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Remove hydramove.js and expose the velocity and angular Velocity for hydra

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samcake 2015-10-22 15:55:36 -07:00
parent 2ebf862da9
commit 2db87e0d2d
3 changed files with 18 additions and 307 deletions
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303
examples/controllers/hydra/hydraMove.js
View file

@ -1,303 +0,0 @@
//
// hydraMove.js
// examples
//
// Created by Brad Hefta-Gaub on February 10, 2014
// Updated by Philip Rosedale on September 8, 2014
//
// Copyright 2014 High Fidelity, Inc.
//
// This is an example script that demonstrates use of the Controller and MyAvatar classes to implement
// avatar flying through the hydra/controller joysticks
//
// The joysticks (on hydra) will drive the avatar much like a playstation controller.
//
// Pressing the '4' or the 'FWD' button and moving/banking the hand will allow you to move and fly.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
var damping = 0.9;
var position = { x: MyAvatar.position.x, y: MyAvatar.position.y, z: MyAvatar.position.z };
var joysticksCaptured = false;
var THRUST_CONTROLLER = 0;
var VIEW_CONTROLLER = 1;
var INITIAL_THRUST_MULTIPLIER = 1.0;
var THRUST_INCREASE_RATE = 1.05;
var MAX_THRUST_MULTIPLIER = 75.0;
var thrustMultiplier = INITIAL_THRUST_MULTIPLIER;
var grabDelta = { x: 0, y: 0, z: 0};
var grabStartPosition = { x: 0, y: 0, z: 0};
var grabDeltaVelocity = { x: 0, y: 0, z: 0};
var grabStartRotation = { x: 0, y: 0, z: 0, w: 1};
var grabCurrentRotation = { x: 0, y: 0, z: 0, w: 1};
var grabbingWithRightHand = false;
var wasGrabbingWithRightHand = false;
var grabbingWithLeftHand = false;
var wasGrabbingWithLeftHand = false;
var EPSILON = 0.000001;
var velocity = { x: 0, y: 0, z: 0};
var THRUST_MAG_UP = 100.0;
var THRUST_MAG_DOWN = 100.0;
var THRUST_MAG_FWD = 150.0;
var THRUST_MAG_BACK = 100.0;
var THRUST_MAG_LATERAL = 150.0;
var THRUST_JUMP = 120.0;
var YAW_MAG = 100.0;
var PITCH_MAG = 100.0;
var THRUST_MAG_HAND_JETS = THRUST_MAG_FWD;
var JOYSTICK_YAW_MAG = YAW_MAG;
var JOYSTICK_PITCH_MAG = PITCH_MAG * 0.5;
var LEFT_PALM = 0;
var LEFT_BUTTON_4 = 4;
var LEFT_BUTTON_FWD = 5;
var RIGHT_PALM = 2;
var RIGHT_BUTTON_4 = 10;
var RIGHT_BUTTON_FWD = 11;
function printVector(text, v, decimals) {
print(text + " " + v.x.toFixed(decimals) + ", " + v.y.toFixed(decimals) + ", " + v.z.toFixed(decimals));
}
var debug = false;
var RED_COLOR = { red: 255, green: 0, blue: 0 };
var GRAY_COLOR = { red: 25, green: 25, blue: 25 };
var defaultPosition = { x: 0, y: 0, z: 0};
var RADIUS = 0.05;
var greenSphere = -1;
var redSphere = -1;
function createDebugOverlay() {
if (greenSphere == -1) {
greenSphere = Overlays.addOverlay("sphere", {
position: defaultPosition,
size: RADIUS,
color: GRAY_COLOR,
alpha: 0.75,
visible: true,
solid: true,
anchor: "MyAvatar"
});
redSphere = Overlays.addOverlay("sphere", {
position: defaultPosition,
size: RADIUS,
color: RED_COLOR,
alpha: 0.5,
visible: true,
solid: true,
anchor: "MyAvatar"
});
}
}
function destroyDebugOverlay() {
if (greenSphere != -1) {
Overlays.deleteOverlay(greenSphere);
Overlays.deleteOverlay(redSphere);
greenSphere = -1;
redSphere = -1;
}
}
function displayDebug() {
if (!(grabbingWithRightHand || grabbingWithLeftHand)) {
if (greenSphere != -1) {
destroyDebugOverlay();
}
} else {
// update debug indicator
if (greenSphere == -1) {
createDebugOverlay();
}
var displayOffset = { x:0, y:0.5, z:-0.5 };
Overlays.editOverlay(greenSphere, { position: Vec3.sum(grabStartPosition, displayOffset) } );
