diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index e97b0c7585..e040833e01 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -76,7 +76,6 @@
#include <InfoView.h>
#include <input-plugins/InputPlugin.h>
#include <input-plugins/Joystick.h> // this should probably be removed
-#include <input-plugins/SixenseManager.h> // this definitely should be removed
#include <LogHandler.h>
#include <MainWindow.h>
#include <MessageDialog.h>
@@ -2130,7 +2129,7 @@ void Application::setEnableVRMode(bool enableVRMode) {
#endif
void Application::setLowVelocityFilter(bool lowVelocityFilter) {
- SixenseManager::getInstance().setLowVelocityFilter(lowVelocityFilter);
+ InputDevice::setLowVelocityFilter(lowVelocityFilter);
}
bool Application::mouseOnScreen() const {
@@ -2364,18 +2363,7 @@ void Application::init() {
DependencyManager::get<AddressManager>()->loadSettings(addressLookupString);
qCDebug(interfaceapp) << "Loaded settings";
-
-#ifdef __APPLE__
- if (Menu::getInstance()->isOptionChecked(MenuOption::SixenseEnabled)) {
- // on OS X we only setup sixense if the user wants it on - this allows running without the hid_init crash
- // if hydra support is temporarily not required
- SixenseManager::getInstance().toggleSixense(true);
- }
-#else
- // setup sixense
- SixenseManager::getInstance().toggleSixense(true);
-#endif
-
+
Leapmotion::init();
RealSense::init();
@@ -2683,12 +2671,17 @@ void Application::update(float deltaTime) {
userInputMapper->setSensorToWorldMat(_myAvatar->getSensorToWorldMatrix());
userInputMapper->update(deltaTime);
+ // This needs to go after userInputMapper->update() because of the keyboard
+ bool jointsCaptured = false;
auto inputPlugins = getInputPlugins();
foreach(auto inputPlugin, inputPlugins) {
QString name = inputPlugin->getName();
QAction* action = Menu::getInstance()->getActionForOption(name);
if (action->isChecked()) {
- inputPlugin->pluginUpdate(deltaTime); // add flag to prevent multiple devices from modifying joints
+ inputPlugin->pluginUpdate(deltaTime, jointsCaptured);
+ if (inputPlugin->isJointController()) {
+ jointsCaptured = true;
+ }
}
}
@@ -2716,8 +2709,8 @@ void Application::update(float deltaTime) {
UserInputMapper::PoseValue leftHand = userInputMapper->getPoseState(UserInputMapper::LEFT_HAND);
UserInputMapper::PoseValue rightHand = userInputMapper->getPoseState(UserInputMapper::RIGHT_HAND);
Hand* hand = DependencyManager::get<AvatarManager>()->getMyAvatar()->getHand();
- setPalmData(hand, leftHand, LEFT_HAND_INDEX);
- setPalmData(hand, rightHand, RIGHT_HAND_INDEX);
+ setPalmData(hand, leftHand, deltaTime, LEFT_HAND_INDEX);
+ setPalmData(hand, rightHand, deltaTime, RIGHT_HAND_INDEX);
if (Menu::getInstance()->isOptionChecked(MenuOption::HandMouseInput)) {
emulateMouse(hand, userInputMapper->getActionState(UserInputMapper::LEFT_HAND_CLICK),
userInputMapper->getActionState(UserInputMapper::SHIFT), LEFT_HAND_INDEX);
@@ -2869,7 +2862,7 @@ void Application::update(float deltaTime) {
_myAvatar->updateSensorToWorldMatrix();
}
-void Application::setPalmData(Hand* hand, UserInputMapper::PoseValue pose, int index) {
+void Application::setPalmData(Hand* hand, UserInputMapper::PoseValue pose, float deltaTime, int index) {
PalmData* palm;
bool foundHand = false;
for (size_t j = 0; j < hand->getNumPalms(); j++) {
@@ -2887,12 +2880,54 @@ void Application::setPalmData(Hand* hand, UserInputMapper::PoseValue pose, int i
}
palm->setActive(pose.isValid());
+
+ glm::vec3 position = pose.getTranslation();
+ glm::quat rotation = pose.getRotation();
+
+ // TODO: velocity and tip position information should be converted to model space
+ // Compute current velocity from position change
+ glm::vec3 rawVelocity;
+ if (deltaTime > 0.0f) {
+ rawVelocity = (position - palm->getRawPosition()) / deltaTime;
+ } else {
+ rawVelocity = glm::vec3(0.0f);
+ }
+ palm->setRawVelocity(rawVelocity); // meters/sec
- // TODO: velocity filters, tip velocities, etc.
