From 36beea17fabf6e0829e21ba580d84d03890df788 Mon Sep 17 00:00:00 2001 From: Philip Rosedale Date: Mon, 28 Dec 2015 14:59:43 -0800 Subject: [PATCH 1/3] Improved hand controller reticle movement --- .../controllers/reticleHandRotationTest.js | 192 +++--------------- 1 file changed, 24 insertions(+), 168 deletions(-) diff --git a/examples/controllers/reticleHandRotationTest.js b/examples/controllers/reticleHandRotationTest.js index ece9283deb..a303e5e7b4 100644 --- a/examples/controllers/reticleHandRotationTest.js +++ b/examples/controllers/reticleHandRotationTest.js @@ -22,33 +22,13 @@ function length(posA, posB) { return length; } -var EXPECTED_CHANGE = 50; -var lastPos = Controller.getReticlePosition(); function moveReticleAbsolute(x, y) { var globalPos = Controller.getReticlePosition(); - var dX = x - globalPos.x; - var dY = y - globalPos.y; - - // some debugging to see if position is jumping around on us... - var distanceSinceLastMove = length(lastPos, globalPos); - if (distanceSinceLastMove > EXPECTED_CHANGE) { - debugPrint("------------------ distanceSinceLastMove:" + distanceSinceLastMove + "----------------------------"); - } - - if (Math.abs(dX) > EXPECTED_CHANGE) { - debugPrint("surpressing unexpectedly large change dX:" + dX + "----------------------------"); - } - if (Math.abs(dY) > EXPECTED_CHANGE) { - debugPrint("surpressing unexpectedly large change dY:" + dY + "----------------------------"); - } - globalPos.x = x; globalPos.y = y; Controller.setReticlePosition(globalPos); - lastPos = globalPos; } - var MAPPING_NAME = "com.highfidelity.testing.reticleWithHandRotation"; var mapping = Controller.newMapping(MAPPING_NAME); mapping.from(Controller.Standard.LT).peek().constrainToInteger().to(Controller.Actions.ReticleClick); @@ -56,8 +36,6 @@ mapping.from(Controller.Standard.RT).peek().constrainToInteger().to(Controller.A mapping.enable(); -var lastRotatedLeft = Vec3.UNIT_NEG_Y; -var lastRotatedRight = Vec3.UNIT_NEG_Y; function debugPrint(message) { if (DEBUGGING) { @@ -65,24 +43,9 @@ function debugPrint(message) { } } -var MAX_WAKE_UP_DISTANCE = 0.005; -var MIN_WAKE_UP_DISTANCE = 0.001; -var INITIAL_WAKE_UP_DISTANCE = MIN_WAKE_UP_DISTANCE; -var INCREMENTAL_WAKE_UP_DISTANCE = 0.001; - -var MAX_SLEEP_DISTANCE = 0.0004; -var MIN_SLEEP_DISTANCE = 0.00001; //0.00002; -var INITIAL_SLEEP_DISTANCE = MIN_SLEEP_DISTANCE; -var INCREMENTAL_SLEEP_DISTANCE = 0.000002; // 0.00002; - -var leftAsleep = true; -var rightAsleep = true; - -var leftWakeUpDistance = INITIAL_WAKE_UP_DISTANCE; -var rightWakeUpDistance = INITIAL_WAKE_UP_DISTANCE; - -var leftSleepDistance = INITIAL_SLEEP_DISTANCE; -var rightSleepDistance = INITIAL_SLEEP_DISTANCE; +var leftRightBias = 0.0; +var filteredRotatedLeft = Vec3.UNIT_NEG_Y; +var filteredRotatedRight = Vec3.UNIT_NEG_Y; Script.update.connect(function(deltaTime) { @@ -96,153 +59,46 @@ Script.update.connect(function(deltaTime) { var rotatedRight = Vec3.multiplyQbyV(poseRight.rotation, Vec3.UNIT_NEG_Y); var rotatedLeft = Vec3.multiplyQbyV(poseLeft.rotation, Vec3.UNIT_NEG_Y); - var suppressRight = false; - var suppressLeft = false; - - // What I really want to do is to slowly increase the epsilon you have to move it - // to wake up, the longer you go without moving it - var leftDistance = Vec3.distance(rotatedLeft, lastRotatedLeft); - var rightDistance = Vec3.distance(rotatedRight, lastRotatedRight); - - // check