Mirrors/overte-thingvellir
3
0
Fork 0
mirror of https://thingvellir.net/git/overte synced 2025-03-27 23:52:03 +01:00
Code Issues Projects Releases Packages Wiki Activity Actions

Head and Hand offsets for Vive Trackers now function as expected

Browse source 
In the Settings > Controller... > Calibration menu, when using head or hand trackers
The provided Y and Z offsets should function correctly now.  This gives you the ability to adjust
the offsets of the pucks to the hands/head.  For example: this allows you to wear the hand pucks on your forearms
rather then the backs of your palms.
This commit is contained in:
Anthony Thibault 2018-12-02 16:18:36 -08:00
parent f3c0118602
commit c0bf832e39
2 changed files with 35 additions and 32 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

35
interface/resources/qml/hifi/tablet/OpenVrConfiguration.qml
View file

@ -207,12 +207,12 @@ Flickable {
width: 112
label: "Y Offset"
suffix: " cm"
minimumValue: -10
minimumValue: -50
maximumValue: 50
realStepSize: 1
realValue: -5
colorScheme: hifi.colorSchemes.dark
onEditingFinished: {
onRealValueChanged: {
sendConfigurationSettings();
openVrConfiguration.forceActiveFocus();
}
@ -223,14 +223,14 @@ Flickable {
id: headZOffset
width: 112
label: "Z Offset"
minimumValue: -10
minimumValue: -50
maximumValue: 50
realStepSize: 1
decimals: 1
suffix: " cm"
realValue: -5
colorScheme: hifi.colorSchemes.dark
onEditingFinished: {
onRealValueChanged: {
sendConfigurationSettings();
openVrConfiguration.forceActiveFocus();
}
@ -319,11 +319,12 @@ Flickable {
width: 112
suffix: " cm"
label: "Y Offset"
minimumValue: -10
minimumValue: -30
maximumValue: 30
realStepSize: 1
colorScheme: hifi.colorSchemes.dark
onEditingFinished: {
onRealValueChanged: {
sendConfigurationSettings();
openVrConfiguration.forceActiveFocus();
}
@ -335,12 +336,13 @@ Flickable {
width: 112
label: "Z Offset"
suffix: " cm"
minimumValue: -10
minimumValue: -30
maximumValue: 30
realStepSize: 1
decimals: 1
colorScheme: hifi.colorSchemes.dark
onEditingFinished: {
onRealValueChanged: {
sendConfigurationSettings();
openVrConfiguration.forceActiveFocus();
}
@ -574,7 +576,7 @@ Flickable {
colorScheme: hifi.colorSchemes.dark
realValue: 33.0
onEditingFinished: {
onRealValueChanged: {
sendConfigurationSettings();
openVrConfiguration.forceActiveFocus();
}
@ -592,7 +594,7 @@ Flickable {
colorScheme: hifi.colorSchemes.dark
realValue: 48
onEditingFinished: {
onRealValueChanged: {
sendConfigurationSettings();
openVrConfiguration.forceActiveFocus();
}
@ -771,7 +773,7 @@ Flickable {
realStepSize: 1.0
colorScheme: hifi.colorSchemes.dark
onEditingFinished: {
onRealValueChanged: {
calibrationTimer.interval = realValue * 1000;
openVrConfiguration.countDown = realValue;
numberAnimation.duration = calibrationTimer.interval;
@ -977,6 +979,13 @@ Flickable {
var configurationType = settings["trackerConfiguration"];
displayTrackerConfiguration(configurationType);
// default offset for user wearing puck on the center of their forehead.
headYOffset.realValue = 4; // (cm), puck is above the head joint.
headZOffset.realValue = 8; // (cm), puck is in front of the head joint.
// defaults for user wearing the pucks on the backs of their palms.
handYOffset.realValue = 8; // (cm), puck is past the the hand joint. (set this to zero if puck is on the wrist)
handZOffset.realValue = -4; // (cm), puck is on above hand joint.
var HmdHead = settings["HMDHead"];
var viveController = settings["handController"];