- // see SixenseManager
+ // Angular Velocity of Palm
+ glm::quat deltaRotation = rotation * glm::inverse(palm->getRawRotation());
+ glm::vec3 angularVelocity(0.0f);
+ float rotationAngle = glm::angle(deltaRotation);
+ if ((rotationAngle > EPSILON) && (deltaTime > 0.0f)) {
+ angularVelocity = glm::normalize(glm::axis(deltaRotation));
+ angularVelocity *= (rotationAngle / deltaTime);
+ palm->setRawAngularVelocity(angularVelocity);
+ } else {
+ palm->setRawAngularVelocity(glm::vec3(0.0f));
+ }
+
+ if (InputDevice::getLowVelocityFilter()) {
+ // Use a velocity sensitive filter to damp small motions and preserve large ones with
+ // no latency.
+ float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);
+ position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter);
+ rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter);
+ }
+
+ // Store the one fingertip in the palm structure so we can track velocity
+ const float FINGER_LENGTH = 0.3f; // meters
+ const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
+ const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
+ glm::vec3 oldTipPosition = palm->getTipRawPosition();
+ if (deltaTime > 0.0f) {
+ palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
+ } else {
+ palm->setTipVelocity(glm::vec3(0.0f));
+ }
+ palm->setTipPosition(newTipPosition);
// transform from sensor space, to world space, to avatar model space.
- glm::mat4 poseMat = createMatFromQuatAndPos(pose.getRotation(), pose.getTranslation());
+ glm::mat4 poseMat = createMatFromQuatAndPos(rotation, position);
glm::mat4 sensorToWorldMat = _myAvatar->getSensorToWorldMatrix();
glm::mat4 modelMat = createMatFromQuatAndPos(_myAvatar->getOrientation(), _myAvatar->getPosition());
glm::mat4 objectPose = glm::inverse(modelMat) * sensorToWorldMat * poseMat;
diff --git a/interface/src/Application.h b/interface/src/Application.h
index 1ff56b37ed..46d1ecf39e 100644
--- a/interface/src/Application.h
+++ b/interface/src/Application.h
@@ -475,7 +475,7 @@ private:
void update(float deltaTime);
- void setPalmData(Hand* hand, UserInputMapper::PoseValue pose, int index);
+ void setPalmData(Hand* hand, UserInputMapper::PoseValue pose, float deltaTime, int index);
void emulateMouse(Hand* hand, float click, float shift, int index);
// Various helper functions called during update()
diff --git a/interface/src/InputPlugins.h b/interface/src/InputPlugins.h
index 14ed808df4..ce1beeb708 100644
--- a/interface/src/InputPlugins.h
+++ b/interface/src/InputPlugins.h
@@ -7,6 +7,8 @@
//
#pragma once
+#include <plugins/PluginContainer.h>
+
class InputPlugin;
#include <QVector>
diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index bb1f6e6528..9c89db4353 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -464,26 +464,17 @@ Menu::Menu() {
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::DisplayHandTargets, 0, false);
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::HandMouseInput, 0, true);
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::HandLasers, 0, false);
+ addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::LowVelocityFilter, 0, true,
+ qApp, SLOT(setLowVelocityFilter(bool)));
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::ShowIKConstraints, 0, false);
MenuWrapper* sixenseOptionsMenu = handOptionsMenu->addMenu("Sixense");
- addCheckableActionToQMenuAndActionHash(sixenseOptionsMenu,
- MenuOption::SixenseEnabled,
- 0, false,
- &SixenseManager::getInstance(),
- SLOT(toggleSixense(bool)));
addCheckableActionToQMenuAndActionHash(sixenseOptionsMenu,
MenuOption::FilterSixense,
0,
true,
&SixenseManager::getInstance(),
SLOT(setFilter(bool)));
- addCheckableActionToQMenuAndActionHash(sixenseOptionsMenu,
- MenuOption::LowVelocityFilter,
- 0,
- true,
- qApp,
- SLOT(setLowVelocityFilter(bool)));
MenuWrapper* leapOptionsMenu = handOptionsMenu->addMenu("Leap Motion");
addCheckableActionToQMenuAndActionHash(leapOptionsMenu, MenuOption::LeapMotionOnHMD, 0, false);
diff --git a/interface/src/ui/PreferencesDialog.cpp b/interface/src/ui/PreferencesDialog.cpp
