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Position avatar hands with Leap Motion with no roll, pitch or yaw

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This commit is contained in:
David Rowe 2014-09-14 15:03:22 -07:00
parent 4382b62613
commit 3ddd5854cd
4 changed files with 87 additions and 27 deletions
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53
examples/leapHands.js
View file

@ -21,6 +21,7 @@ var leapHands = (function () {
THUMB = 0,
NUM_FINGER_JOINTS = 3, // 0 = metacarpal(hand)-proximal(finger) joint; ...; 2 = intermediate-distal(tip) joint
MAX_HAND_INACTIVE_COUNT = 20,
LEAP_HEIGHT_OFFSET = 0.15,
PI = 3.141593;
function printSkeletonJointNames() {
@ -114,14 +115,22 @@ var leapHands = (function () {
// TODO: Leap Motion controller joint naming doesn't match up with skeleton joint naming; numbers are out by 1.
hands = [
{ controller: Controller.createInputController("Spatial", "joint_L_hand"), inactiveCount: 0 },
{ controller: Controller.createInputController("Spatial", "joint_R_hand"), inactiveCount: 0 }
{
jointName: "LeftHand",
controller: Controller.createInputController("Spatial", "joint_L_hand"),
inactiveCount: 0
},
{
jointName: "RightHand",
controller: Controller.createInputController("Spatial", "joint_R_hand"),
inactiveCount: 0
}
];
wrists = [
{ controller: Controller.createInputController("Spatial", "joint_L_wrist") },
{ controller: Controller.createInputController("Spatial", "joint_R_wrist") }
]
];
fingers = [{}, {}];
fingers[0] = [
@ -178,6 +187,19 @@ var leapHands = (function () {
{ jointName: "RightHandPinky3", controller: Controller.createInputController("Spatial", "joint_R_pinky4") }
]
];
// TODO: Add automatic calibration of avatar's hands.
// Calibration values for Ron.
hands[0].zeroPosition = {
x: -0.157,
y: 0.204,
z: 0.336
};
hands[1].zeroPosition = {
x: 0.234,
y: 0.204,
z: 0.339
};
}
function moveHands() {
@ -185,16 +207,25 @@ var leapHands = (function () {
i,
j,
side,
locRotation,
handOffset,
handRoll,
handPitch,
handYaw;
handYaw,
locRotation;
for (h = 0; h < NUM_HANDS; h += 1) {
side = h === 0 ? -1.0 : 1.0;
if (hands[h].controller.isActive()) {
// Hand position ...
handOffset = hands[h].controller.getAbsTranslation();
handOffset = {
x: -handOffset.x,
y: hands[h].zeroPosition.y + handOffset.y - LEAP_HEIGHT_OFFSET,
z: hands[h].zeroPosition.z - handOffset.z
};
// TODO: 2.0* scale factor should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
handPitch = 2.0 * -wrists[h].controller.getAbsRotation().x;
@ -205,16 +236,8 @@ var leapHands = (function () {
handRoll = handRoll + PI / 2.0;
}
// Fixed hand location for starters ...
if (h === 0) {
MyAvatar.setJointData("LeftArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, -90.0));
MyAvatar.setJointData("LeftForeArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 180.0));
MyAvatar.setJointData("LeftHand", Quat.fromPitchYawRollRadians(handPitch, handRoll, handYaw));
} else {
MyAvatar.setJointData("RightArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 90.0));
MyAvatar.setJointData("RightForeArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 180.0));
MyAvatar.setJointData("RightHand", Quat.fromPitchYawRollRadians(handPitch, handRoll, handYaw));
}
// Hand position ...
MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset);
// Finger joints ...
// TODO: 2.0 * scale factors should not be necessary; Leap Motion controller code needs investigating.

