Mirrors/overte-lubosz
3
0
Fork 0
mirror of https://github.com/lubosz/overte.git synced 2025-04-19 17:03:43 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Merge pull request #3298 from PhilipRosedale/master

Browse source 
First cut of Spacebar-to-fly with Oculus and Faceshift, stabilize Faceshift head jittering
This commit is contained in:
Clément Brisset 2014-08-20 10:16:25 -07:00
commit c76afe7d4a
10 changed files with 123 additions and 56 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

66
examples/hydraMove.js
View file

@ -21,10 +21,10 @@ var position = { x: MyAvatar.position.x, y: MyAvatar.position.y, z: MyAvatar.pos
var joysticksCaptured = false;
var THRUST_CONTROLLER = 0;
var VIEW_CONTROLLER = 1;
var INITIAL_THRUST_MULTPLIER = 1.0;
var INITIAL_THRUST_MULTIPLIER = 1.0;
var THRUST_INCREASE_RATE = 1.05;
var MAX_THRUST_MULTIPLIER = 75.0;
var thrustMultiplier = INITIAL_THRUST_MULTPLIER;
var thrustMultiplier = INITIAL_THRUST_MULTIPLIER;
var grabDelta = { x: 0, y: 0, z: 0};
var grabStartPosition = { x: 0, y: 0, z: 0};
var grabDeltaVelocity = { x: 0, y: 0, z: 0};
@ -34,6 +34,8 @@ var grabbingWithRightHand = false;
var wasGrabbingWithRightHand = false;
var grabbingWithLeftHand = false;
var wasGrabbingWithLeftHand = false;
var movingWithHead = false;
var headStartPosition, headStartDeltaPitch, headStartFinalPitch, headStartRoll, headStartYaw;
var EPSILON = 0.000001;
var velocity = { x: 0, y: 0, z: 0};
var THRUST_MAG_UP = 100.0;
@ -241,6 +243,47 @@ function handleGrabBehavior(deltaTime) {
wasGrabbingWithLeftHand = grabbingWithLeftHand;
}
var HEAD_MOVE_DEAD_ZONE = 0.0;
var HEAD_STRAFE_DEAD_ZONE = 0.0;
var HEAD_ROTATE_DEAD_ZONE = 0.0;
var HEAD_THRUST_FWD_SCALE = 12000.0;
var HEAD_THRUST_STRAFE_SCALE = 1000.0;
var HEAD_YAW_RATE = 2.0;
var HEAD_PITCH_RATE = 1.0;
var HEAD_ROLL_THRUST_SCALE = 75.0;
var HEAD_PITCH_LIFT_THRUST = 3.0;
function moveWithHead(deltaTime) {
if (movingWithHead) {
var deltaYaw = MyAvatar.getHeadFinalYaw() - headStartYaw;
var deltaPitch = MyAvatar.getHeadDeltaPitch() - headStartDeltaPitch;
var bodyLocalCurrentHeadVector = Vec3.subtract(MyAvatar.getHeadPosition(), MyAvatar.position);
bodyLocalCurrentHeadVector = Vec3.multiplyQbyV(Quat.angleAxis(-deltaYaw, {x:0, y: 1, z:0}), bodyLocalCurrentHeadVector);
var headDelta = Vec3.subtract(bodyLocalCurrentHeadVector, headStartPosition);
headDelta = Vec3.multiplyQbyV(Quat.inverse(Camera.getOrientation()), headDelta);
headDelta.y = 0.0; // Don't respond to any of the vertical component of head motion
// Thrust based on leaning forward and side-to-side
if (Math.abs(headDelta.z) > HEAD_MOVE_DEAD_ZONE) {
MyAvatar.addThrust(Vec3.multiply(Quat.getFront(Camera.getOrientation()), -headDelta.z * HEAD_THRUST_FWD_SCALE * deltaTime));
}
if (Math.abs(headDelta.x) > HEAD_STRAFE_DEAD_ZONE) {
MyAvatar.addThrust(Vec3.multiply(Quat.getRight(Camera.getOrientation()), headDelta.x * HEAD_THRUST_STRAFE_SCALE * deltaTime));
}
if (Math.abs(deltaYaw) > HEAD_ROTATE_DEAD_ZONE) {
var orientation = Quat.multiply(Quat.angleAxis(deltaYaw * HEAD_YAW_RATE * deltaTime, {x:0, y: 1, z:0}), MyAvatar.orientation);
MyAvatar.orientation = orientation;
}
// Thrust Up/Down based on head pitch
MyAvatar.addThrust(Vec3.multiply({ x:0, y:1, z:0 }, (MyAvatar.getHeadFinalPitch() - headStartFinalPitch) * HEAD_PITCH_LIFT_THRUST * deltaTime));
// For head trackers, adjust pitch by head pitch
MyAvatar.headPitch += deltaPitch * HEAD_PITCH_RATE * deltaTime;
// Thrust strafe based on roll ange
MyAvatar.addThrust(Vec3.multiply(Quat.getRight(Camera.getOrientation()), -(MyAvatar.getHeadFinalRoll() - headStartRoll) * HEAD_ROLL_THRUST_SCALE * deltaTime));
}
}
// Update for joysticks and move button
function flyWithHydra(deltaTime) {
var thrustJoystickPosition = Controller.getJoystickPosition(THRUST_CONTROLLER);
@ -262,7 +305,7 @@ function flyWithHydra(deltaTime) {
thrustJoystickPosition.x * thrustMultiplier * deltaTime);
MyAvatar.addThrust(thrustRight);
} else {
thrustMultiplier = INITIAL_THRUST_MULTPLIER;
thrustMultiplier = INITIAL_THRUST_MULTIPLIER;
}
// View Controller
@ -280,6 +323,7 @@ function flyWithHydra(deltaTime) {
MyAvatar.headPitch = newPitch;
}
handleGrabBehavior(deltaTime);
moveWithHead(deltaTime);
displayDebug();
}
@ -296,3 +340,19 @@ function scriptEnding() {
}
Script.scriptEnding.connect(scriptEnding);
Controller.keyPressEvent.connect(function(event) {
if (event.text == "SPACE" && !movingWithHead) {
movingWithHead = true;
headStartPosition = Vec3.subtract(MyAvatar.getHeadPosition(), MyAvatar.position);
headStartDeltaPitch = MyAvatar.getHeadDeltaPitch();
headStartFinalPitch = MyAvatar.getHeadFinalPitch();
headStartRoll = MyAvatar.getHeadFinalRoll();
headStartYaw = MyAvatar.getHeadFinalYaw();
}
});
Controller.keyReleaseEvent.connect(function(event) {
if (event.text == "SPACE") {
movingWithHead = false;
}
});