index 8cafc152f4..a1c0a0a512 100644
--- a/interface/src/ui/PreferencesDialog.cpp
+++ b/interface/src/ui/PreferencesDialog.cpp
@@ -181,8 +181,9 @@ void PreferencesDialog::loadPreferences() {
ui.oculusUIAngularSizeSpin->setValue(qApp->getApplicationCompositor().getHmdUIAngularSize());
#endif
- SixenseManager& sixense = SixenseManager::getInstance();
ui.sixenseReticleMoveSpeedSpin->setValue(InputDevice::getReticleMoveSpeed());
+
+ SixenseManager& sixense = SixenseManager::getInstance();
ui.invertSixenseButtonsCheckBox->setChecked(sixense.getInvertButtons());
// LOD items
diff --git a/libraries/input-plugins/src/input-plugins/InputDevice.cpp b/libraries/input-plugins/src/input-plugins/InputDevice.cpp
index 8f0f2449ca..057fb7ddf1 100644
--- a/libraries/input-plugins/src/input-plugins/InputDevice.cpp
+++ b/libraries/input-plugins/src/input-plugins/InputDevice.cpp
@@ -7,6 +7,8 @@
//
#include "InputDevice.h"
+bool InputDevice::_lowVelocityFilter = false;
+
const float DEFAULT_HAND_RETICLE_MOVE_SPEED = 37.5f;
float InputDevice::reticleMoveSpeed = DEFAULT_HAND_RETICLE_MOVE_SPEED;
diff --git a/libraries/input-plugins/src/input-plugins/InputDevice.h b/libraries/input-plugins/src/input-plugins/InputDevice.h
index 4776766312..17f28c1bd8 100644
--- a/libraries/input-plugins/src/input-plugins/InputDevice.h
+++ b/libraries/input-plugins/src/input-plugins/InputDevice.h
@@ -34,7 +34,7 @@ public:
// Update call MUST be called once per simulation loop
// It takes care of updating the action states and deltas
- virtual void update(float deltaTime) = 0;
+ virtual void update(float deltaTime, bool jointsCaptured) = 0;
virtual void focusOutEvent() = 0;
@@ -44,6 +44,11 @@ public:
static float getReticleMoveSpeed() { return reticleMoveSpeed; }
static void setReticleMoveSpeed(float sixenseReticleMoveSpeed) { reticleMoveSpeed = sixenseReticleMoveSpeed; }
+ static bool getLowVelocityFilter() { return _lowVelocityFilter; };
+
+public slots:
+ static void setLowVelocityFilter(bool newLowVelocityFilter) { _lowVelocityFilter = newLowVelocityFilter; };
+
protected:
int _deviceID = 0;
@@ -53,6 +58,8 @@ protected:
AxisStateMap _axisStateMap;
PoseStateMap _poseStateMap;
+ static bool _lowVelocityFilter;
+
private:
static float reticleMoveSpeed;
};
\ No newline at end of file
diff --git a/libraries/input-plugins/src/input-plugins/InputPlugin.h b/libraries/input-plugins/src/input-plugins/InputPlugin.h
index 776ece8b8a..d12ba4652f 100644
--- a/libraries/input-plugins/src/input-plugins/InputPlugin.h
+++ b/libraries/input-plugins/src/input-plugins/InputPlugin.h
@@ -15,6 +15,6 @@ public:
virtual void pluginFocusOutEvent() = 0;
- virtual void pluginUpdate(float deltaTime) = 0;
+ virtual void pluginUpdate(float deltaTime, bool jointsCaptured) = 0;
};
diff --git a/libraries/input-plugins/src/input-plugins/Joystick.cpp b/libraries/input-plugins/src/input-plugins/Joystick.cpp
index a652bee227..a29b74ac40 100644
--- a/libraries/input-plugins/src/input-plugins/Joystick.cpp
+++ b/libraries/input-plugins/src/input-plugins/Joystick.cpp
@@ -41,7 +41,7 @@ void Joystick::closeJoystick() {
#endif
}
-void Joystick::update(float deltaTime) {
+void Joystick::update(float deltaTime, bool jointsCaptured) {
for (auto axisState : _axisStateMap) {
if (fabsf(axisState.second) < CONTROLLER_THRESHOLD) {
_axisStateMap[axisState.first] = 0.0f;
diff --git a/libraries/input-plugins/src/input-plugins/Joystick.h b/libraries/input-plugins/src/input-plugins/Joystick.h
index f8f98ca661..d78aef34d6 100644
--- a/libraries/input-plugins/src/input-plugins/Joystick.h
+++ b/libraries/input-plugins/src/input-plugins/Joystick.h
@@ -49,7 +49,7 @@ public:
// Device functions
virtual void registerToUserInputMapper(UserInputMapper& mapper) override;
virtual void assignDefaultInputMapping(UserInputMapper& mapper) override;
- virtual void update(float deltaTime) override;
+ virtual void update(float deltaTime, bool jointsCaptured) override;
virtual void focusOutEvent() override;
Joystick() : InputDevice("Joystick") {}
