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start on routing HMD position and rotation through controller interface

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(cherry picked from commit bca5241bae7674ff7e41c037d84bb78e5152046a)
This commit is contained in:
Seth Alves 2017-04-18 14:42:32 -07:00 committed by Anthony J. Thibault
parent 4336e22f5a
commit 0cd2863df4
6 changed files with 101 additions and 4 deletions
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7
interface/resources/controllers/standard.json
View file

@ -61,6 +61,11 @@
{ "from": "Standard.RightHand", "to": "Actions.RightHand" },
{ "from": "Standard.LeftFoot", "to": "Actions.LeftFoot" },
{ "from": "Standard.RightFoot", "to": "Actions.RightFoot" }
{ "from": "Standard.RightFoot", "to": "Actions.RightFoot" },
{ "from": "Standard.Hips", "to": "Actions.Hips" },
{ "from": "Standard.Spine2", "to": "Actions.Spine2" },
{ "from": "Standard.Head", "to": "Actions.Head" }
]
}

7
interface/src/Application.cpp
View file

@ -4395,6 +4395,13 @@ void Application::update(float deltaTime) {
controller::Pose rightFootPose = userInputMapper->getPoseState(controller::Action::RIGHT_FOOT);
myAvatar->setFootControllerPosesInSensorFrame(leftFootPose.transform(avatarToSensorMatrix), rightFootPose.transform(avatarToSensorMatrix));
controller::Pose hipsPose = userInputMapper->getPoseState(controller::Action::HIPS);
controller::Pose spine2Pose = userInputMapper->getPoseState(controller::Action::SPINE2);
myAvatar->setSpineControllerPosesInSensorFrame(hipsPose.transform(avatarToSensorMatrix), spine2Pose.transform(avatarToSensorMatrix));
controller::Pose headPose = userInputMapper->getPoseState(controller::Action::HEAD);
myAvatar->setHeadControllerPoseInSensorFrame(headPose.transform(avatarToSensorMatrix));
updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
updateDialogs(deltaTime); // update various stats dialogs if present

68
interface/src/avatar/MyAvatar.cpp
View file

@ -642,6 +642,7 @@ void MyAvatar::updateSensorToWorldMatrix() {
updateJointFromController(controller::Action::RIGHT_HAND, _controllerRightHandMatrixCache);
}
// Update avatar head rotation with sensor data
void MyAvatar::updateFromTrackers(float deltaTime) {
glm::vec3 estimatedPosition, estimatedRotation;
@ -660,8 +661,9 @@ void MyAvatar::updateFromTrackers(float deltaTime) {
estimatedPosition.x *= -1.0f;
_trackedHeadPosition = estimatedPosition;
const float OCULUS_LEAN_SCALE = 0.05f;
estimatedPosition /= OCULUS_LEAN_SCALE;
// wut
// const float OCULUS_LEAN_SCALE = 0.05f;
// estimatedPosition /= OCULUS_LEAN_SCALE;
} else if (inFacetracker) {
estimatedPosition = tracker->getHeadTranslation();
_trackedHeadPosition = estimatedPosition;
@ -1384,6 +1386,68 @@ controller::Pose MyAvatar::getRightFootControllerPoseInAvatarFrame() const {
return getRightFootControllerPoseInWorldFrame().transform(invAvatarMatrix);
}
void MyAvatar::setSpineControllerPosesInSensorFrame(const controller::Pose& hips, const controller::Pose& spine2) {
if (controller::InputDevice::getLowVelocityFilter()) {
auto oldHipsPose = getHipsControllerPoseInSensorFrame();
auto oldSpine2Pose = getSpine2ControllerPoseInSensorFrame();
_hipsControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldHipsPose, hips));
_spine2ControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldSpine2Pose, spine2));
} else {
_hipsControllerPoseInSensorFrameCache.set(hips);
_spine2ControllerPoseInSensorFrameCache.set(spine2);
}
}
controller::Pose MyAvatar::getHipsControllerPoseInSensorFrame() const {
return _hipsControllerPoseInSensorFrameCache.get();
}
controller::Pose MyAvatar::getSpine2ControllerPoseInSensorFrame() const {
return _spine2ControllerPoseInSensorFrameCache.get();
}
controller::Pose MyAvatar::getHipsControllerPoseInWorldFrame() const {
return _hipsControllerPoseInSensorFrameCache.get().transform(getSensorToWorldMatrix());
}
controller::Pose MyAvatar::getSpine2ControllerPoseInWorldFrame() const {
return _spine2ControllerPoseInSensorFrameCache.get().transform(getSensorToWorldMatrix());
}
controller::Pose MyAvatar::getHipsControllerPoseInAvatarFrame() const {
glm::mat4 invAvatarMatrix = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
return getHipsControllerPoseInWorldFrame().transform(invAvatarMatrix);
}
controller::Pose MyAvatar::getSpine2ControllerPoseInAvatarFrame() const {
glm::mat4 invAvatarMatrix = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
return getSpine2ControllerPoseInWorldFrame().transform(invAvatarMatrix);
}
void MyAvatar::setHeadControllerPoseInSensorFrame(const controller::Pose& headPose) {
bool inHmd = qApp->isHMDMode();
Head* head = getHead();
if (inHmd) {
_headControllerPoseInSensorFrameCache.set(headPose);
_trackedHeadPosition = headPose.translation;
head->setDeltaPitch(headPose.rotation.x);
head->setDeltaYaw(headPose.rotation.y);
head->setDeltaRoll(headPose.rotation.z);
}
}
controller::Pose MyAvatar::getHeadControllerPoseInSensorFrame() const {
return _headControllerPoseInSensorFrameCache.get();
}
controller::Pose MyAvatar::getHeadControllerPoseInWorldFrame() const {
return _headControllerPoseInSensorFrameCache.get().transform(getSensorToWorldMatrix());
}
controller::Pose MyAvatar::getHeadControllerPoseInAvatarFrame() const {
glm::mat4 invAvatarMatrix = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
return getHeadControllerPoseInWorldFrame().transform(invAvatarMatrix);
}
void MyAvatar::updateMotors() {
_characterController.clearMotors();