2
interface/src/Application.cpp
View file

@ -894,7 +894,7 @@ void Application::keyPressEvent(QKeyEvent* event) {
}
break;
case Qt::Key_Space:
case Qt::Key_Apostrophe:
resetSensors();
break;

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

@ -91,7 +91,7 @@ public:
const QVector<Model*>& getAttachmentModels() const { return _attachmentModels; }
glm::vec3 getChestPosition() const;
float getScale() const { return _scale; }
const glm::vec3& getVelocity() const { return _velocity; }
Q_INVOKABLE const glm::vec3& getVelocity() const { return _velocity; }
const Head* getHead() const { return static_cast<const Head*>(_headData); }
Head* getHead() { return static_cast<Head*>(_headData); }
Hand* getHand() { return static_cast<Hand*>(_handData); }
@ -152,9 +152,9 @@ public:
Q_INVOKABLE glm::quat getJointCombinedRotation(int index) const;
Q_INVOKABLE glm::quat getJointCombinedRotation(const QString& name) const;
glm::vec3 getAcceleration() const { return _acceleration; }
glm::vec3 getAngularVelocity() const { return _angularVelocity; }
glm::vec3 getAngularAcceleration() const { return _angularAcceleration; }
Q_INVOKABLE glm::vec3 getAcceleration() const { return _acceleration; }
Q_INVOKABLE glm::vec3 getAngularVelocity() const { return _angularVelocity; }
Q_INVOKABLE glm::vec3 getAngularAcceleration() const { return _angularAcceleration; }
/// Scales a world space position vector relative to the avatar position and scale

