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made some changes that were requested

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This commit is contained in:
Dante Ruiz 2017-05-31 01:29:32 +01:00
parent b3401d9762
commit 41869430f7
1 changed files with 18 additions and 15 deletions
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33
plugins/openvr/src/ViveControllerManager.cpp
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@ -57,6 +57,8 @@ static const int FIRST_FOOT = 0;
static const int SECOND_FOOT = 1;
static const int HIP = 2;
static const int CHEST = 3;
static const float HEAD_PUCK_Y_OFFSET = -0.0254f;
static const float HEAD_PUCK_Z_OFFSET = -0.152f;
const char* ViveControllerManager::NAME { "OpenVR" };
@ -82,24 +84,24 @@ static bool sortPucksXPosition(PuckPosePair firstPuck, PuckPosePair secondPuck)
return (firstPuck.second.translation.x < secondPuck.second.translation.x);
}
static bool comparePosePositions(const controller::Pose& poseA, const controller::Pose& poseB, glm::vec3 axis, glm::vec3 axisOrigin) {
static bool determineFeetOrdering(const controller::Pose& poseA, const controller::Pose& poseB, glm::vec3 axis, glm::vec3 axisOrigin) {
glm::vec3 poseAPosition = poseA.getTranslation();
glm::vec3 poseBPosition = poseB.getTranslation();
glm::vec3 poseAFinalPosition = poseAPosition - axisOrigin;
glm::vec3 poseBFinalPosition = poseBPosition - axisOrigin;
glm::vec3 poseAVector = poseAPosition - axisOrigin;
glm::vec3 poseBVector = poseBPosition - axisOrigin;
float poseADistance = glm::dot(poseAFinalPosition, axis);
float poseBDistance = glm::dot(poseBFinalPosition, axis);
return (poseADistance > poseBDistance);
float poseAProjection = glm::dot(poseAVector, axis);
float poseBProjection = glm::dot(poseBVector, axis);
return (poseAProjection > poseBProjection);
}
static glm::vec3 getHeadXAxis(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) {
static glm::vec3 getReferenceHeadXAxis(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) {
glm::mat4 finalHead = defaultToReferenceMat * defaultHead;
return glmExtractRotation(finalHead) * Vectors::UNIT_X;
}
static glm::vec3 getHeadPosition(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) {
static glm::vec3 getReferenceHeadPosition(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) {
glm::mat4 finalHead = defaultToReferenceMat * defaultHead;
return extractTranslation(finalHead);
}
@ -383,19 +385,21 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex);
} else if (_config == Config::FeetHipsAndHead && puckCount == MIN_FEET_HIPS_HEAD) {
glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
glm::vec3 headXAxis = getHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headXAxis = getReferenceHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getReferenceHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration, headXAxis, headPosition);
calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
_overrideHead = true;
} else if (_config == Config::FeetHipsChestAndHead && puckCount == MIN_FEET_HIPS_CHEST_HEAD) {
glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
glm::vec3 headXAxis = getHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headXAxis = getReferenceHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getReferenceHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration, headXAxis, headPosition);
calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
calibrateChest(headPuckDefaultToReferenceMat, inputCalibration);
calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
_overrideHead = true;
} else {
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
uncalibrate();
@ -506,7 +510,7 @@ glm::mat4 ViveControllerManager::InputDevice::recalculateDefaultToReferenceForHe
glm::vec4(zPrime, 0.0f), glm::vec4(headPuckTranslation, 1.0f));
glm::mat4 headPuckOffset = glm::mat4(glm::vec4(1.0f, 0.0f, 0.0f, 0.0f), glm::vec4(0.0f, 1.0f, 0.0f, 0.0f),
glm::vec4(0.0f, 0.0f, 1.0f, 0.0f), glm::vec4(0.0f, -0.0254f, -0.152f, 1.0f));
glm::vec4(0.0f, 0.0f, 1.0f, 0.0f), glm::vec4(0.0f, HEAD_PUCK_Y_OFFSET, HEAD_PUCK_Z_OFFSET, 1.0f));
glm::mat4 finalHeadPuck = newHeadPuck * headPuckOffset;
@ -713,7 +717,7 @@ void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToRefer
controller::Pose& firstFootPose = firstFoot.second;
controller::Pose& secondFootPose = secondFoot.second;
if (comparePosePositions(firstFootPose, secondFootPose, headXAxis, headPosition)) {
if (determineFeetOrdering(firstFootPose, secondFootPose, headXAxis, headPosition)) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
@ -766,7 +770,6 @@ void ViveControllerManager::InputDevice::calibrateHead(glm::mat4& defaultToRefer
_jointToPuckMap[controller::HEAD] = head.first;
_pucksOffset[head.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHeadMat, newHead);
_overrideHead = true;
}