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finally fixed rotation issue

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This commit is contained in:
Dante Ruiz 2017-05-09 00:27:30 +01:00
parent a744db56aa
commit 23c3a75116
2 changed files with 79 additions and 72 deletions
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47
plugins/openvr/src/ViveControllerManager.cpp
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@ -1,4 +1,3 @@
// //
// 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.
@ -22,7 +21,6 @@
#include <OffscreenUi.h> #include <OffscreenUi.h>
#include <GLMHelpers.h> #include <GLMHelpers.h>
#include <glm/ext.hpp> #include <glm/ext.hpp>
#include <glm/gtx/string_cast.hpp>
#include <glm/gtc/quaternion.hpp> #include <glm/gtc/quaternion.hpp>
@ -48,10 +46,10 @@ const quint64 CALIBRATION_TIMELAPSE = 3000000;
const char* ViveControllerManager::NAME { "OpenVR" }; const char* ViveControllerManager::NAME { "OpenVR" };
glm::mat4 computeOffset(glm::mat4 defaultToRefrenceMat, glm::mat4 defaultJointMat, controller::Pose puckPose) { glm::mat4 computeOffset(glm::mat4 defaultToReferenceMat, glm::mat4 defaultJointMat, controller::Pose puckPose) {
glm::mat4 poseMat = createMatFromQuatAndPos(puckPose.rotation, puckPose.translation); glm::mat4 poseMat = createMatFromQuatAndPos(puckPose.rotation, puckPose.translation);
glm::mat4 refrenceJointMat = defaultToRefrenceMat * defaultJointMat; glm::mat4 referenceJointMat = defaultToReferenceMat * defaultJointMat;
return ( glm::inverse(poseMat) * refrenceJointMat); return glm::inverse(poseMat) * referenceJointMat;
} }
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) {
@ -130,7 +128,6 @@ void ViveControllerManager::pluginUpdate(float deltaTime, const controller::Inpu
userInputMapper->removeDevice(_inputDevice->_deviceID); userInputMapper->removeDevice(_inputDevice->_deviceID);
_registeredWithInputMapper = false; _registeredWithInputMapper = false;
_inputDevice->_poseStateMap.clear(); _inputDevice->_poseStateMap.clear();
//qDebug() << " ----------->>!!!!!!! clear pose state map !!!!!!!<<----------------";
} }
if (!_registeredWithInputMapper && _inputDevice->_trackedControllers > 0) { if (!_registeredWithInputMapper && _inputDevice->_trackedControllers > 0) {
@ -217,10 +214,13 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
auto leftTrigger = _buttonPressedMap.find(controller::LT); auto leftTrigger = _buttonPressedMap.find(controller::LT);
auto rightTrigger = _buttonPressedMap.find(controller::RT); auto rightTrigger = _buttonPressedMap.find(controller::RT);
if ((leftTrigger != _buttonPressedMap.end()) && (rightTrigger != _buttonPressedMap.end())) { if ((leftTrigger != _buttonPressedMap.end()) && (rightTrigger != _buttonPressedMap.end())) {
if (!_triggersPressedHandled) {
_triggersPressedHandled = true;
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 worldToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat; glm::mat4 hmdSensorFlippedMat = inputCalibration.hmdSensorMat * Matrices::Y_180;
glm::mat4 hmdAvatarMat = worldToAvatarMat * inputCalibration.hmdSensorMat; glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
glm::mat4 hmdAvatarMat = sensorToAvatarMat * hmdSensorFlippedMat;
// cancel the roll and pitch for the hmd head // cancel the roll and pitch for the hmd head
glm::quat hmdRotation = cancelOutRollAndPitch(glmExtractRotation(hmdAvatarMat)); glm::quat hmdRotation = cancelOutRollAndPitch(glmExtractRotation(hmdAvatarMat));
@ -230,10 +230,10 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
// calculate the offset from the centerOfEye to defaultHeadMat // calculate the offset from the centerOfEye to defaultHeadMat
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat; glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
currentHead *= defaultHeadOffset; currentHead = currentHead * defaultHeadOffset;
// calculate the defaultToRefrenceXform // calculate the defaultToRefrenceXform
glm::mat4 defaultRefrenceXform = currentHead * glm::inverse(inputCalibration.defaultHeadMat); glm::mat4 defaultReferenceXform = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
auto puckCount = _validTrackedObjects.size(); auto puckCount = _validTrackedObjects.size();
if (puckCount == 2) { if (puckCount == 2) {
@ -252,34 +252,41 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
auto secondFoot = _validTrackedObjects[1]; auto secondFoot = _validTrackedObjects[1];
controller::Pose firstFootPose = firstFoot.second; controller::Pose firstFootPose = firstFoot.second;
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;
_pucksOffset[firstFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, firstFootPose); _pucksOffset[firstFoot.first] = computeOffset(defaultReferenceXform, 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(defaultReferenceXform, inputCalibration.defaultRightFoot, secondFootPose);
} else { } else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first; _jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, secondFootPose); _pucksOffset[secondFoot.first] = computeOffset(defaultReferenceXform, 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(defaultReferenceXform, inputCalibration.defaultRightFoot, firstFootPose);
} }
if (_config == Config::Feet) { if (_config == Config::Feet) {
// done // done
} else if (_config == Config::FeetAndHips) { } else if (_config == Config::FeetAndHips) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first; _jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
_pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultHips, _validTrackedObjects[2].second); _pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultReferenceXform, inputCalibration.defaultHips, _validTrackedObjects[2].second);
} else if (_config == Config::FeetHipsAndChest) { } else if (_config == Config::FeetHipsAndChest) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first; _jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
_pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultHips, _validTrackedObjects[2].second); _pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultReferenceXform, 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(defaultReferenceXform, inputCalibration.defaultSpine2, _validTrackedObjects[3].second);
} }
_calibrated = true; _calibrated = true;
} else { } else {
_pucksOffset.clear();
_jointToPuckMap.clear();
_calibrated = false;
} }
}
} else {
_triggersPressedHandled = false;
} }
} }
@ -296,8 +303,8 @@ controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joi
uint32_t puckIndex = puck->second; uint32_t puckIndex = puck->second;
controller::Pose puckPose = _poseStateMap[puckIndex]; controller::Pose puckPose = _poseStateMap[puckIndex];
glm::mat4 puckOffset = _pucksOffset[puckIndex]; glm::mat4 puckOffset = _pucksOffset[puckIndex];
puckPose.postTransform(puckOffset); controller::Pose newPose = puckPose.postTransform(puckOffset);
return puckPose; return newPose;
} }
return controller::Pose(); return controller::Pose();

2
plugins/openvr/src/ViveControllerManager.h
View file

@ -114,7 +114,7 @@ private:
float _leftHapticDuration { 0.0f }; float _leftHapticDuration { 0.0f };
float _rightHapticStrength { 0.0f }; float _rightHapticStrength { 0.0f };
float _rightHapticDuration { 0.0f }; float _rightHapticDuration { 0.0f };
bool _calibrate { false }; bool _triggersPressedHandled { false };
bool _calibrated { false }; bool _calibrated { false };
mutable std::recursive_mutex _lock; mutable std::recursive_mutex _lock;