipOrientation = tipParentOrientation * tipRelativeRotation;
tipRelativeRotation = tipRelativeRotation;
}
}
// store the relative rotation change in the accumulator
@ -277,7 +285,9 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
const float MIN_AXIS_LENGTH = 1.0e-4f;
RotationConstraint* constraint = getConstraint(pivotIndex);
if (constraint && constraint->isLowerSpine() && tipIndex != _headIndex) {
// only allow swing on lowerSpine if there is a hips IK target.
if (_hipsTargetIndex < 0 && constraint && constraint->isLowerSpine() && tipIndex != _headIndex) {
// for these types of targets we only allow twist at the lower-spine
// (this prevents the hand targets from bending the spine too much and thereby driving the hips too far)
glm::vec3 twistAxis = absolutePoses[pivotIndex].trans() - absolutePoses[pivotsParentIndex].trans();
@ -420,13 +430,13 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
_relativePoses[i].trans() = underPoses[i].trans();
}
if (!_relativePoses.empty()) {
if (!underPoses.empty()) {
// Sometimes the underpose itself can violate the constraints. Rather than
// clamp the animation we dynamically expand each constraint to accomodate it.
std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
while (constraintItr != _constraints.end()) {
int index = constraintItr->first;
constraintItr->second->dynamicallyAdjustLimits(_relativePoses[index].rot());
constraintItr->second->dynamicallyAdjustLimits(underPoses[index].rot());
++constraintItr;
}
}
@ -441,64 +451,76 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
computeTargets(animVars, targets, underPoses);
}
// debug render ik targets
if (context.getEnableDebugDrawIKTargets()) {
const vec4 WHITE(1.0f);
glm::mat4 rigToAvatarMat = createMatFromQuatAndPos(Quaternions::Y_180, glm::vec3());
for (auto& target : targets) {
glm::mat4 geomTargetMat = createMatFromQuatAndPos(target.getRotation(), target.getTranslation());
glm::mat4 avatarTargetMat = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat;
QString name = QString("ikTarget%1").arg(target.getIndex());
DebugDraw::getInstance().addMyAvatarMarker(name, glmExtractRotation(avatarTargetMat), extractTranslation(avatarTargetMat), WHITE);
}
} else if (context.getEnableDebugDrawIKTargets() != _previousEnableDebugIKTargets) {
// remove markers if they were added last frame.
for (auto& target : targets) {
QString name = QString("ikTarget%1").arg(target.getIndex());
DebugDraw::getInstance().removeMyAvatarMarker(name);
}
}
_previousEnableDebugIKTargets = context.getEnableDebugDrawIKTargets();
if (targets.empty()) {
// no IK targets but still need to enforce constraints
std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
while (constraintItr != _constraints.end()) {
int index = constraintItr->first;
glm::quat rotation = _relativePoses[index].rot();
constraintItr->second->apply(rotation);
_relativePoses[index].rot() = rotation;
++constraintItr;
}
_relativePoses = underPoses;
} else {
{
PROFILE_RANGE_EX(simulation_animation, "ik/shiftHips", 0xffff00ff, 0);
// shift hips according to the _hipsOffset from the previous frame
float offsetLength = glm::length(_hipsOffset);
const float MIN_HIPS_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_HIPS_OFFSET_LENGTH && _hipsIndex >= 0) {
// but only if offset is long enough
float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength);
if (_hipsParentIndex == -1) {
// the hips are the root so _hipsOffset is in the correct frame
_relativePoses[_hipsIndex].trans() = underPoses[_hipsIndex].trans() + scaleFactor * _hipsOffset;
if (_hipsTargetIndex >= 0 && _hipsTargetIndex < (int)targets.size()) {
// slam the hips to match the _hipsTarget
AnimPose absPose = targets[_hipsTargetIndex].getPose();
int parentIndex = _skeleton->getParentIndex(targets[_hipsTargetIndex].getIndex());
if (parentIndex != -1) {
_relativePoses[_hipsIndex] = _skeleton->getAbsolutePose(parentIndex, _relativePoses).inverse() * absPose;
} else {
// the hips are NOT the root so we need to transform _hipsOffset into hips local-frame
glm::quat hipsFrameRotation = _relativePoses[_hipsParentIndex].rot();
int index = _skeleton->getParentIndex(_hipsParentIndex);
while (index != -1) {
hipsFrameRotation *= _relativePoses[index].rot();
index = _skeleton->getParentIndex(index);
_relativePoses[_hipsIndex] = absPose;
}
} else {
// if there is no hips target, shift hips according to the _hipsOffset from the previous frame
float offsetLength = glm::length(_hipsOffset);
const float MIN_HIPS_OFFSET_LENGTH = 0.03f;
if (offsetLength > MIN_HIPS_OFFSET_LENGTH && _hipsIndex >= 0) {
float scaleFactor = ((offsetLength - MIN_HIPS_OFFSET_LENGTH) / offsetLength);
glm::vec3 hipsOffset = scaleFactor * _hipsOffset;
if (_hipsParentIndex == -1) {
_relativePoses[_hipsIndex].trans() = underPoses[_hipsIndex].trans() + hipsOffset;
} else {
auto absHipsPose = _skeleton->getAbsolutePose(_hipsIndex, underPoses);
absHipsPose.trans() += hipsOffset;
_relativePoses[_hipsIndex] = _skeleton->getAbsolutePose(_hipsParentIndex, _relativePoses).inverse() * absHipsPose;
}
_relativePoses[_hipsIndex].trans() = underPoses[_hipsIndex].trans()
+ glm::inverse(glm::normalize(hipsFrameRotation)) * (scaleFactor * _hipsOffset);
}
}
// update all HipsRelative targets to account for the hips shift/ik target.
auto shiftedHipsAbsPose = _skeleton->getAbsolutePose(_hipsIndex, _relativePoses);
auto underHipsAbsPose = _skeleton->getAbsolutePose(_hipsIndex, underPoses);
auto absHipsOffset = shiftedHipsAbsPose.trans() - underHipsAbsPose.trans();
for (auto& target: targets) {
if (target.getType() == IKTarget::Type::HipsRelativeRotationAndPosition) {
auto pose = target.getPose();
pose.trans() = pose.trans() + absHipsOffset;
target.setPose(pose.rot(), pose.trans());
}
}
}
{
PROFILE_RANGE_EX(simulation_animation, "ik/debugDraw", 0xffff00ff, 0);
// debug render ik targets
if (context.getEnableDebugDrawIKTargets()) {
const vec4 WHITE(1.0f);
glm::mat4 rigToAvatarMat = createMatFromQuatAndPos(Quaternions::Y_180, glm::vec3());
for (auto& target : targets) {
glm::mat4 geomTargetMat = createMatFromQuatAndPos(target.getRotation(), target.getTranslation());
glm::mat4 avatarTargetMat = rigToAvatarMat * context.getGeometryToRigMatrix() * geomTargetMat;
QString name = QString("ikTarget%1").arg(target.getIndex());
DebugDraw::getInstance().addMyAvatarMarker(name, glmExtractRotation(avatarTargetMat), extractTranslation(avatarTargetMat), WHITE);
}
} else if (context.getEnableDebugDrawIKTargets() != _previousEnableDebugIKTargets) {
// remove markers if they were added last frame.
for (auto& target : targets) {
QString name = QString("ikTarget%1").arg(target.getIndex());
DebugDraw::getInstance().removeMyAvatarMarker(name);
}
}
_previousEnableDebugIKTargets = context.getEnableDebugDrawIKTargets();
}
{
@ -506,64 +528,70 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
solveWithCyclicCoordinateDescent(targets);
}
{
if (_hipsTargetIndex < 0) {
PROFILE_RANGE_EX(simulation_animation, "ik/measureHipsOffset", 0xffff00ff, 0);
