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Leaning and lean recentering now work as intended at any avatar scale.

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Individually tested each of these scale fixes in third-person view.
Simplify withinBaseOfSupport.
Change input parameter from float& to float (isWithinThresholdHeightMode).
Debug: remove unnecessary Y offset that didn't scale properly with the avatar (drawBaseOfSupport).
This commit is contained in:
Phil Palmer 2020-12-31 05:09:06 -05:00
parent 4a0bde415b
commit 3cc08022fc
1 changed files with 27 additions and 37 deletions
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64
interface/src/avatar/MyAvatar.cpp
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@ -4976,11 +4976,11 @@ glm::vec3 MyAvatar::computeCounterBalance() {
glm::vec3 currentCg = (1.0f / totalMass) * sumOfMoments; glm::vec3 currentCg = (1.0f / totalMass) * sumOfMoments;
currentCg.y = 0.0f; currentCg.y = 0.0f;
// dampening the center of gravity, in effect, limits the value to the perimeter of the base of support // dampening the center of gravity, in effect, limits the value to the perimeter of the base of support
float baseScale = 1.0f; float baseAndAvatarScale = getAvatarScale();
if (getUserEyeHeight() > 0.0f) { if (getUserEyeHeight() > 0.0f) {
baseScale = getUserEyeHeight() / DEFAULT_AVATAR_EYE_HEIGHT; baseAndAvatarScale *= getUserEyeHeight() / DEFAULT_AVATAR_EYE_HEIGHT;
} }
glm::vec3 desiredCg = dampenCgMovement(currentCg, baseScale); glm::vec3 desiredCg = dampenCgMovement(currentCg, baseAndAvatarScale);
// compute hips position to maintain desiredCg // compute hips position to maintain desiredCg
glm::vec3 counterBalancedForHead = (totalMass + DEFAULT_AVATAR_HIPS_MASS) * desiredCg; glm::vec3 counterBalancedForHead = (totalMass + DEFAULT_AVATAR_HIPS_MASS) * desiredCg;
@ -4999,9 +4999,10 @@ glm::vec3 MyAvatar::computeCounterBalance() {
// this is to be sure that the feet don't lift off the floor. // this is to be sure that the feet don't lift off the floor.
// add 5 centimeters to allow for going up on the toes. // add 5 centimeters to allow for going up on the toes.
if (counterBalancedCg.y > (tposeHips.y + 0.05f)) { float maxCounterBalancedCGY = (tposeHips.y + 0.05f) * baseAndAvatarScale;
if (counterBalancedCg.y > maxCounterBalancedCGY) {
// if the height is higher than default hips, clamp to default hips // if the height is higher than default hips, clamp to default hips
counterBalancedCg.y = tposeHips.y + 0.05f; counterBalancedCg.y = maxCounterBalancedCGY;
} }
return counterBalancedCg; return counterBalancedCg;
} }
@ -5032,7 +5033,7 @@ static void drawBaseOfSupport(float baseOfSupportScale, float footLocal, glm::ma
float clampBack = DEFAULT_AVATAR_SUPPORT_BASE_BACK * baseOfSupportScale; float clampBack = DEFAULT_AVATAR_SUPPORT_BASE_BACK * baseOfSupportScale;
float clampLeft = DEFAULT_AVATAR_SUPPORT_BASE_LEFT * baseOfSupportScale; float clampLeft = DEFAULT_AVATAR_SUPPORT_BASE_LEFT * baseOfSupportScale;
float clampRight = DEFAULT_AVATAR_SUPPORT_BASE_RIGHT * baseOfSupportScale; float clampRight = DEFAULT_AVATAR_SUPPORT_BASE_RIGHT * baseOfSupportScale;
float floor = footLocal + 0.05f; float floor = footLocal;
// transform the base of support corners to world space // transform the base of support corners to world space
glm::vec3 frontRight = transformPoint(avatarToWorld, { clampRight, floor, clampFront }); glm::vec3 frontRight = transformPoint(avatarToWorld, { clampRight, floor, clampFront });
@ -5063,7 +5064,7 @@ glm::mat4 MyAvatar::deriveBodyUsingCgModel() {
glm::mat4 avatarHeadMat = glm::inverse(avatarToWorldMat) * sensorToWorldMat * sensorHeadMat; glm::mat4 avatarHeadMat = glm::inverse(avatarToWorldMat) * sensorToWorldMat * sensorHeadMat;
if (_enableDebugDrawBaseOfSupport) { if (_enableDebugDrawBaseOfSupport) {