diff --git a/libraries/input-plugins/src/input-plugins/KeyboardMouseDevice.cpp b/libraries/input-plugins/src/input-plugins/KeyboardMouseDevice.cpp
index 66751cc542..a6edfc392d 100644
--- a/libraries/input-plugins/src/input-plugins/KeyboardMouseDevice.cpp
+++ b/libraries/input-plugins/src/input-plugins/KeyboardMouseDevice.cpp
@@ -13,7 +13,7 @@
const QString KeyboardMouseDevice::NAME = "Keyboard/Mouse";
-void KeyboardMouseDevice::update(float deltaTime) {
+void KeyboardMouseDevice::update(float deltaTime, bool jointsCaptured) {
_axisStateMap.clear();
// For touch event, we need to check that the last event is not too long ago
diff --git a/libraries/input-plugins/src/input-plugins/KeyboardMouseDevice.h b/libraries/input-plugins/src/input-plugins/KeyboardMouseDevice.h
index 727920630b..85f9c3679e 100644
--- a/libraries/input-plugins/src/input-plugins/KeyboardMouseDevice.h
+++ b/libraries/input-plugins/src/input-plugins/KeyboardMouseDevice.h
@@ -65,12 +65,12 @@ public:
virtual void deactivate() override {};
virtual void pluginFocusOutEvent() override { focusOutEvent(); }
- virtual void pluginUpdate(float deltaTime) override { update(deltaTime); }
+ virtual void pluginUpdate(float deltaTime, bool jointsCaptured) override { update(deltaTime, jointsCaptured); }
// Device functions
virtual void registerToUserInputMapper(UserInputMapper& mapper) override;
virtual void assignDefaultInputMapping(UserInputMapper& mapper) override;
- virtual void update(float deltaTime) override;
+ virtual void update(float deltaTime, bool jointsCaptured) override;
virtual void focusOutEvent() override;
void keyPressEvent(QKeyEvent* event);
diff --git a/libraries/input-plugins/src/input-plugins/SDL2Manager.cpp b/libraries/input-plugins/src/input-plugins/SDL2Manager.cpp
index c5e56457b3..e8cae6be54 100644
--- a/libraries/input-plugins/src/input-plugins/SDL2Manager.cpp
+++ b/libraries/input-plugins/src/input-plugins/SDL2Manager.cpp
@@ -89,12 +89,12 @@ void SDL2Manager::pluginFocusOutEvent() {
#endif
}
-void SDL2Manager::pluginUpdate(float deltaTime) {
+void SDL2Manager::pluginUpdate(float deltaTime, bool jointsCaptured) {
#ifdef HAVE_SDL2
if (_isInitialized) {
auto userInputMapper = DependencyManager::get<UserInputMapper>();
for (auto joystick : _openJoysticks) {
- joystick->update(deltaTime);
+ joystick->update(deltaTime, jointsCaptured);
}
PerformanceTimer perfTimer("SDL2Manager::update");
diff --git a/libraries/input-plugins/src/input-plugins/SDL2Manager.h b/libraries/input-plugins/src/input-plugins/SDL2Manager.h
index 123f8dc910..62b3f60d47 100644
--- a/libraries/input-plugins/src/input-plugins/SDL2Manager.h
+++ b/libraries/input-plugins/src/input-plugins/SDL2Manager.h
@@ -38,7 +38,7 @@ public:
virtual void deactivate() override {};
virtual void pluginFocusOutEvent() override;
- virtual void pluginUpdate(float deltaTime) override;
+ virtual void pluginUpdate(float deltaTime, bool jointsCaptured) override;
signals:
void joystickAdded(Joystick* joystick);
diff --git a/libraries/input-plugins/src/input-plugins/SixenseManager.cpp b/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
index d762d06558..8a535d636f 100644
--- a/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
+++ b/libraries/input-plugins/src/input-plugins/SixenseManager.cpp
@@ -61,8 +61,6 @@ SixenseManager::SixenseManager() :
#if defined(HAVE_SIXENSE) && defined(__APPLE__)
_sixenseLibrary(NULL),
#endif
- _isInitialized(false),
- _isEnabled(true),
_hydrasConnected(false)
{
@@ -76,59 +74,50 @@ bool SixenseManager::isSupported() const {
#endif
}
-void SixenseManager::init() {
+void SixenseManager::activate(PluginContainer* container) {
#ifdef HAVE_SIXENSE
-
- if (!_isInitialized) {
- _lowVelocityFilter = false;
- _calibrationState = CALIBRATION_STATE_IDLE;
- // By default we assume the _neckBase (in orb frame) is as high above the orb
- // as the "torso" is below it.
- _neckBase = glm::vec3(NECK_X, -NECK_Y, NECK_Z);
+ _calibrationState = CALIBRATION_STATE_IDLE;
+ // By default we assume the _neckBase (in orb frame) is as high above the orb
+ // as the "torso" is below it.