// measure new _hipsOffset for next frame
// by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done)
glm::vec3 newHipsOffset = Vectors::ZERO;
for (auto& target: targets) {
int targetIndex = target.getIndex();
if (targetIndex == _headIndex && _headIndex != -1) {
// special handling for headTarget
if (target.getType() == IKTarget::Type::RotationOnly) {
// we want to shift the hips to bring the underPose closer
// to where the head happens to be (overpose)
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans();
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (actual - under);
} else if (target.getType() == IKTarget::Type::HmdHead) {
// we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
_hipsOffset += target.getTranslation() - actual;
// and ignore all other targets
newHipsOffset = _hipsOffset;
break;
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += targetPosition - actualPosition;
// Add downward pressure on the hips
newHipsOffset *= 0.95f;
newHipsOffset -= 1.0f;
}
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += targetPosition - actualPosition;
}
}
// smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
_hipsOffset += (newHipsOffset - _hipsOffset) * tau;
// clamp the hips offset
float hipsOffsetLength = glm::length(_hipsOffset);
if (hipsOffsetLength > _maxHipsOffsetLength) {
_hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength;
}
computeHipsOffset(targets, underPoses, dt);
} else {
_hipsOffset = Vectors::ZERO;
}
}
}
return _relativePoses;
}
void AnimInverseKinematics::computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt) {
// measure new _hipsOffset for next frame
// by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done)
glm::vec3 newHipsOffset = Vectors::ZERO;
for (auto& target: targets) {
int targetIndex = target.getIndex();
if (targetIndex == _headIndex && _headIndex != -1) {
// special handling for headTarget
if (target.getType() == IKTarget::Type::RotationOnly) {
// we want to shift the hips to bring the underPose closer
// to where the head happens to be (overpose)
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans();
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (actual - under);
} else if (target.getType() == IKTarget::Type::HmdHead) {
// we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
_hipsOffset += target.getTranslation() - actual;
// and ignore all other targets
newHipsOffset = _hipsOffset;
break;
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += targetPosition - actualPosition;
// Add downward pressure on the hips
const float PRESSURE_SCALE_FACTOR = 0.95f;
const float PRESSURE_TRANSLATION_OFFSET = 1.0f;
newHipsOffset *= PRESSURE_SCALE_FACTOR;
newHipsOffset -= PRESSURE_TRANSLATION_OFFSET;
}
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
glm::vec3 targetPosition = target.getTranslation();
newHipsOffset += targetPosition - actualPosition;
}
}
// smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ? dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
_hipsOffset += (newHipsOffset - _hipsOffset) * tau;
// clamp the hips offset
float hipsOffsetLength = glm::length(_hipsOffset);
if (hipsOffsetLength > _maxHipsOffsetLength) {
_hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength;
}
}
void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {
// manually adjust scale here
const float METERS_TO_CENTIMETERS = 100.0f;
@ -594,6 +622,22 @@ void AnimInverseKinematics::clearConstraints() {
_constraints.clear();
}
// set up swing limits around a swingTwistConstraint in an ellipse, where lateralSwingTheta is the swing limit for lateral swings (side to side)
// anteriorSwingTheta is swing limit for forward and backward swings. (where x-axis of reference rotation is sideways and -z-axis is forward)
static void setEllipticalSwingLimits(SwingTwistConstraint* stConstraint, float lateralSwingTheta, float anteriorSwingTheta) {
assert(stConstraint);
const int NUM_SUBDIVISIONS = 8;
std::vector<float> minDots;
minDots.reserve(NUM_SUBDIVISIONS);
float dTheta = TWO_PI / NUM_SUBDIVISIONS;
float theta = 0.0f;
for (int i = 0; i < NUM_SUBDIVISIONS; i++) {
minDots.push_back(cosf(glm::length(glm::vec2(anteriorSwingTheta * cosf(theta), lateralSwingTheta * sinf(theta)))));
theta += dTheta;
}
stConstraint->setSwingLimits(minDots);
}
void AnimInverseKinematics::initConstraints() {
if (!_skeleton) {
return;
@ -783,41 +827,31 @@ void AnimInverseKinematics::initConstraints() {
} else if (baseName.startsWith("Spine", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
const float MAX_SPINE_TWIST = PI / 12.0f;
const float MAX_SPINE_TWIST = PI / 20.0f;
stConstraint->setTwistLimits(-MAX_SPINE_TWIST, MAX_SPINE_TWIST);
std::vector<float> minDots;
const float MAX_SPINE_SWING = PI / 10.0f;
minDots.push_back(cosf(MAX_SPINE_SWING));
stConstraint->setSwingLimits(minDots);
// limit lateral swings more then forward-backward swings
const float MAX_SPINE_LATERAL_SWING = PI / 30.0f;
const float MAX_SPINE_ANTERIOR_SWING = PI / 20.0f;
setEllipticalSwingLimits(stConstraint, MAX_SPINE_LATERAL_SWING, MAX_SPINE_ANTERIOR_SWING);
if (0 == baseName.compare("Spine1", Qt::CaseSensitive)
|| 0 == baseName.compare("Spine", Qt::CaseSensitive)) {
stConstraint->setLowerSpine(true);
}
constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (baseName.startsWith("Hips2", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
const float MAX_SPINE_TWIST = PI / 8.0f;
stConstraint->setTwistLimits(-MAX_SPINE_TWIST, MAX_SPINE_TWIST);
std::vector<float> minDots;
const float MAX_SPINE_SWING = PI / 14.0f;
minDots.push_back(cosf(MAX_SPINE_SWING));
stConstraint->setSwingLimits(minDots);
constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (0 == baseName.compare("Neck", Qt::CaseSensitive)) {
SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
const float MAX_NECK_TWIST = PI / 9.0f;
const float MAX_NECK_TWIST = PI / 10.0f;
stConstraint->setTwistLimits(-MAX_NECK_TWIST, MAX_NECK_TWIST);
std::vector<float> minDots;
const float MAX_NECK_SWING = PI / 8.0f;
minDots.push_back(cosf(MAX_NECK_SWING));
stConstraint->setSwingLimits(minDots);
// limit lateral swings more then forward-backward swings
const float MAX_NECK_LATERAL_SWING = PI / 10.0f;
const float MAX_NECK_ANTERIOR_SWING = PI / 8.0f;
setEllipticalSwingLimits(stConstraint, MAX_NECK_LATERAL_SWING, MAX_NECK_ANTERIOR_SWING);
constraint = static_cast<RotationConstraint*>(stConstraint);
} else if (0 == baseName.compare("Head", Qt::CaseSensitive)) {
@ -872,7 +906,7 @@ void AnimInverseKinematics::initConstraints() {
// we determine the max/min angles by rotating the swing limit lines from parent- to child-frame
// then measure the angles to swing the yAxis into alignment
const float MIN_KNEE_ANGLE = 0.0f;
const float MIN_KNEE_ANGLE = 0.097f; // ~5 deg
const float MAX_KNEE_ANGLE = 7.0f * PI / 8.0f;
glm::quat invReferenceRotation = glm::inverse(referenceRotation);
glm::vec3 minSwingAxis = invReferenceRotation * glm::angleAxis(MIN_KNEE_ANGLE, hingeAxis) * Vectors::UNIT_Y;

