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After HIfi visit, Fix skinning from javascript
- Understood the skinning mechanism from an absolute transform in model space that need to use a call to //JointState::setRotationFromBindFrame(rotation, priority); - This is not available from the javascript MyAvatar interface yet - now require LeapMOtion SDK2.0.3 to support arms
This commit is contained in:
samcake
parent
f179b0e9ca
commit
3ecaaa5a85
4 changed files with 101 additions and 134 deletions
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@ -25,7 +25,7 @@ else (LEAPMOTION_LIBRARIES AND LEAPMOTION_INCLUDE_DIRS)
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endif (WIN32)
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if (APPLE)
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find_library(LEAPMOTION_LIBRARIES libLeap.dylib ${LEAPMOTION_ROOT_DIR}/lib)
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endif (OSX)
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endif (APPLE)
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if (LEAPMOTION_INCLUDE_DIRS AND LEAPMOTION_LIBRARIES)
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set(LEAPMOTION_FOUND TRUE)
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@ -52,50 +52,17 @@ function avatarToWorldPos( apos ) {
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function avatarToWorldQuat( aori) {
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var wori = Quat.multiply(MyAvatar.orientation, aori);
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// var qoffset = Quat.angleAxis( -90, {x:0, y:1, z:0});
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// wori = Quat.multiply( wori, qoffset );
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return wori;a
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return wori;
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}
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function controlerToSkeletonOri( jointName, isRightSide, event ) {
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// var qrootoffset = Quat.angleAxis( -180, {x:0, y:1, z:0});
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// var qoffset = Quat.angleAxis( -( 2 * isRightSide - 1) * 90, {x:0, y:1, z:0});
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var qAvatarRootOffset = Quat.angleAxis( -180, {x:0, y:1, z:0});
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var qAxisOffset = Quat.angleAxis( -( 2 * isRightSide - 1) * 90, {x:0, y:1, z:0});
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var qAbsJoint = event.absRotation;
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// return Quat.multiply( qrootoffset, Quat.multiply( crot, qoffset ) );
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// return Quat.multiply( crot, qoffset );
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// return Quat.multiply( qrootoffset, crot );
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// return ( crot );
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//return MyAvatar.getJointRotation( jointName );
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//return Quat.fromPitchYawRollDegrees(0,0,30);
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var qx = Quat.angleAxis( -90, {x:1, y:0, z:0});
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var qy = Quat.angleAxis( 180, {x:0, y:1, z:0});
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var q = Quat.multiply( qy, qx );
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// return q;
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// return Quat.multiply( event.locRotation, q );
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var cq = jointControllers[0].c.getAbsRotation();
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// return cq;
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//var q = spatialEvent.absRotation;
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// MyAvatar.clearJointData( jointName );
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var qjointRef = MyAvatar.getJointRotation( jointName );
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print( jointName + " " + quatToString( qjointRef ) );
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var qjointRefI = Quat.inverse( qjointRef );
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var qjoint = Quat.multiply( cq, qjointRefI );
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print( quatToString( cq ) );
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return qjoint;
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return Quat.multiply( qAvatarRootOffset, Quat.multiply( qAbsJoint, qAxisOffset ) );
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}
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@ -114,11 +81,11 @@ function updateJointParticle( joint, pos, ori, look ) {
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damping: 0,
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radius : radius,
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color: look.c,
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lifetime: 0.1
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lifetime: 0.05
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};
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var atomPos = Particles.addParticle(ballProperties);
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/*
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// Zaxis
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/* // Zaxis
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var Zaxis = Vec3.multiply( Quat.getFront( ori ), - 1.5 * radius ) ;
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ballProperties.position = Vec3.sum(pos, Zaxis );
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ballProperties.radius = 0.35* radius;
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@ -171,58 +138,63 @@ function evalFingerBoneLook( isRightSide, finger, bone ) {
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}