10
interface/src/avatar/MyAvatar.h
View file

@ -106,7 +106,15 @@ public:
virtual int parseDataAtOffset(const QByteArray& packet, int offset);
static void sendKillAvatar();
Q_INVOKABLE glm::vec3 getHeadPosition() const { return getHead()->getPosition(); }
Q_INVOKABLE float getHeadFinalYaw() const { return getHead()->getFinalYaw(); }
Q_INVOKABLE float getHeadFinalRoll() const { return getHead()->getFinalRoll(); }
Q_INVOKABLE float getHeadFinalPitch() const { return getHead()->getFinalPitch(); }
Q_INVOKABLE float getHeadDeltaPitch() const { return getHead()->getDeltaPitch(); }
Q_INVOKABLE glm::vec3 getEyePosition() const { return getHead()->getEyePosition(); }
Q_INVOKABLE glm::vec3 getTargetAvatarPosition() const { return _targetAvatarPosition; }
AvatarData* getLookAtTargetAvatar() const { return _lookAtTargetAvatar.data(); }
void updateLookAtTargetAvatar();

1
interface/src/devices/CaraFaceTracker.cpp
View file

@ -389,7 +389,6 @@ void CaraFaceTracker::decodePacket(const QByteArray& buffer) {
if (theta > EPSILON) {
float rMag = glm::length(glm::vec3(r.x, r.y, r.z));
const float AVERAGE_CARA_FRAME_TIME = 0.04f;
const float ANGULAR_VELOCITY_MIN = 1.2f;
const float YAW_STANDARD_DEV_DEG = 2.5f;
_headAngularVelocity = theta / AVERAGE_CARA_FRAME_TIME * glm::vec3(r.x, r.y, r.z) / rMag;

18
interface/src/devices/DdeFaceTracker.cpp
View file

@ -194,12 +194,12 @@ float updateAndGetCoefficient(float * coefficient, float currentValue, bool scal
coefficient[AVG] = LONG_TERM_AVERAGE * coefficient[AVG] + (1.f - LONG_TERM_AVERAGE) * currentValue;
if (coefficient[MAX] > coefficient[MIN]) {
if (scaleToRange) {
return glm::clamp((currentValue - coefficient[AVG]) / (coefficient[MAX] - coefficient[MIN]), 0.f, 1.f);
return glm::clamp((currentValue - coefficient[AVG]) / (coefficient[MAX] - coefficient[MIN]), 0.0f, 1.0f);
} else {
return glm::clamp(currentValue - coefficient[AVG], 0.f, 1.f);
return glm::clamp(currentValue - coefficient[AVG], 0.0f, 1.0f);
}
} else {
return 0.f;
return 0.0f;
}
}
@ -242,13 +242,11 @@ void DdeFaceTracker::decodePacket(const QByteArray& buffer) {
// Set blendshapes
float EYE_MAGNIFIER = 4.0f;
float rightEye = (updateAndGetCoefficient(_rightEye, packet.expressions[0])) * EYE_MAGNIFIER;
float rightEye = glm::clamp((updateAndGetCoefficient(_rightEye, packet.expressions[0])) * EYE_MAGNIFIER, 0.0f, 1.0f);
_blendshapeCoefficients[_rightBlinkIndex] = rightEye;
float leftEye = (updateAndGetCoefficient(_leftEye, packet.expressions[1])) * EYE_MAGNIFIER;
float leftEye = glm::clamp((updateAndGetCoefficient(_leftEye, packet.expressions[1])) * EYE_MAGNIFIER, 0.0f, 1.0f);
_blendshapeCoefficients[_leftBlinkIndex] = leftEye;
// Right eye = packet.expressions[0];
float leftBrow = 1.0f - rescaleCoef(packet.expressions[14]);
if (leftBrow < 0.5f) {
@ -270,9 +268,9 @@ void DdeFaceTracker::decodePacket(const QByteArray& buffer) {
float JAW_OPEN_MAGNIFIER = 1.4f;
_blendshapeCoefficients[_jawOpenIndex] = rescaleCoef(packet.expressions[21]) * JAW_OPEN_MAGNIFIER;
_blendshapeCoefficients[_mouthSmileLeftIndex] = rescaleCoef(packet.expressions[24]);
_blendshapeCoefficients[_mouthSmileRightIndex] = rescaleCoef(packet.expressions[23]);
float SMILE_MULTIPLIER = 2.0f;
_blendshapeCoefficients[_mouthSmileLeftIndex] = glm::clamp(packet.expressions[24] * SMILE_MULTIPLIER, 0.0f, 1.0f);
_blendshapeCoefficients[_mouthSmileRightIndex] = glm::clamp(packet.expressions[23] * SMILE_MULTIPLIER, 0.0f, 1.0f);
} else {