2
libraries/animation/src/AnimInverseKinematics.h
View file

@ -55,6 +55,7 @@ protected:
RotationConstraint* getConstraint(int index);
void clearConstraints();
void initConstraints();
void computeHipsOffset(const std::vector<IKTarget>& targets, const AnimPoseVec& underPoses, float dt);
// no copies
AnimInverseKinematics(const AnimInverseKinematics&) = delete;
@ -91,6 +92,7 @@ protected:
int _headIndex { -1 };
int _hipsIndex { -1 };
int _hipsParentIndex { -1 };
int _hipsTargetIndex { -1 };
// _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
// during the the cyclic coordinate descent algorithm

95
libraries/animation/src/AnimManipulator.cpp
View file

@ -12,6 +12,16 @@
#include "AnimUtil.h"
#include "AnimationLogging.h"
AnimManipulator::JointVar::JointVar(const QString& jointNameIn, Type rotationTypeIn, Type translationTypeIn,
const QString& rotationVarIn, const QString& translationVarIn) :
jointName(jointNameIn),
rotationType(rotationTypeIn),
translationType(translationTypeIn),
rotationVar(rotationVarIn),
translationVar(translationVarIn),
jointIndex(-1),
hasPerformedJointLookup(false) {}
AnimManipulator::AnimManipulator(const QString& id, float alpha) :
AnimNode(AnimNode::Type::Manipulator, id),
_alpha(alpha) {
@ -36,7 +46,10 @@ const AnimPoseVec& AnimManipulator::overlay(const AnimVariantMap& animVars, cons
}
for (auto& jointVar : _jointVars) {
if (!jointVar.hasPerformedJointLookup) {
// map from joint name to joint index and cache the result.
jointVar.jointIndex = _skeleton->nameToJointIndex(jointVar.jointName);
if (jointVar.jointIndex < 0) {
qCWarning(animation) << "AnimManipulator could not find jointName" << jointVar.jointName << "in skeleton";
@ -100,34 +113,62 @@ AnimPose AnimManipulator::computeRelativePoseFromJointVar(const AnimVariantMap&
AnimPose defaultAbsPose = _skeleton->getAbsolutePose(jointVar.jointIndex, underPoses);
if (jointVar.type == JointVar::Type::AbsoluteRotation || jointVar.type == JointVar::Type::AbsolutePosition) {
// compute relative translation
glm::vec3 relTrans;
switch (jointVar.translationType) {
case JointVar::Type::Absolute: {
glm::vec3 absTrans = animVars.lookupRigToGeometry(jointVar.translationVar, defaultAbsPose.trans());
if (jointVar.type == JointVar::Type::AbsoluteRotation) {
defaultAbsPose.rot() = animVars.lookupRigToGeometry(jointVar.var, defaultAbsPose.rot());
} else if (jointVar.type == JointVar::Type::AbsolutePosition) {
defaultAbsPose.trans() = animVars.lookupRigToGeometry(jointVar.var, defaultAbsPose.trans());
// convert to from absolute to relative.
AnimPose parentAbsPose;
int parentIndex = _skeleton->getParentIndex(jointVar.jointIndex);
if (parentIndex >= 0) {
parentAbsPose = _skeleton->getAbsolutePose(parentIndex, underPoses);
}
// convert from absolute to relative
relTrans = transformPoint(parentAbsPose.inverse(), absTrans);
break;
}
// because jointVar is absolute, we must use an absolute parent frame to convert into a relative pose.
AnimPose parentAbsPose = AnimPose::identity;
int parentIndex = _skeleton->getParentIndex(jointVar.jointIndex);
if (parentIndex >= 0) {
parentAbsPose = _skeleton->getAbsolutePose(parentIndex, underPoses);
}
// convert from absolute to relative
return parentAbsPose.inverse() * defaultAbsPose;
} else {
// override the default rel pose
AnimPose relPose = defaultRelPose;
if (jointVar.type == JointVar::Type::RelativeRotation) {
relPose.rot() = animVars.lookupRigToGeometry(jointVar.var, defaultRelPose.rot());
} else if (jointVar.type == JointVar::Type::RelativePosition) {
relPose.trans() = animVars.lookupRigToGeometry(jointVar.var, defaultRelPose.trans());
}
return relPose;
case JointVar::Type::Relative:
relTrans = animVars.lookupRigToGeometryVector(jointVar.translationVar, defaultRelPose.trans());
break;
case JointVar::Type::UnderPose:
relTrans = underPoses[jointVar.jointIndex].trans();
break;
case JointVar::Type::Default:
default:
relTrans = defaultRelPose.trans();
break;
}
glm::quat relRot;
switch (jointVar.rotationType) {
case JointVar::Type::Absolute: {
glm::quat absRot = animVars.lookupRigToGeometry(jointVar.translationVar, defaultAbsPose.rot());
// convert to from absolute to relative.
AnimPose parentAbsPose;
int parentIndex = _skeleton->getParentIndex(jointVar.jointIndex);
if (parentIndex >= 0) {
parentAbsPose = _skeleton->getAbsolutePose(parentIndex, underPoses);
}
// convert from absolute to relative
relRot = glm::inverse(parentAbsPose.rot()) * absRot;
break;
}
case JointVar::Type::Relative:
relRot = animVars.lookupRigToGeometry(jointVar.translationVar, defaultRelPose.rot());
break;
case JointVar::Type::UnderPose:
relRot = underPoses[jointVar.jointIndex].rot();
break;
case JointVar::Type::Default:
default:
relRot = defaultRelPose.rot();
break;
}
return AnimPose(glm::vec3(1), relRot, relTrans);
}

