mirror of
https://thingvellir.net/git/overte
synced 2025-03-27 23:52:03 +01:00
More stuff for head roll, improved head, stable dt in all field calcs
This commit is contained in:
Philip Rosedale
parent
ec91637f1a
commit
044b813dd3
9 changed files with 99 additions and 61 deletions
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@ -56,14 +56,14 @@ int init_port(int baud)
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return 0; // Success!
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}
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int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_channels)
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int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_channels, int * samples_averaged, int * LED_state)
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{
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// Channels:
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// 0, 1 = Head Pitch and Yaw
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// 2,3,4 = Head X,Y,Z Acceleration
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//
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int samples_read = 0;
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const float AVG_RATE[] = {0.001, 0.001, 0.001, 0.001, 0.001};
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const float AVG_RATE[] = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001};
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char bufchar[1];
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while (read(serial_fd, bufchar, 1) > 0)
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{
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@ -76,12 +76,15 @@ int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_chan
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// At end - Extract value from string to variables
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if (serial_buffer[0] != 'p')
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{
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sscanf(serial_buffer, "%d %d %d %d %d", /* Needs to match Num Channels */
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sscanf(serial_buffer, "%d %d %d %d %d %d %d %d", /* Needs to match Num Channels */
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&adc_channels[0],
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&adc_channels[1],
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&adc_channels[2],
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&adc_channels[3],
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&adc_channels[4]
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&adc_channels[4],
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&adc_channels[5],
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samples_averaged,
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LED_state
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);
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for (int i = 0; i < NUM_CHANNELS; i++)
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{
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@ -7,18 +7,19 @@
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#define interface_SerialInterface_h
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int init_port (int baud);
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int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_channels);
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int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_channels, int * samples_averaged, int * LED_state);
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#define NUM_CHANNELS 5
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#define NUM_CHANNELS 6
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#define SERIAL_PORT_NAME "/dev/tty.usbmodem641"
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// Acceleration sensors, in screen/world coord system (X = left/right, Y = Up/Down, Z = fwd/back)
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#define ACCEL_X 3
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#define ACCEL_Y 4
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#define ACCEL_Z 2
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#define ACCEL_X 4
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#define ACCEL_Y 5
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#define ACCEL_Z 3
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// Gyro sensors, in coodinate system of head/airplane
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#define PITCH_RATE 0
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#define YAW_RATE 1
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#define ROLL_RATE 2
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#endif
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16
cloud.cpp
16
cloud.cpp
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@ -30,9 +30,9 @@ Cloud::Cloud(int num,
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particles[i].position.y = y;
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particles[i].position.z = z;
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particles[i].velocity.x = 0; //randFloat() - 0.5;
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particles[i].velocity.y = 0; //randFloat() - 0.5;
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particles[i].velocity.z = 0; //randFloat() - 0.5;
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particles[i].velocity.x = randFloat() - 0.5;
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particles[i].velocity.y = randFloat() - 0.5;
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particles[i].velocity.z = randFloat() - 0.5;
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float color_mult = 1 - COLOR_MIN;
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particles[i].color = glm::vec3(x*color_mult/WORLD_SIZE + COLOR_MIN,
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@ -78,16 +78,16 @@ void Cloud::simulate (float deltaTime) {
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for (i = 0; i < count; ++i) {
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// Update position
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//particles[i].position += particles[i].velocity*deltaTime;
