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limbs tracking pucks

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This commit is contained in:
Dante Ruiz 2017-05-03 20:08:42 +01:00
parent fb502a7fed
commit 31f6038e45
3 changed files with 54 additions and 11 deletions
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6
interface/resources/controllers/vive.json
View file

@ -35,6 +35,10 @@
{ "from": "Vive.RightApplicationMenu", "to": "Standard.RightSecondaryThumb" },
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] }
{ "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.LeftFoot", "to" : "Standard.LeftFoot", "when": [ "Application.InHMD"] },
{ "from": "Vive.RightFoot", "to" : "Standard.RightFoot", "when": [ "Application.InHMD"] },
{ "from": "Vive.Hips", "to" : "Standard.Hips", "when": [ "Application.InHMD"] },
{ "from": "Vive.Spine2", "to" : "Standard.Spine2", "when": [ "Application.InHMD"] }
]
}

57
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -53,7 +53,7 @@ const char* ViveControllerManager::NAME { "OpenVR" };
}*/
glm::mat4 computeOffset(glm::mat4 defaultRefrence, glm::mat4 defaultJointMat, controller::Pose puckPose) {
qDebug() << "-------------> computing offset <-------------";
///qDebug() << "-------------> computing offset <-------------";
glm::mat4 poseMat = createMatFromQuatAndPos(puckPose.rotation, puckPose.translation);
glm::mat4 refrenceJointMat = defaultRefrence * defaultJointMat;
return glm::inverse(poseMat) * refrenceJointMat;
@ -134,6 +134,7 @@ void ViveControllerManager::pluginUpdate(float deltaTime, const controller::Inpu
userInputMapper->removeDevice(_inputDevice->_deviceID);
_registeredWithInputMapper = false;
_inputDevice->_poseStateMap.clear();
//qDebug() << " ----------->>!!!!!!! clear pose state map !!!!!!!<<----------------";
}
if (!_registeredWithInputMapper && _inputDevice->_trackedControllers > 0) {
@ -186,6 +187,7 @@ void ViveControllerManager::InputDevice::update(float deltaTime, const controlle
}
_trackedControllers = numTrackedControllers;
calibrate(inputCalibrationData);
updateCalibratedLimbs();
}
void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData) {
@ -220,21 +222,28 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
auto rightTrigger = _buttonPressedMap.find(controller::RT);
if ((leftTrigger != _buttonPressedMap.end()) && (rightTrigger != _buttonPressedMap.end())) {
if (!_calibrated) {
// conver the hmd head from sensor space to avatar space
glm::mat4 controllerToAvatar = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
glm::mat4 currentHead = inputCalibration.hmdSensorMat * controllerToAvatar;
glm::mat4 hmdHeadInAvatarSpace = inputCalibration.hmdSensorMat * controllerToAvatar;
// cancel the roll and pitch for the hmd head
glm::quat canceledRollAndPitch = cancelOutRollAndPitch(glmExtractRotation(hmdHeadInAvatarSpace));
glm::vec3 hmdHeadPosition = extractTranslation(hmdHeadInAvatarSpace);
glm::mat4 hmdHeadMat = createMatFromQuatAndPos(canceledRollAndPitch, hmdHeadPosition);
//calculate the offset from the centerEye to the head hoint
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::quat canceledRollAndPitch = cancelOutRollAndPitch(glmExtractRotation(currentHead));
glm::vec3 currentHeadPosition = extractTranslation(currentHead);
currentHead = createMatFromQuatAndPos(canceledRollAndPitch, currentHeadPosition);
glm::mat4 defaultRefrenceXform = currentHead * defaultHeadOffset;
glm::mat4 defaultRefrenceXform = hmdHeadMat * defaultHeadOffset;
auto puckCount = _validTrackedObjects.size();
if (puckCount == 2) {
qDebug() << "-------------< configure feet <-------------";
//qDebug() << "-------------< configure feet <-------------";
_config = Config::Feet;
} else if (puckCount == 3) {
qDebug() << "-------------> configure feet and hips <-------------";
//qDebug() << "-------------> configure feet and hips <-------------";
_config = Config::FeetAndHips;
} else if (puckCount >= 4) {
//qDebug() << "-------------> configure feet, hips and chest <---------------";
_config = Config::FeetHipsAndChest;
} else {
qDebug() << "Could not configure # pucks " << puckCount;
@ -242,17 +251,19 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
}
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
auto firstFoot = _validTrackedObjects[0];
auto secondFoot = _validTrackedObjects[1];
controller::Pose firstFootPose = firstFoot.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;
_pucksOffset[firstFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultRightFoot, secondFootPose);
} else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
qDebug() << " --------> Printing out the offset pose <------------";
_pucksOffset[secondFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultLeftFoot, secondFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultRightFoot, firstFootPose);
@ -266,7 +277,7 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
} else if (_config == Config::FeetHipsAndChest) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
_pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultHips, _validTrackedObjects[2].second);
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[2].first;
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[3].first;
_pucksOffset[_validTrackedObjects[3].first] = computeOffset(defaultRefrenceXform, inputCalibration.defaultSpine2, _validTrackedObjects[3].second);
}
_calibrated = true;
@ -279,6 +290,28 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
}
}
void ViveControllerManager::InputDevice::updateCalibratedLimbs() {
_poseStateMap[controller::LEFT_FOOT] = addOffsetToPuckPose(controller::LEFT_FOOT);
_poseStateMap[controller::RIGHT_FOOT] = addOffsetToPuckPose(controller::RIGHT_FOOT);
_poseStateMap[controller::HIPS] = addOffsetToPuckPose(controller::HIPS);
_poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2);
}
controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joint) {
auto puck = _jointToPuckMap.find(joint);
if (puck != _jointToPuckMap.end()) {
uint32_t puckIndex = puck->second;
controller::Pose puckPose = _poseStateMap[puckIndex];
glm::mat4 puckOffset = _pucksOffset[puckIndex];
puckPose.postTransform(puckOffset);
//qDebug() << "-----------> adding offset to puck <-------------- " << puckPose.valid;
return puckPose;
}
//qDebug() << "---------> joint is not mapped to any thing <--------------";
return controller::Pose();
}
void ViveControllerManager::InputDevice::handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand) {
if (_system->IsTrackedDeviceConnected(deviceIndex) &&
@ -492,6 +525,10 @@ controller::Input::NamedVector ViveControllerManager::InputDevice::getAvailableI
// 3d location of controller
makePair(LEFT_HAND, "LeftHand"),
makePair(RIGHT_HAND, "RightHand"),
makePair(LEFT_FOOT, "LeftFoot"),
makePair(RIGHT_FOOT, "RightFoot"),
makePair(HIPS, "Hips"),
makePair(SPINE2, "Spine2"),
// 16 tracked poses
makePair(TRACKED_OBJECT_00, "TrackedObject00"),

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

@ -61,6 +61,8 @@ private:
bool triggerHapticPulse(float strength, float duration, controller::Hand hand) override;
void hapticsHelper(float deltaTime, bool leftHand);
void calibrate(const controller::InputCalibrationData& inputCalibration);
controller::Pose addOffsetToPuckPose(int joint);
void updateCalibratedLimbs();
void handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand);
void handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData);
void handleButtonEvent(float deltaTime, uint32_t button, bool pressed, bool touched, bool isLeftHand);