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debugging rotation fix

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This commit is contained in:
Dante Ruiz 2017-05-05 22:55:53 +01:00
parent 3894c7c2ff
commit 20c8356bb2
1 changed files with 60 additions and 12 deletions
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72
plugins/openvr/src/ViveControllerManager.cpp
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@ -1,6 +1,4 @@
//
// ViveControllerManager.cpp
// input-plugins/src/input-plugins
// //
// Created by Sam Gondelman on 6/29/15. // Created by Sam Gondelman on 6/29/15.
// Copyright 2013 High Fidelity, Inc. // Copyright 2013 High Fidelity, Inc.
@ -23,6 +21,9 @@
#include <UserActivityLogger.h> #include <UserActivityLogger.h>
#include <OffscreenUi.h> #include <OffscreenUi.h>
#include <GLMHelpers.h> #include <GLMHelpers.h>
#include <glm/ext.hpp>
#include <glm/gtx/string_cast.hpp>
#include <glm/gtc/quaternion.hpp>
#include <controllers/UserInputMapper.h> #include <controllers/UserInputMapper.h>
@ -52,11 +53,11 @@ const char* ViveControllerManager::NAME { "OpenVR" };
return glm:: return glm::
}*/ }*/
glm::mat4 computeOffset(glm::mat4 defaultRefrence, glm::mat4 defaultJointMat, controller::Pose puckPose) { glm::mat4 computeOffset(glm::mat4 defaultToRefrenceMat, glm::mat4 defaultJointMat, controller::Pose puckPose) {
///qDebug() << "-------------> computing offset <-------------"; ///qDebug() << "-------------> computing offset <-------------";
glm::mat4 poseMat = createMatFromQuatAndPos(puckPose.rotation, puckPose.translation); glm::mat4 poseMat = createMatFromQuatAndPos(puckPose.rotation, puckPose.translation);
glm::mat4 refrenceJointMat = defaultRefrence * defaultJointMat; glm::mat4 refrenceJointMat = defaultToRefrenceMat * defaultJointMat;
return glm::inverse(poseMat) * refrenceJointMat; return ( glm::inverse(poseMat) * refrenceJointMat);
} }
bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) { bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
controller::Pose firstPose = firstPuck.second; controller::Pose firstPose = firstPuck.second;
@ -64,6 +65,12 @@ bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pa
return (firstPose.translation.y < secondPose.translation.y); return (firstPose.translation.y < secondPose.translation.y);
} }
void printPose(controller::Pose pose) {
qDebug() << "-------------> printing out controller::Pose <--------------";
qDebug() << QString::fromStdString(glm::to_string(pose.translation));
qDebug() << QString::fromStdString(glm::to_string(pose.rotation));
}
bool ViveControllerManager::isSupported() const { bool ViveControllerManager::isSupported() const {
return openVrSupported(); return openVrSupported();
} }
@ -223,18 +230,40 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
if ((leftTrigger != _buttonPressedMap.end()) && (rightTrigger != _buttonPressedMap.end())) { if ((leftTrigger != _buttonPressedMap.end()) && (rightTrigger != _buttonPressedMap.end())) {
if (!_calibrated) { if (!_calibrated) {
// conver the hmd head from sensor space to avatar space // conver the hmd head from sensor space to avatar space
glm::mat4 controllerToAvatar = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat; qDebug() << " -------------------> begin:::InputDevice::calibrate <--------------------";
glm::mat4 hmdHeadInAvatarSpace = inputCalibration.hmdSensorMat * controllerToAvatar; glm::mat4 worldToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
glm::mat4 hmdHeadInAvatarSpace = worldToAvatarMat * inputCalibration.hmdSensorMat;
// cancel the roll and pitch for the hmd head // cancel the roll and pitch for the hmd head
glm::quat canceledRollAndPitch = cancelOutRollAndPitch(glmExtractRotation(hmdHeadInAvatarSpace)); glm::quat canceledRollAndPitch = cancelOutRollAndPitch(glmExtractRotation(hmdHeadInAvatarSpace));
glm::vec3 hmdHeadPosition = extractTranslation(hmdHeadInAvatarSpace); glm::vec3 hmdHeadPosition = extractTranslation(hmdHeadInAvatarSpace);
glm::mat4 hmdHeadMat = createMatFromQuatAndPos(canceledRollAndPitch, hmdHeadPosition); glm::mat4 hmdHeadMat = createMatFromQuatAndPos(canceledRollAndPitch, hmdHeadPosition);
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::mat4 defaultRefrenceXform = hmdHeadMat * defaultHeadOffset;
glm::quat tmpHmdHeadRotation = glmExtractRotation(hmdHeadMat);
/*qDebug() << "----------- hmd head position < ------";
qDebug() << QString::fromStdString(glm::to_string(hmdHeadPosition));
qDebug() << "<--------------- hmd head roatation <---------";
qDebug() << QString::fromStdString(glm::to_string(canceledRollAndPitch));*/
//calculate the offset from the centerEye to the head hoint //calculate the offset from the centerEye to the head hoint
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat; //glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::vec3 tmpHeadOffsetPosition = extractTranslation(defaultHeadOffset);
glm::quat tmpHeadOffsetRotation = glmExtractRotation(defaultHeadOffset);
/*qDebug() << "----------------> head offset position <------------------";
qDebug() << QString::fromStdString(glm::to_string(tmpHeadOffsetPosition));
qDebug() << "---------------> head offset rotation <-----------------";
qDebug() << QString::fromStdString(glm::to_string(tmpHeadOffsetRotation));*/
glm::vec3 defaultRefrencePosition = extractTranslation(defaultRefrenceXform);
glm::quat defaultRefrenceRotation = glmExtractRotation(defaultRefrenceXform);
qDebug() << "----------------> defaultToReference position <------------------";