Overlays.editOverlay(redSphere, { position: Vec3.sum(Vec3.sum(grabStartPosition, grabDelta), displayOffset), size: RADIUS + (0.25 * Vec3.length(grabDelta)) } );
}
}
function getJoystickPosition(palm) {
// returns CONTROLLER_ID position in avatar local frame
var invRotation = Quat.inverse(MyAvatar.orientation);
var palmWorld = Controller.getSpatialControlPosition(palm);
var palmRelative = Vec3.subtract(palmWorld, MyAvatar.position);
var palmLocal = Vec3.multiplyQbyV(invRotation, palmRelative);
return palmLocal;
}
// Used by handleGrabBehavior() for managing the grab position changes
function getAndResetGrabDelta() {
var HAND_GRAB_SCALE_DISTANCE = 2.0;
var delta = Vec3.multiply(grabDelta, (MyAvatar.scale * HAND_GRAB_SCALE_DISTANCE));
grabDelta = { x: 0, y: 0, z: 0};
var avatarRotation = MyAvatar.orientation;
var result = Vec3.multiplyQbyV(avatarRotation, Vec3.multiply(delta, -1));
return result;
}
function getGrabRotation() {
var quatDiff = Quat.multiply(grabCurrentRotation, Quat.inverse(grabStartRotation));
return quatDiff;
}
// When move button is pressed, process results
function handleGrabBehavior(deltaTime) {
// check for and handle grab behaviors
grabbingWithRightHand = Controller.isButtonPressed(RIGHT_BUTTON_4);
grabbingWithLeftHand = Controller.isButtonPressed(LEFT_BUTTON_4);
stoppedGrabbingWithLeftHand = false;
stoppedGrabbingWithRightHand = false;
if (grabbingWithRightHand && !wasGrabbingWithRightHand) {
// Just starting grab, capture starting rotation
grabStartRotation = Controller.getSpatialControlRawRotation(RIGHT_PALM);
grabStartPosition = getJoystickPosition(RIGHT_PALM);
if (debug) printVector("start position", grabStartPosition, 3);
}
if (grabbingWithRightHand) {
grabDelta = Vec3.subtract(getJoystickPosition(RIGHT_PALM), grabStartPosition);
grabCurrentRotation = Controller.getSpatialControlRawRotation(RIGHT_PALM);
}
if (!grabbingWithRightHand && wasGrabbingWithRightHand) {
// Just ending grab, capture velocity
grabDeltaVelocity = Controller.getSpatialControlVelocity(RIGHT_PALM);
stoppedGrabbingWithRightHand = true;
}
if (grabbingWithLeftHand && !wasGrabbingWithLeftHand) {
// Just starting grab, capture starting rotation
grabStartRotation = Controller.getSpatialControlRawRotation(LEFT_PALM);
grabStartPosition = getJoystickPosition(LEFT_PALM);
if (debug) printVector("start position", grabStartPosition, 3);
}
if (grabbingWithLeftHand) {
grabDelta = Vec3.subtract(getJoystickPosition(LEFT_PALM), grabStartPosition);
grabCurrentRotation = Controller.getSpatialControlRawRotation(LEFT_PALM);
}
if (!grabbingWithLeftHand && wasGrabbingWithLeftHand) {
// Just ending grab, capture velocity
grabDeltaVelocity = Controller.getSpatialControlVelocity(LEFT_PALM);
stoppedGrabbingWithLeftHand = true;
}
grabbing = grabbingWithRightHand || grabbingWithLeftHand;
stoppedGrabbing = stoppedGrabbingWithRightHand || stoppedGrabbingWithLeftHand;
if (grabbing) {
var headOrientation = MyAvatar.headOrientation;
var front = Quat.getFront(headOrientation);
var right = Quat.getRight(headOrientation);
var up = Quat.getUp(headOrientation);
if (debug) {
printVector("grabDelta: ", grabDelta, 3);
}
var thrust = Vec3.multiply(grabDelta, Math.abs(Vec3.length(grabDelta)));
var THRUST_GRAB_SCALING = 100000.0;
var thrustFront = Vec3.multiply(front, MyAvatar.scale * -thrust.z * THRUST_GRAB_SCALING * deltaTime);
MyAvatar.addThrust(thrustFront);
var thrustRight = Vec3.multiply(right, MyAvatar.scale * thrust.x * THRUST_GRAB_SCALING * deltaTime);
MyAvatar.addThrust(thrustRight);
var thrustUp = Vec3.multiply(up, MyAvatar.scale * thrust.y * THRUST_GRAB_SCALING * deltaTime);
MyAvatar.addThrust(thrustUp);
// add some rotation...
