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Trying to improve the orientation coming from the leap

Shwo and tell to team of the current LeapMotion integration
This commit is contained in:
samcake 2014-07-01 17:35:06 -07:00
parent a8b875d32e
commit 35977fbb0f
4 changed files with 47 additions and 24 deletions
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21
examples/leapOfFaith.js
View file

@ -28,13 +28,14 @@ function quatToString( q ) {
} }
function printSpatialEvent( label, spatialEvent ) { function printSpatialEvent( label, spatialEvent ) {
/* var dataString = label + " " + if ( label == "RightHand" ) {
vec3ToString( spatialEvent.locTranslation ) + " " + var dataString = label + " " +
quatToString( spatialEvent.locRotation ) + " " + /*vec3ToString( spatialEvent.locTranslation ) + " " +
vec3ToString( spatialEvent.absTranslation ) + " " + quatToString( spatialEvent.locRotation ) + " " +*/
quatToString( spatialEvent.absRotation ); vec3ToString( spatialEvent.absTranslation ) + " " +
// print( dataString ) quatToString( spatialEvent.absRotation );
*/; print( dataString );
}
} }
function avatarToWorld( apos ) { function avatarToWorld( apos ) {
@ -141,7 +142,7 @@ function onSpatialEventHandler( jointName, look ) {
var _look = look; var _look = look;
return (function( spatialEvent ) { return (function( spatialEvent ) {
MyAvatar.setJointData(_jointName, spatialEvent.absRotation); MyAvatar.setJointData(_jointName, spatialEvent.absRotation);
updateJointParticle(_jointName, avatarToWorld( spatialEvent.absTranslation ), _look ); updateJointParticle(_jointName, avatarToWorld( spatialEvent.absTranslation ), _look );
printSpatialEvent(_jointName, spatialEvent ); printSpatialEvent(_jointName, spatialEvent );
}); });
} }
@ -174,6 +175,10 @@ Script.update.connect(function(deltaTime) {
} }
} }
} }
// simple test
// MyAvatar.setJointData("LeftArm", jointControllers[6].c.getLocRotation());
// MyAvatar.setJointData("LeftForeArm", jointControllers[7].c.getLocRotation());
}); });

26
interface/src/devices/Leapmotion.cpp
View file

@ -249,14 +249,26 @@ void Leapmotion::init() {
glm::quat quatFromLeapBase( float sideSign, const Leap::Matrix& basis ) { glm::quat quatFromLeapBase( 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 = glm::normalize( 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::normalize( sideSign * 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::normalize( sideSign * glm::vec3( basis.zBasis.x, basis.zBasis.y, basis.zBasis.z) );
zAxis = glm::normalize( glm::cross( xAxis, yAxis ) );
glm::quat orientation = /* glm::inverse*/ (glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis))); yAxis = glm::normalize( glm::cross( zAxis, xAxis ) );
glm::quat orientation = /*glm::inverse*/(glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis)));
// orientation = glm::normalize( orientation );
return glm::quat();
return orientation; return orientation;
} }
glm::quat quatFromLeapBase( float sideSign, const Leap::Vector& dir, const Leap::Vector& normal ) {
glm::vec3 xAxis = glm::normalize( sideSign * glm::vec3( dir.x, dir.y, dir.z) );
glm::vec3 yAxis = glm::normalize( -glm::vec3( normal.x, normal.y, normal.z) );
glm::vec3 zAxis = glm::normalize( glm::cross( xAxis, yAxis ) );
// yAxis = glm::normalize( glm::cross( zAxis, xAxis ) );
glm::quat orientation = /*glm::inverse*/(glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis)));
// orientation = glm::normalize( orientation );
// return glm::quat();
return orientation;
}
glm::vec3 vec3FromLeapVector( const Leap::Vector& vec ) { glm::vec3 vec3FromLeapVector( const Leap::Vector& vec ) {
return glm::vec3( vec.x * METERS_PER_MILLIMETER, vec.y * METERS_PER_MILLIMETER, vec.z * METERS_PER_MILLIMETER ); return glm::vec3( vec.x * METERS_PER_MILLIMETER, vec.y * METERS_PER_MILLIMETER, vec.z * METERS_PER_MILLIMETER );
} }
@ -295,7 +307,8 @@ void Leapmotion::update() {
Index handIndex = 1 + ((1 - side)/2) * HAND_NUM_JOINTS; Index handIndex = 1 + ((1 - side)/2) * HAND_NUM_JOINTS;
glm::vec3 pos = vec3FromLeapVector(hand.palmPosition()); glm::vec3 pos = vec3FromLeapVector(hand.palmPosition());
glm::quat ori = quatFromLeapBase(float(side), hand.basis() ); // glm::quat ori = quatFromLeapBase(float(side), hand.basis() );
glm::quat ori = quatFromLeapBase(float(side), hand.direction(), hand.palmNormal() );
JointTracker* palmJoint = editJointTracker( handIndex ); JointTracker* palmJoint = editJointTracker( handIndex );
palmJoint->editLocFrame().setTranslation( pos ); palmJoint->editLocFrame().setTranslation( pos );
@ -332,6 +345,7 @@ void Leapmotion::update() {
ljointTracker->editAbsFrame().setTranslation( vec3FromLeapVector( bp ) ); ljointTracker->editAbsFrame().setTranslation( vec3FromLeapVector( bp ) );
ljointTracker->editAbsFrame().setRotation(quatFromLeapBase( float(side), bone.basis() ) ); ljointTracker->editAbsFrame().setRotation(quatFromLeapBase( float(side), bone.basis() ) );
// ljointTracker->editAbsFrame().setRotation(quatFromLeapBase( float(side), bone.direction(), bone.basis() ) );
ljointTracker->updateLocFromAbsTransform( parentJointTracker ); ljointTracker->updateLocFromAbsTransform( parentJointTracker );
ljointTracker->activeFrame(); ljointTracker->activeFrame();
} }

