mirror of
https://github.com/overte-org/overte.git
synced 2025-04-23 15:13:41 +02:00
Added accelerationFitlerApp.
Attempts to make deceleration limit filter work better.
This commit is contained in:
Anthony Thibault
parent
7777f3edd0
commit
527c0d4195
3 changed files with 246 additions and 8 deletions
libraries/controllers/src/controllers/impl/filters
scripts/developer
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@ -38,7 +38,8 @@ static glm::quat deltaRotFromAngularVel(const glm::vec3& omega, float dt) {
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return glm::exp((dt / 2.0f) * omegaQ);
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}
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static glm::vec3 filterTranslation(const glm::vec3& x0, const glm::vec3& x1, const glm::vec3& x2, const glm::vec3& x3, float dt, const float accLimit, const float decLimit) {
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static glm::vec3 filterTranslation(const glm::vec3& x0, const glm::vec3& x1, const glm::vec3& x2, const glm::vec3& x3,
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const glm::vec3& unfilteredVelocity, float dt, const float accLimit, const float decLimit) {
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// measure the linear velocities of this step and the previoius step
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glm::vec3 v1 = (x3 - x1) / (2.0f * dt);
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@ -50,8 +51,8 @@ static glm::vec3 filterTranslation(const glm::vec3& x0, const glm::vec3& x1, con
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// clamp the acceleration if it is over the limit
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float aLen = glm::length(a);
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// pick limit based on if we are accelerating or decelerating.
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float limit = glm::length(v1) > glm::length(v0) ? accLimit : decLimit;
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// pick limit based on if we are moving faster then our target
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float limit = glm::length(v1) > glm::length(unfilteredVelocity) ? accLimit : decLimit;
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if (aLen > limit) {
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// Solve for a new `v1`, such that `a` does not exceed `aLimit`
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@ -71,7 +72,8 @@ static glm::vec3 filterTranslation(const glm::vec3& x0, const glm::vec3& x1, con
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}
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}
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static glm::quat filterRotation(const glm::quat& q0In, const glm::quat& q1In, const glm::quat& q2In, const glm::quat& q3In, float dt, const float accLimit, const float decLimit) {
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static glm::quat filterRotation(const glm::quat& q0In, const glm::quat& q1In, const glm::quat& q2In, const glm::quat& q3In,
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const glm::vec3& unfilteredVelocity, float dt, const float accLimit, const float decLimit) {
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// ensure quaternions have the same polarity
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glm::quat q0 = q0In;
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@ -86,8 +88,8 @@ static glm::quat filterRotation(const glm::quat& q0In, const glm::quat& q1In, co
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const glm::vec3 a = (w1 - w0) / dt;
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float aLen = glm::length(a);
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// pick limit based on if we are accelerating or decelerating.
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float limit = glm::length(w1) > glm::length(w0) ? accLimit : decLimit;
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// pick limit based on if we are moving faster then our target
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float limit = glm::length(w1) > glm::length(unfilteredVelocity) ? accLimit : decLimit;
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// clamp the acceleration if it is over the limit
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if (aLen > limit) {
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@ -121,9 +123,14 @@ namespace controller {
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const float DELTA_TIME = 0.01111111f;
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sensorValue.translation = filterTranslation(_prevPos[0], _prevPos[1], _prevPos[2], sensorValue.translation,
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glm::vec3 unfilteredTranslation = sensorValue.translation;
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glm::vec3 unfilteredLinearVel = (unfilteredTranslation - _unfilteredPrevPos[1]) / (2.0f * DELTA_TIME);
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sensorValue.translation = filterTranslation(_prevPos[0], _prevPos[1], _prevPos[2], sensorValue.translation, unfilteredLinearVel,
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DELTA_TIME, _translationAccelerationLimit, _translationDecelerationLimit);
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sensorValue.rotation = filterRotation(_prevRot[0], _prevRot[1], _prevRot[2], sensorValue.rotation,
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glm::quat unfilteredRot = sensorValue.rotation;
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glm::quat unfilteredPrevRot = glm::dot(unfilteredRot, _unfilteredPrevRot[1]) < 0.0f ? -_unfilteredPrevRot[1] : _unfilteredPrevRot[1];
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glm::vec3 unfilteredAngularVel = angularVelFromDeltaRot(unfilteredRot * glm::inverse(unfilteredPrevRot), 2.0f * DELTA_TIME);
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sensorValue.rotation = filterRotation(_prevRot[0], _prevRot[1], _prevRot[2], sensorValue.rotation, unfilteredAngularVel,
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DELTA_TIME, _rotationAccelerationLimit, _rotationDecelerationLimit);
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// remember previous values.