32
interface/src/avatar/Avatar.cpp
View file

@ -840,6 +840,38 @@ glm::quat Avatar::getJointCombinedRotation(const QString& name) const {
return rotation;
}
bool Avatar::setJointModelPositionAndOrientation(int index, glm::vec3 position, const glm::quat& rotation,
bool useRotation) {
bool success;
if (QThread::currentThread() != thread()) {
QMetaObject::invokeMethod(const_cast<Avatar*>(this), "setJointModelPositionAndOrientation",
Qt::BlockingQueuedConnection, Q_RETURN_ARG(bool, success), Q_ARG(const int, index),
Q_ARG(const glm::vec3, position),
Q_ARG(const glm::quat&, rotation), Q_ARG(bool, useRotation));
} else {
qDebug() << "setJointModelPositionAndOrientation()";
success = _skeletonModel.setJointPosition(index, position, rotation, useRotation, -1, true,
glm::vec3(0.0, -1.0, 0.0), DEFAULT_PRIORITY + 2.0f);
}
return success;
}
bool Avatar::setJointModelPositionAndOrientation(const QString& name, glm::vec3 position, const glm::quat& rotation,
bool useRotation) {
bool success;
if (QThread::currentThread() != thread()) {
QMetaObject::invokeMethod(const_cast<Avatar*>(this), "setJointModelPositionAndOrientation",
Qt::BlockingQueuedConnection, Q_RETURN_ARG(bool, success), Q_ARG(const QString&, name),
Q_ARG(const glm::vec3, position),
Q_ARG(const glm::quat&, rotation), Q_ARG(bool, useRotation));
} else {
qDebug() << "setJointModelPositionAndOrientation()";
success = _skeletonModel.setJointPosition(getJointIndex(name), position, rotation, useRotation, -1, true,
glm::vec3(0.0, -1.0, 0.0), DEFAULT_PRIORITY + 2.0f);
}
return success;
}
void Avatar::scaleVectorRelativeToPosition(glm::vec3 &positionToScale) const {
//Scale a world space vector as if it was relative to the position
positionToScale = _position + _scale * (positionToScale - _position);

5
interface/src/avatar/Avatar.h
View file

@ -151,6 +151,11 @@ public:
Q_INVOKABLE glm::quat getJointCombinedRotation(int index) const;
Q_INVOKABLE glm::quat getJointCombinedRotation(const QString& name) const;
Q_INVOKABLE bool setJointModelPositionAndOrientation(int index, const glm::vec3 position,
const glm::quat& rotation = glm::quat(), bool useRotation = false);
Q_INVOKABLE bool setJointModelPositionAndOrientation(const QString& name, const glm::vec3 position,
const glm::quat& rotation = glm::quat(), bool useRotation = false);
Q_INVOKABLE glm::vec3 getVelocity() const { return _velocity; }
Q_INVOKABLE glm::vec3 getAcceleration() const { return _acceleration; }
Q_INVOKABLE glm::vec3 getAngularVelocity() const { return _angularVelocity; }

24
interface/src/renderer/Model.h
View file

@ -183,6 +183,18 @@ public:
QVector<JointState>& getJointStates() { return _jointStates; }
const QVector<JointState>& getJointStates() const { return _jointStates; }
/// \param jointIndex index of joint in model structure
/// \param position position of joint in model-frame
/// \param rotation rotation of joint in model-frame
/// \param useRotation false if rotation should be ignored
/// \param lastFreeIndex
/// \param allIntermediatesFree
/// \param alignment
/// \return true if joint exists
bool setJointPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation = glm::quat(),
bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);
protected:
QSharedPointer<NetworkGeometry> _geometry;
@ -226,18 +238,6 @@ protected:
virtual void updateVisibleJointStates();
/// \param jointIndex index of joint in model structure
/// \param position position of joint in model-frame
/// \param rotation rotation of joint in model-frame
/// \param useRotation false if rotation should be ignored
/// \param lastFreeIndex
/// \param allIntermediatesFree
/// \param alignment
/// \return true if joint exists
bool setJointPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation = glm::quat(),
bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);
void inverseKinematics(int jointIndex, glm::vec3 position, const glm::quat& rotation, float priority);
/// Restores the indexed joint to its default position.