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added quicker follow code and added head to rotate calculation

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This commit is contained in:
amantley 2018-08-22 12:57:06 -07:00
parent 456b8bf2a9
commit 1e3ca6f902
3 changed files with 38 additions and 18 deletions
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21
interface/src/avatar/MyAvatar.cpp
View file

@ -3797,7 +3797,7 @@ void MyAvatar::lateUpdatePalms() {
} }
static const float FOLLOW_TIME = 0.5f; static const float FOLLOW_TIME = 0.1f;
MyAvatar::FollowHelper::FollowHelper() { MyAvatar::FollowHelper::FollowHelper() {
deactivate(); deactivate();
@ -3902,8 +3902,13 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontalCG(MyAvatar& myAvatar) cons
glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head")); glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head"));
glm::vec3 currentHeadPosition = currentHeadPose.getTranslation(); glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition); float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
//if (!isActive(Horizontal) &&
// (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + DEFAULT_AVATAR_SPINE_STRETCH_LIMIT))) {
// myAvatar.setResetMode(true);
// stepDetected = true;
//}
if (!isActive(Horizontal) && if (!isActive(Horizontal) &&
(glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + DEFAULT_AVATAR_SPINE_STRETCH_LIMIT))) { (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance * myAvatar.getAvatarScale())))) {
myAvatar.setResetMode(true); myAvatar.setResetMode(true);
stepDetected = true; stepDetected = true;
} }
@ -3925,10 +3930,15 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
if (myAvatar.getHMDLeanRecenterEnabled() && if (myAvatar.getHMDLeanRecenterEnabled() &&
qApp->getCamera().getMode() != CAMERA_MODE_MIRROR) { qApp->getCamera().getMode() != CAMERA_MODE_MIRROR) {
if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) { if (!isActive(Rotation) && getForceActivateRotation()) {
activate(Rotation); activate(Rotation);
myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing); myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
setForceActivateRotation(false);
} }
//if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
// activate(Rotation);
// myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
//}
if (myAvatar.getCenterOfGravityModelEnabled()) { if (myAvatar.getCenterOfGravityModelEnabled()) {
if (!isActive(Horizontal) && (shouldActivateHorizontalCG(myAvatar) || hasDriveInput)) { if (!isActive(Horizontal) && (shouldActivateHorizontalCG(myAvatar) || hasDriveInput)) {
activate(Horizontal); activate(Horizontal);
@ -3937,11 +3947,6 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing); myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
} }
} }
if (!isActive(Rotation) && getForceActivateRotation()) {
activate(Rotation);
myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
setForceActivateRotation(false);
}
} else { } else {
if (!isActive(Horizontal) && (shouldActivateHorizontal(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) { if (!isActive(Horizontal) && (shouldActivateHorizontal(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
activate(Horizontal); activate(Horizontal);

2
libraries/shared/src/AvatarConstants.h
View file

@ -34,7 +34,7 @@ const float DEFAULT_HANDS_ANGULAR_VELOCITY_STEPPING_THRESHOLD = 3.3f;
const float DEFAULT_HEAD_VELOCITY_STEPPING_THRESHOLD = 0.18f; const float DEFAULT_HEAD_VELOCITY_STEPPING_THRESHOLD = 0.18f;
const float DEFAULT_HEAD_PITCH_STEPPING_TOLERANCE = 7.0f; const float DEFAULT_HEAD_PITCH_STEPPING_TOLERANCE = 7.0f;
const float DEFAULT_HEAD_ROLL_STEPPING_TOLERANCE = 7.0f; const float DEFAULT_HEAD_ROLL_STEPPING_TOLERANCE = 7.0f;
const float DEFAULT_AVATAR_SPINE_STRETCH_LIMIT = 0.07f; const float DEFAULT_AVATAR_SPINE_STRETCH_LIMIT = 0.05f;
const float DEFAULT_AVATAR_FORWARD_DAMPENING_FACTOR = 0.5f; const float DEFAULT_AVATAR_FORWARD_DAMPENING_FACTOR = 0.5f;
const float DEFAULT_AVATAR_LATERAL_DAMPENING_FACTOR = 2.0f; const float DEFAULT_AVATAR_LATERAL_DAMPENING_FACTOR = 2.0f;
const float DEFAULT_AVATAR_HIPS_MASS = 40.0f; const float DEFAULT_AVATAR_HIPS_MASS = 40.0f;