17
libraries/animation/src/AnimManipulator.h
View file

@ -31,17 +31,20 @@ public:
struct JointVar {
enum class Type {
AbsoluteRotation = 0,
AbsolutePosition,
RelativeRotation,
RelativePosition,
Absolute,
Relative,
UnderPose,
Default,
NumTypes
};
JointVar(const QString& varIn, const QString& jointNameIn, Type typeIn) : var(varIn), jointName(jointNameIn), type(typeIn), jointIndex(-1), hasPerformedJointLookup(false) {}
QString var = "";
JointVar(const QString& jointNameIn, Type rotationType, Type translationType, const QString& rotationVarIn, const QString& translationVarIn);
QString jointName = "";
Type type = Type::AbsoluteRotation;
Type rotationType = Type::Absolute;
Type translationType = Type::Absolute;
QString rotationVar = "";
QString translationVar = "";
int jointIndex = -1;
bool hasPerformedJointLookup = false;
bool isRelative = false;

33
libraries/animation/src/AnimNodeLoader.cpp
View file

@ -79,10 +79,10 @@ static AnimStateMachine::InterpType stringToInterpType(const QString& str) {
static const char* animManipulatorJointVarTypeToString(AnimManipulator::JointVar::Type type) {
switch (type) {
case AnimManipulator::JointVar::Type::AbsoluteRotation: return "absoluteRotation";
case AnimManipulator::JointVar::Type::AbsolutePosition: return "absolutePosition";
case AnimManipulator::JointVar::Type::RelativeRotation: return "relativeRotation";
case AnimManipulator::JointVar::Type::RelativePosition: return "relativePosition";
case AnimManipulator::JointVar::Type::Absolute: return "absolute";
case AnimManipulator::JointVar::Type::Relative: return "relative";
case AnimManipulator::JointVar::Type::UnderPose: return "underPose";
case AnimManipulator::JointVar::Type::Default: return "default";
case AnimManipulator::JointVar::Type::NumTypes: return nullptr;
};
return nullptr;
@ -339,7 +339,8 @@ static const char* boneSetStrings[AnimOverlay::NumBoneSets] = {
"spineOnly",
"empty",
"leftHand",
"rightHand"
"rightHand",
"hipsOnly"
};
static AnimOverlay::BoneSet stringToBoneSetEnum(const QString& str) {
@ -406,17 +407,25 @@ static AnimNode::Pointer loadManipulatorNode(const QJsonObject& jsonObj, const Q
}
auto jointObj = jointValue.toObject();
READ_STRING(type, jointObj, id, jsonUrl, nullptr);
READ_STRING(jointName, jointObj, id, jsonUrl, nullptr);
READ_STRING(var, jointObj, id, jsonUrl, nullptr);
READ_STRING(rotationType, jointObj, id, jsonUrl, nullptr);
READ_STRING(translationType, jointObj, id, jsonUrl, nullptr);
READ_STRING(rotationVar, jointObj, id, jsonUrl, nullptr);
READ_STRING(translationVar, jointObj, id, jsonUrl, nullptr);
AnimManipulator::JointVar::Type jointVarType = stringToAnimManipulatorJointVarType(type);
if (jointVarType == AnimManipulator::JointVar::Type::NumTypes) {
qCCritical(animation) << "AnimNodeLoader, bad type in \"joints\", id =" << id << ", url =" << jsonUrl.toDisplayString();
return nullptr;
AnimManipulator::JointVar::Type jointVarRotationType = stringToAnimManipulatorJointVarType(rotationType);
if (jointVarRotationType == AnimManipulator::JointVar::Type::NumTypes) {
qCWarning(animation) << "AnimNodeLoader, bad rotationType in \"joints\", id =" << id << ", url =" << jsonUrl.toDisplayString();
jointVarRotationType = AnimManipulator::JointVar::Type::Default;
}
AnimManipulator::JointVar jointVar(var, jointName, jointVarType);
AnimManipulator::JointVar::Type jointVarTranslationType = stringToAnimManipulatorJointVarType(translationType);
if (jointVarTranslationType == AnimManipulator::JointVar::Type::NumTypes) {
qCWarning(animation) << "AnimNodeLoader, bad translationType in \"joints\", id =" << id << ", url =" << jsonUrl.toDisplayString();
jointVarTranslationType = AnimManipulator::JointVar::Type::Default;
}
AnimManipulator::JointVar jointVar(jointName, jointVarRotationType, jointVarTranslationType, rotationVar, translationVar);
node->addJointVar(jointVar);
};

8
libraries/animation/src/AnimOverlay.cpp
View file

@ -34,6 +34,7 @@ void AnimOverlay::buildBoneSet(BoneSet boneSet) {
case SpineOnlyBoneSet: buildSpineOnlyBoneSet(); break;
case LeftHandBoneSet: buildLeftHandBoneSet(); break;
case RightHandBoneSet: buildRightHandBoneSet(); break;
case HipsOnlyBoneSet: buildHipsOnlyBoneSet(); break;
default:
case EmptyBoneSet: buildEmptyBoneSet(); break;
}
@ -188,6 +189,13 @@ void AnimOverlay::buildRightHandBoneSet() {
});
}
void AnimOverlay::buildHipsOnlyBoneSet() {
assert(_skeleton);
buildEmptyBoneSet();
int hipsJoint = _skeleton->nameToJointIndex("Hips");
_boneSetVec[hipsJoint] = 1.0f;
}
// for AnimDebugDraw rendering
const AnimPoseVec& AnimOverlay::getPosesInternal() const {
return _poses;

2
libraries/animation/src/AnimOverlay.h
View file

@ -37,6 +37,7 @@ public:
EmptyBoneSet,
LeftHandBoneSet,
RightHandBoneSet,
HipsOnlyBoneSet,
NumBoneSets
};
@ -75,6 +76,7 @@ public:
void buildEmptyBoneSet();
void buildLeftHandBoneSet();
void buildRightHandBoneSet();
void buildHipsOnlyBoneSet();
// no copies
AnimOverlay(const AnimOverlay&) = delete;