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particles[i].position += particles[i].velocity;
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particles[i].position += particles[i].velocity*deltaTime;
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//particles[i].position += particles[i].velocity;
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// Decay Velocity (Drag)
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const float CONSTANT_DAMPING = 1.0;
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const float CONSTANT_DAMPING = 0.5;
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particles[i].velocity *= (1.f - CONSTANT_DAMPING*deltaTime);
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// Interact with Field
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const float FIELD_COUPLE = 0.0000001;
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field_interact(&particles[i].position, &particles[i].velocity, &particles[i].color, FIELD_COUPLE);
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const float FIELD_COUPLE = 0.005; //0.0000001;
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field_interact(deltaTime, &particles[i].position, &particles[i].velocity, &particles[i].color, FIELD_COUPLE);
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// Bounce or Wrap
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if (wrapBounds) {
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11
field.cpp
11
field.cpp
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@ -62,16 +62,16 @@ void field_add(float* add, float *pos)
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}
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}
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void field_interact(glm::vec3 * pos, glm::vec3 * vel, glm::vec3 * color, float coupling) {
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void field_interact(float dt, glm::vec3 * pos, glm::vec3 * vel, glm::vec3 * color, float coupling) {
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int index = (int)(pos->x/WORLD_SIZE*10.0) +
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(int)(pos->y/WORLD_SIZE*10.0)*10 +
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(int)(pos->z/WORLD_SIZE*10.0)*100;
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if ((index >= 0) && (index < FIELD_ELEMENTS)) {
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// Add velocity to particle from field
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*vel += field[index].val;
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*vel += field[index].val*dt;
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// Add back to field from particle velocity
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glm::vec3 temp = *vel;
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glm::vec3 temp = *vel*dt;
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temp *= coupling;
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field[index].val += temp;
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@ -127,7 +127,8 @@ void field_simulate(float dt) {
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field[i].val += add;
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}
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else {
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field[i].val *= 0.999;
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const float CONSTANT_DAMPING = 0.5;
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field[i].val *= (1.f - CONSTANT_DAMPING*dt);
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//field[i].val.x += (randFloat() - 0.5)*0.01*FIELD_SCALE;
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//field[i].val.y += (randFloat() - 0.5)*0.01*FIELD_SCALE;
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//field[i].val.z += (randFloat() - 0.5)*0.01*FIELD_SCALE;
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@ -141,7 +142,7 @@ void field_render()
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{
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int i;
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float fx, fy, fz;
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float scale_view = 1000.0;
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float scale_view = 0.1;
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glDisable(GL_LIGHTING);
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glColor3f(0, 1, 0);
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2
field.h
2
field.h
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@ -35,7 +35,7 @@ void field_init();
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int field_value(float *ret, float *pos);
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void field_render();
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void field_add(float* add, float *loc);
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void field_interact(glm::vec3 * pos, glm::vec3 * vel, glm::vec3 * color, float coupling);
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void field_interact(float dt, glm::vec3 * pos, glm::vec3 * vel, glm::vec3 * color, float coupling);
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void field_simulate(float dt);
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glm::vec3 hsv2rgb(glm::vec3 in);
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#endif
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57
head.cpp
57
head.cpp
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@ -29,7 +29,7 @@ const float DECAY = 0.1;
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Head::Head()
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{
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PupilSize = 0.10;
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interPupilDistance = 0.5;
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interPupilDistance = 0.6;
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interBrowDistance = 0.75;
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NominalPupilSize = 0.10;
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EyebrowPitch[0] = EyebrowPitch[1] = BrowPitchAngle[0];
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@ -40,10 +40,11 @@ Head::Head()
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MouthWidth = 1.0;
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MouthHeight = 0.2;