qDebug() << QString::fromStdString(glm::to_string(defaultRefrencePosition));
qDebug() << "---------------> defaultToReference rotation <-----------------";
qDebug() << QString::fromStdString(glm::to_string(defaultRefrenceRotation));
glm::mat4 defaultRefrenceXform = hmdHeadMat * defaultHeadOffset;
auto puckCount = _validTrackedObjects.size(); auto puckCount = _validTrackedObjects.size();
if (puckCount == 2) { if (puckCount == 2) {
//qDebug() << "-------------< configure feet <-------------"; //qDebug() << "-------------< configure feet <-------------";
@ -246,7 +275,7 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
//qDebug() << "-------------> configure feet, hips and chest <---------------"; //qDebug() << "-------------> configure feet, hips and chest <---------------";
_config = Config::FeetHipsAndChest; _config = Config::FeetHipsAndChest;
} else { } else {
qDebug() << "Could not configure # pucks " << puckCount; //qDebug() << "Could not configure # pucks " << puckCount;
return; return;
} }
@ -258,18 +287,33 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
controller::Pose secondFootPose = secondFoot.second; controller::Pose secondFootPose = secondFoot.second;
if (firstFootPose.translation.x < secondFootPose.translation.x) { if (firstFootPose.translation.x < secondFootPose.translation.x) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first; _jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
qDebug() << " --------> Printing out the offset pose <------------";
glm::mat4 offset = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, firstFootPose);
qDebug() << "----------------> offset Position <------------------";
qDebug() << QString::fromStdString(glm::to_string(extractTranslation(offset)));
qDebug() << "---------------> offset rotation <-----------------";
qDebug() << QString::fromStdString(glm::to_string(glmExtractRotation(offset)));
_pucksOffset[firstFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, firstFootPose); _pucksOffset[firstFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first; _jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultRightFoot, secondFootPose); _pucksOffset[secondFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultRightFoot, secondFootPose);
} else { } else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first; _jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
qDebug() << " --------> Printing out the offset pose <------------"; qDebug() << " --------> Printing out the offset pose <------------";
glm::mat4 offset = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, secondFootPose);
qDebug() << "----------------> offset Position <------------------";
qDebug() << QString::fromStdString(glm::to_string(extractTranslation(offset)));
qDebug() << "---------------> offset rotation <-----------------";
qDebug() << QString::fromStdString(glm::to_string(glmExtractRotation(offset)));
_pucksOffset[secondFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, secondFootPose); _pucksOffset[secondFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, secondFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first; _jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultRightFoot, firstFootPose); _pucksOffset[firstFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultRightFoot, firstFootPose);
} }
if (_config == Config::Feet) { if (_config == Config::Feet) {
controller::Pose leftPose = addOffsetToPuckPose(controller::LEFT_FOOT);
qDebug() << "------------> InputDevice::updateCalibratedLimbs <---------";
printPose(leftPose);
// done // done
} else if (_config == Config::FeetAndHips) { } else if (_config == Config::FeetAndHips) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first; _jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
@ -279,7 +323,8 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
_pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultHips, _validTrackedObjects[2].second); _pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultHips, _validTrackedObjects[2].second);
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[3].first; _jointToPuckMap[controller::SPINE2] = _validTrackedObjects[3].first;
_pucksOffset[_validTrackedObjects[3].first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultSpine2, _validTrackedObjects[3].second); _pucksOffset[_validTrackedObjects[3].first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultSpine2, _validTrackedObjects[3].second);
} }
qDebug() << "-------------------> end:::InputDevice::calibrate <--------------------";
_calibrated = true; _calibrated = true;
} else { } else {
@ -292,6 +337,9 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
void ViveControllerManager::InputDevice::updateCalibratedLimbs() { void ViveControllerManager::InputDevice::updateCalibratedLimbs() {
_poseStateMap[controller::LEFT_FOOT] = addOffsetToPuckPose(controller::LEFT_FOOT); _poseStateMap[controller::LEFT_FOOT] = addOffsetToPuckPose(controller::LEFT_FOOT);
controller::Pose leftPose = addOffsetToPuckPose(controller::LEFT_FOOT);
//qDebug() << "------------> InputDevice::updateCalibratedLimbs <---------";
//printPose(leftPose);
_poseStateMap[controller::RIGHT_FOOT] = addOffsetToPuckPose(controller::RIGHT_FOOT); _poseStateMap[controller::RIGHT_FOOT] = addOffsetToPuckPose(controller::RIGHT_FOOT);
_poseStateMap[controller::HIPS] = addOffsetToPuckPose(controller::HIPS); _poseStateMap[controller::HIPS] = addOffsetToPuckPose(controller::HIPS);
_poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2); _poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2);