9
libraries/animation/src/AnimVariant.h
View file

@ -165,6 +165,15 @@ public:
}
}
glm::vec3 lookupRigToGeometryVector(const QString& key, const glm::vec3& defaultValue) const {
if (key.isEmpty()) {
return defaultValue;
} else {
auto iter = _map.find(key);
return iter != _map.end() ? transformVectorFast(_rigToGeometryMat, iter->second.getVec3()) : defaultValue;
}
}
const glm::quat& lookupRaw(const QString& key, const glm::quat& defaultValue) const {
if (key.isEmpty()) {
return defaultValue;

3
libraries/animation/src/IKTarget.h
View file

@ -21,13 +21,14 @@ public:
RotationOnly,
HmdHead,
HipsRelativeRotationAndPosition,
Unknown,
Unknown
};
IKTarget() {}
const glm::vec3& getTranslation() const { return _pose.trans(); }
const glm::quat& getRotation() const { return _pose.rot(); }
const AnimPose& getPose() const { return _pose; }
int getIndex() const { return _index; }
Type getType() const { return _type; }

36
libraries/animation/src/Rig.cpp
View file

@ -1024,6 +1024,17 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
_animVars.set("isTalking", params.isTalking);
_animVars.set("notIsTalking", !params.isTalking);
if (params.hipsEnabled) {
_animVars.set("hipsType", (int)IKTarget::Type::RotationAndPosition);
_animVars.set("hipsPosition", extractTranslation(params.hipsMatrix));
_animVars.set("hipsRotation", glmExtractRotation(params.hipsMatrix) * Quaternions::Y_180);
} else {
_animVars.set("hipsType", (int)IKTarget::Type::Unknown);
}
// by default this IK target is disabled.
_animVars.set("spine2Type", (int)IKTarget::Type::Unknown);
}
void Rig::updateFromEyeParameters(const EyeParameters& params) {
@ -1161,13 +1172,19 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
const glm::vec3 bodyCapsuleStart = bodyCapsuleCenter - glm::vec3(0, params.bodyCapsuleHalfHeight, 0);
const glm::vec3 bodyCapsuleEnd = bodyCapsuleCenter + glm::vec3(0, params.bodyCapsuleHalfHeight, 0);
// TODO: add isHipsEnabled
bool bodySensorTrackingEnabled = params.isLeftFootEnabled || params.isRightFootEnabled;
if (params.isLeftEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 handPosition = params.leftPosition;
glm::vec3 displacement;
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
if (!bodySensorTrackingEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement;
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
}
}
_animVars.set("leftHandPosition", handPosition);
@ -1181,11 +1198,14 @@ void Rig::updateFromHandAndFeetParameters(const HandAndFeetParameters& params, f
if (params.isRightEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 handPosition = params.rightPosition;
glm::vec3 displacement;
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
if (!bodySensorTrackingEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement;
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
}
}
_animVars.set("rightHandPosition", handPosition);

2
libraries/animation/src/Rig.h
View file

@ -45,6 +45,8 @@ public:
glm::quat worldHeadOrientation = glm::quat(); // world space (-z forward)
glm::quat rigHeadOrientation = glm::quat(); // rig space (-z forward)
glm::vec3 rigHeadPosition = glm::vec3(); // rig space
glm::mat4 hipsMatrix = glm::mat4(); // rig space
bool hipsEnabled = false;
bool isInHMD = false;
int neckJointIndex = -1;
bool isTalking = false;

8
libraries/entities/src/EntityDynamicInterface.cpp
View file

@ -49,20 +49,20 @@
An dynamic is a callback which is registered with bullet. An dynamic is called-back every physics
A dynamic is a callback which is registered with bullet. A dynamic is called-back every physics
simulation step and can do whatever it wants with the various datastructures it has available. An
dynamic, for example, can pull an EntityItem toward a point as if that EntityItem were connected to that
point by a spring.
In this system, an dynamic is a property of an EntityItem (rather, an EntityItem has a property which
In this system, a dynamic is a property of an EntityItem (rather, an EntityItem has a property which
encodes a list of dynamics). Each dynamic has a type and some arguments. Dynamics can be created by a
script or when receiving information via an EntityTree data-stream (either over the network or from an
svo file).
In the interface, if an EntityItem has dynamics, this EntityItem will have pointers to ObjectDynamic
subclass (like ObjectDynamicSpring) instantiations. Code in the entities library affects an dynamic-object
subclass (like ObjectDynamicSpring) instantiations. Code in the entities library affects a dynamic-object
via the EntityDynamicInterface (which knows nothing about bullet). When the ObjectDynamic subclass
instance is created, it is registered as an dynamic with bullet. Bullet will call into code in this
instance is created, it is registered as a dynamic with bullet. Bullet will call into code in this
instance with the btDynamicInterface every physics-simulation step.
Because the dynamic can exist next to the interface's EntityTree or the entity-server's EntityTree,

19
libraries/networking/src/AssetClient.cpp
View file

@ -348,18 +348,19 @@ void AssetClient::handleAssetGetReply(QSharedPointer<ReceivedMessage> message, S
// Store message in case we need to disconnect from it later.
callbacks.message = message;
auto weakNode = senderNode.toWeakRef();
connect(message.data(), &ReceivedMessage::progress, this, [this, weakNode, messageID, length](qint64 size) {
handleProgressCallback(weakNode, messageID, size, length);
});
connect(message.data(), &ReceivedMessage::completed, this, [this, weakNode, messageID]() {
handleCompleteCallback(weakNode, messageID);
});
if (message->isComplete()) {
disconnect(message.data(), nullptr, this, nullptr);
callbacks.completeCallback(true, error, message->readAll());
messageCallbackMap.erase(requestIt);
} else {
auto weakNode = senderNode.toWeakRef();
connect(message.data(), &ReceivedMessage::progress, this, [this, weakNode, messageID, length](qint64 size) {
handleProgressCallback(weakNode, messageID, size, length);
});
connect(message.data(), &ReceivedMessage::completed, this, [this, weakNode, messageID]() {
handleCompleteCallback(weakNode, messageID);
});
}
}

8
libraries/networking/src/AssetRequest.cpp
View file

@ -77,7 +77,7 @@ void AssetRequest::start() {
_assetRequestID = assetClient->getAsset(_hash, _byteRange.fromInclusive, _byteRange.toExclusive,
[this, that, hash](bool responseReceived, AssetServerError serverError, const QByteArray& data) {
if (!that) {
if (!that) {
qCWarning(asset_client) << "Got reply for dead asset request " << hash << "- error code" << _error;
// If the request is dead, return
return;
@ -113,8 +113,10 @@ void AssetRequest::start() {
_data = data;
_totalReceived += data.size();
emit progress(_totalReceived, data.size());
saveToCache(getUrl(), data);
if (!_byteRange.isSet()) {
saveToCache(getUrl(), data);
}
}
}

