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Moved direction vectors to AvatarData, made them align with OpenGL view space

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(to avoid the 180 degree rotations).
This commit is contained in:
Andrzej Kapolka 2013-05-30 09:55:34 -07:00
parent 9b301eb235
commit 021dce72be
6 changed files with 66 additions and 63 deletions
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10
interface/src/Application.cpp
View file

@ -288,22 +288,22 @@ void Application::paintGL() {
if (_myCamera.getMode() == CAMERA_MODE_MIRROR) {
_myCamera.setTightness (100.0f);
_myCamera.setTargetPosition(_myAvatar.getSpringyHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation() * glm::quat(glm::vec3(0.0f, PI, 0.0f)));
} else if (OculusManager::isConnected()) {
_myCamera.setUpShift (0.0f);
_myCamera.setDistance (0.0f);
_myCamera.setTightness (100.0f);
_myCamera.setTargetPosition(_myAvatar.getHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getHead().getOrientation() * glm::quat(glm::vec3(0.0f, PI, 0.0f)));
_myCamera.setTargetRotation(_myAvatar.getHead().getOrientation());
} else if (_myCamera.getMode() == CAMERA_MODE_FIRST_PERSON) {
_myCamera.setTargetPosition(_myAvatar.getSpringyHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation() * glm::quat(glm::vec3(0.0f, PI, 0.0f)));
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
} else if (_myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) {
_myCamera.setTargetPosition(_myAvatar.getHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation() * glm::quat(glm::vec3(0.0f, PI, 0.0f)));
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
}
// important...
@ -1111,7 +1111,7 @@ void Application::initMenu() {
_window->setMenuBar(menuBar);
QMenu* fileMenu = menuBar->addMenu("File");
fileMenu->addAction("Quit", this, SLOT(quit()), (Qt::Key_Q || Qt::Key_Control));
fileMenu->addAction("Quit", this, SLOT(quit()), Qt::CTRL | Qt::Key_Q);
QMenu* pairMenu = menuBar->addMenu("Pair");
pairMenu->addAction("Pair", this, SLOT(pair()));