to see if hand should wakeup or sleep - if (leftAsleep) { - if (leftDistance > leftWakeUpDistance) { - leftAsleep = false; - leftSleepDistance = INITIAL_SLEEP_DISTANCE; - leftWakeUpDistance = INITIAL_WAKE_UP_DISTANCE; - } else { - // grow the wake up distance to make it harder to wake up - leftWakeUpDistance = Math.min(leftWakeUpDistance + INCREMENTAL_WAKE_UP_DISTANCE, MAX_WAKE_UP_DISTANCE); - } - } else { - // we are awake, determine if we should fall asleep, if we haven't moved - // at least as much as our sleep distance then we sleep - if (leftDistance < leftSleepDistance) { - leftAsleep = true; - leftSleepDistance = INITIAL_SLEEP_DISTANCE; - leftWakeUpDistance = INITIAL_WAKE_UP_DISTANCE; - } else { - // if we moved more than the sleep amount, but we moved less than the max sleep - // amount, then increase our liklihood of sleep. - if (leftDistance < MAX_SLEEP_DISTANCE) { - print("growing sleep...."); - leftSleepDistance = Math.max(leftSleepDistance + INCREMENTAL_SLEEP_DISTANCE, MAX_SLEEP_DISTANCE); - } else { - // otherwise reset it to initial - leftSleepDistance = INITIAL_SLEEP_DISTANCE; - } - } - } - if (leftAsleep) { - suppressLeft = true; - debugPrint("suppressing left not moving enough"); - } - - // check to see if hand should wakeup or sleep - if (rightAsleep) { - if (rightDistance > rightWakeUpDistance) { - rightAsleep = false; - rightSleepDistance = INITIAL_SLEEP_DISTANCE; - rightWakeUpDistance = INITIAL_WAKE_UP_DISTANCE; - } else { - // grow the wake up distance to make it harder to wake up - rightWakeUpDistance = Math.min(rightWakeUpDistance + INCREMENTAL_WAKE_UP_DISTANCE, MAX_WAKE_UP_DISTANCE); - } - } else { - // we are awake, determine if we should fall asleep, if we haven't moved - // at least as much as our sleep distance then we sleep - if (rightDistance < rightSleepDistance) { - rightAsleep = true; - rightSleepDistance = INITIAL_SLEEP_DISTANCE; - rightWakeUpDistance = INITIAL_WAKE_UP_DISTANCE; - } else { - // if we moved more than the sleep amount, but we moved less than the max sleep - // amount, then increase our liklihood of sleep. - if (rightDistance < MAX_SLEEP_DISTANCE) { - print("growing sleep...."); - rightSleepDistance = Math.max(rightSleepDistance + INCREMENTAL_SLEEP_DISTANCE, MAX_SLEEP_DISTANCE); - } else { - // otherwise reset it to initial - rightSleepDistance = INITIAL_SLEEP_DISTANCE; - } - } - } - if (rightAsleep) { - suppressRight = true; - debugPrint("suppressing right not moving enough"); - } - - // check to see if hand is on base station - if (Vec3.equal(rotatedLeft, Vec3.UNIT_NEG_Y)) { - suppressLeft = true; - debugPrint("suppressing left on base station"); - } - if (Vec3.equal(rotatedRight, Vec3.UNIT_NEG_Y)) { - suppressRight = true; - debugPrint("suppressing right on base station"); - } - - // Keep track of last rotations, to detect resting (but not on base station hands) in the future - lastRotatedLeft = rotatedLeft; lastRotatedRight = rotatedRight; - if (suppressLeft && suppressRight) { - debugPrint("both hands suppressed bail out early"); - return; + + // Decide which hand should be controlling the pointer + // by comparing which one is moving more, and by + // tending to stay with the one moving more. + var BIAS_ADJUST_RATE = 0.5; + var BIAS_ADJUST_DEADZONE = 0.05; + leftRightBias += (Vec3.length(poseRight.angularVelocity) - Vec3.length(poseLeft.angularVelocity)) * BIAS_ADJUST_RATE; + if (leftRightBias < BIAS_ADJUST_DEADZONE) { + leftRightBias = 0.0; + } else if (leftRightBias > (1.0 - BIAS_ADJUST_DEADZONE)) { + leftRightBias = 1.0; } - if (suppressLeft) { - debugPrint("right only"); - rotatedLeft = rotatedRight; - } - if (suppressRight) { - debugPrint("left only"); - rotatedRight = rotatedLeft; - } - - // Average the two hand positions, if either hand is on base station, the - // other hand becomes the only used hand and the average is the hand in use - var rotated = Vec3.multiply(Vec3.sum(rotatedRight,rotatedLeft), 0.5); - - if (DEBUGGING) { - Vec3.print("rotatedRight:", rotatedRight); - Vec3.print("rotatedLeft:", rotatedLeft); - Vec3.print("rotated:", rotated); - } + // Velocity filter the hand rotation used to position reticle so that it is easier to target small things with the hand controllers + var VELOCITY_FILTER_GAIN = 1.0; + filteredRotatedLeft = Vec3.mix(filteredRotatedLeft, rotatedLeft, Math.clamp(Vec3.length(poseLeft.angularVelocity) * VELOCITY_FILTER_GAIN, 0.0, 1.0)); + filteredRotatedRight = Vec3.mix(filteredRotatedRight, rotatedRight, Math.clamp(Vec3.length(poseRight.angularVelocity) * VELOCITY_FILTER_GAIN, 0.0, 1.0)); + var rotated = Vec3.mix(filteredRotatedLeft, filteredRotatedRight, leftRightBias); var absolutePitch = rotated.y; // from 1 down to -1 up ... but note: if you rotate down "too far" it starts to go up again... var absoluteYaw = -rotated.x; // from -1 left to 1 right - if (DEBUGGING) { - print("absolutePitch:" + absolutePitch); - print("absoluteYaw:" + absoluteYaw); - Vec3.print("rotated:", rotated); - } - var ROTATION_BOUND = 0.6; var clampYaw = Math.clamp(absoluteYaw, -ROTATION_BOUND, ROTATION_BOUND); var clampPitch = Math.clamp(absolutePitch, -ROTATION_BOUND, ROTATION_BOUND); - if (DEBUGGING) { - print("clampYaw:" + clampYaw); - print("clampPitch:" + clampPitch); - } // using only from -ROTATION_BOUND to ROTATION_BOUND var xRatio = (clampYaw + ROTATION_BOUND) / (2 * ROTATION_BOUND); var yRatio = (clampPitch + ROTATION_BOUND) / (2 * ROTATION_BOUND); - if (DEBUGGING) { - print("xRatio:" + xRatio); - print("yRatio:" + yRatio); - } - var x = screenSizeX * xRatio; var y = screenSizeY * yRatio; - if (DEBUGGING) { - print("position x:" + x + " y:" + y); - } - if (!(xRatio == 0.5 && yRatio == 0)) { + // don't move the reticle with the hand controllers unless the controllers are actually being moved + var MINIMUM_CONTROLLER_ANGULAR_VELOCITY = 0.0001; + var angularVelocityMagnitude = Vec3.length(poseLeft.angularVelocity) * (1.0 - leftRightBias) + Vec3.length(poseRight.angularVelocity) * leftRightBias; + + if (!(xRatio == 0.5 && yRatio == 0) && (angularVelocityMagnitude > MINIMUM_CONTROLLER_ANGULAR_VELOCITY)) { moveReticleAbsolute(x, y); } }); From 6d857296f9a4acc3e81d2df5c95d50f28bbfaa2c Mon Sep 17 00:00:00 2001 From: Philip Rosedale Date: Tue, 29 Dec 2015 23:37:10 -0800 Subject: [PATCH 2/3] show search sphere instead of beams, start at center of view --- examples/controllers/handControllerGrab.js | 96 ++++++++++++++++------ 1 file changed, 70 insertions(+), 26 deletions(-) diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js index 3c8f1f0014..0dce72803c 100644 --- a/examples/controllers/handControllerGrab.js +++ b/examples/controllers/handControllerGrab.js @@ -96,7 +96,7 @@ var MSEC_PER_SEC = 1000.0; var LIFETIME = 10; var ACTION_TTL = 15; // seconds