From bab7d1e596ac5975dc73501a59033fa7c450d4fc Mon Sep 17 00:00:00 2001 From: ZappoMan Date: Tue, 11 Apr 2017 12:17:28 -0700 Subject: [PATCH 1/6] first cut at translate and scale pose filters --- .../src/controllers/UserInputMapper.cpp | 13 +++++ .../src/controllers/impl/Filter.cpp | 27 ++++++++++- .../controllers/src/controllers/impl/Filter.h | 5 ++ .../controllers/impl/RouteBuilderProxy.cpp | 7 +++ .../src/controllers/impl/RouteBuilderProxy.h | 1 + .../controllers/impl/filters/ScaleFilter.h | 7 +++ .../impl/filters/TranslateFilter.cpp | 23 +++++++++ .../impl/filters/TranslateFilter.h | 47 +++++++++++++++++++ script-archive/controllers/puppetFeet3.js | 24 ++++++++++ 9 files changed, 153 insertions(+), 1 deletion(-) create mode 100644 libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp create mode 100644 libraries/controllers/src/controllers/impl/filters/TranslateFilter.h create mode 100644 script-archive/controllers/puppetFeet3.js diff --git a/libraries/controllers/src/controllers/UserInputMapper.cpp b/libraries/controllers/src/controllers/UserInputMapper.cpp index fe50f023c3..27da222fa6 100755 --- a/libraries/controllers/src/controllers/UserInputMapper.cpp +++ b/libraries/controllers/src/controllers/UserInputMapper.cpp @@ -20,6 +20,8 @@ #include #include +#include + #include "StandardController.h" #include "StateController.h" @@ -561,7 +563,18 @@ bool UserInputMapper::applyRoute(const Route::Pointer& route, bool force) { if (source->isPose()) { Pose value = getPose(source, route->peek); static const Pose IDENTITY_POSE { vec3(), quat() }; + if (debugRoutes && route->debug) { + qCDebug(controllers) << "Value was t:" << value.translation << "r:" << value.rotation; + } + // Apply each of the filters. + for (const auto& filter : route->filters) { + value = filter->apply(value); + } + + if (debugRoutes && route->debug) { + qCDebug(controllers) << "Filtered value was t:" << value.translation << "r:" << value.rotation; + if (!value.valid) { qCDebug(controllers) << "Applying invalid pose"; } else if (value == IDENTITY_POSE) { diff --git a/libraries/controllers/src/controllers/impl/Filter.cpp b/libraries/controllers/src/controllers/impl/Filter.cpp index 09188318eb..a75c43463e 100644 --- a/libraries/controllers/src/controllers/impl/Filter.cpp +++ b/libraries/controllers/src/controllers/impl/Filter.cpp @@ -24,6 +24,7 @@ #include "filters/InvertFilter.h" #include "filters/PulseFilter.h" #include "filters/ScaleFilter.h" +#include "filters/TranslateFilter.h" using namespace controller; @@ -37,6 +38,7 @@ REGISTER_FILTER_CLASS_INSTANCE(HysteresisFilter, "hysteresis") REGISTER_FILTER_CLASS_INSTANCE(InvertFilter, "invert") REGISTER_FILTER_CLASS_INSTANCE(ScaleFilter, "scale") REGISTER_FILTER_CLASS_INSTANCE(PulseFilter, "pulse") +REGISTER_FILTER_CLASS_INSTANCE(TranslateFilter, "translate") const QString JSON_FILTER_TYPE = QStringLiteral("type"); const QString JSON_FILTER_PARAMS = QStringLiteral("params"); @@ -76,7 +78,6 @@ bool Filter::parseSingleFloatParameter(const QJsonValue& parameters, const QStri return true; } } else if (parameters.isObject()) { - static const QString JSON_MIN = QStringLiteral("interval"); auto objectParameters = parameters.toObject(); if (objectParameters.contains(name)) { output = objectParameters[name].toDouble(); @@ -86,6 +87,30 @@ bool Filter::parseSingleFloatParameter(const QJsonValue& parameters, const QStri return false; } +// FIXME - we're not really using the name +bool Filter::parseVec3Parameter(const QJsonValue& parameters, const QString& name, glm::vec3& output) { + if (parameters.isDouble()) { + output = glm::vec3(parameters.toDouble()); + return true; + } else if (parameters.isArray()) { + auto arrayParameters = parameters.toArray(); + if (arrayParameters.size() == 3) { + output = glm::vec3(arrayParameters[0].toDouble(), + arrayParameters[1].toDouble(), + arrayParameters[2].toDouble()); + return true; + } + } else if (parameters.isObject()) { + auto objectParameters = parameters.toObject(); + if (objectParameters.contains("x") && objectParameters.contains("y") && objectParameters.contains("z")) { + output = glm::vec3(objectParameters["x"].toDouble(), + objectParameters["y"].toDouble(), + objectParameters["z"].toDouble()); + return true; + } + } + return false; +} #if 0 diff --git a/libraries/controllers/src/controllers/impl/Filter.h b/libraries/controllers/src/controllers/impl/Filter.h index 77585c8ebb..c268a227d7 100644 --- a/libraries/controllers/src/controllers/impl/Filter.h +++ b/libraries/controllers/src/controllers/impl/Filter.h @@ -21,6 +21,8 @@ #include +#include "../Pose.h" + class QJsonValue; namespace controller { @@ -34,6 +36,8 @@ namespace controller { using Factory = hifi::SimpleFactory; virtual float apply(float value) const = 0; + virtual Pose apply(Pose value) const { return value; } // most filters don't operate on poses + // Factory features virtual bool parseParameters(const QJsonValue& parameters) { return true; } @@ -42,6 +46,7 @@ namespace controller { static Factory& getFactory() { return _factory; } static bool parseSingleFloatParameter(const QJsonValue& parameters, const QString& name, float& output); + static bool parseVec3Parameter(const QJsonValue& parameters, const QString& name, glm::vec3& output); protected: static Factory _factory; }; diff --git a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp index 7dedfda3cb..93ec8d4acd 100644 --- a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp +++ b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp @@ -26,6 +26,7 @@ #include "filters/InvertFilter.h" #include "filters/PulseFilter.h" #include "filters/ScaleFilter.h" +#include "filters/TranslateFilter.h" #include "conditionals/AndConditional.h" using namespace controller; @@ -103,6 +104,12 @@ QObject* RouteBuilderProxy::deadZone(float min) { return this; } +QObject* RouteBuilderProxy::translate(glm::vec3 translate) { + qDebug() << __FUNCTION__ << "translate:" << translate; + addFilter(std::make_shared(translate)); + return this; +} + QObject* RouteBuilderProxy::constrainToInteger() { addFilter(std::make_shared()); return this; diff --git a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h index 1c0ed6931d..0d3ddd55fb 100644 --- a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h +++ b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h @@ -48,6 +48,7 @@ class RouteBuilderProxy : public QObject { Q_INVOKABLE QObject* deadZone(float min); Q_INVOKABLE QObject* constrainToInteger(); Q_INVOKABLE QObject* constrainToPositiveInteger(); + Q_INVOKABLE QObject* translate(glm::vec3 translate); private: void to(const Endpoint::Pointer& destination); diff --git a/libraries/controllers/src/controllers/impl/filters/ScaleFilter.h b/libraries/controllers/src/controllers/impl/filters/ScaleFilter.h index 670da53fe8..7b03e2ce48 100644 --- a/libraries/controllers/src/controllers/impl/filters/ScaleFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/ScaleFilter.h @@ -10,6 +10,8 @@ #ifndef hifi_Controllers_Filters_Scale_h #define hifi_Controllers_Filters_Scale_h +#include + #include "../Filter.h" namespace controller { @@ -23,6 +25,11 @@ public: virtual float apply(float value) const override { return value * _scale; } + + virtual Pose apply(Pose value) const override { + return value.transform(glm::scale(glm::mat4(), glm::vec3(_scale))); + } + virtual bool parseParameters(const QJsonValue& parameters) override; private: diff --git a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp new file mode 100644 index 0000000000..6f7e1e6a45 --- /dev/null +++ b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp @@ -0,0 +1,23 @@ +// +// Created by Bradley Austin Davis 2015/10/25 +// Copyright 2015 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#include "TranslateFilter.h" + +#include +#include + +#include + +using namespace controller; + +bool TranslateFilter::parseParameters(const QJsonValue& parameters) { + static const QString JSON_TRANSLATE = QStringLiteral("translate"); + bool result = parseVec3Parameter(parameters, JSON_TRANSLATE, _translate); + qDebug() << __FUNCTION__ << "_translate:" << _translate; + return result; +} diff --git a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h new file mode 100644 index 0000000000..504e4c3151 --- /dev/null +++ b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h @@ -0,0 +1,47 @@ +// +// Created by Brad Hefta-Gaub 2017/04/11 +// Copyright 2017 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#pragma once +#ifndef hifi_Controllers_Filters_Translate_h +#define hifi_Controllers_Filters_Translate_h + +#include + +#include + +#include "../Filter.h" + +namespace controller { + +class TranslateFilter : public Filter { + REGISTER_FILTER_CLASS(TranslateFilter); +public: + TranslateFilter() { + qDebug() << __FUNCTION__; + } + TranslateFilter(glm::vec3 translate) : _translate(translate) { + qDebug() << __FUNCTION__ << "translate:" << translate; + } + + virtual float apply(float value) const override { + return value; + } + + virtual Pose apply(Pose value) const override { + return value.transform(glm::translate(_translate)); + } + + virtual bool parseParameters(const QJsonValue& parameters) override; + +private: + glm::vec3 _translate { 0.0f }; +}; + +} + +#endif diff --git a/script-archive/controllers/puppetFeet3.js b/script-archive/controllers/puppetFeet3.js new file mode 100644 index 0000000000..8fa7d5c632 --- /dev/null +++ b/script-archive/controllers/puppetFeet3.js @@ -0,0 +1,24 @@ +// +// puppetFeet3.js +// examples/controllers +// +// Created by Brad Hefta-Gaub on 2017/04/11 +// Copyright 2017 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + + +var MAPPING_NAME = "com.highfidelity.examples.puppetFeet3"; +var mapping = Controller.newMapping(MAPPING_NAME); +var puppetOffset = { x: 0, y: -1, z: 0 }; + +mapping.from(Controller.Standard.LeftHand).peek().translate(puppetOffset).to(Controller.Standard.LeftFoot); + +Controller.enableMapping(MAPPING_NAME); + + +Script.scriptEnding.connect(function(){ + mapping.disable(); +}); From 82166f494738a6338d53750a92f79dd1ce1fabe0 Mon Sep 17 00:00:00 2001 From: ZappoMan Date: Tue, 11 Apr 2017 14:06:36 -0700 Subject: [PATCH 2/6] add rotate and transform filters for poses --- .../src/controllers/impl/Filter.cpp | 65 +++++++++++++++++++ .../controllers/src/controllers/impl/Filter.h | 2 + .../controllers/impl/RouteBuilderProxy.cpp | 13 +++- .../src/controllers/impl/RouteBuilderProxy.h | 2 + .../controllers/impl/filters/RotateFilter.cpp | 21 ++++++ .../controllers/impl/filters/RotateFilter.h | 40 ++++++++++++ .../impl/filters/TransformFilter.cpp | 21 ++++++ .../impl/filters/TransformFilter.h | 41 ++++++++++++ .../impl/filters/TranslateFilter.cpp | 4 +- .../impl/filters/TranslateFilter.h | 10 +-- script-archive/controllers/puppetFeet3.js | 12 +++- 11 files changed, 218 insertions(+), 13 deletions(-) create mode 100644 libraries/controllers/src/controllers/impl/filters/RotateFilter.cpp create mode 100644 libraries/controllers/src/controllers/impl/filters/RotateFilter.h create mode 100644 libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp create mode 100644 libraries/controllers/src/controllers/impl/filters/TransformFilter.h diff --git a/libraries/controllers/src/controllers/impl/Filter.cpp b/libraries/controllers/src/controllers/impl/Filter.cpp index a75c43463e..12e666825b 100644 --- a/libraries/controllers/src/controllers/impl/Filter.cpp +++ b/libraries/controllers/src/controllers/impl/Filter.cpp @@ -25,6 +25,7 @@ #include "filters/PulseFilter.h" #include "filters/ScaleFilter.h" #include "filters/TranslateFilter.h" +#include "filters/TransformFilter.h" using namespace controller; @@ -39,6 +40,7 @@ REGISTER_FILTER_CLASS_INSTANCE(InvertFilter, "invert") REGISTER_FILTER_CLASS_INSTANCE(ScaleFilter, "scale") REGISTER_FILTER_CLASS_INSTANCE(PulseFilter, "pulse") REGISTER_FILTER_CLASS_INSTANCE(TranslateFilter, "translate") +REGISTER_FILTER_CLASS_INSTANCE(TransformFilter, "transform") const QString JSON_FILTER_TYPE = QStringLiteral("type"); const QString JSON_FILTER_PARAMS = QStringLiteral("params"); @@ -112,6 +114,69 @@ bool Filter::parseVec3Parameter(const QJsonValue& parameters, const QString& nam return false; } +bool Filter::parseMat4Parameter(const QJsonValue& parameters, const QString& name, glm::mat4& output) { + if (parameters.isObject()) { + auto objectParameters = parameters.toObject(); + + + if (objectParameters.contains("r0c0") && + objectParameters.contains("r1c0") && + objectParameters.contains("r2c0") && + objectParameters.contains("r3c0") && + objectParameters.contains("r0c1") && + objectParameters.contains("r1c1") && + objectParameters.contains("r2c1") && + objectParameters.contains("r3c1") && + objectParameters.contains("r0c2") && + objectParameters.contains("r1c2") && + objectParameters.contains("r2c2") && + objectParameters.contains("r3c2") && + objectParameters.contains("r0c3") && + objectParameters.contains("r1c3") && + objectParameters.contains("r2c3") && + objectParameters.contains("r3c3")) { + + output[0][0] = objectParameters["r0c0"].toDouble(); + output[0][1] = objectParameters["r1c0"].toDouble(); + output[0][2] = objectParameters["r2c0"].toDouble(); + output[0][3] = objectParameters["r3c0"].toDouble(); + output[1][0] = objectParameters["r0c1"].toDouble(); + output[1][1] = objectParameters["r1c1"].toDouble(); + output[1][2] = objectParameters["r2c1"].toDouble(); + output[1][3] = objectParameters["r3c1"].toDouble(); + output[2][0] = objectParameters["r0c2"].toDouble(); + output[2][1] = objectParameters["r1c2"].toDouble(); + output[2][2] = objectParameters["r2c2"].toDouble(); + output[2][3] = objectParameters["r3c2"].toDouble(); + output[3][0] = objectParameters["r0c3"].toDouble(); + output[3][1] = objectParameters["r1c3"].toDouble(); + output[3][2] = objectParameters["r2c3"].toDouble(); + output[3][3] = objectParameters["r3c3"].toDouble(); + + return true; + } + } + return false; +} + +bool Filter::parseQuatParameter(const QJsonValue& parameters, const QString& name, glm::quat& output) { + if (parameters.isObject()) { + auto objectParameters = parameters.toObject(); + if (objectParameters.contains("w") && + objectParameters.contains("x") && + objectParameters.contains("y") && + objectParameters.contains("z")) { + + output = glm::quat(objectParameters["w"].toDouble(), + objectParameters["x"].toDouble(), + objectParameters["y"].toDouble(), + objectParameters["z"].toDouble()); + return true; + } + } + return false; +} + #if 0 diff --git a/libraries/controllers/src/controllers/impl/Filter.h b/libraries/controllers/src/controllers/impl/Filter.h index c268a227d7..d20a3d08e3 100644 --- a/libraries/controllers/src/controllers/impl/Filter.h +++ b/libraries/controllers/src/controllers/impl/Filter.h @@ -47,6 +47,8 @@ namespace controller { static bool parseSingleFloatParameter(const QJsonValue& parameters, const QString& name, float& output); static bool parseVec3Parameter(const QJsonValue& parameters, const QString& name, glm::vec3& output); + static bool parseMat4Parameter(const QJsonValue& parameters, const QString& name, glm::mat4& output); + static bool parseQuatParameter(const QJsonValue& parameters, const QString& name, glm::quat& output); protected: static Factory _factory; }; diff --git a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp index 93ec8d4acd..fa662dcc13 100644 --- a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp +++ b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp @@ -27,6 +27,8 @@ #include "filters/PulseFilter.h" #include "filters/ScaleFilter.h" #include "filters/TranslateFilter.h" +#include "filters/TransformFilter.h" +#include "filters/RotateFilter.h" #include "conditionals/AndConditional.h" using namespace controller; @@ -105,11 +107,20 @@ QObject* RouteBuilderProxy::deadZone(float min) { } QObject* RouteBuilderProxy::translate(glm::vec3 translate) { - qDebug() << __FUNCTION__ << "translate:" << translate; addFilter(std::make_shared(translate)); return this; } +QObject* RouteBuilderProxy::transform(glm::mat4 transform) { + addFilter(std::make_shared(transform)); + return this; +} + +QObject* RouteBuilderProxy::rotate(glm::quat rotation) { + addFilter(std::make_shared(rotation)); + return this; +} + QObject* RouteBuilderProxy::constrainToInteger() { addFilter(std::make_shared()); return this; diff --git a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h index 0d3ddd55fb..7696eefebe 100644 --- a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h +++ b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h @@ -49,6 +49,8 @@ class RouteBuilderProxy : public QObject { Q_INVOKABLE QObject* constrainToInteger(); Q_INVOKABLE QObject* constrainToPositiveInteger(); Q_INVOKABLE QObject* translate(glm::vec3 translate); + Q_INVOKABLE QObject* transform(glm::mat4 transform); + Q_INVOKABLE QObject* rotate(glm::quat rotation); private: void to(const Endpoint::Pointer& destination); diff --git a/libraries/controllers/src/controllers/impl/filters/RotateFilter.cpp b/libraries/controllers/src/controllers/impl/filters/RotateFilter.cpp new file mode 100644 index 0000000000..b5a94ba492 --- /dev/null +++ b/libraries/controllers/src/controllers/impl/filters/RotateFilter.cpp @@ -0,0 +1,21 @@ +// +// Created by Brad Hefta-Gaub 2017/04/11 +// Copyright 2017 