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@ -134,6 +141,13 @@ namespace controller {
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_prevRot[1] = _prevRot[2];
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_prevRot[2] = sensorValue.rotation;
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_unfilteredPrevPos[0] = _unfilteredPrevPos[1];
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_unfilteredPrevPos[1] = _unfilteredPrevPos[2];
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_unfilteredPrevPos[2] = unfilteredTranslation;
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_unfilteredPrevRot[0] = _unfilteredPrevRot[1];
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_unfilteredPrevRot[1] = _unfilteredPrevRot[2];
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_unfilteredPrevRot[2] = unfilteredRot;
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// transform back into avatar space
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return sensorValue.transform(sensorToAvatarMat);
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} else {
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@ -144,6 +158,14 @@ namespace controller {
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_prevRot[0] = sensorValue.rotation;
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_prevRot[1] = sensorValue.rotation;
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_prevRot[2] = sensorValue.rotation;
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_unfilteredPrevPos[0] = sensorValue.translation;
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_unfilteredPrevPos[1] = sensorValue.translation;
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_unfilteredPrevPos[2] = sensorValue.translation;
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_unfilteredPrevRot[0] = sensorValue.rotation;
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_unfilteredPrevRot[1] = sensorValue.rotation;
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_unfilteredPrevRot[2] = sensorValue.rotation;
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_prevValid = true;
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// no previous value to smooth with, so return value unchanged
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@ -31,6 +31,8 @@ namespace controller {
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mutable glm::vec3 _prevPos[3]; // sensor space
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mutable glm::quat _prevRot[3]; // sensor space
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mutable glm::vec3 _unfilteredPrevPos[3]; // sensor space
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mutable glm::quat _unfilteredPrevRot[3]; // sensor space
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mutable bool _prevValid { false };
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};
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214
scripts/developer/accelerationFilterApp.js
Normal file
214
scripts/developer/accelerationFilterApp.js
Normal file
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@ -0,0 +1,214 @@
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var LEFT_HAND_INDEX = 0;
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var RIGHT_HAND_INDEX = 1;
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var LEFT_FOOT_INDEX = 2;
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var RIGHT_FOOT_INDEX = 3;
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var HIPS_INDEX = 4;
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var SPINE2_INDEX = 5;
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var mappingJson = {
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name: "com.highfidelity.testing.accelerationTest",
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channels: [
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{
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from: "Vive.LeftHand",
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to: "Standard.LeftHand",
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filters: [
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{
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type: "accelerationLimiter",
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rotationAccelerationLimit: 2000.0,
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rotationDecelerationLimit: 4000.0,
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translationAccelerationLimit: 100.0,
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translationDecelerationLimit: 200.0
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}
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]
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},
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{
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from: "Vive.RightHand",
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to: "Standard.RightHand",
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filters: [
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{
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type: "accelerationLimiter",
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rotationAccelerationLimit: 2000.0,
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rotationDecelerationLimit: 4000.0,
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translationAccelerationLimit: 100.0,
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translationDecelerationLimit: 200.0
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}
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]
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},
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{
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from: "Vive.LeftFoot",
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to: "Standard.LeftFoot",
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filters: [
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{
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type: "exponentialSmoothing",
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rotation: 0.15,
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translation: 0.3
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}
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]
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},
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{
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from: "Vive.RightFoot",
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to: "Standard.RightFoot",
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filters: [
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{
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type: "exponentialSmoothing",
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rotation: 0.15,
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translation: 0.3
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}
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]
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},
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{
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from: "Vive.Hips",
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to: "Standard.Hips",
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filters: [
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{
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type: "exponentialSmoothing",
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rotation: 0.15,
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translation: 0.3
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}
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]
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},