var ACTION_TTL_REFRESH = 5; -var PICKS_PER_SECOND_PER_HAND = 5; +var PICKS_PER_SECOND_PER_HAND = 60; var MSECS_PER_SEC = 1000.0; var GRABBABLE_PROPERTIES = [ "position", @@ -123,8 +123,8 @@ var blacklist = []; //we've created various ways of visualizing looking for and moving distant objects var USE_ENTITY_LINES_FOR_SEARCHING = false; -var USE_OVERLAY_LINES_FOR_SEARCHING = false; -var USE_PARTICLE_BEAM_FOR_SEARCHING = true; +var USE_OVERLAY_LINES_FOR_SEARCHING = true; +var USE_PARTICLE_BEAM_FOR_SEARCHING = false; var USE_ENTITY_LINES_FOR_MOVING = false; var USE_OVERLAY_LINES_FOR_MOVING = false; @@ -290,6 +290,11 @@ function MyController(hand) { this.spotlight = null; this.pointlight = null; this.overlayLine = null; + this.searchSphere = null; + + // how far from camera to search intersection? + this.intersectionDistance = 0.0; + this.searchSphereDistance = 0.0; this.ignoreIK = false; this.offsetPosition = Vec3.ZERO; @@ -409,6 +414,23 @@ function MyController(hand) { } }; + var SEARCH_SPHERE_ALPHA = 0.5; + this.searchSphereOn = function(location, size, color) { + if (this.searchSphere === null) { + var sphereProperties = { + position: location, + size: size, + color: color, + alpha: SEARCH_SPHERE_ALPHA, + solid: true, + visible: true + } + this.searchSphere = Overlays.addOverlay("sphere", sphereProperties); + } else { + Overlays.editOverlay(this.searchSphere, { position: location, size: size, color: color, visible: true }); + } + } + this.overlayLineOn = function(closePoint, farPoint, color) { if (this.overlayLine === null) { var lineProperties = { @@ -654,6 +676,17 @@ function MyController(hand) { this.overlayLine = null; }; + this.searchSphereOff = function() { + if (this.searchSphere !== null) { + //Overlays.editOverlay(this.searchSphere, { visible: false }); + Overlays.deleteOverlay(this.searchSphere); + this.searchSphere = null; + this.searchSphereDistance = 0.0; + this.intersectionDistance = 0.0; + } + + }; + this.particleBeamOff = function() { if (this.particleBeam !== null) { Entities.editEntity(this.particleBeam, { @@ -687,6 +720,7 @@ function MyController(hand) { if (USE_PARTICLE_BEAM_FOR_SEARCHING === true || USE_PARTICLE_BEAM_FOR_MOVING === true) { this.particleBeamOff(); } + this.searchSphereOff(); }; this.triggerPress = function(value) { @@ -712,11 +746,6 @@ function MyController(hand) { return this.triggerValue < TRIGGER_OFF_VALUE; }; - this.triggerSqueezed = function() { - var triggerValue = this.rawTriggerValue; - return triggerValue > TRIGGER_ON_VALUE; - }; - this.bumperSqueezed = function() { return _this.rawBumperValue > BUMPER_ON_VALUE; }; @@ -726,15 +755,15 @@ function MyController(hand) { }; this.off = function() { - if (this.triggerSmoothedSqueezed()) { + if (this.triggerSmoothedSqueezed() || this.bumperSqueezed()) { this.lastPickTime = 0; - this.setState(STATE_SEARCHING); - return; - } - if (this.bumperSqueezed()) { - this.lastPickTime = 0; - this.setState(STATE_EQUIP_SEARCHING); - return; + var controllerHandInput = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand; + this.startingHandRotation = Controller.getPoseValue(controllerHandInput).rotation; + if (this.triggerSmoothedSqueezed()) { + this.setState(STATE_SEARCHING); + } else { + this.setState(STATE_EQUIP_SEARCHING); + } } }; @@ -748,9 +777,14 @@ function MyController(hand) { // the trigger is being pressed, do a ray test var