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#include "RotateFilter.h" + +#include +#include + +#include + +using namespace controller; + +bool RotateFilter::parseParameters(const QJsonValue& parameters) { + static const QString JSON_ROTATION = QStringLiteral("rotation"); + return parseQuatParameter(parameters, JSON_ROTATION, _rotation); +} diff --git a/libraries/controllers/src/controllers/impl/filters/RotateFilter.h b/libraries/controllers/src/controllers/impl/filters/RotateFilter.h new file mode 100644 index 0000000000..a5c3b10655 --- /dev/null +++ b/libraries/controllers/src/controllers/impl/filters/RotateFilter.h @@ -0,0 +1,40 @@ +// +// Created by Brad Hefta-Gaub 2017/04/11 +// Copyright 2017 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#pragma once +#ifndef hifi_Controllers_Filters_Rotate_h +#define hifi_Controllers_Filters_Rotate_h + +#include + +#include "../Filter.h" + +namespace controller { + +class RotateFilter : public Filter { + REGISTER_FILTER_CLASS(RotateFilter); +public: + RotateFilter() { } + RotateFilter(glm::quat rotation) : _rotation(rotation) {} + + virtual float apply(float value) const override { return value; } + + virtual Pose apply(Pose value) const override { + glm::quat temp = _rotation; + return value.transform(glm::mat4(temp)); + } + + virtual bool parseParameters(const QJsonValue& parameters) override; + +private: + glm::quat _rotation; +}; + +} + +#endif diff --git a/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp b/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp new file mode 100644 index 0000000000..71568b4c29 --- /dev/null +++ b/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp @@ -0,0 +1,21 @@ +// +// Created by Bradley Austin Davis 2015/10/25 +// Copyright 2015 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#include "TransformFilter.h" + +#include +#include + +#include + +using namespace controller; + +bool TransformFilter::parseParameters(const QJsonValue& parameters) { + static const QString JSON_TRANSFORM = QStringLiteral("transform"); + return parseMat4Parameter(parameters, JSON_TRANSFORM, _transform); +} diff --git a/libraries/controllers/src/controllers/impl/filters/TransformFilter.h b/libraries/controllers/src/controllers/impl/filters/TransformFilter.h new file mode 100644 index 0000000000..9999fd03c7 --- /dev/null +++ b/libraries/controllers/src/controllers/impl/filters/TransformFilter.h @@ -0,0 +1,41 @@ +// +// Created by Brad Hefta-Gaub 2017/04/11 +// Copyright 2017 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#pragma once +#ifndef hifi_Controllers_Filters_Transform_h +#define hifi_Controllers_Filters_Transform_h + +#include + +#include "../Filter.h" + +namespace controller { + +class TransformFilter : public Filter { + REGISTER_FILTER_CLASS(TransformFilter); +public: + TransformFilter() { } + TransformFilter(glm::mat4 transform) : _transform(transform) {} + + virtual float apply(float value) const override { + return value; + } + + virtual Pose apply(Pose value) const override { + return value.transform(_transform); + } + + virtual bool parseParameters(const QJsonValue& parameters) override; + +private: + glm::mat4 _transform; +}; + +} + +#endif diff --git a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp index 6f7e1e6a45..e63afcdd9e 100644 --- a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp +++ b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp @@ -17,7 +17,5 @@ using namespace controller; bool TranslateFilter::parseParameters(const QJsonValue& parameters) { static const QString JSON_TRANSLATE = QStringLiteral("translate"); - bool result = parseVec3Parameter(parameters, JSON_TRANSLATE, _translate); - qDebug() << __FUNCTION__ << "_translate:" << _translate; - return result; + return parseVec3Parameter(parameters, JSON_TRANSLATE, _translate); } diff --git a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h index 504e4c3151..d5ac417b98 100644 --- a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h @@ -12,8 +12,6 @@ #include -#include - #include "../Filter.h" namespace controller { @@ -21,12 +19,8 @@ namespace controller { class TranslateFilter : public Filter { REGISTER_FILTER_CLASS(TranslateFilter); public: - TranslateFilter() { - qDebug() << __FUNCTION__; - } - TranslateFilter(glm::vec3 translate) : _translate(translate) { - qDebug() << __FUNCTION__ << "translate:" << translate; - } + TranslateFilter() { } + TranslateFilter(glm::vec3 translate) : _translate(translate) {} virtual float apply(float value) const override { return value; diff --git a/script-archive/controllers/puppetFeet3.js b/script-archive/controllers/puppetFeet3.js index 8fa7d5c632..3c9618edd9 100644 --- a/script-archive/controllers/puppetFeet3.js +++ b/script-archive/controllers/puppetFeet3.js @@ -14,7 +14,17 @@ var MAPPING_NAME = "com.highfidelity.examples.puppetFeet3"; var mapping = Controller.newMapping(MAPPING_NAME); var puppetOffset = { x: 0, y: -1, z: 0 }; -mapping.from(Controller.Standard.LeftHand).peek().translate(puppetOffset).to(Controller.Standard.LeftFoot); +var rotation = Quat.fromPitchYawRollDegrees(0, 0, -90); +var noTranslation = { x: 0, y: 0, z: 0 }; +var transformMatrix = Mat4.createFromRotAndTrans(rotation, noTranslation); +var rotateAndTranslate = Mat4.createFromRotAndTrans(rotation, puppetOffset); + + +mapping.from(Controller.Standard.LeftHand).peek().rotate(rotation).translate(puppetOffset).to(Controller.Standard.LeftFoot); + +//mapping.from(Controller.Standard.LeftHand).peek().translate(puppetOffset).to(Controller.Standard.LeftFoot); +//mapping.from(Controller.Standard.LeftHand).peek().transform(transformMatrix).translate(puppetOffset).to(Controller.Standard.LeftFoot); +//mapping.from(Controller.Standard.LeftHand).peek().transform(rotateAndTranslate).to(Controller.Standard.LeftFoot); Controller.enableMapping(MAPPING_NAME); From 