var deltaRotation = getGrabRotation();
var PITCH_SCALING = 2.5;
var PITCH_DEAD_ZONE = 2.0;
var YAW_SCALING = 2.5;
var ROLL_SCALING = 2.0;
var euler = Quat.safeEulerAngles(deltaRotation);
// Adjust body yaw by roll from controller
var orientation = Quat.multiply(Quat.angleAxis(((euler.y * YAW_SCALING) +
(euler.z * ROLL_SCALING)) * deltaTime, {x:0, y: 1, z:0}), MyAvatar.orientation);
MyAvatar.orientation = orientation;
// Adjust head pitch from controller
var pitch = 0.0;
if (Math.abs(euler.x) > PITCH_DEAD_ZONE) {
pitch = (euler.x < 0.0) ? (euler.x + PITCH_DEAD_ZONE) : (euler.x - PITCH_DEAD_ZONE);
}
MyAvatar.headPitch = MyAvatar.headPitch + (pitch * PITCH_SCALING * deltaTime);
// TODO: Add some camera roll proportional to the rate of turn (so it feels like an airplane or roller coaster)
}
wasGrabbingWithRightHand = grabbingWithRightHand;
wasGrabbingWithLeftHand = grabbingWithLeftHand;
}
// Update for joysticks and move button
var THRUST_DEAD_ZONE = 0.1;
var ROTATE_DEAD_ZONE = 0.1;
function flyWithHydra(deltaTime) {
var thrustJoystickPosition = Controller.getJoystickPosition(THRUST_CONTROLLER);
if (Math.abs(thrustJoystickPosition.x) > THRUST_DEAD_ZONE || Math.abs(thrustJoystickPosition.y) > THRUST_DEAD_ZONE) {
if (thrustMultiplier < MAX_THRUST_MULTIPLIER) {
thrustMultiplier *= 1 + (deltaTime * THRUST_INCREASE_RATE);
}
var headOrientation = MyAvatar.headOrientation;
var front = Quat.getFront(headOrientation);
var right = Quat.getRight(headOrientation);
var up = Quat.getUp(headOrientation);
var thrustFront = Vec3.multiply(front, MyAvatar.scale * THRUST_MAG_HAND_JETS *
thrustJoystickPosition.y * thrustMultiplier * deltaTime);
MyAvatar.addThrust(thrustFront);
var thrustRight = Vec3.multiply(right, MyAvatar.scale * THRUST_MAG_HAND_JETS *
thrustJoystickPosition.x * thrustMultiplier * deltaTime);
MyAvatar.addThrust(thrustRight);
} else {
thrustMultiplier = INITIAL_THRUST_MULTIPLIER;
}
// View Controller
var viewJoystickPosition = Controller.getJoystickPosition(VIEW_CONTROLLER);
if (Math.abs(viewJoystickPosition.x) > ROTATE_DEAD_ZONE || Math.abs(viewJoystickPosition.y) > ROTATE_DEAD_ZONE) {
// change the body yaw based on our x controller
var orientation = MyAvatar.orientation;
var deltaOrientation = Quat.fromPitchYawRollDegrees(0, (-1 * viewJoystickPosition.x * JOYSTICK_YAW_MAG * deltaTime), 0);
MyAvatar.orientation = Quat.multiply(orientation, deltaOrientation);
// change the headPitch based on our x controller
var newPitch = MyAvatar.headPitch + (viewJoystickPosition.y * JOYSTICK_PITCH_MAG * deltaTime);
MyAvatar.headPitch = newPitch;
}
handleGrabBehavior(deltaTime);
displayDebug();
}
Script.update.connect(flyWithHydra);
Controller.captureJoystick(THRUST_CONTROLLER);
Controller.captureJoystick(VIEW_CONTROLLER);
// Map keyPress and mouse move events to our callbacks