52
interface/src/Avatar.cpp
View file

@ -259,9 +259,9 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
}
glm::quat orientation = getOrientation();
glm::vec3 front = orientation * IDENTITY_FRONT;
glm::vec3 right = orientation * IDENTITY_RIGHT;
glm::vec3 up = orientation * IDENTITY_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
// driving the avatar around should only apply if this is my avatar (as opposed to an avatar being driven remotely)
if (!_owningAgent) {
@ -331,8 +331,8 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
const float BODY_ROLL_WHILE_TURNING = 0.2;
float forwardComponentOfVelocity = glm::dot(getBodyFrontDirection(), _velocity);
orientation = orientation * glm::quat(glm::radians(glm::vec3(
BODY_PITCH_WHILE_WALKING * deltaTime * forwardComponentOfVelocity, 0.0f,
-BODY_ROLL_WHILE_TURNING * deltaTime * _speed * _bodyYawDelta)));
-BODY_PITCH_WHILE_WALKING * deltaTime * forwardComponentOfVelocity, 0.0f,
BODY_ROLL_WHILE_TURNING * deltaTime * _speed * _bodyYawDelta)));
// these forces keep the body upright...
float tiltDecay = BODY_UPRIGHT_FORCE * deltaTime;
@ -476,14 +476,14 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
glm::quat orientation = getOrientation();
// reset hand and arm positions according to hand movement
glm::vec3 right = orientation * IDENTITY_RIGHT;
glm::vec3 up = orientation * IDENTITY_UP;
glm::vec3 front = orientation * IDENTITY_FRONT;
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
glm::vec3 transformedHandMovement
= right * _movedHandOffset.x * 2.0f
+ up * -_movedHandOffset.y * 2.0f
+ front * -_movedHandOffset.y * 2.0f;
+ front * -_movedHandOffset.z * 2.0f;
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position += transformedHandMovement;
@ -884,32 +884,32 @@ void Avatar::initializeSkeleton() {
// specify the default pose position
_joint[ AVATAR_JOINT_PELVIS ].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.0 );
_joint[ AVATAR_JOINT_TORSO ].defaultPosePosition = glm::vec3( 0.0, 0.09, 0.01 );
_joint[ AVATAR_JOINT_CHEST ].defaultPosePosition = glm::vec3( 0.0, 0.09, 0.01 );
_joint[ AVATAR_JOINT_NECK_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.14, -0.01 );
_joint[ AVATAR_JOINT_TORSO ].defaultPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
_joint[ AVATAR_JOINT_CHEST ].defaultPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
_joint[ AVATAR_JOINT_NECK_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.14, 0.01 );
_joint[ AVATAR_JOINT_HEAD_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.04, 0.00 );
_joint[ AVATAR_JOINT_LEFT_COLLAR ].defaultPosePosition = glm::vec3( 0.06, 0.04, -0.01 );
_joint[ AVATAR_JOINT_LEFT_SHOULDER ].defaultPosePosition = glm::vec3( 0.05, 0.0, -0.01 );
_joint[ AVATAR_JOINT_LEFT_COLLAR ].defaultPosePosition = glm::vec3( -0.06, 0.04, 0.01 );
_joint[ AVATAR_JOINT_LEFT_SHOULDER ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.01 );
_joint[ AVATAR_JOINT_LEFT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
_joint[ AVATAR_JOINT_LEFT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
_joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
_joint[ AVATAR_JOINT_RIGHT_COLLAR ].defaultPosePosition = glm::vec3( -0.06, 0.04, -0.01 );
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].defaultPosePosition = glm::vec3( -0.05, 0.0, -0.01 );
_joint[ AVATAR_JOINT_RIGHT_COLLAR ].defaultPosePosition = glm::vec3( 0.06, 0.04, 0.01 );
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.01 );
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
_joint[ AVATAR_JOINT_RIGHT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
_joint[ AVATAR_JOINT_LEFT_HIP ].defaultPosePosition = glm::vec3( 0.05, 0.0, -0.02 );
_joint[ AVATAR_JOINT_LEFT_KNEE ].defaultPosePosition = glm::vec3( -0.01, -0.25, 0.03 );
_joint[ AVATAR_JOINT_LEFT_HEEL ].defaultPosePosition = glm::vec3( -0.01, -0.22, -0.08 );
_joint[ AVATAR_JOINT_LEFT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, 0.05 );
_joint[ AVATAR_JOINT_LEFT_HIP ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.02 );
_joint[ AVATAR_JOINT_LEFT_KNEE ].defaultPosePosition = glm::vec3( 0.01, -0.25, -0.03 );
_joint[ AVATAR_JOINT_LEFT_HEEL ].defaultPosePosition = glm::vec3( 0.01, -0.22, 0.08 );
_joint[ AVATAR_JOINT_LEFT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
_joint[ AVATAR_JOINT_RIGHT_HIP ].defaultPosePosition = glm::vec3( -0.05, 0.0, -0.02 );
_joint[ AVATAR_JOINT_RIGHT_KNEE ].defaultPosePosition = glm::vec3( 0.01, -0.25, 0.03 );
_joint[ AVATAR_JOINT_RIGHT_HEEL ].defaultPosePosition = glm::vec3( 0.01, -0.22, -0.08 );
_joint[ AVATAR_JOINT_RIGHT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, 0.05 );
_joint[ AVATAR_JOINT_RIGHT_HIP ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.02 );
_joint[ AVATAR_JOINT_RIGHT_KNEE ].defaultPosePosition = glm::vec3( -0.01, -0.25, -0.03 );
_joint[ AVATAR_JOINT_RIGHT_HEEL ].defaultPosePosition = glm::vec3( -0.01, -0.22, 0.08 );
_joint[ AVATAR_JOINT_RIGHT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
// specify the radii of the joints
_joint[ AVATAR_JOINT_PELVIS ].radius = 0.07;
@ -1120,14 +1120,14 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) {
glm::quat Avatar::computeRotationFromBodyToWorldUp(float proportion) const {
glm::quat orientation = getOrientation();
glm::vec3 currentUp = orientation * IDENTITY_UP;
glm::vec3 currentUp = orientation * AVATAR_UP;
float angle = glm::degrees(acosf(glm::clamp(glm::dot(currentUp, _worldUpDirection), -1.0f, 1.0f)));
if (angle < EPSILON) {
return glm::quat();
}
glm::vec3 axis;
if (angle > 179.99f) { // 180 degree rotation; must use another axis
axis = orientation * IDENTITY_RIGHT;
axis = orientation * AVATAR_RIGHT;
} else {
axis = glm::normalize(glm::cross(currentUp, _worldUpDirection));
}