handPosition = this.getHandPosition(); + + var controllerHandInput = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand; + var currentHandRotation = Controller.getPoseValue(controllerHandInput).rotation; + var handDeltaRotation = Quat.multiply(currentHandRotation, Quat.inverse(this.startingHandRotation)); + var distantPickRay = { - origin: handPosition, - direction: Quat.getUp(this.getHandRotation()), + origin: Camera.position, + direction: Quat.getFront(Quat.multiply(Camera.orientation, handDeltaRotation)), length: PICK_MAX_DISTANCE }; @@ -789,7 +823,7 @@ function MyController(hand) { if (intersection.intersects) { // the ray is intersecting something we can move. - var intersectionDistance = Vec3.distance(pickRay.origin, intersection.intersection); + this.intersectionDistance = Vec3.distance(pickRay.origin, intersection.intersection); var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, intersection.entityID, DEFAULT_GRABBABLE_DATA); @@ -800,11 +834,11 @@ function MyController(hand) { if (typeof grabbableData.grabbable !== 'undefined' && !grabbableData.grabbable) { continue; } - if (intersectionDistance > pickRay.length) { + if (this.intersectionDistance > pickRay.length) { // too far away for this ray. continue; } - if (intersectionDistance <= NEAR_PICK_MAX_DISTANCE) { + if (this.intersectionDistance <= NEAR_PICK_MAX_DISTANCE) { // the hand is very close to the intersected object. go into close-grabbing mode. if (grabbableData.wantsTrigger) { this.grabbedEntity = intersection.entityID; @@ -851,6 +885,7 @@ function MyController(hand) { } } + // forward ray test failed, try sphere test. if (WANT_DEBUG) { Entities.addEntity({ @@ -946,14 +981,23 @@ function MyController(hand) { this.lineOn(distantPickRay.origin, Vec3.multiply(distantPickRay.direction, LINE_LENGTH), NO_INTERSECT_COLOR); } - if (USE_OVERLAY_LINES_FOR_SEARCHING === true) { - this.overlayLineOn(distantPickRay.origin, Vec3.sum(distantPickRay.origin, Vec3.multiply(distantPickRay.direction, LINE_LENGTH)), NO_INTERSECT_COLOR); - } - if (USE_PARTICLE_BEAM_FOR_SEARCHING === true) { this.handleParticleBeam(distantPickRay.origin, this.getHandRotation(), NO_INTERSECT_COLOR); } - + if (this.intersectionDistance > 0) { + var SPHERE_INTERSECTION_SIZE = 0.011; + var SEARCH_SPHERE_FOLLOW_RATE = 0.50; + var SEARCH_SPHERE_CHASE_DROP = 0.2; + this.searchSphereDistance = this.searchSphereDistance * SEARCH_SPHERE_FOLLOW_RATE + this.intersectionDistance * (1.0 - SEARCH_SPHERE_FOLLOW_RATE); + var searchSphereLocation = Vec3.sum(distantPickRay.origin, Vec3.multiply(distantPickRay.direction, this.searchSphereDistance)); + searchSphereLocation.y -= ((this.intersectionDistance - this.searchSphereDistance) / this.intersectionDistance) * SEARCH_SPHERE_CHASE_DROP; + this.searchSphereOn(searchSphereLocation, SPHERE_INTERSECTION_SIZE * this.intersectionDistance, NO_INTERSECT_COLOR); + if (USE_OVERLAY_LINES_FOR_SEARCHING === true) { + var OVERLAY_BEAM_SETBACK = 0.9; + var startBeam = Vec3.sum(handPosition, Vec3.multiply(Vec3.subtract(searchSphereLocation, handPosition), OVERLAY_BEAM_SETBACK)); + this.overlayLineOn(startBeam, searchSphereLocation, NO_INTERSECT_COLOR); + } + } }; this.distanceHolding = function() { From e995b29712dd184a4473f79e0ca8da1a6b72bcca Mon Sep 17 00:00:00 2001 From: Philip Rosedale Date: Wed, 30 Dec 2015 00:36:11 -0800 Subject: [PATCH 3/3] can target without