function scriptEnding() {
// re-enabled the standard application for touch events
Controller.releaseJoystick(THRUST_CONTROLLER);
Controller.releaseJoystick(VIEW_CONTROLLER);
}
Script.scriptEnding.connect(scriptEnding);

20
libraries/input-plugins/src/input-plugins/SixenseManager.cpp
View file

@ -230,7 +230,8 @@ void SixenseManager::update(float deltaTime, bool jointsCaptured) {
if (!jointsCaptured) {
// Rotation of Palm
glm::quat rotation(data->rot_quat[3], data->rot_quat[0], data->rot_quat[1], data->rot_quat[2]);
handlePoseEvent(position, rotation, left);
handlePoseEvent(deltaTime, position, rotation, left);
} else {
_poseStateMap.clear();
}
@ -384,7 +385,7 @@ void SixenseManager::handleButtonEvent(unsigned int buttons, bool left) {
}
}
void SixenseManager::handlePoseEvent(glm::vec3 position, glm::quat rotation, bool left) {
void SixenseManager::handlePoseEvent(float deltaTime, glm::vec3 position, glm::quat rotation, bool left) {
#ifdef HAVE_SIXENSE
// From ABOVE the sixense coordinate frame looks like this:
//
@ -400,6 +401,7 @@ void SixenseManager::handlePoseEvent(glm::vec3 position, glm::quat rotation, boo
// |
// |
// z
auto prevPose = _poseStateMap[left ? controller::StandardPoseChannel::LEFT_HAND : controller::StandardPoseChannel::RIGHT_HAND];
// Transform the measured position into body frame.
position = _avatarRotation * (position + _avatarPosition);
@ -443,8 +445,20 @@ void SixenseManager::handlePoseEvent(glm::vec3 position, glm::quat rotation, boo
// TODO: find a shortcut with fewer rotations.
rotation = _avatarRotation * postOffset * glm::inverse(sixenseToHand) * rotation * preOffset * sixenseToHand;
glm::vec3 velocity(0.0f);
glm::quat angularVelocity;
_poseStateMap[left ? controller::StandardPoseChannel::LEFT_HAND : controller::StandardPoseChannel::RIGHT_HAND] = controller::Pose(position, rotation);
if (prevPose.isValid() && deltaTime > std::numeric_limits<float>::epsilon()) {
velocity = (position - prevPose.getTranslation()) / deltaTime;
auto deltaRot = rotation * glm::conjugate(prevPose.getRotation());
auto axis = glm::axis(deltaRot);
auto angle = glm::angle(deltaRot);
angularVelocity = glm::angleAxis(angle / deltaTime, axis);
}
_poseStateMap[left ? controller::StandardPoseChannel::LEFT_HAND : controller::StandardPoseChannel::RIGHT_HAND] = controller::Pose(position, rotation, velocity, angularVelocity);
#endif // HAVE_SIXENSE
}

2
libraries/input-plugins/src/input-plugins/SixenseManager.h
View file

@ -75,7 +75,7 @@ public slots:
private:
void handleButtonEvent(unsigned int buttons, bool left);
void handleAxisEvent(float x, float y, float trigger, bool left);
void handlePoseEvent(glm::vec3 position, glm::quat rotation, bool left);
void handlePoseEvent(float deltaTime, glm::vec3 position, glm::quat rotation, bool left);
void updateCalibration(void* controllers);