2
libraries/networking/src/udt/PacketHeaders.cpp
View file

@ -39,7 +39,7 @@ const QSet<PacketType> NON_SOURCED_PACKETS = QSet<PacketType>()
<< PacketType::ICEServerPeerInformation << PacketType::ICEServerQuery << PacketType::ICEServerHeartbeat
<< PacketType::ICEServerHeartbeatACK << PacketType::ICEPing << PacketType::ICEPingReply
<< PacketType::ICEServerHeartbeatDenied << PacketType::AssignmentClientStatus << PacketType::StopNode
<< PacketType::DomainServerRemovedNode << PacketType::UsernameFromIDReply;
<< PacketType::DomainServerRemovedNode << PacketType::UsernameFromIDReply << PacketType::OctreeFileReplacement;
PacketVersion versionForPacketType(PacketType packetType) {
switch (packetType) {

3
libraries/networking/src/udt/PacketHeaders.h
View file

@ -113,7 +113,8 @@ public:
EntityPhysics,
EntityServerScriptLog,
AdjustAvatarSorting,
LAST_PACKET_TYPE = AdjustAvatarSorting
OctreeFileReplacement,
LAST_PACKET_TYPE = OctreeFileReplacement
};
};

38
libraries/octree/src/OctreePersistThread.cpp
View file

@ -33,6 +33,7 @@
#include "OctreePersistThread.h"
const int OctreePersistThread::DEFAULT_PERSIST_INTERVAL = 1000 * 30; // every 30 seconds
const QString OctreePersistThread::REPLACEMENT_FILE_EXTENSION = ".replace";
OctreePersistThread::OctreePersistThread(OctreePointer tree, const QString& filename, const QString& backupDirectory, int persistInterval,
bool wantBackup, const QJsonObject& settings, bool debugTimestampNow,
@ -131,10 +132,47 @@ quint64 OctreePersistThread::getMostRecentBackupTimeInUsecs(const QString& forma
return mostRecentBackupInUsecs;
}
void OctreePersistThread::possiblyReplaceContent() {
// before we load the normal file, check if there's a pending replacement file
auto replacementFileName = _filename + REPLACEMENT_FILE_EXTENSION;
QFile replacementFile { replacementFileName };
if (replacementFile.exists()) {
// we have a replacement file to process
qDebug() << "Replacing models file with" << replacementFileName;
// first take the current models file and move it to a different filename, appended with the timestamp
QFile currentFile { _filename };
if (currentFile.exists()) {
static const QString FILENAME_TIMESTAMP_FORMAT = "yyyyMMdd-hhmmss";
auto backupFileName = _filename + ".backup." + QDateTime::currentDateTime().toString(FILENAME_TIMESTAMP_FORMAT);
if (currentFile.rename(backupFileName)) {
qDebug() << "Moved previous models file to" << backupFileName;
} else {
qWarning() << "Could not backup previous models file to" << backupFileName << "- removing replacement models file";
if (!replacementFile.remove()) {
qWarning() << "Could not remove replacement models file from" << replacementFileName
<< "- replacement will be re-attempted on next server restart";
return;
}
}
}
// rename the replacement file to match what the persist thread is just about to read
if (!replacementFile.rename(_filename)) {
qWarning() << "Could not replace models file with" << replacementFileName << "- starting with empty models file";
}
}
}
bool OctreePersistThread::process() {
if (!_initialLoadComplete) {
possiblyReplaceContent();
quint64 loadStarted = usecTimestampNow();
qCDebug(octree) << "loading Octrees from file: " << _filename << "...";

2
libraries/octree/src/OctreePersistThread.h
View file

@ -32,6 +32,7 @@ public:
};
static const int DEFAULT_PERSIST_INTERVAL;
static const QString REPLACEMENT_FILE_EXTENSION;
OctreePersistThread(OctreePointer tree, const QString& filename, const QString& backupDirectory,
int persistInterval = DEFAULT_PERSIST_INTERVAL, bool wantBackup = false,
@ -60,6 +61,7 @@ protected:
bool getMostRecentBackup(const QString& format, QString& mostRecentBackupFileName, QDateTime& mostRecentBackupTime);
quint64 getMostRecentBackupTimeInUsecs(const QString& format);
void parseSettings(const QJsonObject& settings);
void possiblyReplaceContent();
private:
OctreePointer _tree;

7
libraries/script-engine/src/Quat.cpp
View file

@ -122,3 +122,10 @@ bool Quat::equal(const glm::quat& q1, const glm::quat& q2) {
return q1 == q2;
}
glm::quat Quat::cancelOutRollAndPitch(const glm::quat& q) {
return ::cancelOutRollAndPitch(q);
}
glm::quat Quat::cancelOutRoll(const glm::quat& q) {
return ::cancelOutRoll(q);
}

2
libraries/script-engine/src/Quat.h
View file

@ -60,6 +60,8 @@ public slots:
float dot(const glm::quat& q1, const glm::quat& q2);
void print(const QString& label, const glm::quat& q);
bool equal(const glm::quat& q1, const glm::quat& q2);
glm::quat cancelOutRollAndPitch(const glm::quat& q);
glm::quat cancelOutRoll(const glm::quat& q);
};
#endif // hifi_Quat_h