17
interface/src/avatar/MyAvatar.h
View file

@ -453,6 +453,19 @@ public:
controller::Pose getLeftFootControllerPoseInAvatarFrame() const;
controller::Pose getRightFootControllerPoseInAvatarFrame() const;
void setSpineControllerPosesInSensorFrame(const controller::Pose& hips, const controller::Pose& spine2);
controller::Pose getHipsControllerPoseInSensorFrame() const;
controller::Pose getSpine2ControllerPoseInSensorFrame() const;
controller::Pose getHipsControllerPoseInWorldFrame() const;
controller::Pose getSpine2ControllerPoseInWorldFrame() const;
controller::Pose getHipsControllerPoseInAvatarFrame() const;
controller::Pose getSpine2ControllerPoseInAvatarFrame() const;
void setHeadControllerPoseInSensorFrame(const controller::Pose& headPose);
controller::Pose getHeadControllerPoseInSensorFrame() const;
controller::Pose getHeadControllerPoseInWorldFrame() const;
controller::Pose getHeadControllerPoseInAvatarFrame() const;
bool hasDriveInput() const;
Q_INVOKABLE void setCharacterControllerEnabled(bool enabled);
@ -693,9 +706,11 @@ private:
// These are stored in SENSOR frame
ThreadSafeValueCache<controller::Pose> _leftHandControllerPoseInSensorFrameCache { controller::Pose() };
ThreadSafeValueCache<controller::Pose> _rightHandControllerPoseInSensorFrameCache { controller::Pose() };
ThreadSafeValueCache<controller::Pose> _leftFootControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _rightFootControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _hipsControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _spine2ControllerPoseInSensorFrameCache{ controller::Pose() };
ThreadSafeValueCache<controller::Pose> _headControllerPoseInSensorFrameCache{ controller::Pose() };
bool _hmdLeanRecenterEnabled = true;

3
libraries/controllers/src/controllers/Actions.cpp
View file

@ -53,6 +53,9 @@ namespace controller {
makePosePair(Action::RIGHT_HAND, "RightHand"),
makePosePair(Action::LEFT_FOOT, "LeftFoot"),
makePosePair(Action::RIGHT_FOOT, "RightFoot"),
makePosePair(Action::HIPS, "Hips"),
makePosePair(Action::SPINE2, "Spine2"),
makePosePair(Action::HEAD, "Head"),
makeButtonPair(Action::LEFT_HAND_CLICK, "LeftHandClick"),
makeButtonPair(Action::RIGHT_HAND_CLICK, "RightHandClick"),

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

@ -44,6 +44,9 @@ enum class Action {
RIGHT_HAND,
LEFT_FOOT,
RIGHT_FOOT,
HIPS,
SPINE2,
HEAD,
LEFT_HAND_CLICK,
RIGHT_HAND_CLICK,