22
interface/src/devices/MotionTracker.cpp
View file

@ -150,7 +150,8 @@ MotionTracker::JointTracker::JointTracker( const JointTracker& tracker ) :
void MotionTracker::JointTracker::updateAbsFromLocTransform(const JointTracker* parentJoint) void MotionTracker::JointTracker::updateAbsFromLocTransform(const JointTracker* parentJoint)
{ {
if ( parentJoint ) { if ( parentJoint ) {
editAbsFrame()._transform = glm::mult( parentJoint->getAbsFrame()._transform, getLocFrame()._transform ); //editAbsFrame()._transform = glm::mult( parentJoint->getAbsFrame()._transform, getLocFrame()._transform );
editAbsFrame()._transform = ( parentJoint->getAbsFrame()._transform * getLocFrame()._transform );
} else { } else {
editAbsFrame()._transform = getLocFrame()._transform; editAbsFrame()._transform = getLocFrame()._transform;
} }
@ -159,8 +160,10 @@ void MotionTracker::JointTracker::updateAbsFromLocTransform(const JointTracker*
void MotionTracker::JointTracker::updateLocFromAbsTransform(const JointTracker* parentJoint) void MotionTracker::JointTracker::updateLocFromAbsTransform(const JointTracker* parentJoint)
{ {
if ( parentJoint ) { if ( parentJoint ) {
glm::mat4 ip = glm::inverse( glm::mat4( parentJoint->getAbsFrame()._transform ) ); // glm::mat4 ip = glm::inverse( glm::mat4( parentJoint->getAbsFrame()._transform ) );
editLocFrame()._transform = glm::mult( ip, getAbsFrame()._transform ); glm::mat4 ip = glm::inverse( parentJoint->getAbsFrame()._transform );
// editLocFrame()._transform = glm::mult( ip, getAbsFrame()._transform );
editLocFrame()._transform = ( ip * getAbsFrame()._transform );
} else { } else {
editLocFrame()._transform = getAbsFrame()._transform; editLocFrame()._transform = getAbsFrame()._transform;
} }
@ -178,23 +181,24 @@ MotionTracker::Frame::Frame() :
void MotionTracker::Frame::setRotation( const glm::quat& rotation ) void MotionTracker::Frame::setRotation( const glm::quat& rotation )
{ {
glm::mat3x3 rot = glm::mat3_cast( rotation ); glm::mat3x3 rot = glm::mat3_cast( rotation );
_transform[0] = rot[0]; _transform[0] = glm::vec4( rot[0], 0.f );
_transform[1] = rot[1]; _transform[1] = glm::vec4( rot[1], 0.f );
_transform[2] = rot[2]; _transform[2] = glm::vec4( rot[2], 0.f );
} }
void MotionTracker::Frame::getRotation( glm::quat& rotation ) const void MotionTracker::Frame::getRotation( glm::quat& rotation ) const
{ {
rotation = glm::quat_cast( glm::mat3( _transform[0], _transform[1], _transform[2] ) ); // rotation = glm::quat_cast( glm::mat3( _transform[0], _transform[1], _transform[2] ) );
rotation = glm::quat_cast( _transform );
} }
void MotionTracker::Frame::setTranslation( const glm::vec3& translation ) void MotionTracker::Frame::setTranslation( const glm::vec3& translation )
{ {
_transform[3] = translation; _transform[3] = glm::vec4( translation, 1.f );
} }
void MotionTracker::Frame::getTranslation( glm::vec3& translation ) const void MotionTracker::Frame::getTranslation( glm::vec3& translation ) const
{ {
translation = _transform[3]; translation = glm::vec3( _transform[3] );
} }

2
interface/src/devices/MotionTracker.h
View file

@ -30,7 +30,7 @@ public:
public: public:
Frame(); Frame();
glm::mat4x3 _transform; glm::mat4 _transform;
void setRotation( const glm::quat& rotation ); void setRotation( const glm::quat& rotation );
void getRotation( glm::quat& rotation ) const; void getRotation( glm::quat& rotation ) const;