36
interface/src/devices/Faceshift.cpp
View file

@ -26,11 +26,17 @@ using namespace fs;
using namespace std;
const quint16 FACESHIFT_PORT = 33433;
float STARTING_FACESHIFT_FRAME_TIME = 0.033f;
Faceshift::Faceshift() :
_tcpEnabled(true),
_tcpRetryCount(0),
_lastTrackingStateReceived(0),
_averageFrameTime(STARTING_FACESHIFT_FRAME_TIME),
_headAngularVelocity(0),
_headLinearVelocity(0),
_lastHeadTranslation(0),
_filteredHeadTranslation(0),
_eyeGazeLeftPitch(0.0f),
_eyeGazeLeftYaw(0.0f),
_eyeGazeRightPitch(0.0f),
@ -209,23 +215,41 @@ void Faceshift::receive(const QByteArray& buffer) {
float theta = 2 * acos(r.w);
if (theta > EPSILON) {
float rMag = glm::length(glm::vec3(r.x, r.y, r.z));
float AVERAGE_FACESHIFT_FRAME_TIME = 0.033f;
_headAngularVelocity = theta / AVERAGE_FACESHIFT_FRAME_TIME * glm::vec3(r.x, r.y, r.z) / rMag;
_headAngularVelocity = theta / _averageFrameTime * glm::vec3(r.x, r.y, r.z) / rMag;
} else {
_headAngularVelocity = glm::vec3(0,0,0);
}
_headRotation = newRotation;
const float ANGULAR_VELOCITY_FILTER_STRENGTH = 0.3f;
_headRotation = safeMix(_headRotation, newRotation, glm::clamp(glm::length(_headAngularVelocity) *
ANGULAR_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f));
const float TRANSLATION_SCALE = 0.02f;
_headTranslation = glm::vec3(data.m_headTranslation.x, data.m_headTranslation.y,
-data.m_headTranslation.z) * TRANSLATION_SCALE;
glm::vec3 newHeadTranslation = glm::vec3(data.m_headTranslation.x, data.m_headTranslation.y,
-data.m_headTranslation.z) * TRANSLATION_SCALE;
_headLinearVelocity = (newHeadTranslation - _lastHeadTranslation) / _averageFrameTime;
const float LINEAR_VELOCITY_FILTER_STRENGTH = 0.3f;
float velocityFilter = glm::clamp(1.0f - glm::length(_headLinearVelocity) *
LINEAR_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredHeadTranslation = velocityFilter * _filteredHeadTranslation + (1.0f - velocityFilter) * newHeadTranslation;
_lastHeadTranslation = newHeadTranslation;
_headTranslation = _filteredHeadTranslation;
_eyeGazeLeftPitch = -data.m_eyeGazeLeftPitch;
_eyeGazeLeftYaw = data.m_eyeGazeLeftYaw;
_eyeGazeRightPitch = -data.m_eyeGazeRightPitch;
_eyeGazeRightYaw = data.m_eyeGazeRightYaw;
_blendshapeCoefficients = QVector<float>::fromStdVector(data.m_coeffs);
_lastTrackingStateReceived = usecTimestampNow();
const float FRAME_AVERAGING_FACTOR = 0.99f;
quint64 usecsNow = usecTimestampNow();
if (_lastTrackingStateReceived != 0) {
_averageFrameTime = FRAME_AVERAGING_FACTOR * _averageFrameTime +
(1.0f - FRAME_AVERAGING_FACTOR) * (float)(usecsNow - _lastTrackingStateReceived) / 1000000.0f;
}
_lastTrackingStateReceived = usecsNow;
}
break;
}