grabbing --- examples/controllers/handControllerGrab.js | 21 +++++++++++++-------- 1 file changed, 13 insertions(+), 8 deletions(-) diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js index 0dce72803c..e362eb22e0 100644 --- a/examples/controllers/handControllerGrab.js +++ b/examples/controllers/handControllerGrab.js @@ -23,8 +23,9 @@ var WANT_DEBUG = false; // these tune time-averaging and "on" value for analog trigger // -var TRIGGER_SMOOTH_RATIO = 0.1; // 0.0 disables smoothing of trigger value -var TRIGGER_ON_VALUE = 0.4; +var TRIGGER_SMOOTH_RATIO = 0.1; // Time averaging of trigger - 0.0 disables smoothing +var TRIGGER_ON_VALUE = 0.4; // Squeezed just enough to activate search or near grab +var TRIGGER_GRAB_VALUE = 0.85; // Squeezed far enough to complete distant grab var TRIGGER_OFF_VALUE = 0.15; var BUMPER_ON_VALUE = 0.5; @@ -738,6 +739,10 @@ function MyController(hand) { (triggerValue * (1.0 - TRIGGER_SMOOTH_RATIO)); }; + this.triggerSmoothedGrab = function() { + return this.triggerValue > TRIGGER_GRAB_VALUE; + }; + this.triggerSmoothedSqueezed = function() { return this.triggerValue > TRIGGER_ON_VALUE; }; @@ -775,7 +780,7 @@ function MyController(hand) { return; } - // the trigger is being pressed, do a ray test + // the trigger is being pressed, so do a ray test to see what we are hitting var handPosition = this.getHandPosition(); var controllerHandInput = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand; @@ -788,7 +793,7 @@ function MyController(hand) { length: PICK_MAX_DISTANCE }; - // don't pick 60x per second. + // Pick at some maximum rate, not always var pickRays = []; var now = Date.now(); if (now - this.lastPickTime > MSECS_PER_SEC / PICKS_PER_SECOND_PER_HAND) { @@ -872,11 +877,11 @@ function MyController(hand) { // this.setState(STATE_EQUIP_SPRING); this.setState(STATE_EQUIP); return; - } else if (this.state == STATE_SEARCHING) { + } else if ((this.state == STATE_SEARCHING) && this.triggerSmoothedGrab()) { this.setState(STATE_DISTANCE_HOLDING); return; } - } else if (grabbableData.wantsTrigger) { + } else if (grabbableData.wantsTrigger && this.triggerSmoothedGrab()) { this.grabbedEntity = intersection.entityID; this.setState(STATE_FAR_TRIGGER); return; @@ -991,11 +996,11 @@ function MyController(hand) { this.searchSphereDistance = this.searchSphereDistance * SEARCH_SPHERE_FOLLOW_RATE + this.intersectionDistance * (1.0 - SEARCH_SPHERE_FOLLOW_RATE); var searchSphereLocation = Vec3.sum(distantPickRay.origin, Vec3.multiply(distantPickRay.direction, this.searchSphereDistance)); searchSphereLocation.y -= ((this.intersectionDistance - this.searchSphereDistance) / this.intersectionDistance) * SEARCH_SPHERE_CHASE_DROP; - this.searchSphereOn(searchSphereLocation, SPHERE_INTERSECTION_SIZE * this.intersectionDistance, NO_INTERSECT_COLOR); + this.searchSphereOn(searchSphereLocation, SPHERE_INTERSECTION_SIZE * this.intersectionDistance, this.triggerSmoothedGrab() ? INTERSECT_COLOR : NO_INTERSECT_COLOR); if (USE_OVERLAY_LINES_FOR_SEARCHING === true) { var OVERLAY_BEAM_SETBACK = 0.9; var startBeam = Vec3.sum(handPosition, Vec3.multiply(Vec3.subtract(searchSphereLocation, handPosition), OVERLAY_BEAM_SETBACK)); - this.overlayLineOn(startBeam, searchSphereLocation, NO_INTERSECT_COLOR); + this.overlayLineOn(startBeam, searchSphereLocation, this.triggerSmoothedGrab() ? INTERSECT_COLOR : NO_INTERSECT_COLOR); } } };