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EyeballPitch[0] = EyeballPitch[1] = 0;
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EyeballScaleX = 1.2; EyeballScaleY = 1.5; EyeballScaleZ = 1.0;
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EyeballYaw[0] = EyeballYaw[1] = 0;
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PitchTarget = YawTarget = 0;
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NoiseEnvelope = 1.0;
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PupilConverge = 2.1;
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PupilConverge = 5.0;
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leanForward = 0.0;
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leanSideways = 0.0;
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setNoise(0);
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@ -52,32 +53,36 @@ Head::Head()
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void Head::reset()
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{
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position = glm::vec3(0,0,0);
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Pitch = 0;
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Yaw = 0;
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Pitch = Yaw = Roll = 0;
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leanForward = leanSideways = 0;
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}
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void Head::UpdatePos(float frametime, int * adc_channels, float * avg_adc_channels, int head_mirror, glm::vec3 * gravity)
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// Using serial data, update avatar/render position and angles
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{
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float measured_pitch_rate = adc_channels[0] - avg_adc_channels[0];
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float measured_yaw_rate = adc_channels[1] - avg_adc_channels[1];
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float measured_lateral_accel = adc_channels[3] - avg_adc_channels[3];
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float measured_fwd_accel = avg_adc_channels[2] - adc_channels[2];
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float measured_pitch_rate = adc_channels[PITCH_RATE] - avg_adc_channels[PITCH_RATE];
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float measured_yaw_rate = adc_channels[YAW_RATE] - avg_adc_channels[YAW_RATE];
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float measured_lateral_accel = adc_channels[ACCEL_X] - avg_adc_channels[ACCEL_X];
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float measured_fwd_accel = avg_adc_channels[ACCEL_Z] - adc_channels[ACCEL_Z];
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float measured_roll_rate = adc_channels[ROLL_RATE] - avg_adc_channels[ROLL_RATE];
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// Update avatar head position based on measured gyro rates
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const float HEAD_ROTATION_SCALE = 0.20;
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const float HEAD_ROLL_SCALE = 0.50;
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const float HEAD_LEAN_SCALE = 0.02;
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if (head_mirror) {
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addYaw(measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
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addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
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addRoll(measured_roll_rate * HEAD_ROLL_SCALE * frametime);
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addLean(measured_lateral_accel * frametime * HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
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} else {
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addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
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addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
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addRoll(measured_roll_rate * HEAD_ROLL_SCALE * frametime);
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addLean(measured_lateral_accel * frametime * -HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
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}
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// Try to measure absolute roll from sensors
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const float MIN_ROLL = 3.0;
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glm::vec3 v1(gravity->x, gravity->y, 0);
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@ -112,7 +117,7 @@ void Head::simulate(float deltaTime)
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// Move toward new target
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Pitch += (PitchTarget - Pitch)*22*deltaTime; // (1.f - DECAY*deltaTime)*Pitch + ;
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Yaw += (YawTarget - Yaw)*22*deltaTime; // (1.f - DECAY*deltaTime);
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//Roll *= (1.f - DECAY*deltaTime);
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Roll *= (1.f - DECAY*deltaTime);
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}
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leanForward *= (1.f - DECAY*30.f*deltaTime);
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@ -166,16 +171,18 @@ void Head::render()
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glLoadIdentity();
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glTranslatef(0.f, 0.f, -7.f);
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glTranslatef(leanSideways, 0.f, leanForward);
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glRotatef(Yaw/2.0, 0, 1, 0);
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glRotatef(Pitch/2.0, 1, 0, 0);
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glRotatef(Roll/2.0, 0, 0, 1);
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// Overall scale of head
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glScalef(2.0, 2.0, 2.0);
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glScalef(1.5, 2.0, 2.0);
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glColor3fv(skinColor);