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var leapJoints = [
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{ n: "LeftHand", l: evalArmBoneLook( 0, 0) },
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{ n: "joint_L_elbow", l: evalArmBoneLook( 0, 2) },
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{ n: "joint_L_hand", l: evalArmBoneLook( 0, 1) },
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{ n: "joint_L_wrist", l: evalArmBoneLook( 0, 0) },
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{ n: "LeftHandThumb2", l: evalFingerBoneLook( 0, 1, 2) },
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{ n: "LeftHandThumb3", l: evalFingerBoneLook( 0, 1, 3) },
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{ n: "LeftHandThumb4", l: evalFingerBoneLook( 0, 1, 4) },
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{ n: "joint_L_thumb2", l: evalFingerBoneLook( 0, 1, 2) },
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{ n: "joint_L_thumb3", l: evalFingerBoneLook( 0, 1, 3) },
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{ n: "joint_L_thumb4", l: evalFingerBoneLook( 0, 1, 4) },
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/* { n: "LeftHandIndex1", l: evalFingerBoneLook( 0, 2, 1) },
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{ n: "LeftHandIndex2", l: evalFingerBoneLook( 0, 2, 2) },
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{ n: "LeftHandIndex3", l: evalFingerBoneLook( 0, 2, 3) },
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{ n: "LeftHandIndex4", l: evalFingerBoneLook( 0, 2, 4) },
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{ n: "joint_L_index1", l: evalFingerBoneLook( 0, 2, 1) },
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{ n: "joint_L_index2", l: evalFingerBoneLook( 0, 2, 2) },
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{ n: "joint_L_index3", l: evalFingerBoneLook( 0, 2, 3) },
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{ n: "joint_L_index4", l: evalFingerBoneLook( 0, 2, 4) },
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{ n: "LeftHandMiddle1", l: evalFingerBoneLook( 0, 3, 1) },
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{ n: "LeftHandMiddle2", l: evalFingerBoneLook( 0, 3, 2) },
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{ n: "LeftHandMiddle3", l: evalFingerBoneLook( 0, 3, 3) },
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{ n: "LeftHandMiddle4", l: evalFingerBoneLook( 0, 3, 4) },
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{ n: "joint_L_middle1", l: evalFingerBoneLook( 0, 3, 1) },
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{ n: "joint_L_middle2", l: evalFingerBoneLook( 0, 3, 2) },
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{ n: "joint_L_middle3", l: evalFingerBoneLook( 0, 3, 3) },
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{ n: "joint_L_middle4", l: evalFingerBoneLook( 0, 3, 4) },
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{ n: "LeftHandRing1", l: evalFingerBoneLook( 0, 4, 1) },
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{ n: "LeftHandRing2", l: evalFingerBoneLook( 0, 4, 2) },
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{ n: "LeftHandRing3", l: evalFingerBoneLook( 0, 4, 3) },
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{ n: "LeftHandRing4", l: evalFingerBoneLook( 0, 4, 4) },
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{ n: "joint_L_ring1", l: evalFingerBoneLook( 0, 4, 1) },
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{ n: "joint_L_ring2", l: evalFingerBoneLook( 0, 4, 2) },
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{ n: "joint_L_ring3", l: evalFingerBoneLook( 0, 4, 3) },
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{ n: "joint_L_ring4", l: evalFingerBoneLook( 0, 4, 4) },
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{ n: "LeftHandPinky1", l: evalFingerBoneLook( 0, 5, 1) },
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{ n: "LeftHandPinky2", l: evalFingerBoneLook( 0, 5, 2) },
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{ n: "LeftHandPinky3", l: evalFingerBoneLook( 0, 5, 3) },
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{ n: "LeftHandPinky4", l: evalFingerBoneLook( 0, 5, 4) },
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*/
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{ n: "RightHand", l: evalArmBoneLook( 1, 0) },
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/*
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{ n: "RightHandThumb2", l: evalFingerBoneLook( 1, 1, 2) },
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{ n: "RightHandThumb3", l: evalFingerBoneLook( 1, 1, 3) },
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{ n: "RightHandThumb4", l: evalFingerBoneLook( 1, 1, 4) },
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*/
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{ n: "RightHandIndex1", l: evalFingerBoneLook( 1, 2, 1) },
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{ n: "RightHandIndex2", l: evalFingerBoneLook( 1, 2, 2) },
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{ n: "RightHandIndex3", l: evalFingerBoneLook( 1, 2, 3) },
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{ n: "RightHandIndex4", l: evalFingerBoneLook( 1, 2, 4) },
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{ n: "joint_L_pinky1", l: evalFingerBoneLook( 0, 5, 1) },
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{ n: "joint_L_pinky2", l: evalFingerBoneLook( 0, 5, 2) },
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{ n: "joint_L_pinky3", l: evalFingerBoneLook( 0, 5, 3) },
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{ n: "joint_L_pinky4", l: evalFingerBoneLook( 0, 5, 4) },
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/* { n: "RightHandMiddle1", l: evalFingerBoneLook( 1, 3, 1) },
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{ n: "RightHandMiddle2", l: evalFingerBoneLook( 1, 3, 2) },
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{ n: "RightHandMiddle3", l: evalFingerBoneLook( 1, 3, 3) },
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{ n: "RightHandMiddle4", l: evalFingerBoneLook( 1, 3, 4) },