7
interface/src/Avatar.h
View file

@ -11,7 +11,6 @@
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
#include <AvatarData.h>
#include <Orientation.h>
#include "world.h"
#include "AvatarTouch.h"
#include "InterfaceConfig.h"
@ -71,9 +70,9 @@ public:
const glm::vec3& getHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].position;}
const glm::vec3& getSpringyHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition;}
const glm::vec3& getJointPosition (AvatarJointID j) const { return _joint[j].springyPosition;}
glm::vec3 getBodyRightDirection () const { return getOrientation() * IDENTITY_RIGHT; }
glm::vec3 getBodyUpDirection () const { return getOrientation() * IDENTITY_UP; }
glm::vec3 getBodyFrontDirection () const { return getOrientation() * IDENTITY_FRONT; }
glm::vec3 getBodyRightDirection () const { return getOrientation() * AVATAR_RIGHT; }
glm::vec3 getBodyUpDirection () const { return getOrientation() * AVATAR_UP; }
glm::vec3 getBodyFrontDirection () const { return getOrientation() * AVATAR_FRONT; }
const glm::vec3& getVelocity () const { return _velocity;}
float getSpeed () const { return _speed;}
float getHeight () const { return _height;}

48
interface/src/Head.cpp
View file

@ -172,9 +172,9 @@ void Head::determineIfLookingAtSomething() {
void Head::calculateGeometry() {
//generate orientation directions
glm::quat orientation = getOrientation();
glm::vec3 right = orientation * IDENTITY_RIGHT;
glm::vec3 up = orientation * IDENTITY_UP;
glm::vec3 front = orientation * IDENTITY_FRONT;
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
//calculate the eye positions
_leftEyePosition = _position
@ -347,9 +347,9 @@ void Head::renderMouth() {
float s = sqrt(_averageLoudness);
glm::quat orientation = getOrientation();
glm::vec3 right = orientation * IDENTITY_RIGHT;
glm::vec3 up = orientation * IDENTITY_UP;
glm::vec3 front = orientation * IDENTITY_FRONT;
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
glm::vec3 r = right * _scale * (0.30f + s * 0.0014f );
glm::vec3 u = up * _scale * (0.05f + s * 0.0040f );
@ -415,9 +415,9 @@ void Head::renderEyeBrows() {
glm::vec3 rightBottom = _leftEyePosition;
glm::quat orientation = getOrientation();
glm::vec3 right = orientation * IDENTITY_RIGHT;
glm::vec3 up = orientation * IDENTITY_UP;
glm::vec3 front = orientation * IDENTITY_FRONT;
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
glm::vec3 r = right * length;
glm::vec3 u = up * height;
@ -502,20 +502,20 @@ void Head::renderEyeBalls() {
//rotate the eyeball to aim towards the lookat position
glm::vec3 targetLookatAxis = glm::normalize(_lookAtPosition - _leftEyePosition); // the lookat direction
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, IDENTITY_UP);
float angle = 180.0f - angleBetween(targetLookatAxis, IDENTITY_UP);
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, AVATAR_UP);
float angle = 180.0f - angleBetween(targetLookatAxis, AVATAR_UP);
glRotatef(angle, rotationAxis.x, rotationAxis.y, rotationAxis.z);
glRotatef(180.0, 0.0f, 1.0f, 0.0f); //adjust roll to correct after previous rotations
} else {
//rotate the eyeball to aim straight ahead
glm::vec3 rotationAxisToHeadFront = glm::cross(front, IDENTITY_UP);
float angleToHeadFront = 180.0f - angleBetween(front, IDENTITY_UP);
glm::vec3 rotationAxisToHeadFront = glm::cross(front, AVATAR_UP);
float angleToHeadFront = 180.0f - angleBetween(front, AVATAR_UP);
glRotatef(angleToHeadFront, rotationAxisToHeadFront.x, rotationAxisToHeadFront.y, rotationAxisToHeadFront.z);
//set the amount of roll (for correction after previous rotations)
float rollRotation = angleBetween(front, IDENTITY_FRONT);
float dot = glm::dot(front, -IDENTITY_RIGHT);
float rollRotation = angleBetween(front, AVATAR_FRONT);
float dot = glm::dot(front, -AVATAR_RIGHT);
if ( dot < 0.0f ) { rollRotation = -rollRotation; }
glRotatef(rollRotation, 0.0f, 1.0f, 0.0f); //roll the iris or correct roll about the lookat vector
}
@ -546,21 +546,21 @@ void Head::renderEyeBalls() {
//rotate the eyeball to aim towards the lookat position
glm::vec3 targetLookatAxis = glm::normalize(_lookAtPosition - _rightEyePosition);
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, IDENTITY_UP);
float angle = 180.0f - angleBetween(targetLookatAxis, IDENTITY_UP);
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, AVATAR_UP);
float angle = 180.0f - angleBetween(targetLookatAxis, AVATAR_UP);
glRotatef(angle, rotationAxis.x, rotationAxis.y, rotationAxis.z);
glRotatef(180.0f, 0.0f, 1.0f, 0.0f); //adjust roll to correct after previous rotations
} else {
//rotate the eyeball to aim straight ahead
glm::vec3 rotationAxisToHeadFront = glm::cross(front, IDENTITY_UP);
float angleToHeadFront = 180.0f - angleBetween(front, IDENTITY_UP);
glm::vec3 rotationAxisToHeadFront = glm::cross(front, AVATAR_UP);
float angleToHeadFront = 180.0f - angleBetween(front, AVATAR_UP);
glRotatef(angleToHeadFront, rotationAxisToHeadFront.x, rotationAxisToHeadFront.y, rotationAxisToHeadFront.z);
//set the amount of roll (for correction after previous rotations)
float rollRotation = angleBetween(front, IDENTITY_FRONT);
float dot = glm::dot(front, -IDENTITY_RIGHT);
float rollRotation = angleBetween(front, AVATAR_FRONT);
float dot = glm::dot(front, -AVATAR_RIGHT);
if ( dot < 0.0f ) { rollRotation = -rollRotation; }
glRotatef(rollRotation, 0.0f, 1.0f, 0.0f); //roll the iris or correct roll about the lookat vector
}
@ -596,9 +596,9 @@ void Head::renderLookatVectors(glm::vec3 leftEyePosition, glm::vec3 rightEyePosi
void Head::updateHairPhysics(float deltaTime) {
glm::quat orientation = getOrientation();
glm::vec3 right = orientation * IDENTITY_RIGHT;
glm::vec3 up = orientation * IDENTITY_UP;
glm::vec3 front = orientation * IDENTITY_FRONT;
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
for (int t = 0; t < NUM_HAIR_TUFTS; t ++) {