32
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -892,7 +892,7 @@ glm::mat4 ViveControllerManager::InputDevice::calculateDefaultToReferenceForHead
glm::vec3 x = glm::normalize(glm::cross(Vectors::UNIT_Y, forward));
glm::vec3 z = glm::normalize(glm::cross(x, Vectors::UNIT_Y));
glm::mat3 centerEyeRotMat(x, Vectors::UNIT_Y, z);
glm::vec3 centerEyeTrans = headPuckPose.translation + centerEyeRotMat * glm::vec3(0.0f, _headPuckYOffset, _headPuckZOffset);
glm::vec3 centerEyeTrans = headPuckPose.translation + centerEyeRotMat * -glm::vec3(0.0f, _headPuckYOffset, _headPuckZOffset);
glm::mat4 E_s(glm::vec4(centerEyeRotMat[0], 0.0f),
glm::vec4(centerEyeRotMat[1], 0.0f),
@ -1056,7 +1056,7 @@ void ViveControllerManager::InputDevice::hapticsHelper(float deltaTime, bool lef
float hapticTime = strength * MAX_HAPTIC_TIME;
if (hapticTime < duration * 1000.0f) {
_system->TriggerHapticPulse(deviceIndex, 0, hapticTime);
}
}
float remainingHapticTime = duration - (hapticTime / 1000.0f + deltaTime * 1000.0f); // in milliseconds
if (leftHand) {
@ -1077,23 +1077,20 @@ void ViveControllerManager::InputDevice::calibrateLeftHand(const glm::mat4& defa
}
// This allows the user to not have to match the t-pose exactly. We assume that the y facing of the hand lies in the plane of the puck.
// Where the plane of the puck is defined by the the local z-axis of the puck, which is facing out of the vive logo/power button.
// Where the plane of the puck is defined by the the local z-axis of the puck, which is pointing out of the camera mount on the bottom of the puck.
glm::vec3 zPrime = handPoseZAxis;
glm::vec3 xPrime = glm::normalize(glm::cross(referenceHandYAxis, handPoseZAxis));
glm::vec3 yPrime = glm::normalize(glm::cross(zPrime, xPrime));
glm::mat4 newHandMat = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f),
glm::vec4(zPrime, 0.0f), glm::vec4(0.0f, 0.0f, 0.0f, 1.0f));
glm::vec3 translationOffset = glm::vec3(0.0f, _handPuckYOffset, _handPuckZOffset);
glm::quat initialRotation = handPose.getRotation();
glm::quat finalRotation = glmExtractRotation(newHandMat);
glm::quat rotationOffset = glm::inverse(initialRotation) * finalRotation;
glm::mat4 offsetMat = createMatFromQuatAndPos(rotationOffset, translationOffset);
glm::quat initialRot = handPose.getRotation();
glm::quat postOffsetRot = glm::inverse(initialRot) * glmExtractRotation(newHandMat);
glm::vec3 postOffsetTrans = postOffsetRot * -glm::vec3(0.0f, _handPuckYOffset, _handPuckZOffset);
glm::mat4 postOffsetMat = createMatFromQuatAndPos(postOffsetRot, postOffsetTrans);
_jointToPuckMap[controller::LEFT_HAND] = handPair.first;
_pucksPostOffset[handPair.first] = offsetMat;
_pucksPostOffset[handPair.first] = postOffsetMat;
}
void ViveControllerManager::InputDevice::calibrateRightHand(const glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& handPair) {
@ -1113,16 +1110,13 @@ void ViveControllerManager::InputDevice::calibrateRightHand(const glm::mat4& def
glm::mat4 newHandMat = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f),
glm::vec4(zPrime, 0.0f), glm::vec4(0.0f, 0.0f, 0.0f, 1.0f));
glm::vec3 translationOffset = glm::vec3(0.0f, _handPuckYOffset, _handPuckZOffset);
glm::quat initialRotation = handPose.getRotation();
glm::quat finalRotation = glmExtractRotation(newHandMat);
glm::quat rotationOffset = glm::inverse(initialRotation) * finalRotation;
glm::mat4 offsetMat = createMatFromQuatAndPos(rotationOffset, translationOffset);
glm::quat initialRot = handPose.getRotation();
glm::quat postOffsetRot = glm::inverse(initialRot) * glmExtractRotation(newHandMat);
glm::vec3 postOffsetTrans = postOffsetRot * -glm::vec3(0.0f, _handPuckYOffset, _handPuckZOffset);
glm::mat4 postOffsetMat = createMatFromQuatAndPos(postOffsetRot, postOffsetTrans);
_jointToPuckMap[controller::RIGHT_HAND] = handPair.first;
_pucksPostOffset[handPair.first] = offsetMat;
_pucksPostOffset[handPair.first] = postOffsetMat;
}