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// Head
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glutSolidSphere(1, 15, 15);
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glutSolidSphere(1, 30, 30);
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// Ears
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glPushMatrix();
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@ -184,7 +191,7 @@ void Head::render()
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{
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glPushMatrix();
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glScalef(0.5, 0.75, 1.0);
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glutSolidSphere(0.5, 15, 15);
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glutSolidSphere(0.5, 30, 30);
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glPopMatrix();
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glTranslatef(-2, 0, 0);
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}
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@ -221,29 +228,45 @@ void Head::render()
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glTranslatef(0, 1.0, 0);
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glTranslatef(-interPupilDistance/2.0,-0.68,0.7);
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// Right Eye
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glTranslatef(-0.25,-0.5,0.7);
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glRotatef(-10, 1, 0, 0);
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glColor3fv(eyeColor);
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glutSolidSphere(0.25, 15, 15);
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glPushMatrix();
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{
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glTranslatef(interPupilDistance/10.0, 0, 0.05);
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glRotatef(20, 0, 0, 1);
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glScalef(EyeballScaleX, EyeballScaleY, EyeballScaleZ);
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glutSolidSphere(0.25, 30, 30);
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}
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glPopMatrix();
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// Right Pupil
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glPushMatrix();
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glRotatef(EyeballPitch[1], 1, 0, 0);
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glRotatef(EyeballYaw[1] + PupilConverge, 0, 1, 0);
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glTranslatef(0,0,.25);
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glColor3f(0,0,0);
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glutSolidSphere(PupilSize, 10, 10);
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glutSolidSphere(PupilSize, 15, 15);
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glPopMatrix();
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// Left Eye
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glColor3fv(eyeColor);
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glTranslatef(interPupilDistance, 0, 0);
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glutSolidSphere(0.25f, 15, 15);
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glPushMatrix();
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{
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glTranslatef(-interPupilDistance/10.0, 0, .05);
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glRotatef(-20, 0, 0, 1);
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glScalef(EyeballScaleX, EyeballScaleY, EyeballScaleZ);
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glutSolidSphere(0.25, 30, 30);
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}
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glPopMatrix();
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// Left Pupil
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glPushMatrix();
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glRotatef(EyeballPitch[0], 1, 0, 0);
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glRotatef(EyeballYaw[0] - PupilConverge, 0, 1, 0);
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glTranslatef(0,0,.25);
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glColor3f(0,0,0);
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glutSolidSphere(PupilSize, 10, 10);
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glutSolidSphere(PupilSize, 15, 15);
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glPopMatrix();
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1
head.h
1
head.h
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@ -27,6 +27,7 @@ class Head {
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float EyeballYaw[2];
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float EyebrowPitch[2];
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float EyebrowRoll[2];
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float EyeballScaleX, EyeballScaleY, EyeballScaleZ;
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float interPupilDistance;
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float interBrowDistance;
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float NominalPupilSize;
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Binary file not shown.
51
main.cpp
51
main.cpp
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@ -51,8 +51,6 @@
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using namespace std;
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// Junk for talking to the Serial Port
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int serial_on = 0; // Is serial connection on/off? System will try
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int audio_on = 0; // Whether to turn on the audio support
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int simulate_on = 1;
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@ -93,7 +91,7 @@ ParticleSystem balls(0,
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);
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Cloud cloud(200000, // Particles
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Cloud cloud(100000, // Particles
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box, // Bounding Box