7
interface/src/Head.h
View file

@ -14,7 +14,6 @@
#include "world.h"
#include "InterfaceConfig.h"
#include "SerialInterface.h"
#include "Orientation.h"
#include <SharedUtil.h>
enum eyeContactTargets
@ -50,9 +49,9 @@ public:
glm::quat getOrientation() const;
glm::quat getWorldAlignedOrientation () const;
glm::vec3 getRightDirection() const { return getOrientation() * IDENTITY_RIGHT; }
glm::vec3 getUpDirection () const { return getOrientation() * IDENTITY_UP; }
glm::vec3 getFrontDirection() const { return getOrientation() * IDENTITY_FRONT; }
glm::vec3 getRightDirection() const { return getOrientation() * AVATAR_RIGHT; }
glm::vec3 getUpDirection () const { return getOrientation() * AVATAR_UP; }
glm::vec3 getFrontDirection() const { return getOrientation() * AVATAR_FRONT; }
const bool getReturnToCenter() const { return _returnHeadToCenter; } // Do you want head to try to return to center (depends on interface detected)
float getAverageLoudness() {return _averageLoudness;};

5
libraries/avatars/src/AvatarData.h
View file

@ -20,6 +20,11 @@ const int WANT_RESIN_AT_BIT = 0;
const int WANT_COLOR_AT_BIT = 1;
const int WANT_DELTA_AT_BIT = 2;
// this is where the coordinate system is represented
const glm::vec3 AVATAR_RIGHT = glm::vec3(1.0f, 0.0f, 0.0f);
const glm::vec3 AVATAR_UP = glm::vec3(0.0f, 1.0f, 0.0f);
const glm::vec3 AVATAR_FRONT = glm::vec3(0.0f, 0.0f, -1.0f);
enum KeyState
{
NO_KEY_DOWN,