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{ n: "joint_R_elbow", l: evalArmBoneLook( 1, 2) },
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{ n: "joint_R_hand", l: evalArmBoneLook( 1, 1) },
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{ n: "joint_R_wrist", l: evalArmBoneLook( 1, 0) },
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{ n: "joint_R_thumb2", l: evalFingerBoneLook( 1, 1, 2) },
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{ n: "joint_R_thumb3", l: evalFingerBoneLook( 1, 1, 3) },
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{ n: "joint_R_thumb4", l: evalFingerBoneLook( 1, 1, 4) },
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{ n: "RightHandRing1", l: evalFingerBoneLook( 1, 4, 1) },
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{ n: "RightHandRing2", l: evalFingerBoneLook( 1, 4, 2) },
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{ n: "RightHandRing3", l: evalFingerBoneLook( 1, 4, 3) },
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{ n: "RightHandRing4", l: evalFingerBoneLook( 1, 4, 4) },
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{ n: "joint_R_index1", l: evalFingerBoneLook( 1, 2, 1) },
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{ n: "joint_R_index2", l: evalFingerBoneLook( 1, 2, 2) },
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{ n: "joint_R_index3", l: evalFingerBoneLook( 1, 2, 3) },
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{ n: "joint_R_index4", l: evalFingerBoneLook( 1, 2, 4) },
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{ n: "joint_R_middle1", l: evalFingerBoneLook( 1, 3, 1) },
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{ n: "joint_R_middle2", l: evalFingerBoneLook( 1, 3, 2) },
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{ n: "joint_R_middle3", l: evalFingerBoneLook( 1, 3, 3) },
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{ n: "joint_R_middle4", l: evalFingerBoneLook( 1, 3, 4) },
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{ n: "joint_R_ring1", l: evalFingerBoneLook( 1, 4, 1) },
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{ n: "joint_R_ring2", l: evalFingerBoneLook( 1, 4, 2) },
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{ n: "joint_R_ring3", l: evalFingerBoneLook( 1, 4, 3) },
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{ n: "joint_R_ring4", l: evalFingerBoneLook( 1, 4, 4) },
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{ n: "joint_R_pinky1", l: evalFingerBoneLook( 1, 5, 1) },
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{ n: "joint_R_pinky2", l: evalFingerBoneLook( 1, 5, 2) },
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{ n: "joint_R_pinky3", l: evalFingerBoneLook( 1, 5, 3) },
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{ n: "joint_R_pinky4", l: evalFingerBoneLook( 1, 5, 4) },
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{ n: "RightHandPinky1", l: evalFingerBoneLook( 1, 5, 1) },
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{ n: "RightHandPinky2", l: evalFingerBoneLook( 1, 5, 2) },
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{ n: "RightHandPinky3", l: evalFingerBoneLook( 1, 5, 3) },
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{ n: "RightHandPinky4", l: evalFingerBoneLook( 1, 5, 4) },
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*/
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];
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function onSpatialEventHandler( jointName, look ) {
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@ -231,7 +203,14 @@ function onSpatialEventHandler( jointName, look ) {
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var _side = look.side;
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return (function( spatialEvent ) {
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MyAvatar.setJointData(_jointName, controlerToSkeletonOri( _jointName, _side, spatialEvent ));
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// THis should be the call to update the skeleton joint from
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// the absolute joint transform coming from the Leap controller
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// WE need a new method on MyAvatar which will ultimately call
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// state.setRotationFromBindFrame(rotation, priority) in
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// Avatar::simulate=>void Model::setJointState(int index, bool valid, const glm::quat& rotation, float priority)
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// MyAvatar.setJointRotationFromBindSpace(_jointName, controlerToSkeletonOri( _jointName, _side, spatialEvent ));
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updateJointParticle(_jointName,
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avatarToWorldPos( spatialEvent.absTranslation ),
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@ -247,6 +226,8 @@ var jointControllers = [];
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for ( i in leapJoints ) {
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print( leapJoints[i].n );
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// In the current implementation, the LEapmotion is the only "Spatial" device
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// Each jointTracker is retreived from the joint name following the rigging convention
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var controller = Controller.createInputController( "Spatial", leapJoints[i].n );
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var handler = onSpatialEventHandler( leapJoints[i].n, leapJoints[i].l );
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jointControllers.push( { c: controller, h: handler } );
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@ -270,12 +251,7 @@ Script.update.connect(function(deltaTime) {
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jointControllers[i].h( spatialEvent );