+ _neckBase = glm::vec3(NECK_X, -NECK_Y, NECK_Z);
#ifdef __APPLE__
- if (!_sixenseLibrary) {
+ if (!_sixenseLibrary) {
#ifdef SIXENSE_LIB_FILENAME
- _sixenseLibrary = new QLibrary(SIXENSE_LIB_FILENAME);
+ _sixenseLibrary = new QLibrary(SIXENSE_LIB_FILENAME);
#else
- const QString SIXENSE_LIBRARY_NAME = "libsixense_x64";
- QString frameworkSixenseLibrary = QCoreApplication::applicationDirPath() + "/../Frameworks/"
- + SIXENSE_LIBRARY_NAME;
+ const QString SIXENSE_LIBRARY_NAME = "libsixense_x64";
+ QString frameworkSixenseLibrary = QCoreApplication::applicationDirPath() + "/../Frameworks/"
+ + SIXENSE_LIBRARY_NAME;
- _sixenseLibrary = new QLibrary(frameworkSixenseLibrary);
+ _sixenseLibrary = new QLibrary(frameworkSixenseLibrary);
#endif
- }
-
- if (_sixenseLibrary->load()){
- qCDebug(interfaceapp) << "Loaded sixense library for hydra support -" << _sixenseLibrary->fileName();
- } else {
- qCDebug(interfaceapp) << "Sixense library at" << _sixenseLibrary->fileName() << "failed to load."
- << "Continuing without hydra support.";
- return;
- }
-
- SixenseBaseFunction sixenseInit = (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseInit");
-#endif
- sixenseInit();
-
- _isInitialized = true;
}
+ if (_sixenseLibrary->load()){
+ qCDebug(interfaceapp) << "Loaded sixense library for hydra support -" << _sixenseLibrary->fileName();
+ } else {
+ qCDebug(interfaceapp) << "Sixense library at" << _sixenseLibrary->fileName() << "failed to load."
+ << "Continuing without hydra support.";
+ return;
+ }
+
+ SixenseBaseFunction sixenseInit = (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseInit");
+#endif
+ sixenseInit();
#endif
}
void SixenseManager::deinit() {
#ifdef HAVE_SIXENSE_
- if (_isInitialized) {
#ifdef __APPLE__
- SixenseBaseFunction sixenseExit = (SixenseBaseFunction)_sixenseLibrary->resolve("sixenseExit");
+ SixenseBaseFunction sixenseExit = (SixenseBaseFunction)_sixenseLibrary->resolve("sixenseExit");
#endif
- sixenseExit();
- }
+ sixenseExit();
#ifdef __APPLE__
delete _sixenseLibrary;
@@ -139,141 +128,101 @@ void SixenseManager::deinit() {
void SixenseManager::setFilter(bool filter) {
#ifdef HAVE_SIXENSE
-
- if (_isInitialized) {
#ifdef __APPLE__
- SixenseTakeIntFunction sixenseSetFilterEnabled = (SixenseTakeIntFunction) _sixenseLibrary->resolve("sixenseSetFilterEnabled");
+ SixenseTakeIntFunction sixenseSetFilterEnabled = (SixenseTakeIntFunction) _sixenseLibrary->resolve("sixenseSetFilterEnabled");
#endif
-
- if (filter) {
- sixenseSetFilterEnabled(1);
- } else {
- sixenseSetFilterEnabled(0);
- }
- }
-
+ int newFilter = filter ? 1 : 0;
+ sixenseSetFilterEnabled(newFilter);
#endif
}
-void SixenseManager::update(float deltaTime) {
+void SixenseManager::update(float deltaTime, bool jointsCaptured) {
#ifdef HAVE_SIXENSE
- //Hand* hand = DependencyManager::get<AvatarManager>()->getMyAvatar()->getHand();
- if (_isInitialized && _isEnabled) {
- _buttonPressedMap.clear();
+ _buttonPressedMap.clear();
#ifdef __APPLE__
- SixenseBaseFunction sixenseGetNumActiveControllers =
- (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetNumActiveControllers");
+ SixenseBaseFunction sixenseGetNumActiveControllers =
+ (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetNumActiveControllers");
#endif
- auto userInputMapper = DependencyManager::get<UserInputMapper>();
+ auto userInputMapper = DependencyManager::get<UserInputMapper>();
- if (sixenseGetNumActiveControllers() == 0) {
- _hydrasConnected = false;
- if (_deviceID != 0) {
- userInputMapper->removeDevice(_deviceID);
- _deviceID = 0;
+ if (sixenseGetNumActiveControllers() == 0) {
+ _hydrasConnected = false;
+ if (_deviceID != 0) {
+ userInputMapper->removeDevice(_deviceID);
+ _deviceID = 0;
+ _poseStateMap.clear();
+ }
+ return;
+ }
+
+ PerformanceTimer perfTimer("sixense");
+ if (!_hydrasConnected) {
+ _hydrasConnected = true;
+ registerToUserInputMapper(*userInputMapper);
+ assignDefaultInputMapping(*userInputMapper);
+ UserActivityLogger::getInstance().connectedDevice("spatial_controller", "hydra");
+ }
+
+#ifdef __APPLE__
+ SixenseBaseFunction sixenseGetMaxControllers =
+ (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetMaxControllers");
+#endif
+
+ int maxControllers = sixenseGetMaxControllers();
+
+ // we only support two controllers
+ sixenseControllerData controllers[2];
+
+#ifdef __APPLE__
+ SixenseTakeIntFunction sixenseIsControllerEnabled =
+ (SixenseTakeIntFunction) _sixenseLibrary->resolve("sixenseIsControllerEnabled");
+
+ SixenseTakeIntAndSixenseControllerData sixenseGetNewestData =
+ (SixenseTakeIntAndSixenseControllerData) _sixenseLibrary->resolve("sixenseGetNewestData");
+#endif
+
+ int numActiveControllers = 0;
+ for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) {
+ if (!sixenseIsControllerEnabled(i)) {
+ continue;
+ }
+ sixenseControllerData* data = controllers + numActiveControllers;
+ ++numActiveControllers;
+ sixenseGetNewestData(i, data);
+
+ // NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.
+ glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
+ position *= METERS_PER_MILLIMETER;
+
+ // Check to see if this hand/controller is on the base
+ const float CONTROLLER_AT_BASE_DISTANCE = 0.075f;
+ if (glm::length(position) >= CONTROLLER_AT_BASE_DISTANCE) {
+ handleButtonEvent(data->buttons, numActiveControllers - 1);
+ handleAxisEvent(data->joystick_x, data->joystick_y, data->trigger, numActiveControllers - 1);
+
+ // Rotation of Palm
+ glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]);
+ rotation = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)) * _orbRotation * rotation;
+
+ if (!jointsCaptured) {
+ handlePoseEvent(position, rotation, numActiveControllers - 1);
+ } else {
_poseStateMap.clear();
}
- return;
+ } else {
+ _poseStateMap[(numActiveControllers - 1) == 0 ? LEFT_HAND : RIGHT_HAND] = UserInputMapper::PoseValue();
}
-
- PerformanceTimer perfTimer("sixense");
- if (!_hydrasConnected) {
- _hydrasConnected = true;
- registerToUserInputMapper(*userInputMapper);
- getInstance().assignDefaultInputMapping(*userInputMapper);
- UserActivityLogger::getInstance().connectedDevice("spatial_controller", "hydra");
- }
-
-#ifdef __APPLE__
- SixenseBaseFunction sixenseGetMaxControllers =
- (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetMaxControllers");
-#endif
-
- int maxControllers = sixenseGetMaxControllers();
-
- // we only support two controllers
- sixenseControllerData controllers[2];
-
-#ifdef __APPLE__
- SixenseTakeIntFunction sixenseIsControllerEnabled =
- (SixenseTakeIntFunction) _sixenseLibrary->resolve("sixenseIsControllerEnabled");
-
- SixenseTakeIntAndSixenseControllerData sixenseGetNewestData =
- (SixenseTakeIntAndSixenseControllerData) _sixenseLibrary->resolve("sixenseGetNewestData");
-#endif
- int numControllersAtBase = 0;
- int numActiveControllers = 0;
- for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) {
- if (!sixenseIsControllerEnabled(i)) {
- continue;
- }
- sixenseControllerData* data = controllers + numActiveControllers;
- ++numActiveControllers;
- sixenseGetNewestData(i, data);
-
- // Set palm position and normal based on Hydra position/orientation
-
-// // Either find a palm matching the sixense controller, or make a new one
-// PalmData* palm;
-// bool foundHand = false;
-// for (size_t j = 0; j < hand->getNumPalms(); j++) {
-// if (hand->getPalms()[j].getSixenseID() == data->controller_index) {
-// palm = &(hand->getPalms()[j]);
-// _prevPalms[numActiveControllers - 1] = palm;
-// foundHand = true;
-// }
-// }
-// if (!foundHand) {
-// PalmData newPalm(hand);
-// hand->getPalms().push_back(newPalm);
-// palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
-// palm->setSixenseID(data->controller_index);
-// _prevPalms[numActiveControllers - 1] = palm;
-// qCDebug(interfaceapp, "Found new Sixense controller, ID %i", data->controller_index);
-// }
- // NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.
- glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
- position *= METERS_PER_MILLIMETER;
- // Check to see if this hand/controller is on the base
- const float CONTROLLER_AT_BASE_DISTANCE = 0.075f;
- if (glm::length(position) >= CONTROLLER_AT_BASE_DISTANCE) {
- handleButtonEvent(data->buttons, numActiveControllers - 1);
- handleAxisEvent(data->joystick_x, data->joystick_y, data->trigger, numActiveControllers - 1);
-
- // Rotation of Palm
- glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]);
- rotation = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)) * _orbRotation * rotation;
-
- handlePoseEvent(position, rotation, numActiveControllers - 1);
- }
-
-// // Disable the hands (and return to default pose) if both controllers are at base station
-// if (foundHand) {
-// palm->setActive(!_controllersAtBase);
-// } else {
-// palm->setActive(false); // if this isn't a Sixsense ID palm, always make it inactive
-// }
-
// // Read controller buttons and joystick into the hand
// palm->setControllerButtons(data->buttons);
// palm->setTrigger(data->trigger);
// palm->setJoystick(data->joystick_x, data->joystick_y);
+ }
- //handleButtonEvent(data->buttons, numActiveControllers - 1);
- //handleAxisEvent(data->joystick_x, data->joystick_y, data->trigger, numActiveControllers - 1);
-
-// // Emulate the mouse so we can use scripts
-// if (Menu::getInstance()->isOptionChecked(MenuOption::HandMouseInput) && !_controllersAtBase) {
-// emulateMouse(palm, numActiveControllers - 1);
-// }
- }
-
- if (numActiveControllers == 2) {
- updateCalibration(controllers);
- }
+ if (numActiveControllers == 2) {
+ updateCalibration(controllers);
}
for (auto axisState : _axisStateMap) {
@@ -284,15 +233,6 @@ void SixenseManager::update(float deltaTime) {
#endif // HAVE_SIXENSE
}
-void SixenseManager::toggleSixense(bool shouldEnable) {
- if (shouldEnable && !isInitialized()) {
- init();
- //setFilter(Menu::getInstance()->isOptionChecked(MenuOption::FilterSixense));
- //setLowVelocityFilter(Menu::getInstance()->isOptionChecked(MenuOption::LowVelocityFilter));
- }
- setIsEnabled(shouldEnable);
-}
-
#ifdef HAVE_SIXENSE
// the calibration sequence is:
@@ -483,56 +423,10 @@ void SixenseManager::handlePoseEvent(glm::vec3 position, glm::quat rotation, int
neck.y = 0.0f;
position = _orbRotation * (position - neck);
-// // Compute current velocity from position change
-// glm::vec3 rawVelocity;
-// if (deltaTime > 0.0f) {
-// rawVelocity = (position - palm->getRawPosition()) / deltaTime;
-// } else {
-// rawVelocity = glm::vec3(0.0f);
-// }
-// palm->setRawVelocity(rawVelocity); // meters/sec
-
// adjustment for hydra controllers fit into hands
float sign = (index == 0) ? -1.0f : 1.0f;
rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f));
-// // Angular Velocity of Palm
-// glm::quat deltaRotation = rotation * glm::inverse(palm->getRawRotation());
-// glm::vec3 angularVelocity(0.0f);
-// float rotationAngle = glm::angle(deltaRotation);
-// if ((rotationAngle > EPSILON) && (deltaTime > 0.0f)) {
-// angularVelocity = glm::normalize(glm::axis(deltaRotation));
-// angularVelocity *= (rotationAngle / deltaTime);
-// palm->setRawAngularVelocity(angularVelocity);
-// } else {
-// palm->setRawAngularVelocity(glm::vec3(0.0f));
-// }
-
-// if (_lowVelocityFilter) {
-// // Use a velocity sensitive filter to damp small motions and preserve large ones with
-// // no latency.
-// float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);
-// position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter);
-// rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter);
-// palm->setRawPosition(position);
-// palm->setRawRotation(rotation);
-// } else {
-// palm->setRawPosition(position);
-// palm->setRawRotation(rotation);
-// }
-
-// // Store the one fingertip in the palm structure so we can track velocity
-// const float FINGER_LENGTH = 0.3f; // meters
-// const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
-// const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
-// glm::vec3 oldTipPosition = palm->getTipRawPosition();
-// if (deltaTime > 0.0f) {
-// palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
-// } else {
-// palm->setTipVelocity(glm::vec3(0.0f));
-// }
-// palm->setTipPosition(newTipPosition);
-
_poseStateMap[makeInput(JointChannel(index)).getChannel()] = UserInputMapper::PoseValue(position, rotation);
#endif // HAVE_SIXENSE
}
diff --git a/libraries/input-plugins/src/input-plugins/SixenseManager.h b/libraries/input-plugins/src/input-plugins/SixenseManager.h
index fd18b77148..37b0acd51e 100644
--- a/libraries/input-plugins/src/input-plugins/SixenseManager.h
+++ b/libraries/input-plugins/src/input-plugins/SixenseManager.h
@@ -62,24 +62,19 @@ public:
virtual bool isJointController() const override { return true; }
const QString& getName() const { return NAME; }