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false // Wrap
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);
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@ -103,7 +101,7 @@ float cubes_scale[MAX_CUBES];
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float cubes_color[MAX_CUBES*3];
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int cube_count = 0;
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#define RENDER_FRAME_MSECS 10
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#define RENDER_FRAME_MSECS 5
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#define SLEEP 0
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float yaw =0.f; // The yaw, pitch for the avatar head
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@ -146,19 +144,15 @@ int mouse_pressed = 0; // true if mouse has been pressed (clear when finishe
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int speed;
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//
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// Serial I/O channel mapping:
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//
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// 0 Head Gyro Pitch
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// 1 Head Gyro Yaw
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// 2 Head Accelerometer X
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// 3 Head Accelerometer Z
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// 4 Hand Accelerometer X
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// 5 Hand Accelerometer Y
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// 6 Hand Accelerometer Z
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// Serial USB Variables
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//
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int serial_on = 0;
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int latency_display = 1;
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int adc_channels[NUM_CHANNELS];
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float avg_adc_channels[NUM_CHANNELS];
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int sensor_samples = 0;
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int sensor_LED = 0;
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glm::vec3 gravity;
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int first_measurement = 1;
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int samplecount = 0;
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@ -214,9 +208,14 @@ void display_stats(void)
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drawtext(10, 15, 0.10, 0, 1.0, 0, legend);
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char stats[200];
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sprintf(stats, "FPS = %3.0f, Ping = %4.1f Packets/Sec = %d, Bytes/sec = %d",
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sprintf(stats, "FPS = %3.0f, Ping = %4.1f Pkts/s = %d, Bytes/s = %d",
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FPS, ping_msecs, packets_per_second, bytes_per_second);
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drawtext(10, 30, 0.10, 0, 1.0, 0, stats);
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if (serial_on) {
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sprintf(stats, "ADC samples = %d, LED = %d",
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sensor_samples, sensor_LED);
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drawtext(500, 30, 0.10, 0, 1.0, 0, stats);
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}
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/*
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char adc[200];
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@ -296,7 +295,7 @@ void init(void)
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cube_count = index;
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// Recursive build
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/*
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float location[] = {0,0,0};
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float scale = 10.0;
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int j = 0;
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@ -316,11 +315,11 @@ void init(void)
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// Call readsensors for a while to get stable initial values on sensors
|
||||
printf( "Stabilizing sensors... " );
|
||||
gettimeofday(&timer_start, NULL);
|
||||
read_sensors(1, &avg_adc_channels[0], &adc_channels[0]);
|
||||
read_sensors(1, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
|
||||
int done = 0;
|
||||
while (!done)
|
||||
{
|
||||
read_sensors(0, &avg_adc_channels[0], &adc_channels[0]);
|
||||
read_sensors(0, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
|
||||
gettimeofday(&timer_end, NULL);
|
||||
if (diffclock(timer_start,timer_end) > 1000) done = 1;
|
||||
}
|
||||
|
|
@ -367,7 +366,7 @@ void reset_sensors()
|
|||
|
||||
myHead.reset();
|
||||
myHand.reset();
|
||||
if (serial_on) read_sensors(1, &avg_adc_channels[0], &adc_channels[0]);
|
||||
if (serial_on) read_sensors(1, &avg_adc_channels[0], &adc_channels[0], &sensor_samples, &sensor_LED);
|
||||
}
|
||||
|
||||
void update_pos(float frametime)
|
||||
|
|
@ -493,8 +492,6 @@ void update_pos(float frametime)
|
|||
|
||||
void display(void)
|
||||
{
|
||||
|
||||
|
||||
glEnable (GL_DEPTH_TEST);
|
||||
glEnable(GL_LIGHTING);
|
||||
glEnable(GL_LINE_SMOOTH);
|
||||
|
|
@ -627,6 +624,17 @@ void display(void)
|
|||
|
||||
disp_x += GAP;
|
||||
}
|
||||
// Display Serial latency block
|
||||
if (latency_display && sensor_LED) {
|
||||
glColor3f(1,0,0);
|
||||
glBegin(GL_QUADS); {
|
||||
glVertex2f(WIDTH - 100, HEIGHT - 100);
|
||||
glVertex2f(WIDTH, HEIGHT - 100);
|
||||
glVertex2f(WIDTH, HEIGHT);
|
||||
glVertex2f(WIDTH - 100, HEIGHT);
|
||||
}
|
||||
glEnd();
|
||||
}
|
||||
}
|
||||
|
||||
if (stats_on) display_stats();
|
||||
|
|
@ -774,7 +782,8 @@ void idle(void)
|
|||
// Read network packets
|
||||
read_network();
|
||||
// Read serial data
|
||||
if (serial_on) samplecount += read_sensors(0, &avg_adc_channels[0], &adc_channels[0]);
|
||||
if (serial_on) samplecount += read_sensors(0, &avg_adc_channels[0], &adc_channels[0],
|
||||
&sensor_samples, &sensor_LED);
|
||||
|
||||
if (SLEEP)
|
||||
{
|
||||
|
|
|
|||
Loading…
Reference in a new issue