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}
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}
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}
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// simple test
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// MyAvatar.setJointData("LeftArm", jointControllers[6].c.getLocRotation());
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// MyAvatar.setJointData("LeftForeArm", jointControllers[7].c.getLocRotation());
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}
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});
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Script.scriptEnding.connect(function() {
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@ -151,6 +151,7 @@ find_package(PrioVR)
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find_package(SDL)
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find_package(Sixense)
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find_package(Visage)
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find_package(LeapMotion)
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find_package(ZLIB)
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find_package(Qxmpp)
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@ -210,7 +211,6 @@ if (PRIOVR_FOUND AND NOT DISABLE_PRIOVR)
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target_link_libraries(${TARGET_NAME} "${PRIOVR_LIBRARIES}")
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endif (PRIOVR_FOUND AND NOT DISABLE_PRIOVR)
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<<<<<<< HEAD
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# and with LeapMotion library
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if (LEAPMOTION_FOUND AND NOT DISABLE_LEAPMOTION)
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add_definitions(-DHAVE_LEAPMOTION)
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@ -222,8 +222,6 @@ if (LEAPMOTION_FOUND AND NOT DISABLE_LEAPMOTION)
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target_link_libraries(${TARGET_NAME} "${LEAPMOTION_LIBRARIES}")
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endif (LEAPMOTION_FOUND AND NOT DISABLE_LEAPMOTION)
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=======
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>>>>>>> origin/master
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# and with SDL for joysticks
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if (SDL_FOUND AND NOT DISABLE_SDL)
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add_definitions(-DHAVE_SDL)
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@ -218,27 +218,22 @@ Leapmotion::Leapmotion() :
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// Create the Leapmotion joint hierarchy
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{
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std::vector< Semantic > sides;
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sides.push_back( "Left" );
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sides.push_back( "Right" );
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sides.push_back( "joint_L_" );
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sides.push_back( "joint_R_" );
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std::vector< Semantic > rootBones;
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rootBones.push_back( "Arm" );
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rootBones.push_back( "ForeArm" );
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rootBones.push_back( "Hand" );
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rootBones.push_back( "elbow" );
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rootBones.push_back( "hand" );
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rootBones.push_back( "wrist" );
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std::vector< Semantic > fingers;
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fingers.push_back( "Thumb" );
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fingers.push_back( "Index" );
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fingers.push_back( "Middle" );
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fingers.push_back( "Ring" );
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fingers.push_back( "Pinky" );
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fingers.push_back( "thumb" );
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fingers.push_back( "index" );
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fingers.push_back( "middle" );
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fingers.push_back( "ring" );
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fingers.push_back( "pinky" );
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std::vector< Semantic > fingerBones;
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/* fingerBones.push_back( "Metacarpal" );
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fingerBones.push_back( "Proximal" );
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fingerBones.push_back( "Intermediate" );
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fingerBones.push_back( "Distal" );
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*/
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fingerBones.push_back( "1" );
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fingerBones.push_back( "2" );
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fingerBones.push_back( "3" );
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@ -256,7 +251,7 @@ Leapmotion::Leapmotion() :
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for ( int f = 0; f < fingers.size(); f++ ) {
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for ( int b = 0; b < fingerBones.size(); b++ ) {
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rootJoint = addJoint( sides[s] + "Hand" + fingers[f] + fingerBones[b], rootJoint );
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rootJoint = addJoint( sides[s] + fingers[f] + fingerBones[b], rootJoint );