118
scripts/developer/tests/hipsIkTest.js Normal file
View file

@ -0,0 +1,118 @@
//
// hipsIKTest.js
//
// Created by Anthony Thibault on 4/24/17
// Copyright 2017 High Fidelity, Inc.
//
// Test procedural manipulation of the Avatar hips IK target.
// Pull the left and right triggers on your hand controllers, you hips should begin to gyrate in an amusing mannor.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
/* global Xform */
Script.include("/~/system/libraries/Xform.js");
var calibrated = false;
var rightTriggerPressed = false;
var leftTriggerPressed = false;
var MAPPING_NAME = "com.highfidelity.hipsIkTest";
var mapping = Controller.newMapping(MAPPING_NAME);
mapping.from([Controller.Standard.RTClick]).peek().to(function (value) {
rightTriggerPressed = (value !== 0) ? true : false;
});
mapping.from([Controller.Standard.LTClick]).peek().to(function (value) {
leftTriggerPressed = (value !== 0) ? true : false;
});
Controller.enableMapping(MAPPING_NAME);
var ANIM_VARS = [
"headType",
"hipsType",
"hipsPosition",
"hipsRotation"
];
var ZERO = {x: 0, y: 0, z: 0};
var X_AXIS = {x: 1, y: 0, z: 0};
var Y_AXIS = {x: 0, y: 1, z: 0};
var Y_180 = {x: 0, y: 1, z: 0, w: 0};
var Y_180_XFORM = new Xform(Y_180, {x: 0, y: 0, z: 0});
var hips = undefined;
function computeCurrentXform(jointIndex) {
var currentXform = new Xform(MyAvatar.getAbsoluteJointRotationInObjectFrame(jointIndex),
MyAvatar.getAbsoluteJointTranslationInObjectFrame(jointIndex));
return Xform.mul(Y_180_XFORM, currentXform);
}
function calibrate() {
hips = computeCurrentXform(MyAvatar.getJointIndex("Hips"));
}
var ikTypes = {
RotationAndPosition: 0,
RotationOnly: 1,
HmdHead: 2,
HipsRelativeRotationAndPosition: 3,
Off: 4
};
function circleOffset(radius, theta, normal) {
var pos = {x: radius * Math.cos(theta), y: radius * Math.sin(theta), z: 0};
var lookAtRot = Quat.lookAt(normal, ZERO, X_AXIS);
return Vec3.multiplyQbyV(lookAtRot, pos);
}
var handlerId;
function update(dt) {
if (rightTriggerPressed && leftTriggerPressed) {
if (!calibrated) {
calibrate();
calibrated = true;
if (handlerId) {
MyAvatar.removeAnimationStateHandler(handlerId);
handlerId = undefined;
} else {
var n = Y_AXIS;
var t = 0;
handlerId = MyAvatar.addAnimationStateHandler(function (props) {
t += (1 / 60) * 4;
var result = {}, xform;
if (hips) {
xform = hips;
result.hipsType = ikTypes.RotationAndPosition;
result.hipsPosition = Vec3.sum(xform.pos, circleOffset(0.1, t, n));
result.hipsRotation = xform.rot;
result.headType = ikTypes.RotationAndPosition;
} else {
result.headType = ikTypes.HmdHead;
result.hipsType = props.hipsType;
result.hipsPosition = props.hipsPosition;
result.hipsRotation = props.hipsRotation;
}
return result;
}, ANIM_VARS);
}
}
} else {
calibrated = false;
}
}
Script.update.connect(update);
Script.scriptEnding.connect(function () {
Controller.disableMapping(MAPPING_NAME);
Script.update.disconnect(update);
});