6daf68b338282ad68f615339bc185c48a38d64ce Mon Sep 17 00:00:00 2001 From: ZappoMan Date: Tue, 11 Apr 2017 14:18:21 -0700 Subject: [PATCH 3/6] tweak --- libraries/controllers/src/controllers/impl/Filter.h | 2 +- .../controllers/src/controllers/impl/filters/ClampFilter.h | 3 +++ .../src/controllers/impl/filters/ConstrainToIntegerFilter.h | 3 +++ .../impl/filters/ConstrainToPositiveIntegerFilter.h | 3 +++ .../controllers/src/controllers/impl/filters/DeadZoneFilter.h | 3 +++ .../src/controllers/impl/filters/HysteresisFilter.h | 3 +++ .../controllers/src/controllers/impl/filters/PulseFilter.h | 2 ++ 7 files changed, 18 insertions(+), 1 deletion(-) diff --git a/libraries/controllers/src/controllers/impl/Filter.h b/libraries/controllers/src/controllers/impl/Filter.h index d20a3d08e3..2d79a28ddb 100644 --- a/libraries/controllers/src/controllers/impl/Filter.h +++ b/libraries/controllers/src/controllers/impl/Filter.h @@ -36,7 +36,7 @@ namespace controller { using Factory = hifi::SimpleFactory; virtual float apply(float value) const = 0; - virtual Pose apply(Pose value) const { return value; } // most filters don't operate on poses + virtual Pose apply(Pose value) const = 0; // Factory features virtual bool parseParameters(const QJsonValue& parameters) { return true; } diff --git a/libraries/controllers/src/controllers/impl/filters/ClampFilter.h b/libraries/controllers/src/controllers/impl/filters/ClampFilter.h index fd82821b3e..b06a43515f 100644 --- a/libraries/controllers/src/controllers/impl/filters/ClampFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/ClampFilter.h @@ -21,6 +21,9 @@ public: virtual float apply(float value) const override { return glm::clamp(value, _min, _max); } + + virtual Pose apply(Pose value) const override { return value; } + virtual bool parseParameters(const QJsonValue& parameters) override; protected: float _min = 0.0f; diff --git a/libraries/controllers/src/controllers/impl/filters/ConstrainToIntegerFilter.h b/libraries/controllers/src/controllers/impl/filters/ConstrainToIntegerFilter.h index 580dc2a856..c9a25fde72 100644 --- a/libraries/controllers/src/controllers/impl/filters/ConstrainToIntegerFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/ConstrainToIntegerFilter.h @@ -22,6 +22,9 @@ public: virtual float apply(float value) const override { return glm::sign(value); } + + virtual Pose apply(Pose value) const override { return value; } + protected: }; diff --git a/libraries/controllers/src/controllers/impl/filters/ConstrainToPositiveIntegerFilter.h b/libraries/controllers/src/controllers/impl/filters/ConstrainToPositiveIntegerFilter.h index 27395cde24..e3f4ee8929 100644 --- a/libraries/controllers/src/controllers/impl/filters/ConstrainToPositiveIntegerFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/ConstrainToPositiveIntegerFilter.h @@ -22,6 +22,9 @@ public: virtual float apply(float value) const override { return (value <= 0.0f) ? 0.0f : 1.0f; } + + virtual Pose apply(Pose value) const override { return value; } + protected: }; diff --git a/libraries/controllers/src/controllers/impl/filters/DeadZoneFilter.h b/libraries/controllers/src/controllers/impl/filters/DeadZoneFilter.h index 70ac657415..d898647126 100644 --- a/libraries/controllers/src/controllers/impl/filters/DeadZoneFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/DeadZoneFilter.h @@ -20,6 +20,9 @@ public: DeadZoneFilter(float min = 0.0) : _min(min) {}; virtual float apply(float value) const override; + + virtual Pose apply(Pose value) const override { return value; } + virtual bool parseParameters(const QJsonValue& parameters) override; protected: float _min = 0.0f; diff --git a/libraries/controllers/src/controllers/impl/filters/HysteresisFilter.h b/libraries/controllers/src/controllers/impl/filters/HysteresisFilter.h index 4f7e07928d..4eb563754f 100644 --- a/libraries/controllers/src/controllers/impl/filters/HysteresisFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/HysteresisFilter.h @@ -19,6 +19,9 @@ class HysteresisFilter : public Filter { public: HysteresisFilter(float min = 0.25, float max = 0.75); virtual float apply(float value) const override; + + virtual Pose apply(Pose value) const override { return value; } + virtual bool parseParameters(const QJsonValue& parameters) override; protected: float _min; diff --git a/libraries/controllers/src/controllers/impl/filters/PulseFilter.h b/libraries/controllers/src/controllers/impl/filters/PulseFilter.h index 271f4a04f6..a8c7cbf9e6 100644 --- a/libraries/controllers/src/controllers/impl/filters/PulseFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/PulseFilter.h @@ -23,6 +23,8 @@ public: virtual float apply(float value) const override; + virtual Pose apply(Pose value) const override { return value; } + virtual bool parseParameters(const QJsonValue& parameters) override; private: From afe7c386c3831ddc6e75d456fad1879a20f9a818 Mon Sep 17 00:00:00 2001 From: ZappoMan Date: Tue, 11 Apr 2017 17:03:33 -0700 Subject: [PATCH 4/6] added postTransform filter --- .../controllers/src/controllers/Pose.cpp | 19 +++++++++++ libraries/controllers/src/controllers/Pose.h | 3 ++ .../src/controllers/impl/Filter.cpp | 6 +++- .../controllers/src/controllers/impl/Filter.h | 2 +- .../controllers/impl/RouteBuilderProxy.cpp | 6 ++++ .../src/controllers/impl/RouteBuilderProxy.h | 1 + .../impl/filters/PostTransformFilter.h | 33 +++++++++++++++++++ .../impl/filters/TransformFilter.cpp | 3 +- 8 files changed, 69 insertions(+), 4 deletions(-) create mode 100644 libraries/controllers/src/controllers/impl/filters/PostTransformFilter.h diff --git a/libraries/controllers/src/controllers/Pose.cpp b/libraries/controllers/src/controllers/Pose.cpp index