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maded more changes to support sitting state to do: add option for stuck pose reset

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amantley 2018-09-18 17:37:44 -07:00
parent 96da9b7e54
commit 42e248ef84
1 changed files with 23 additions and 1 deletions
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24
interface/src/avatar/MyAvatar.cpp
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@ -453,6 +453,16 @@ void MyAvatar::update(float deltaTime) {
float tau = deltaTime / HMD_FACING_TIMESCALE; float tau = deltaTime / HMD_FACING_TIMESCALE;
setHipToHandController(computeHandAzimuth()); setHipToHandController(computeHandAzimuth());
// qCDebug(interfaceapp) << "sitting state is " << getIsInSittingState();
// debug setting for sitting state if you start in the chair.
// if the head is close to the floor in sensor space
// and the up of the head is close to sensor up then try switching us to sitting state.
auto sensorHeadPoseDebug = getControllerPoseInSensorFrame(controller::Action::HEAD);
glm::vec3 upHead = transformVectorFast(sensorHeadPoseDebug.getMatrix(), glm::vec3(0.0f, 1.0f, 0.0f));
float acosHead = glm::dot(upHead, glm::vec3(0.0f, 1.0f, 0.0f));
if ((acosHead > 0.98f) && !getIsInSittingState() && (sensorHeadPoseDebug.getTranslation().y < -0.5f)) {
qCDebug(interfaceapp) << "we are going to sitting state because it looks like we should" << sensorHeadPoseDebug.getTranslation().y;
}
// put the average hand azimuth into sensor space. // put the average hand azimuth into sensor space.
// then mix it with head facing direction to determine rotation recenter // then mix it with head facing direction to determine rotation recenter
if (getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() && getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid()) { if (getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() && getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid()) {
@ -3593,7 +3603,7 @@ glm::vec3 MyAvatar::computeCounterBalance() {
setResetMode(true); setResetMode(true);
_follow.activate(FollowHelper::Vertical); _follow.activate(FollowHelper::Vertical);
// disable cg behaviour in this case. // disable cg behaviour in this case.
_isInSittingState = true; setIsInSittingState(true);
} }
return counterBalancedCg; return counterBalancedCg;
} }
@ -4049,6 +4059,12 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontalCG(MyAvatar& myAvatar) cons
bool stepDetected = false; bool stepDetected = false;
float myScale = myAvatar.getAvatarScale(); float myScale = myAvatar.getAvatarScale();
// debug head hips angle
//glm::vec3 hipsPos = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Hips"));
//glm::vec3 headHipsBody = currentHeadPose.getTranslation() - hipsPos;
//qCDebug(interfaceapp) << "head in sensor space " << withinBaseOfSupport(currentHeadPose);
if (myAvatar.getIsInWalkingState()) { if (myAvatar.getIsInWalkingState()) {
stepDetected = true; stepDetected = true;
} else if (myAvatar.getIsInSittingState()) { } else if (myAvatar.getIsInSittingState()) {
@ -4094,6 +4110,12 @@ bool MyAvatar::FollowHelper::shouldActivateVertical(MyAvatar& myAvatar, const gl
glm::vec3 offset = extractTranslation(desiredBodyMatrix) - extractTranslation(currentBodyMatrix); glm::vec3 offset = extractTranslation(desiredBodyMatrix) - extractTranslation(currentBodyMatrix);
auto sensorHeadPose = myAvatar.getControllerPoseInSensorFrame(controller::Action::HEAD);
glm::vec3 headWorldSpace = myAvatar.getHead()->getPosition();
glm::mat4 worldToSensorMatrix = glm::inverse(myAvatar.getSensorToWorldMatrix());
glm::vec3 headSensorSpace = transformVectorFast(myAvatar.getSensorToWorldMatrix(), headWorldSpace);
//qCDebug(interfaceapp) << "sensor space position " << extractTranslation(currentBodyMatrix) << " head position sensor " << sensorHeadPose.getTranslation();
if (myAvatar.getIsInSittingState()) { if (myAvatar.getIsInSittingState()) {
if (offset.y < SITTING_BOTTOM) { if (offset.y < SITTING_BOTTOM) {
// we recenter when sitting. // we recenter when sitting.