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neruonAvatar.js: attempt to adjust hips for HMD mode.

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It attempts to adjust the hips so that the avatar's head is at the same location & orientation as the HMD
in world space, however it's fighting with the internal c++ code that also attempts to adjust the hips as well.
This commit is contained in:
Anthony Thibault 2015-12-27 16:29:30 -08:00
parent 27e80913d6
commit 1f834a9c01
1 changed files with 68 additions and 10 deletions
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78
examples/controllers/neuron/neuronAvatar.js
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@ -64,6 +64,27 @@ var JOINT_PARENT_MAP = {
var USE_TRANSLATIONS = false;
// ctor
function Xform(rot, pos) {
this.rot = rot;
this.pos = pos;
};
Xform.mul = function (lhs, rhs) {
var rot = Quat.multiply(lhs.rot, rhs.rot);
var pos = Vec3.sum(lhs.pos, Vec3.multiplyQbyV(lhs.rot, rhs.pos));
return new Xform(rot, pos);
};
Xform.prototype.inv = function () {
var invRot = Quat.inverse(this.rot);
var invPos = Vec3.multiply(-1, this.pos);
return new Xform(invRot, Vec3.multiplyQbyV(invRot, invPos));
};
Xform.prototype.toString = function () {
var rot = this.rot;
var pos = this.pos;
return "Xform rot = (" + rot.x + ", " + rot.y + ", " + rot.z + ", " + rot.w + "), pos = (" + pos.x + ", " + pos.y + ", " + pos.z + ")";
};
function dumpHardwareMapping() {
Object.keys(Controller.Hardware).forEach(function (deviceName) {
Object.keys(Controller.Hardware[deviceName]).forEach(function (input) {
@ -108,19 +129,19 @@ NeuronAvatar.prototype.activate = function () {
this._active = true;
// build absDefaultPoseMap
this._absDefaultRotMap = {};
this._absDefaultRotMap[""] = {x: 0, y: 0, z: 0, w: 1};
this._defaultAbsRotMap = {};
this._defaultAbsPosMap = {};
this._defaultAbsRotMap[""] = {x: 0, y: 0, z: 0, w: 1};
this._defaultAbsPosMap[""] = {x: 0, y: 0, z: 0};
var keys = Object.keys(JOINT_PARENT_MAP);
var i, l = keys.length;
for (i = 0; i < l; i++) {
var jointName = keys[i];
var j = MyAvatar.getJointIndex(jointName);
var parentJointName = JOINT_PARENT_MAP[jointName];
if (parentJointName === "") {
this._absDefaultRotMap[jointName] = MyAvatar.getDefaultJointRotation(j);
} else {
this._absDefaultRotMap[jointName] = Quat.multiply(this._absDefaultRotMap[parentJointName], MyAvatar.getDefaultJointRotation(j));
}
this._defaultAbsRotMap[jointName] = Quat.multiply(this._defaultAbsRotMap[parentJointName], MyAvatar.getDefaultJointRotation(j));
this._defaultAbsPosMap[jointName] = Vec3.sum(this._defaultAbsPosMap[parentJointName],
Quat.multiply(this._defaultAbsRotMap[parentJointName], MyAvatar.getDefaultJointTranslation(j)));
}
};
@ -134,10 +155,16 @@ NeuronAvatar.prototype.deactivate = function () {
};
NeuronAvatar.prototype.update = function (deltaTime) {
var hmdActive = HMD.active;
var hmdXform = new Xform(HMD.orientation, HMD.position);
var keys = Object.keys(JOINT_PARENT_MAP);
var i, l = keys.length;
var absDefaultRot = {};
var jointName, channel, pose, parentJointName, j, parentDefaultAbsRot;
var localRotations = {};
var localTranslations = {};
for (i = 0; i < l; i++) {
var jointName = keys[i];
var channel = Controller.Hardware.Neuron[jointName];
@ -145,23 +172,54 @@ NeuronAvatar.prototype.update = function (deltaTime) {
pose = Controller.getPoseValue(channel);
parentJointName = JOINT_PARENT_MAP[jointName];
j = MyAvatar.getJointIndex(jointName);
defaultAbsRot = this._absDefaultRotMap[jointName];
parentDefaultAbsRot = this._absDefaultRotMap[parentJointName];
defaultAbsRot = this._defaultAbsRotMap[jointName];
parentDefaultAbsRot = this._defaultAbsRotMap[parentJointName];
// Rotations from the neuron controller are in world orientation but are delta's from the default pose.
// So first we build the absolute rotation of the default pose (local into world).
// Then apply the rotation from the controller, in world space.
// Then we transform back into joint local by multiplying by the inverse of the parents absolute rotation.
MyAvatar.setJointRotation(j, Quat.multiply(Quat.inverse(parentDefaultAbsRot), Quat.multiply(pose.rotation, defaultAbsRot)));
var localRotation = Quat.multiply(Quat.inverse(parentDefaultAbsRot), Quat.multiply(pose.rotation, defaultAbsRot));
if (!hmdActive || jointName !== "Hips") {
MyAvatar.setJointRotation(j, localRotation);
}
localRotations[jointName] = localRotation;
// translation proportions might be different from the neuron avatar and the user avatar skeleton.
// so this is disabled by default
if (USE_TRANSLATIONS) {
var localTranslation = Vec3.multiplyQbyV(Quat.inverse(parentDefaultAbsRot), pose.translation);
MyAvatar.setJointTranslation(j, localTranslation);
localTranslations[jointName] = localTranslation;
} else {
localTranslations[jointName] = MyAvatar.getJointTranslation(j);
}
}
}
// TODO: Currrently does not work.
// it attempts to adjust the hips so that the avatar's head is at the same location & oreintation as the HMD.
// however it's fighting with the internal c++ code that also attempts to adjust the hips.
if (hmdActive) {
var y180Xform = new Xform({x: 0, y: 1, z: 0, w: 0}, {x: 0, y: 0, z: 0});
var avatarXform = new Xform(MyAvatar.orientation, MyAvatar.position);
var headXform = new Xform(localRotations["Head"], localTranslations["Head"]);
// transform eyes down the heirarchy chain into avatar space.
var hierarchy = ["Neck", "Spine3", "Spine2", "Spine1", "Spine"];
var i, l = hierarchy.length;
for (i = 0; i < l; i++) {
var xform = new Xform(localRotations[hierarchy[i]], localTranslations[hierarchy[i]]);
headXform = Xform.mul(xform, headXform);
}
// solve for the offset that will put the eyes at the hmd position & orientation.
var hipsXform = Xform.mul(y180Xform, Xform.mul(avatarXform.inv(), Xform.mul(hmdXform, Xform.mul(y180Xform, headXform.inv()))));
MyAvatar.setJointRotation("Hips", hipsXform.rot);
MyAvatar.setJointTranslation("Hips", hipsXform.pos);
}
};
var neuronAvatar = new NeuronAvatar();