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Changed euler angle compisition based on experiments in maya.
Also, the neuronAvatar.js attempts to transform the neuron input quaternions into
a pose relative to the avatar's default pose, but doesn't it doesn't work.
This commit is contained in:
Anthony J. Thibault 2015-12-23 17:13:52 -08:00
parent 6afe3bae5e
commit c44f69b370
3 changed files with 19 additions and 15 deletions
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9
examples/controllers/neuron/neuronAvatar.js
View file

@ -1,6 +1,5 @@
// maps controller joint names to avatar joint names
var JOINT_NAME_MAP = {
HipsPosition: "",
Hips: "Hips",
RightUpLeg: "RightUpLeg",
RightLeg: "RightLeg",
@ -124,11 +123,9 @@ NeuronAvatar.prototype.update = function (deltaTime) {
var pose = Controller.getPoseValue(channel);
var j = MyAvatar.getJointIndex(JOINT_NAME_MAP[keys[i]]);
var defaultRot = MyAvatar.getDefaultJointRotation(j);
if (keys[i] == "Hips") {
MyAvatar.setJointRotation(j, Quat.multiply(pose.rotation, defaultRot));
} else {
MyAvatar.setJointRotation(j, defaultRot);
}
var rot = Quat.multiply(Quat.inverse(defaultRot), Quat.multiply(pose.rotation, defaultRot));
MyAvatar.setJointRotation(j, Quat.multiply(defaultRot, rot));
//MyAvatar.setJointTranslation(j, Vec3.multiply(100.0, pose.translation));
}
}
};

3
libraries/controllers/src/controllers/StandardControls.h
View file

@ -88,8 +88,7 @@ namespace controller {
// No correlation to SDL
enum StandardPoseChannel {
HIPS_ROOT = 0,
HIPS,
HIPS = 0,
RIGHT_UP_LEG,
RIGHT_LEG,
RIGHT_FOOT,

22
plugins/hifiNeuron/src/NeuronPlugin.cpp
View file

@ -17,6 +17,7 @@
#include <DebugDraw.h>
#include <cassert>
#include <NumericalConstants.h>
#include <StreamUtils.h>
Q_DECLARE_LOGGING_CATEGORY(inputplugins)
Q_LOGGING_CATEGORY(inputplugins, "hifi.inputplugins")
@ -30,8 +31,7 @@ const QString NeuronPlugin::NEURON_ID_STRING = "Perception Neuron";
// This matches controller::StandardPoseChannel
enum JointIndex {
HipsPosition = 0,
Hips,
Hips = 0,
RightUpLeg,
RightLeg,
RightFoot,
@ -204,8 +204,9 @@ void NeuronPlugin::activate() {
if (!_socketRef) {
// error
qCCritical(inputplugins) << "NeuronPlugin: error connecting to " << _serverAddress.c_str() << ":" << _serverPort << "error = " << BRGetLastErrorMessage();
} else {
qCDebug(inputplugins) << "NeuronPlugin: success connecting to " << _serverAddress.c_str() << ":" << _serverPort;
}
qCDebug(inputplugins) << "NeuronPlugin: success connecting to " << _serverAddress.c_str() << ":" << _serverPort;
}
void NeuronPlugin::deactivate() {
@ -226,9 +227,9 @@ void NeuronPlugin::deactivate() {
// convert between euler in degrees to quaternion
static quat eulerToQuat(vec3 euler) {
return (glm::angleAxis(euler.y * RADIANS_PER_DEGREE, Vectors::UNIT_Y) *
glm::angleAxis(euler.x * RADIANS_PER_DEGREE, Vectors::UNIT_X) *
glm::angleAxis(euler.z * RADIANS_PER_DEGREE, Vectors::UNIT_Z));
// euler.x and euler.y are swaped (thanks NOMICOM!)
glm::vec3 e = glm::vec3(euler.y, euler.x, euler.z) * RADIANS_PER_DEGREE;
return (glm::angleAxis(e.y, Vectors::UNIT_Y) * glm::angleAxis(e.x, Vectors::UNIT_X) * glm::angleAxis(e.z, Vectors::UNIT_Z));
}
void NeuronPlugin::pluginUpdate(float deltaTime, bool jointsCaptured) {
@ -274,7 +275,6 @@ static controller::StandardPoseChannel neuronJointIndexToPoseIndex(JointIndex i)
static const char* neuronJointName(JointIndex i) {
switch (i) {
case HipsPosition: return "HipsPosition";
case Hips: return "Hips";
case RightUpLeg: return "RightUpLeg";
case RightLeg: return "RightLeg";
@ -369,9 +369,17 @@ void NeuronPlugin::InputDevice::update(float deltaTime, const std::vector<Neuron
}
_poseStateMap[poseIndex] = controller::Pose(pos, rot, linearVel, angularVel);
// dump the first 5 joints
if (i <= JointIndex::LeftFoot) {
qCDebug(inputplugins) << neuronJointName((JointIndex)i);
qCDebug(inputplugins) << " trans = " << joints[i].pos;
qCDebug(inputplugins) << " euler = " << joints[i].euler;
}
/*
if (glm::length(angularVel) > 0.5f) {
qCDebug(inputplugins) << "Movement in joint" << i << neuronJointName((JointIndex)i);
}
*/
}
}