- virtual void init() override;
virtual void deinit() override;
- virtual void activate(PluginContainer * container) override {};
- virtual void deactivate() override { _poseStateMap.clear(); };
+ virtual void activate(PluginContainer * container) override;
+ virtual void deactivate() override { _poseStateMap.clear(); }
virtual void pluginFocusOutEvent() override { focusOutEvent(); }
- virtual void pluginUpdate(float deltaTime) override { update(deltaTime); }
+ virtual void pluginUpdate(float deltaTime, bool jointsCaptured) override { update(deltaTime, jointsCaptured); }
// Device functions
virtual void registerToUserInputMapper(UserInputMapper& mapper) override;
virtual void assignDefaultInputMapping(UserInputMapper& mapper) override;
- virtual void update(float deltaTime) override;
+ virtual void update(float deltaTime, bool jointsCaptured) override;
virtual void focusOutEvent() override;
- bool isInitialized() const { return _isInitialized; }
-
- void setIsEnabled(bool isEnabled) { _isEnabled = isEnabled; }
-
bool getInvertButtons() const { return _invertButtons; }
void setInvertButtons(bool invertSixenseButtons) { _invertButtons = invertSixenseButtons; }
@@ -88,9 +83,7 @@ public:
UserInputMapper::Input makeInput(JointChannel joint);
public slots:
- void toggleSixense(bool shouldEnable);
void setFilter(bool filter);
- void setLowVelocityFilter(bool lowVelocityFilter) { _lowVelocityFilter = lowVelocityFilter; };
private:
void handleButtonEvent(unsigned int buttons, int index);
@@ -122,11 +115,7 @@ private:
#endif
#endif
- bool _isInitialized;
- bool _isEnabled;
bool _hydrasConnected;
-
- bool _lowVelocityFilter;
bool _invertButtons = DEFAULT_INVERT_SIXENSE_MOUSE_BUTTONS;
diff --git a/libraries/input-plugins/src/input-plugins/UserInputMapper.cpp b/libraries/input-plugins/src/input-plugins/UserInputMapper.cpp
index b8aa52a508..fc959650ba 100755
--- a/libraries/input-plugins/src/input-plugins/UserInputMapper.cpp
+++ b/libraries/input-plugins/src/input-plugins/UserInputMapper.cpp
@@ -192,7 +192,9 @@ void UserInputMapper::update(float deltaTime) {
break;
}
case ChannelType::POSE: {
- _poseStates[channelInput.first] = deviceProxy->getPose(inputID, currentTimestamp);
+ if (!_poseStates[channelInput.first].isValid()) {
+ _poseStates[channelInput.first] = deviceProxy->getPose(inputID, currentTimestamp);
+ }
break;
}
default: {
diff --git a/libraries/input-plugins/src/input-plugins/ViveControllerManager.cpp b/libraries/input-plugins/src/input-plugins/ViveControllerManager.cpp
index f81e058b1e..825eb96789 100644
--- a/libraries/input-plugins/src/input-plugins/ViveControllerManager.cpp
+++ b/libraries/input-plugins/src/input-plugins/ViveControllerManager.cpp
@@ -186,7 +186,8 @@ void ViveControllerManager::renderHand(UserInputMapper::PoseValue pose, gpu::Bat
batch.drawIndexed(gpu::TRIANGLES, mesh->getNumIndices(), 0);
}
-void ViveControllerManager::update(float deltaTime) {
+void ViveControllerManager::update(float deltaTime, bool jointsCaptured) {
+ _poseStateMap.clear();
// TODO: This shouldn't be necessary
if (!_hmd) {
return;
@@ -216,8 +217,10 @@ void ViveControllerManager::update(float deltaTime) {
numTrackedControllers++;
const mat4& mat = _trackedDevicePoseMat4[device];
-
- handlePoseEvent(mat, numTrackedControllers - 1);
+
+ if (!jointsCaptured) {
+ handlePoseEvent(mat, numTrackedControllers - 1);
+ }
// handle inputs
vr::VRControllerState_t controllerState = vr::VRControllerState_t();
diff --git a/libraries/input-plugins/src/input-plugins/ViveControllerManager.h b/libraries/input-plugins/src/input-plugins/ViveControllerManager.h
index 81f8d0d729..9ba90a5ca8 100644
--- a/libraries/input-plugins/src/input-plugins/ViveControllerManager.h
+++ b/libraries/input-plugins/src/input-plugins/ViveControllerManager.h
@@ -59,12 +59,12 @@ public:
virtual void deactivate() override;
virtual void pluginFocusOutEvent() override { focusOutEvent(); }
- virtual void pluginUpdate(float deltaTime) override { update(deltaTime); }
+ virtual void pluginUpdate(float deltaTime, bool jointsCaptured) override { update(deltaTime, jointsCaptured); }
// Device functions
virtual void registerToUserInputMapper(UserInputMapper& mapper) override;
virtual void assignDefaultInputMapping(UserInputMapper& mapper) override;
- virtual void update(float deltaTime) override;
+ virtual void update(float deltaTime, bool jointsCaptured) override;
virtual void focusOutEvent() override;
void updateRendering(RenderArgs* args, render::ScenePointer scene, render::PendingChanges pendingChanges);
diff --git a/libraries/plugins/src/plugins/PluginContainer.h b/libraries/plugins/src/plugins/PluginContainer.h
index 937c4e99e4..a72e5d1c8d 100644
--- a/libraries/plugins/src/plugins/PluginContainer.h
+++ b/libraries/plugins/src/plugins/PluginContainer.h
@@ -1,6 +1,7 @@
#pragma once
#include <QString>
+#include <functional>
class GlWindow;