33
scripts/developer/rotateApp.js
View file

@ -259,7 +259,7 @@ function limitAngle(angle) {
return (angle + 180) % 360 - 180; return (angle + 180) % 360 - 180;
} }
function computeHandAzimuths() { function computeHandAzimuths(timeElapsed) {
var leftHand = currentStateReadings.lhandPose.translation; var leftHand = currentStateReadings.lhandPose.translation;
var rightHand = currentStateReadings.rhandPose.translation; var rightHand = currentStateReadings.rhandPose.translation;
var head = currentStateReadings.headPose.translation; var head = currentStateReadings.headPose.translation;
@ -272,8 +272,9 @@ function computeHandAzimuths() {
var avatarZAxis = { x: 0.0, y: 0.0, z: 1.0 }; var avatarZAxis = { x: 0.0, y: 0.0, z: 1.0 };
var hipToLHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, lHandMinusHead); var hipToLHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, lHandMinusHead);
var hipToRHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, rHandMinusHead); var hipToRHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, rHandMinusHead);
hipToLHandAverage = Quat.slerp(hipToLHandAverage, hipToLHand, AVERAGING_RATE); var tau = timeElapsed / filterLengthProperty.value;
hipToRHandAverage = Quat.slerp(hipToRHandAverage, hipToRHand, AVERAGING_RATE); hipToLHandAverage = Quat.slerp(hipToLHandAverage, hipToLHand, tau);
hipToRHandAverage = Quat.slerp(hipToRHandAverage, hipToRHand, tau);
// var angleToLeft = limitAngle(Quat.safeEulerAngles(hipToLHandAverage).y); // var angleToLeft = limitAngle(Quat.safeEulerAngles(hipToLHandAverage).y);
// var angleToRight = limitAngle(Quat.safeEulerAngles(hipToRHandAverage).y); // var angleToRight = limitAngle(Quat.safeEulerAngles(hipToRHandAverage).y);
@ -283,11 +284,7 @@ function computeHandAzimuths() {
// limit the angle because we are flipped by 180, fix this tomorrow. // limit the angle because we are flipped by 180, fix this tomorrow.
// print(leftRightMidpointAverage/180.0); // print(leftRightMidpointAverage/180.0);
// print("threshold value " + angleThresholdProperty.value); // print("threshold value " + angleThresholdProperty.value);
// get it into radians too!!
if ((Math.abs(leftRightMidpointAverage/180.0) * Math.PI) > angleThresholdProperty.value) {
print("recenter the feet under the head");
MyAvatar.triggerRotationRecenter();
}
var raySpineRotation = Quat.fromVec3Degrees({ x: 0, y: leftRightMidpointAverage, z: 0 }); var raySpineRotation = Quat.fromVec3Degrees({ x: 0, y: leftRightMidpointAverage, z: 0 });
var zAxisSpineRotation = Vec3.multiplyQbyV(raySpineRotation, { x: 0, y: 0, z: -1 }); var zAxisSpineRotation = Vec3.multiplyQbyV(raySpineRotation, { x: 0, y: 0, z: -1 });
@ -295,6 +292,22 @@ function computeHandAzimuths() {
DebugDraw.drawRay(MyAvatar.position, Vec3.sum(MyAvatar.position, zAxisWorldSpace), { x: 1, y: 0, z: 0, w: 1 }); DebugDraw.drawRay(MyAvatar.position, Vec3.sum(MyAvatar.position, zAxisWorldSpace), { x: 1, y: 0, z: 0, w: 1 });
//print(leftRightMidpoint); //print(leftRightMidpoint);
var headPoseRigSpace = Quat.multiply(CHANGE_OF_BASIS_ROTATION, currentStateReadings.head.rotation);
headPoseAverageOrientation = Quat.slerp(headPoseAverageOrientation, headPoseRigSpace, tau);
var headPoseAverageEulers = Quat.safeEulerAngles(headPoseAverageOrientation);
// get it into radians too!!
// average head and hands 50/50
print("hands azimuth " + leftRightMidpointAverage + " head azimuth " + headPoseAverageEulers.y)
var headPlusHands = (leftRightMidpointAverage + headPoseAverageEulers.y) / 2.0;
if ((Math.abs(headPlusHands / 180.0) * Math.PI) > angleThresholdProperty.value) {
print("recenter the feet under the head");
MyAvatar.triggerRotationRecenter();
hipToLHandAverage = { x: 0, y: 0, z: 0, w: 1 };
hipToRHandAverage = { x: 0, y: 0, z: 0, w: 1 };
headPoseAverageOrientation = { x: 0, y: 0, z: 0, w: 1 };
}
return Quat.fromVec3Degrees({ x: 0, y: leftRightMidpoint, z: 0 }); return Quat.fromVec3Degrees({ x: 0, y: leftRightMidpoint, z: 0 });
@ -309,7 +322,9 @@ function update(dt) {
//print(JSON.stringify(currentStateReadings.head)); //print(JSON.stringify(currentStateReadings.head));
var latestSpineRotation = computeHandAzimuths();
var latestSpineRotation = computeHandAzimuths(dt);
spine2Rotation = latestSpineRotation; spine2Rotation = latestSpineRotation;
var spine2Pos = MyAvatar.getAbsoluteJointTranslationInObjectFrame(MyAvatar.getJointIndex("Spine2")); var spine2Pos = MyAvatar.getAbsoluteJointTranslationInObjectFrame(MyAvatar.getJointIndex("Spine2"));