307
scripts/developer/tests/viveMotionCapture.js Normal file
View file

@ -0,0 +1,307 @@
/* global Xform */
Script.include("/~/system/libraries/Xform.js");
var TRACKED_OBJECT_POSES = [
"TrackedObject00", "TrackedObject01", "TrackedObject02", "TrackedObject03",
"TrackedObject04", "TrackedObject05", "TrackedObject06", "TrackedObject07",
"TrackedObject08", "TrackedObject09", "TrackedObject10", "TrackedObject11",
"TrackedObject12", "TrackedObject13", "TrackedObject14", "TrackedObject15"
];
var triggerPressHandled = false;
var rightTriggerPressed = false;
var leftTriggerPressed = false;
var MAPPING_NAME = "com.highfidelity.viveMotionCapture";
var mapping = Controller.newMapping(MAPPING_NAME);
mapping.from([Controller.Standard.RTClick]).peek().to(function (value) {
rightTriggerPressed = (value !== 0) ? true : false;
});
mapping.from([Controller.Standard.LTClick]).peek().to(function (value) {
leftTriggerPressed = (value !== 0) ? true : false;
});
Controller.enableMapping(MAPPING_NAME);
var leftFoot;
var rightFoot;
var hips;
var spine2;
var FEET_ONLY = 0;
var FEET_AND_HIPS = 1;
var FEET_AND_CHEST = 2;
var FEET_HIPS_AND_CHEST = 3;
var AUTO = 4;
var SENSOR_CONFIG_NAMES = [
"FeetOnly",
"FeetAndHips",
"FeetAndChest",
"FeetHipsAndChest",
"Auto"
];
var sensorConfig = AUTO;
var Y_180 = {x: 0, y: 1, z: 0, w: 0};
var Y_180_XFORM = new Xform(Y_180, {x: 0, y: 0, z: 0});
function computeOffsetXform(defaultToReferenceXform, pose, jointIndex) {
var poseXform = new Xform(pose.rotation, pose.translation);
var defaultJointXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(jointIndex),
MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(jointIndex));
var referenceJointXform = Xform.mul(defaultToReferenceXform, defaultJointXform);
return Xform.mul(poseXform.inv(), referenceJointXform);
}
function computeDefaultToReferenceXform() {
var headIndex = MyAvatar.getJointIndex("Head");
if (headIndex >= 0) {
var defaultHeadXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(headIndex),
MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(headIndex));
var currentHeadXform = new Xform(Quat.cancelOutRollAndPitch(MyAvatar.getAbsoluteJointRotationInObjectFrame(headIndex)),
MyAvatar.getAbsoluteJointTranslationInObjectFrame(headIndex));
var defaultToReferenceXform = Xform.mul(currentHeadXform, defaultHeadXform.inv());
return defaultToReferenceXform;
} else {
return Xform.ident();
}
}
function calibrate() {
leftFoot = undefined;
rightFoot = undefined;
hips = undefined;
spine2 = undefined;
var defaultToReferenceXform = computeDefaultToReferenceXform();
var poses = [];
if (Controller.Hardware.Vive) {
TRACKED_OBJECT_POSES.forEach(function (key) {
var channel = Controller.Hardware.Vive[key];
var pose = Controller.getPoseValue(channel);
if (pose.valid) {
poses.push({
channel: channel,
pose: pose
});
}
});
}
print("AJT: calibrating, num tracked poses = " + poses.length + ", sensorConfig = " + SENSOR_CONFIG_NAMES[sensorConfig]);
var config = sensorConfig;
if (config === AUTO) {
if (poses.length === 2) {
config = FEET_ONLY;
} else if (poses.length === 3) {
config = FEET_AND_HIPS;
} else if (poses.length >= 4) {
config = FEET_HIPS_AND_CHEST;
} else {
print("AJT: auto config failed: poses.length = " + poses.length);
config = FEET_ONLY;
}
}
if (poses.length >= 2) {
// sort by y
poses.sort(function(a, b) {
var ay = a.pose.translation.y;
var by = b.pose.translation.y;
return ay - by;
});
if (poses[0].pose.translation.x > poses[1].pose.translation.x) {
rightFoot = poses[0];
leftFoot = poses[1];
} else {
rightFoot = poses[1];
leftFoot = poses[0];
}
// compute offsets
rightFoot.offsetXform = computeOffsetXform(defaultToReferenceXform, rightFoot.pose, MyAvatar.getJointIndex("RightFoot"));
leftFoot.offsetXform = computeOffsetXform(defaultToReferenceXform, leftFoot.pose, MyAvatar.getJointIndex("LeftFoot"));
print("AJT: rightFoot = " + JSON.stringify(rightFoot));
print("AJT: leftFoot = " + JSON.stringify(leftFoot));
if (config === FEET_ONLY) {
// we're done!
} else if (config === FEET_AND_HIPS && poses.length >= 3) {
hips = poses[2];
} else if (config === FEET_AND_CHEST && poses.length >= 3) {
spine2 = poses[2];
} else if (config === FEET_HIPS_AND_CHEST && poses.length >= 4) {
hips = poses[2];
spine2 = poses[3];
} else {
// TODO: better error messages
print("AJT: could not calibrate for sensor config " + SENSOR_CONFIG_NAMES[config] + ", please try again!");
}
if (hips) {
hips.offsetXform = computeOffsetXform(defaultToReferenceXform, hips.pose, MyAvatar.getJointIndex("Hips"));
print("AJT: hips = " + JSON.stringify(hips));
}
if (spine2) {
spine2.offsetXform = computeOffsetXform(defaultToReferenceXform, spine2.pose, MyAvatar.getJointIndex("Spine2"));
print("AJT: spine2 = " + JSON.stringify(spine2));
}
} else {
print("AJT: could not find two trackers, try again!");
}
}
var ikTypes = {
RotationAndPosition: 0,
RotationOnly: 1,
HmdHead: 2,
HipsRelativeRotationAndPosition: 3,
Off: 4
};
var handlerId;
function computeIKTargetXform(jointInfo) {
var pose = Controller.getPoseValue(jointInfo.channel);
var offsetXform = jointInfo.offsetXform;
return Xform.mul(Y_180_XFORM, Xform.mul(new Xform(pose.rotation, pose.translation), offsetXform));
}
function update(dt) {
if (rightTriggerPressed && leftTriggerPressed) {
if (!triggerPressHandled) {
triggerPressHandled = true;
if (handlerId) {
print("AJT: UN-CALIBRATE!");
// go back to normal, vive pucks will be ignored.
leftFoot = undefined;
rightFoot = undefined;
hips = undefined;
spine2 = undefined;
if (handlerId) {
print("AJT: un-hooking animation state handler");
MyAvatar.removeAnimationStateHandler(handlerId);
handlerId = undefined;
}
} else {
print("AJT: CALIBRATE!");
calibrate();
var animVars = [];
if (leftFoot) {
animVars.push("leftFootType");
animVars.push("leftFootPosition");
animVars.push("leftFootRotation");
}
if (rightFoot) {
animVars.push("rightFootType");
animVars.push("rightFootPosition");
animVars.push("rightFootRotation");
}
if (hips) {
animVars.push("hipsType");
animVars.push("hipsPosition");
animVars.push("hipsRotation");
}
if (spine2) {
animVars.push("spine2Type");
animVars.push("spine2Position");
animVars.push("spine2Rotation");
}
// hook up new anim state handler that maps vive pucks to ik system.
handlerId = MyAvatar.addAnimationStateHandler(function (props) {
var result = {}, xform;
if (rightFoot) {
xform = computeIKTargetXform(rightFoot);
result.rightFootType = ikTypes.RotationAndPosition;
result.rightFootPosition = xform.pos;
result.rightFootRotation = xform.rot;
}
if (leftFoot) {
xform = computeIKTargetXform(leftFoot);
result.leftFootType = ikTypes.RotationAndPosition;
result.leftFootPosition = xform.pos;
result.leftFootRotation = xform.rot;
}
if (hips) {
xform = computeIKTargetXform(hips);
result.hipsType = ikTypes.RotationAndPosition;
result.hipsPosition = xform.pos;
result.hipsRotation = xform.rot;
}
if (spine2) {
xform = computeIKTargetXform(spine2);
result.spine2Type = ikTypes.RotationAndPosition;
result.spine2Position = xform.pos;
result.spine2Rotation = xform.rot;
}
return result;
}, animVars);
}
}
} else {
triggerPressHandled = false;
}
var drawMarkers = false;
if (drawMarkers) {
var RED = {x: 1, y: 0, z: 0, w: 1};
var BLUE = {x: 0, y: 0, z: 1, w: 1};
if (leftFoot) {
var leftFootPose = Controller.getPoseValue(leftFoot.channel);
DebugDraw.addMyAvatarMarker("leftFootTracker", leftFootPose.rotation, leftFootPose.translation, BLUE);
}
if (rightFoot) {
var rightFootPose = Controller.getPoseValue(rightFoot.channel);
DebugDraw.addMyAvatarMarker("rightFootTracker", rightFootPose.rotation, rightFootPose.translation, RED);
}
if (hips) {
var hipsPose = Controller.getPoseValue(hips.channel);
DebugDraw.addMyAvatarMarker("hipsTracker", hipsPose.rotation, hipsPose.translation, GREEN);
}
}
var drawReferencePose = false;
if (drawReferencePose) {
var GREEN = {x: 0, y: 1, z: 0, w: 1};
var defaultToReferenceXform = computeDefaultToReferenceXform();
var leftFootIndex = MyAvatar.getJointIndex("LeftFoot");
if (leftFootIndex > 0) {
var defaultLeftFootXform = new Xform(MyAvatar.getAbsoluteDefaultJointRotationInObjectFrame(leftFootIndex),
MyAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(leftFootIndex));
var referenceLeftFootXform = Xform.mul(defaultToReferenceXform, defaultLeftFootXform);
DebugDraw.addMyAvatarMarker("leftFootTracker", referenceLeftFootXform.rot, referenceLeftFootXform.pos, GREEN);
}
}
}
Script.update.connect(update);
Script.scriptEnding.connect(function () {
Controller.disableMapping(MAPPING_NAME);
Script.update.disconnect(update);
});

4
scripts/developer/tests/viveTrackedObjects.js
View file

@ -18,14 +18,14 @@ function shutdown() {
});
}
var WHITE = {x: 1, y: 1, z: 1, w: 1};
var BLUE = {x: 0, y: 0, z: 1, w: 1};
function update(dt) {
if (Controller.Hardware.Vive) {
TRACKED_OBJECT_POSES.forEach(function (key) {
var pose = Controller.getPoseValue(Controller.Hardware.Vive[key]);
if (pose.valid) {
DebugDraw.addMyAvatarMarker(key, pose.rotation, pose.translation, WHITE);
DebugDraw.addMyAvatarMarker(key, pose.rotation, pose.translation, BLUE);
} else {
DebugDraw.removeMyAvatarMarker(key);
}