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Desktop hand positions and orientations

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This commit is contained in:
David Rowe 2017-06-18 16:40:55 +12:00
parent 5b6a5525b6
commit 2d1cc12bc5
1 changed files with 31 additions and 33 deletions
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64
plugins/hifiLeapMotion/src/LeapMotionPlugin.cpp
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@ -177,20 +177,25 @@ void LeapMotionPlugin::InputDevice::update(float deltaTime, const controller::In
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat; glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
glm::quat controllerToAvatarRotation = glmExtractRotation(controllerToAvatar); glm::quat controllerToAvatarRotation = glmExtractRotation(controllerToAvatar);
// Desktop "zero" position is some distance above the Leap Motion sensor and half the avatar's shoulder-to-hand length in
// front of avatar.
float halfShouldToHandLength = fabsf(extractTranslation(inputCalibrationData.defaultLeftHand).x
- extractTranslation(inputCalibrationData.defaultLeftArm).x) / 2.0f;
const float ZERO_HEIGHT_OFFSET = 0.2f;
glm::vec3 leapMotionOffset = glm::vec3(0.0f, ZERO_HEIGHT_OFFSET, halfShouldToHandLength);
for (size_t i = 0; i < joints.size(); i++) { for (size_t i = 0; i < joints.size(); i++) {
int poseIndex = LeapMotionJointIndexToPoseIndex((LeapMotionJointIndex)i); int poseIndex = LeapMotionJointIndexToPoseIndex((LeapMotionJointIndex)i);
glm::vec3 linearVelocity, angularVelocity;
// TODO: Adjust the position to be avatar relative for desktop or HMD-relative, and rotated to match avatar rotation. if (joints[i].position == Vectors::ZERO) {
const glm::vec3& pos = controllerToAvatarRotation * joints[i].position;
if (pos == Vectors::ZERO) {
_poseStateMap[poseIndex] = controller::Pose(); _poseStateMap[poseIndex] = controller::Pose();
continue; continue;
} }
const glm::vec3& pos = controllerToAvatarRotation * (joints[i].position - leapMotionOffset);
glm::quat rot = controllerToAvatarRotation * joints[i].orientation; glm::quat rot = controllerToAvatarRotation * joints[i].orientation;
glm::vec3 linearVelocity, angularVelocity;
if (i < prevJoints.size()) { if (i < prevJoints.size()) {
linearVelocity = (pos - (prevJoints[i].position * METERS_PER_CENTIMETER)) / deltaTime; // m/s linearVelocity = (pos - (prevJoints[i].position * METERS_PER_CENTIMETER)) / deltaTime; // m/s
// quat log imaginary part points along the axis of rotation, with length of one half the angle of rotation. // quat log imaginary part points along the axis of rotation, with length of one half the angle of rotation.
@ -305,13 +310,16 @@ void LeapMotionPlugin::applySensorLocation() {
} }
} }
const float LEFT_SIDE_SIGN = -1.0f;
const float RIGHT_SIDE_SIGN = 1.0f;
glm::quat LeapBasisToQuat(float sideSign, const Leap::Matrix& basis) { glm::quat LeapBasisToQuat(float sideSign, const Leap::Matrix& basis) {
glm::vec3 xAxis = glm::normalize(sideSign * glm::vec3(basis.xBasis.x, basis.xBasis.y, basis.xBasis.z)); glm::vec3 xAxis = sideSign * glm::vec3(basis.xBasis.x, basis.xBasis.y, basis.xBasis.z);
glm::vec3 yAxis = glm::normalize(glm::vec3(basis.yBasis.x, basis.yBasis.y, basis.yBasis.z)); glm::vec3 yAxis = glm::vec3(basis.yBasis.x, basis.yBasis.y, basis.yBasis.z);
glm::vec3 zAxis = glm::normalize(glm::vec3(basis.zBasis.x, basis.zBasis.y, basis.zBasis.z)); glm::vec3 zAxis = glm::vec3(basis.zBasis.x, basis.zBasis.y, basis.zBasis.z);
xAxis = glm::normalize(glm::cross(yAxis, zAxis));
glm::quat orientation = (glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis))); glm::quat orientation = (glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis)));
return orientation; const glm::quat ZERO_HAND_ORIENTATION = glm::quat(glm::vec3(PI_OVER_TWO, PI, 0.0f));
return orientation * ZERO_HAND_ORIENTATION;
} }
glm::vec3 LeapVectorToVec3(const Leap::Vector& vec) { glm::vec3 LeapVectorToVec3(const Leap::Vector& vec) {
@ -319,33 +327,23 @@ glm::vec3 LeapVectorToVec3(const Leap::Vector& vec) {
} }
void LeapMotionPlugin::processFrame(const Leap::Frame& frame) { void LeapMotionPlugin::processFrame(const Leap::Frame& frame) {
// Default to uncontrolled.
// TODO _joints[LeapMotionJointIndex::LeftHand].position = glm::vec3();
_joints[LeapMotionJointIndex::RightHand].position = glm::vec3();
auto hands = frame.hands(); auto hands = frame.hands();
if (hands.count() == 2) {
auto hand = hands[0]; for (int i = 0; i < hands.count() && i < 2; i++) {
auto hand = hands[i];
auto arm = hand.arm(); auto arm = hand.arm();
/*
_joints[LeapMotionJointIndex::LeftElbow].position = LeapVectorToVec3(arm.elbowPosition());
_joints[LeapMotionJointIndex::LeftElbow].orientation = LeapBasisToQuat(-1.f, arm.basis());
_joints[LeapMotionJointIndex::LeftWrist].position = LeapVectorToVec3(arm.wristPosition());
_joints[LeapMotionJointIndex::LeftWrist].orientation = LeapBasisToQuat(-1.f, arm.basis());
*/
_joints[LeapMotionJointIndex::LeftHand].position = LeapVectorToVec3(hand.palmPosition());
_joints[LeapMotionJointIndex::LeftHand].orientation = LeapBasisToQuat(-1.0f, hand.basis());
hand = hands[1]; if (hands[i].isLeft()) {
arm = hand.arm(); _joints[LeapMotionJointIndex::LeftHand].position = LeapVectorToVec3(hand.palmPosition());
/* _joints[LeapMotionJointIndex::LeftHand].orientation = LeapBasisToQuat(LEFT_SIDE_SIGN, hand.basis());
_joints[LeapMotionJointIndex::RightElbow].position = LeapVectorToVec3(arm.elbowPosition()); } else {
_joints[LeapMotionJointIndex::RightElbow].orientation = LeapBasisToQuat(1.f, arm.basis()); _joints[LeapMotionJointIndex::RightHand].position = LeapVectorToVec3(hand.palmPosition());
_joints[LeapMotionJointIndex::RightWrist].position = LeapVectorToVec3(arm.wristPosition()); _joints[LeapMotionJointIndex::RightHand].orientation = LeapBasisToQuat(RIGHT_SIDE_SIGN, hand.basis());
_joints[LeapMotionJointIndex::RightWrist].orientation = LeapBasisToQuat(1.f, arm.basis()); }
*/
_joints[LeapMotionJointIndex::RightHand].position = LeapVectorToVec3(hand.palmPosition());
_joints[LeapMotionJointIndex::RightHand].orientation = LeapBasisToQuat(1.0f, hand.basis());
} }
} }