b86391bbba..6bcea82720 100644 --- a/libraries/controllers/src/controllers/Pose.cpp +++ b/libraries/controllers/src/controllers/Pose.cpp @@ -69,5 +69,24 @@ namespace controller { pose.valid = valid; return pose; } + + Pose Pose::postTransform(const glm::mat4& mat) const { + glm::mat4 original = getMat4(); + glm::mat4 result = original * mat; + + auto translationOut = ::extractTranslation(result); + auto rotationOut = ::glmExtractRotation(result); + auto velocityOut = velocity + glm::cross(angularVelocity, translation - translationOut); // warning: this may be completely wrong + auto angularVelocityOut = angularVelocity; + + Pose pose(translationOut, + rotationOut, + velocityOut, + angularVelocityOut); + + pose.valid = valid; + return pose; + } + } diff --git a/libraries/controllers/src/controllers/Pose.h b/libraries/controllers/src/controllers/Pose.h index 47ba59279a..9e5371ce59 100644 --- a/libraries/controllers/src/controllers/Pose.h +++ b/libraries/controllers/src/controllers/Pose.h @@ -41,6 +41,9 @@ namespace controller { vec3 getAngularVelocity() const { return angularVelocity; } Pose transform(const glm::mat4& mat) const; + Pose postTransform(const glm::mat4& mat) const; + + glm::mat4 getMat4() const { return ::createMatFromQuatAndPos(rotation, translation); } static QScriptValue toScriptValue(QScriptEngine* engine, const Pose& event); static void fromScriptValue(const QScriptValue& object, Pose& event); diff --git a/libraries/controllers/src/controllers/impl/Filter.cpp b/libraries/controllers/src/controllers/impl/Filter.cpp index 12e666825b..74fa5d99cc 100644 --- a/libraries/controllers/src/controllers/impl/Filter.cpp +++ b/libraries/controllers/src/controllers/impl/Filter.cpp @@ -26,6 +26,8 @@ #include "filters/ScaleFilter.h" #include "filters/TranslateFilter.h" #include "filters/TransformFilter.h" +#include "filters/PostTransformFilter.h" +#include "filters/RotateFilter.h" using namespace controller; @@ -41,6 +43,8 @@ REGISTER_FILTER_CLASS_INSTANCE(ScaleFilter, "scale") REGISTER_FILTER_CLASS_INSTANCE(PulseFilter, "pulse") REGISTER_FILTER_CLASS_INSTANCE(TranslateFilter, "translate") REGISTER_FILTER_CLASS_INSTANCE(TransformFilter, "transform") +REGISTER_FILTER_CLASS_INSTANCE(PostTransformFilter, "postTransform") +REGISTER_FILTER_CLASS_INSTANCE(RotateFilter, "rotate") const QString JSON_FILTER_TYPE = QStringLiteral("type"); const QString JSON_FILTER_PARAMS = QStringLiteral("params"); @@ -114,7 +118,7 @@ bool Filter::parseVec3Parameter(const QJsonValue& parameters, const QString& nam return false; } -bool Filter::parseMat4Parameter(const QJsonValue& parameters, const QString& name, glm::mat4& output) { +bool Filter::parseMat4Parameter(const QJsonValue& parameters, glm::mat4& output) { if (parameters.isObject()) { auto objectParameters = parameters.toObject(); diff --git a/libraries/controllers/src/controllers/impl/Filter.h b/libraries/controllers/src/controllers/impl/Filter.h index 2d79a28ddb..73b0aa06f5 100644 --- a/libraries/controllers/src/controllers/impl/Filter.h +++ b/libraries/controllers/src/controllers/impl/Filter.h @@ -47,8 +47,8 @@ namespace controller { static bool parseSingleFloatParameter(const QJsonValue& parameters, const QString& name, float& output); static bool parseVec3Parameter(const QJsonValue& parameters, const QString& name, glm::vec3& output); - static bool parseMat4Parameter(const QJsonValue& parameters, const QString& name, glm::mat4& output); static bool parseQuatParameter(const QJsonValue& parameters, const QString& name, glm::quat& output); + static bool parseMat4Parameter(const QJsonValue& parameters, glm::mat4& output); protected: static Factory _factory; }; diff --git a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp index fa662dcc13..f3c447238a 100644 --- a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp +++ b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.cpp @@ -28,6 +28,7 @@ #include "filters/ScaleFilter.h" #include "filters/TranslateFilter.h" #include "filters/TransformFilter.h" +#include "filters/PostTransformFilter.h" #include "filters/RotateFilter.h" #include "conditionals/AndConditional.h" @@ -116,6 +117,11 @@ QObject* RouteBuilderProxy::transform(glm::mat4 transform) { return this; } +QObject* RouteBuilderProxy::postTransform(glm::mat4 transform) { + addFilter(std::make_shared(transform)); + return this; +} + QObject* RouteBuilderProxy::rotate(glm::quat rotation) { addFilter(std::make_shared(rotation)); return this; diff --git a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h index 7696eefebe..de9c23d2cd 100644 --- a/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h +++ b/libraries/controllers/src/controllers/impl/RouteBuilderProxy.h @@ -50,6 +50,7 @@ class RouteBuilderProxy : public QObject { Q_INVOKABLE QObject* constrainToPositiveInteger(); Q_INVOKABLE QObject* translate(glm::vec3 translate); Q_INVOKABLE QObject* transform(glm::mat4 transform); + Q_INVOKABLE QObject* postTransform(glm::mat4 transform); Q_INVOKABLE QObject* rotate(glm::quat rotation); private: diff --git a/libraries/controllers/src/controllers/impl/filters/PostTransformFilter.h b/libraries/controllers/src/controllers/impl/filters/PostTransformFilter.h new file mode 100644 index 0000000000..656a146ff2 --- /dev/null +++ b/libraries/controllers/src/controllers/impl/filters/PostTransformFilter.h @@ -0,0 +1,33 @@ +// +// Created by Brad Hefta-Gaub 2017/04/11 +// Copyright 2017 High Fidelity, Inc. +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +#pragma once +#ifndef hifi_Controllers_Filters_PostTransform_h +#define hifi_Controllers_Filters_PostTransform_h + +#include + +#include "../Filter.h" + +namespace controller { + +class PostTransformFilter : public Filter { + REGISTER_FILTER_CLASS(PostTransformFilter); +public: + PostTransformFilter() { } + PostTransformFilter(glm::mat4 transform) : _transform(transform) {} + virtual float apply(float value) const override { return value; } + virtual Pose apply(Pose value) const override { return value.postTransform(_transform); } + virtual bool parseParameters(const QJsonValue& parameters) override { return parseMat4Parameter(parameters, _transform); } +private: + glm::mat4 _transform; +}; + +} + +#endif diff --git a/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp b/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp index 71568b4c29..2b7b0ef21d 100644 --- a/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp +++ b/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp @@ -16,6 +16,5 @@ using namespace controller; bool TransformFilter::parseParameters(const QJsonValue& parameters) { - static const QString JSON_TRANSFORM = QStringLiteral("transform"); - return parseMat4Parameter(parameters, JSON_TRANSFORM, _transform); + return parseMat4Parameter(parameters, _transform); } From dce73ea428dfe7bbdebd05aed68ed2c4c332f79f Mon Sep 17 00:00:00 2001 From: ZappoMan Date: Wed, 12 Apr 2017 13:43:57 -0700 Subject: [PATCH 5/6] some cleanup --- .../controllers/src/controllers/Pose.cpp | 3 +-- libraries/controllers/src/controllers/Pose.h | 2 -- .../src/controllers/impl/Filter.cpp | 5 ++--- .../controllers/src/controllers/impl/Filter.h | 4 ++-- .../controllers/impl/filters/RotateFilter.cpp | 21 ------------------- .../controllers/impl/filters/RotateFilter.h | 5 ++--- .../impl/filters/TransformFilter.cpp | 20 ------------------ .../impl/filters/TransformFilter.h | 12 +++-------- .../impl/filters/TranslateFilter.cpp | 21 ------------------- .../impl/filters/TranslateFilter.h | 12 +++-------- 10 files changed, 13 insertions(+), 92 deletions(-) delete mode 100644 libraries/controllers/src/controllers/impl/filters/RotateFilter.cpp delete mode 100644 libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp delete mode 100644 libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp diff --git a/libraries/controllers/src/controllers/Pose.cpp b/libraries/controllers/src/controllers/Pose.cpp index 6bcea82720..0c0de95bb4 100644 --- a/libraries/controllers/src/controllers/Pose.cpp +++ b/libraries/controllers/src/controllers/Pose.cpp @@ -71,9 +71,8 @@ namespace controller { } Pose Pose::postTransform(const glm::mat4& mat) const { - glm::mat4 original = getMat4(); + glm::mat4 original = ::createMatFromQuatAndPos(rotation, translation); glm::mat4 result = original * mat; - auto translationOut = ::extractTranslation(result); auto rotationOut = ::glmExtractRotation(result); auto velocityOut = velocity + glm::cross(angularVelocity, translation - translationOut); // warning: this may be completely wrong diff --git a/libraries/controllers/src/controllers/Pose.h b/libraries/controllers/src/controllers/Pose.h index 9e5371ce59..a6d1360f9f 100644 --- a/libraries/controllers/src/controllers/Pose.h +++ b/libraries/controllers/src/controllers/Pose.h @@ -43,8 +43,6 @@ namespace controller { Pose transform(const glm::mat4& mat) const; Pose postTransform(const glm::mat4& mat) const; - glm::mat4 getMat4() const { return ::createMatFromQuatAndPos(rotation, translation); } - static QScriptValue toScriptValue(QScriptEngine* engine, const Pose& event); static void fromScriptValue(const QScriptValue& object, Pose& event); }; diff --git a/libraries/controllers/src/controllers/impl/Filter.cpp b/libraries/controllers/src/controllers/impl/Filter.cpp index 74fa5d99cc..2cb35d85ce 100644 --- a/libraries/controllers/src/controllers/impl/Filter.cpp +++ b/libraries/controllers/src/controllers/impl/Filter.cpp @@ -93,8 +93,7 @@ bool Filter::parseSingleFloatParameter(const QJsonValue& parameters, const QStri return false; } -// FIXME - we're not really using the name -bool Filter::parseVec3Parameter(const QJsonValue& parameters, const QString& name, glm::vec3& output) { +bool Filter::parseVec3Parameter(const QJsonValue& parameters, glm::vec3& output) { if (parameters.isDouble()) { output = glm::vec3(parameters.toDouble()); return true; @@ -163,7 +162,7 @@ bool Filter::parseMat4Parameter(const QJsonValue& parameters, glm::mat4& output) return false; } -bool Filter::parseQuatParameter(const QJsonValue& parameters, const QString& name, glm::quat& output) { +bool Filter::parseQuatParameter(const QJsonValue& parameters, glm::quat& output) { if (parameters.isObject()) { auto objectParameters = parameters.toObject(); if (objectParameters.contains("w") && diff --git a/libraries/controllers/src/controllers/impl/Filter.h b/libraries/controllers/src/controllers/impl/Filter.h index 73b0aa06f5..cde8f991b7 100644 --- a/libraries/controllers/src/controllers/impl/Filter.h +++ b/libraries/controllers/src/controllers/impl/Filter.h @@ -46,8 +46,8 @@ namespace controller { static Factory& getFactory() { return _factory; } static bool parseSingleFloatParameter(const QJsonValue& parameters, const QString& name, float& output); - static bool parseVec3Parameter(const QJsonValue& parameters, const QString& name, glm::vec3& output); - static bool parseQuatParameter(const QJsonValue& parameters, const QString& name, glm::quat& output); + static bool parseVec3Parameter(const QJsonValue& parameters, glm::vec3& output); + static bool parseQuatParameter(const QJsonValue& parameters, glm::quat& output); static bool parseMat4Parameter(const QJsonValue& parameters, glm::mat4& output); protected: static Factory _factory; diff --git a/libraries/controllers/src/controllers/impl/filters/RotateFilter.cpp b/libraries/controllers/src/controllers/impl/filters/RotateFilter.cpp deleted file mode 100644 index b5a94ba492..0000000000 --- a/libraries/controllers/src/controllers/impl/filters/RotateFilter.cpp +++ /dev/null @@ -1,21 +0,0 @@ -// -// Created by Brad Hefta-Gaub 2017/04/11 -// Copyright 2017 High Fidelity, Inc. -// -// Distributed under the Apache License, Version 2.0. -// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html -// - -#include "RotateFilter.h" - -#include -#include - -#include - -using namespace controller; - -bool RotateFilter::parseParameters(const QJsonValue& parameters) { - static const QString JSON_ROTATION = QStringLiteral("rotation"); - return parseQuatParameter(parameters, JSON_ROTATION, _rotation); -} diff --git a/libraries/controllers/src/controllers/impl/filters/RotateFilter.h b/libraries/controllers/src/controllers/impl/filters/RotateFilter.h index a5c3b10655..ee2e081393 100644 --- a/libraries/controllers/src/controllers/impl/filters/RotateFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/RotateFilter.h @@ -25,11 +25,10 @@ public: virtual float apply(float value) const override { return value; } virtual Pose apply(Pose value) const override { - glm::quat temp = _rotation; - return value.transform(glm::mat4(temp)); + return value.transform(glm::mat4(glm::quat(_rotation))); } - virtual bool parseParameters(const QJsonValue& parameters) override; + virtual bool parseParameters(const QJsonValue& parameters) override { return parseQuatParameter(parameters, _rotation); } private: glm::quat _rotation; diff --git a/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp b/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp deleted file mode 100644 index 2b7b0ef21d..0000000000 --- a/libraries/controllers/src/controllers/impl/filters/TransformFilter.cpp +++ /dev/null @@ -1,20 +0,0 @@ -// -// Created by Bradley Austin Davis 2015/10/25 -// Copyright 2015 High Fidelity, Inc. -// -// Distributed under the Apache License, Version 2.0. -// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html -// - -#include "TransformFilter.h" - -#include -#include - -#include - -using namespace controller; - -bool TransformFilter::parseParameters(const QJsonValue& parameters) { - return parseMat4Parameter(parameters, _transform); -} diff --git a/libraries/controllers/src/controllers/impl/filters/TransformFilter.h b/libraries/controllers/src/controllers/impl/filters/TransformFilter.h index 9999fd03c7..263b70c9b4 100644 --- a/libraries/controllers/src/controllers/impl/filters/TransformFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/TransformFilter.h @@ -22,15 +22,9 @@ public: TransformFilter() { } TransformFilter(glm::mat4 transform) : _transform(transform) {} - virtual float apply(float value) const override { - return value; - } - - virtual Pose apply(Pose value) const override { - return value.transform(_transform); - } - - virtual bool parseParameters(const QJsonValue& parameters) override; + virtual float apply(float value) const override { return value; } + virtual Pose apply(Pose value) const override { return value.transform(_transform); } + virtual bool parseParameters(const QJsonValue& parameters) override { return parseMat4Parameter(parameters, _transform); } private: glm::mat4 _transform; diff --git a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp deleted file mode 100644 index e63afcdd9e..0000000000 --- a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.cpp +++ /dev/null @@ -1,21 +0,0 @@ -// -// Created by Bradley Austin Davis 2015/10/25 -// Copyright 2015 High Fidelity, Inc. -// -// Distributed under the Apache License, Version 2.0. -// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html -// - -#include "TranslateFilter.h" - -#include -#include - -#include - -using namespace controller; - -bool TranslateFilter::parseParameters(const QJsonValue& parameters) { - static const QString JSON_TRANSLATE = QStringLiteral("translate"); - return parseVec3Parameter(parameters, JSON_TRANSLATE, _translate); -} diff --git a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h index d5ac417b98..eda2912a8a 100644 --- a/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h +++ b/libraries/controllers/src/controllers/impl/filters/TranslateFilter.h @@ -22,15 +22,9 @@ public: TranslateFilter() { } TranslateFilter(glm::vec3 translate) : _translate(translate) {} - virtual float apply(float value) const override { - return value; - } - - virtual Pose apply(Pose value) const override { - return value.transform(glm::translate(_translate)); - } - - virtual bool parseParameters(const QJsonValue& parameters) override; + virtual float apply(float value) const override { return value; } + virtual Pose apply(Pose value) const override { return value.transform(glm::translate(_translate)); } + virtual bool parseParameters(const QJsonValue& parameters) override { return parseVec3Parameter(parameters, _translate); } private: glm::vec3 _translate { 0.0f }; From 8ff1ca8af6b933e2cf1be30b97a1f6360388df09 Mon Sep 17 00:00:00 2001 From: ZappoMan Date: Wed, 12 Apr 2017 16:11:06 -0700 Subject: [PATCH 6/6] swap the velocity components --- libraries/controllers/src/controllers/Pose.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/controllers/src/controllers/Pose.cpp b/libraries/controllers/src/controllers/Pose.cpp index 0c0de95bb4..fc0891799e 100644 --- a/libraries/controllers/src/controllers/Pose.cpp +++ b/libraries/controllers/src/controllers/Pose.cpp @@ -75,7 +75,7 @@ namespace controller { glm::mat4 result = original * mat; auto translationOut = ::extractTranslation(result); auto rotationOut = ::glmExtractRotation(result); - auto velocityOut = velocity + glm::cross(angularVelocity, translation - translationOut); // warning: this may be completely wrong + auto velocityOut = velocity + glm::cross(angularVelocity, translationOut - translation); // warning: this may be completely wrong auto angularVelocityOut = angularVelocity; Pose pose(translationOut,