float scaleBaseOfSupport = getUserEyeHeight() / DEFAULT_AVATAR_EYE_HEIGHT; float scaleBaseOfSupport = (getUserEyeHeight() / DEFAULT_AVATAR_EYE_HEIGHT) * getAvatarScale();
glm::vec3 rightFootPositionLocal = getAbsoluteJointTranslationInObjectFrame(_skeletonModel->getRig().indexOfJoint("RightFoot")); glm::vec3 rightFootPositionLocal = getAbsoluteJointTranslationInObjectFrame(_skeletonModel->getRig().indexOfJoint("RightFoot"));
drawBaseOfSupport(scaleBaseOfSupport, rightFootPositionLocal.y, avatarToWorldMat); drawBaseOfSupport(scaleBaseOfSupport, rightFootPositionLocal.y, avatarToWorldMat);
} }
@ -5079,26 +5080,16 @@ glm::mat4 MyAvatar::deriveBodyUsingCgModel() {
return worldToSensorMat * avatarToWorldMat * avatarHipsMat; return worldToSensorMat * avatarToWorldMat * avatarHipsMat;
} }
static bool isInsideLine(const glm::vec3& a, const glm::vec3& b, const glm::vec3& c) { static bool withinBaseOfSupport(const controller::Pose& head, const float avatarScale) {
return (((b.x - a.x) * (c.z - a.z) - (b.z - a.z) * (c.x - a.x)) > 0); if (!head.isValid()) {
} return false;
static bool withinBaseOfSupport(const controller::Pose& head) {
float userScale = 1.0f;
glm::vec3 frontLeft(-DEFAULT_AVATAR_LATERAL_STEPPING_THRESHOLD, 0.0f, -DEFAULT_AVATAR_ANTERIOR_STEPPING_THRESHOLD);
glm::vec3 frontRight(DEFAULT_AVATAR_LATERAL_STEPPING_THRESHOLD, 0.0f, -DEFAULT_AVATAR_ANTERIOR_STEPPING_THRESHOLD);
glm::vec3 backLeft(-DEFAULT_AVATAR_LATERAL_STEPPING_THRESHOLD, 0.0f, DEFAULT_AVATAR_POSTERIOR_STEPPING_THRESHOLD);
glm::vec3 backRight(DEFAULT_AVATAR_LATERAL_STEPPING_THRESHOLD, 0.0f, DEFAULT_AVATAR_POSTERIOR_STEPPING_THRESHOLD);
bool isWithinSupport = false;
if (head.isValid()) {
bool withinFrontBase = isInsideLine(userScale * frontLeft, userScale * frontRight, head.getTranslation());
bool withinBackBase = isInsideLine(userScale * backRight, userScale * backLeft, head.getTranslation());
bool withinLateralBase = (isInsideLine(userScale * frontRight, userScale * backRight, head.getTranslation()) &&
isInsideLine(userScale * backLeft, userScale * frontLeft, head.getTranslation()));
isWithinSupport = (withinFrontBase && withinBackBase && withinLateralBase);
} }
vec3 headPosScaled = head.getTranslation() / avatarScale;
bool isWithinSupport = (headPosScaled.x > -DEFAULT_AVATAR_LATERAL_STEPPING_THRESHOLD) &&
(headPosScaled.x < DEFAULT_AVATAR_LATERAL_STEPPING_THRESHOLD) &&
(headPosScaled.z > -DEFAULT_AVATAR_ANTERIOR_STEPPING_THRESHOLD) &&
(headPosScaled.z < DEFAULT_AVATAR_POSTERIOR_STEPPING_THRESHOLD);
return isWithinSupport; return isWithinSupport;
} }
@ -5114,10 +5105,10 @@ static bool headAngularVelocityBelowThreshold(const controller::Pose& head) {
return isBelowThreshold; return isBelowThreshold;
} }
static bool isWithinThresholdHeightMode(const controller::Pose& head, const float& newMode, const float& scale) { static bool isWithinThresholdHeightMode(const controller::Pose& head, const float newMode, const float avatarScale) {
bool isWithinThreshold = true; bool isWithinThreshold = true;
if (head.isValid()) { if (head.isValid()) {
isWithinThreshold = (head.getTranslation().y - newMode) > (DEFAULT_AVATAR_MODE_HEIGHT_STEPPING_THRESHOLD * scale); isWithinThreshold = head.getTranslation().y > ((DEFAULT_AVATAR_MODE_HEIGHT_STEPPING_THRESHOLD + newMode) * avatarScale);
} }
return isWithinThreshold; return isWithinThreshold;
} }
@ -5198,12 +5189,12 @@ static bool handAngularVelocityBelowThreshold(const controller::Pose& leftHand,
(rightHandXZAngularVelocity < DEFAULT_HANDS_ANGULAR_VELOCITY_STEPPING_THRESHOLD)); (rightHandXZAngularVelocity < DEFAULT_HANDS_ANGULAR_VELOCITY_STEPPING_THRESHOLD));
} }
static bool headVelocityGreaterThanThreshold(const controller::Pose& head) { static bool headVelocityGreaterThanThreshold(const controller::Pose& head, const float avatarScale) {
float headVelocityMagnitude = 0.0f; float headVelocityMagnitude = 0.0f;
if (head.isValid()) { if (head.isValid()) {