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}
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}
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}
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@ -287,7 +282,6 @@ glm::quat quatFromLeapBase( float sideSign, const Leap::Matrix& basis ) {
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xAxis = glm::normalize( glm::cross( yAxis, zAxis ) );
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glm::quat orientation = (glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis)));
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// return glm::quat();
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return orientation;
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}
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glm::quat quatFromLeapBase( float sideSign, const Leap::Vector& dir, const Leap::Vector& normal ) {
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@ -338,49 +332,49 @@ void Leapmotion::update() {
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int side = ( hand.isRight() ? 1 : -1 );
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Index handIndex = evalJointIndex( (side > 0), -1, 0 );
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JointTracker* parentJointTracker = _jointsArray.data();
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// only in SDK 2.0.3
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/* Leap::Arm arm = hand.arm();
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Leap::Arm arm = hand.arm();
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if ( arm.isValid() ) {
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glm::vec3 pos = vec3FromLeapVector(arm.wristPosition());
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glm::quat ori = quatFromLeapBase(float(side), arm.basis() );
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// glm::quat ori = quatFromLeapBase(float(side), hand.direction(), hand.palmNormal() );
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JointTracker* wrist = editJointTracker( evalJointIndex( (side > 0), -1, 1 ) );
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// palmJoint->editLocFrame().setTranslation( pos );
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// palmJoint->editLocFrame().setRotation( ori );
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wrist->editAbsFrame().setTranslation( pos );
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wrist->editAbsFrame().setRotation( ori );
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wrist->activeFrame();
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pos = vec3FromLeapVector(arm.elbowPosition());
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glm::vec3 pos = vec3FromLeapVector(arm.elbowPosition());
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JointTracker* elbow = editJointTracker( evalJointIndex( (side > 0), -1, 2 ) );
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// palmJoint->editLocFrame().setTranslation( pos );
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// palmJoint->editLocFrame().setRotation( ori );
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elbow->editAbsFrame().setTranslation( pos );
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elbow->editAbsFrame().setRotation( ori );
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elbow->updateLocFromAbsTransform( parentJointTracker );
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elbow->activeFrame();
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}*/
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parentJointTracker = elbow;
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pos = vec3FromLeapVector(arm.wristPosition());
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JointTracker* wrist = editJointTracker( evalJointIndex( (side > 0), -1, 1 ) );
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wrist->editAbsFrame().setTranslation( pos );
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wrist->editAbsFrame().setRotation( ori );
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||||
wrist->updateLocFromAbsTransform( parentJointTracker );
|
||||
wrist->activeFrame();
|
||||
parentJointTracker = wrist;
|
||||
}
|
||||
|
||||
JointTracker* palmJoint = nullptr;
|
||||
JointTracker* palmJoint = NULL;
|
||||
{
|
||||
glm::vec3 pos = vec3FromLeapVector(hand.palmPosition());
|
||||
glm::quat ori = quatFromLeapBase(float(side), hand.basis() );
|
||||
// glm::quat ori = quatFromLeapBase(float(side), hand.direction(), hand.palmNormal() );
|
||||
|
||||
palmJoint = editJointTracker( evalJointIndex( (side > 0), -1, 0 ) );
|
||||
palmJoint->editLocFrame().setTranslation( pos );
|
||||
palmJoint->editLocFrame().setRotation( ori );
|
||||
palmJoint->editAbsFrame().setTranslation( pos );
|
||||
palmJoint->editAbsFrame().setRotation( ori );
|
||||
palmJoint->updateLocFromAbsTransform( parentJointTracker );
|
||||
palmJoint->activeFrame();
|
||||
}
|
||||
|
||||
// Check if the hand has any fingers
|
||||
const Leap::FingerList fingers = hand.fingers();
|
||||
if (!fingers.isEmpty()) {
|
||||
// For every fingers in the list
|
||||
for (int i = 0; i < fingers.count(); ++i) {
|
||||
// Reset the parent joint to the palmJoint for every finger traversal
|
||||
JointTracker* parentJointTracker = palmJoint;
|
||||
parentJointTracker = palmJoint;
|
||||
|
||||
// surprisingly, Leap::Finger::Type start at 0 for thumb a until 4 for the pinky
|
||||
Index fingerIndex = evalJointIndex( (side > 0), int(fingers[i].type()), 0 );
|
||||
|
|
@ -395,7 +389,6 @@ void Leapmotion::update() {
|
|||
|
||||
ljointTracker->editAbsFrame().setTranslation( vec3FromLeapVector( bp ) );
|
||||
ljointTracker->editAbsFrame().setRotation(quatFromLeapBase( float(side), bone.basis() ) );
|
||||
// ljointTracker->editAbsFrame().setRotation(quatFromLeapBase( float(side), bone.direction(), bone.basis() ) );
|
||||
ljointTracker->updateLocFromAbsTransform( parentJointTracker );
|
||||
ljointTracker->activeFrame();
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue