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HandControllerGrab: fixes for distance holding

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Because controller poses are in avatar space, there is no need
to apply delta avatar position changes and rotation changes.
This commit is contained in:
Anthony J. Thibault 2016-03-04 20:36:32 -08:00
parent f21815e332
commit 076b0b42d7
1 changed files with 36 additions and 64 deletions
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100
examples/controllers/handControllerGrab.js
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@ -1049,9 +1049,14 @@ function MyController(hand) {
} }
this.distanceHolding = function() { this.distanceHolding = function() {
var handControllerPosition = (this.hand === RIGHT_HAND) ? MyAvatar.rightHandPosition : MyAvatar.leftHandPosition;
var controllerHandInput = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand; // controller pose is in avatar frame
var handRotation = Quat.multiply(MyAvatar.orientation, Controller.getPoseValue(controllerHandInput).rotation); var avatarControllerPose = Controller.getPoseValue((this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand);
// transform it into world frame
var controllerPosition = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, avatarControllerPose.translation));
var controllerRotation = Quat.multiply(MyAvatar.orientation, avatarControllerPose.rotation);
var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, GRABBABLE_PROPERTIES); var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, GRABBABLE_PROPERTIES);
var now = Date.now(); var now = Date.now();
@ -1059,12 +1064,10 @@ function MyController(hand) {
this.currentObjectPosition = grabbedProperties.position; this.currentObjectPosition = grabbedProperties.position;
this.currentObjectRotation = grabbedProperties.rotation; this.currentObjectRotation = grabbedProperties.rotation;
this.currentObjectTime = now; this.currentObjectTime = now;
this.handRelativePreviousPosition = Vec3.subtract(handControllerPosition, MyAvatar.position);
this.handPreviousRotation = handRotation;
this.currentCameraOrientation = Camera.orientation; this.currentCameraOrientation = Camera.orientation;
// compute a constant based on the initial conditions which we use below to exagerate hand motion onto the held object // compute a constant based on the initial conditions which we use below to exagerate hand motion onto the held object
this.radiusScalar = Math.log(Vec3.distance(this.currentObjectPosition, handControllerPosition) + 1.0); this.radiusScalar = Math.log(Vec3.distance(this.currentObjectPosition, controllerPosition) + 1.0);
if (this.radiusScalar < 1.0) { if (this.radiusScalar < 1.0) {
this.radiusScalar = 1.0; this.radiusScalar = 1.0;
} }
@ -1094,10 +1097,10 @@ function MyController(hand) {
this.callEntityMethodOnGrabbed("startDistanceGrab"); this.callEntityMethodOnGrabbed("startDistanceGrab");
} }
this.currentAvatarPosition = MyAvatar.position;
this.currentAvatarOrientation = MyAvatar.orientation;
this.turnOffVisualizations(); this.turnOffVisualizations();
this.previousControllerPosition = controllerPosition;
this.previousControllerRotation = controllerRotation;
}; };
this.continueDistanceHolding = function() { this.continueDistanceHolding = function() {
@ -1109,10 +1112,13 @@ function MyController(hand) {
this.heartBeat(this.grabbedEntity); this.heartBeat(this.grabbedEntity);
var handPosition = this.getHandPosition(); // controller pose is in avatar frame
var handControllerPosition = (this.hand === RIGHT_HAND) ? MyAvatar.rightHandPosition : MyAvatar.leftHandPosition; var avatarControllerPose = Controller.getPoseValue((this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand);
var controllerHandInput = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand;
var handRotation = Quat.multiply(MyAvatar.orientation, Controller.getPoseValue(controllerHandInput).rotation); // transform it into world frame
var controllerPosition = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, avatarControllerPose.translation));
var controllerRotation = Quat.multiply(MyAvatar.orientation, avatarControllerPose.rotation);
var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, GRABBABLE_PROPERTIES); var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, GRABBABLE_PROPERTIES);
var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, this.grabbedEntity, DEFAULT_GRABBABLE_DATA); var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, this.grabbedEntity, DEFAULT_GRABBABLE_DATA);
@ -1125,66 +1131,27 @@ function MyController(hand) {
return; return;
} }
var now = Date.now();
this.currentObjectTime = now;
// the action was set up on a previous call. update the targets. // the action was set up on a previous call. update the targets.
var radius = Vec3.distance(this.currentObjectPosition, handControllerPosition) * var radius = Vec3.distance(this.currentObjectPosition, controllerPosition) *
this.radiusScalar * DISTANCE_HOLDING_RADIUS_FACTOR; this.radiusScalar * DISTANCE_HOLDING_RADIUS_FACTOR;
if (radius < 1.0) { if (radius < 1.0) {
radius = 1.0; radius = 1.0;
} }
// how far did avatar move this timestep? // scale delta controller hand movement by radius.
var currentPosition = MyAvatar.position; var handMoved = Vec3.multiply(Vec3.subtract(controllerPosition, this.previousControllerPosition), radius);
var avatarDeltaPosition = Vec3.subtract(currentPosition, this.currentAvatarPosition);
this.currentAvatarPosition = currentPosition;
// How far did the avatar turn this timestep? // double delta controller rotation
// Note: The following code is too long because we need a Quat.quatBetween() function var handChange = Quat.multiply(Quat.slerp(this.previousControllerRotation,
// that returns the minimum quaternion between two quaternions. controllerRotation,
var currentOrientation = MyAvatar.orientation; DISTANCE_HOLDING_ROTATION_EXAGGERATION_FACTOR),
if (Quat.dot(currentOrientation, this.currentAvatarOrientation) < 0.0) { Quat.inverse(this.previousControllerRotation));
var negativeCurrentOrientation = {
x: -currentOrientation.x,
y: -currentOrientation.y,
z: -currentOrientation.z,
w: -currentOrientation.w
};
var avatarDeltaOrientation = Quat.multiply(negativeCurrentOrientation, Quat.inverse(this.currentAvatarOrientation));
} else {
var avatarDeltaOrientation = Quat.multiply(currentOrientation, Quat.inverse(this.currentAvatarOrientation));
}
var handToAvatar = Vec3.subtract(handControllerPosition, this.currentAvatarPosition);
var objectToAvatar = Vec3.subtract(this.currentObjectPosition, this.currentAvatarPosition);
var handMovementFromTurning = Vec3.subtract(Quat.multiply(avatarDeltaOrientation, handToAvatar), handToAvatar);
var objectMovementFromTurning = Vec3.subtract(Quat.multiply(avatarDeltaOrientation, objectToAvatar), objectToAvatar);
this.currentAvatarOrientation = currentOrientation;
// how far did hand move this timestep? // update the currentObject position and rotation.
var handMoved = Vec3.subtract(handToAvatar, this.handRelativePreviousPosition); this.currentObjectPosition = Vec3.sum(this.currentObjectPosition, handMoved);
this.handRelativePreviousPosition = handToAvatar;
// magnify the hand movement but not the change from avatar movement & rotation
handMoved = Vec3.subtract(handMoved, handMovementFromTurning);
var superHandMoved = Vec3.multiply(handMoved, radius);
// Move the object by the magnified amount and then by amount from avatar movement & rotation
var newObjectPosition = Vec3.sum(this.currentObjectPosition, superHandMoved);
newObjectPosition = Vec3.sum(newObjectPosition, avatarDeltaPosition);
newObjectPosition = Vec3.sum(newObjectPosition, objectMovementFromTurning);
var deltaPosition = Vec3.subtract(newObjectPosition, this.currentObjectPosition); // meters
var now = Date.now();
var deltaTime = (now - this.currentObjectTime) / MSEC_PER_SEC; // convert to seconds
this.currentObjectPosition = newObjectPosition;
this.currentObjectTime = now;
// this doubles hand rotation
var handChange = Quat.multiply(Quat.slerp(this.handPreviousRotation,
handRotation,
DISTANCE_HOLDING_ROTATION_EXAGGERATION_FACTOR),
Quat.inverse(this.handPreviousRotation));
this.handPreviousRotation = handRotation;
this.currentObjectRotation = Quat.multiply(handChange, this.currentObjectRotation); this.currentObjectRotation = Quat.multiply(handChange, this.currentObjectRotation);
this.callEntityMethodOnGrabbed("continueDistantGrab"); this.callEntityMethodOnGrabbed("continueDistantGrab");
@ -1195,6 +1162,7 @@ function MyController(hand) {
var handControllerData = getEntityCustomData('handControllerKey', this.grabbedEntity, defaultMoveWithHeadData); var handControllerData = getEntityCustomData('handControllerKey', this.grabbedEntity, defaultMoveWithHeadData);
var objectToAvatar = Vec3.subtract(this.currentObjectPosition, MyAvatar.position);
if (handControllerData.disableMoveWithHead !== true) { if (handControllerData.disableMoveWithHead !== true) {
// mix in head motion // mix in head motion
if (MOVE_WITH_HEAD) { if (MOVE_WITH_HEAD) {
@ -1234,6 +1202,7 @@ function MyController(hand) {
} }
} }
var handPosition = this.getHandPosition();
//visualizations //visualizations
if (USE_ENTITY_LINES_FOR_MOVING === true) { if (USE_ENTITY_LINES_FOR_MOVING === true) {
@ -1265,6 +1234,9 @@ function MyController(hand) {
} else { } else {
print("continueDistanceHolding -- updateAction failed"); print("continueDistanceHolding -- updateAction failed");
} }
this.previousControllerPosition = controllerPosition;
this.previousControllerRotation = controllerRotation;
}; };
this.setupHoldAction = function() { this.setupHoldAction = function() {