headVelocityMagnitude = glm::length(head.getVelocity()); headVelocityMagnitude = glm::length(head.getVelocity());
} }
return headVelocityMagnitude > DEFAULT_HEAD_VELOCITY_STEPPING_THRESHOLD; return headVelocityMagnitude > (DEFAULT_HEAD_VELOCITY_STEPPING_THRESHOLD * avatarScale);
} }
glm::quat MyAvatar::computeAverageHeadRotation(const controller::Pose& head) { glm::quat MyAvatar::computeAverageHeadRotation(const controller::Pose& head) {
@ -5686,7 +5677,7 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontal_userSitting(const MyAvatar
const glm::mat4& currentBodyMatrix) const { const glm::mat4& currentBodyMatrix) const {
if (!myAvatar.isAllowedToLean()) { if (!myAvatar.isAllowedToLean()) {
controller::Pose currentHeadPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::HEAD); controller::Pose currentHeadPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::HEAD);
if (!withinBaseOfSupport(currentHeadPose)) { if (!withinBaseOfSupport(currentHeadPose, myAvatar.getAvatarScale())) {
return true; return true;
} }
} }
@ -5729,23 +5720,22 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontal_userStanding(
controller::Pose currentHeadPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::HEAD); controller::Pose currentHeadPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::HEAD);
bool stepDetected = false; bool stepDetected = false;
float avatarScale = myAvatar.getAvatarScale();
if (!withinBaseOfSupport(currentHeadPose)) { if (!withinBaseOfSupport(currentHeadPose, avatarScale)) {
if (!myAvatar.isAllowedToLean()) { if (!myAvatar.isAllowedToLean()) {
stepDetected = true; stepDetected = true;
} else { } else {
float myScale = myAvatar.getAvatarScale();
// get the current readings // get the current readings
controller::Pose currentLeftHandPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND); controller::Pose currentLeftHandPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND);
controller::Pose currentRightHandPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND); controller::Pose currentRightHandPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND);
controller::Pose currentHeadSensorPose = myAvatar.getControllerPoseInSensorFrame(controller::Action::HEAD); controller::Pose currentHeadSensorPose = myAvatar.getControllerPoseInSensorFrame(controller::Action::HEAD);
if (headAngularVelocityBelowThreshold(currentHeadPose) && if (headAngularVelocityBelowThreshold(currentHeadPose) &&
isWithinThresholdHeightMode(currentHeadSensorPose, myAvatar.getCurrentStandingHeight(), myScale) && isWithinThresholdHeightMode(currentHeadSensorPose, myAvatar.getCurrentStandingHeight(), avatarScale) &&
handDirectionMatchesHeadDirection(currentLeftHandPose, currentRightHandPose, currentHeadPose) && handDirectionMatchesHeadDirection(currentLeftHandPose, currentRightHandPose, currentHeadPose) &&
handAngularVelocityBelowThreshold(currentLeftHandPose, currentRightHandPose) && handAngularVelocityBelowThreshold(currentLeftHandPose, currentRightHandPose) &&
headVelocityGreaterThanThreshold(currentHeadPose) && headVelocityGreaterThanThreshold(currentHeadPose, avatarScale) &&
isHeadLevel(currentHeadPose, myAvatar.getAverageHeadRotation())) { isHeadLevel(currentHeadPose, myAvatar.getAverageHeadRotation())) {
// a step is detected // a step is detected
stepDetected = true; stepDetected = true;
@ -5764,7 +5754,7 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontal_userStanding(
resetModeOut = true; resetModeOut = true;
stepDetected = true; stepDetected = true;
if (currentHeadPose.isValid()) { if (currentHeadPose.isValid()) {
if (glm::length(currentHeadPose.velocity) > DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) { if (glm::length(currentHeadPose.velocity) > (DEFAULT_AVATAR_WALK_SPEED_THRESHOLD * avatarScale)) {
goToWalkingStateOut = true; goToWalkingStateOut = true;
} }
} }