4
interface/src/devices/Faceshift.h
View file

@ -98,8 +98,12 @@ private:
int _tcpRetryCount;
bool _tracking;
quint64 _lastTrackingStateReceived;
float _averageFrameTime;
glm::vec3 _headAngularVelocity;
glm::vec3 _headLinearVelocity;
glm::vec3 _lastHeadTranslation;
glm::vec3 _filteredHeadTranslation;
// degrees
float _eyeGazeLeftPitch;

30
interface/src/ui/Stats.cpp
View file

@ -282,19 +282,10 @@ void Stats::display(
pingVoxel = totalPingVoxel/voxelServerCount;
}
Audio* audio = Application::getInstance()->getAudio();
lines = _expanded ? 4 : 3;
drawBackground(backgroundColor, horizontalOffset, 0, _pingStatsWidth, lines * STATS_PELS_PER_LINE + 10);
horizontalOffset += 5;
char audioJitter[30];
sprintf(audioJitter,
"Buffer msecs %.1f",
audio->getDesiredJitterBufferFrames() * BUFFER_SEND_INTERVAL_USECS / (float)USECS_PER_MSEC);
drawText(30, glWidget->height() - 22, scale, rotation, font, audioJitter, color);
char audioPing[30];
sprintf(audioPing, "Audio ping: %d", pingAudio);
@ -698,27 +689,6 @@ void Stats::display(
drawText(horizontalOffset, verticalOffset, 0.10f, 0.f, 2.f, reflectionsStatus, color);
}
// draw local light stats
QVector<Model::LocalLight> localLights = Application::getInstance()->getAvatarManager().getLocalLights();
verticalOffset = 400;
horizontalOffset = 20;
char buffer[128];
for (int i = 0; i < localLights.size(); i++) {
glm::vec3 lightDirection = localLights.at(i).direction;
snprintf(buffer, sizeof(buffer), "Light %d direction (%.2f, %.2f, %.2f)", i, lightDirection.x, lightDirection.y, lightDirection.z);
drawText(horizontalOffset, verticalOffset, scale, rotation, font, buffer, color);
verticalOffset += STATS_PELS_PER_LINE;
glm::vec3 lightColor = localLights.at(i).color;
snprintf(buffer, sizeof(buffer), "Light %d color (%.2f, %.2f, %.2f)", i, lightColor.x, lightColor.y, lightColor.z);
drawText(horizontalOffset, verticalOffset, scale, rotation, font, buffer, color);
verticalOffset += STATS_PELS_PER_LINE;
}
}

4
libraries/script-engine/src/EventTypes.cpp
View file

@ -78,6 +78,8 @@ KeyEvent::KeyEvent(const QKeyEvent& event) {
text = "LEFT";
} else if (key == Qt::Key_Right) {
text = "RIGHT";
} else if (key == Qt::Key_Space) {
text = "SPACE";
} else if (key == Qt::Key_Escape) {
text = "ESC";
} else if (key == Qt::Key_Tab) {
@ -220,6 +222,8 @@ void keyEventFromScriptValue(const QScriptValue& object, KeyEvent& event) {
} else if (event.text.toUpper() == "RIGHT") {
event.key = Qt::Key_Right;
event.isKeypad = true;
} else if (event.text.toUpper() == "SPACE") {
event.key = Qt::Key_Space;
} else if (event.text.toUpper() == "ESC") {
event.key = Qt::Key_Escape;
} else if (event.text.toUpper() == "TAB") {