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{
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from: "Vive.Spine2",
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to: "Standard.Spine2",
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filters: [
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{
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type: "exponentialSmoothing",
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rotation: 0.15,
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translation: 0.3
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}
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]
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}
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]
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};
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//
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// tablet app boiler plate
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//
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var TABLET_BUTTON_NAME = "ACCFILT";
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var HTML_URL = "https://s3.amazonaws.com/hifi-public/tony/html/accelerationFilterApp.html";
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var tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");
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var tabletButton = tablet.addButton({
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text: TABLET_BUTTON_NAME,
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icon: "https://s3.amazonaws.com/hifi-public/tony/icons/tpose-i.svg",
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activeIcon: "https://s3.amazonaws.com/hifi-public/tony/icons/tpose-a.svg"
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});
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tabletButton.clicked.connect(function () {
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if (shown) {
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tablet.gotoHomeScreen();
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} else {
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tablet.gotoWebScreen(HTML_URL);
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}
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});
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var shown = false;
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function onScreenChanged(type, url) {
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if (type === "Web" && url === HTML_URL) {
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tabletButton.editProperties({isActive: true});
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if (!shown) {
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// hook up to event bridge
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tablet.webEventReceived.connect(onWebEventReceived);
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shownChanged(true);
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}
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shown = true;
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} else {
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tabletButton.editProperties({isActive: false});
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if (shown) {
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// disconnect from event bridge
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tablet.webEventReceived.disconnect(onWebEventReceived);
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shownChanged(false);
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}
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shown = false;
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}
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}
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function getTranslationAccelerationLimit(i) {
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return mappingJson.channels[i].filters[0].translationAccelerationLimit;
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}
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function setTranslationAccelerationLimit(i, value) {
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mappingJson.channels[i].filters[0].translationAccelerationLimit = value;
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mappingChanged();
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}
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function getTranslationDecelerationLimit(i) {
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return mappingJson.channels[i].filters[0].translationDecelerationLimit;
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}
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function setTranslationDecelerationLimit(i, value) {
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mappingJson.channels[i].filters[0].translationDecelerationLimit = value; mappingChanged();
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}
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function getRotationAccelerationLimit(i) {
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return mappingJson.channels[i].filters[0].rotationAccelerationLimit;
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}
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function setRotationAccelerationLimit(i, value) {
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mappingJson.channels[i].filters[0].rotationAccelerationLimit = value; mappingChanged();
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}
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function getRotationDecelerationLimit(i) {
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return mappingJson.channels[i].filters[0].rotationDecelerationLimit;
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}
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function setRotationDecelerationLimit(i, value) {
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mappingJson.channels[i].filters[0].rotationDecelerationLimit = value; mappingChanged();
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}
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function onWebEventReceived(msg) {
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if (msg.name === "init-complete") {
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var values = [
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{name: "left-hand-translation-acceleration-limit", val: getTranslationAccelerationLimit(LEFT_HAND_INDEX), checked: false},
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{name: "left-hand-translation-deceleration-limit", val: getTranslationDecelerationLimit(LEFT_HAND_INDEX), checked: false},
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{name: "left-hand-rotation-acceleration-limit", val: getRotationAccelerationLimit(LEFT_HAND_INDEX), checked: false},
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{name: "left-hand-rotation-deceleration-limit", val: getRotationDecelerationLimit(LEFT_HAND_INDEX), checked: false}
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];
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tablet.emitScriptEvent(JSON.stringify(values));
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} else if (msg.name === "left-hand-translation-acceleration-limit") {
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setTranslationAccelerationLimit(LEFT_HAND_INDEX, parseInt(msg.val, 10));
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} else if (msg.name === "left-hand-translation-deceleration-limit") {
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setTranslationDecelerationLimit(LEFT_HAND_INDEX, parseInt(msg.val, 10));
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} else if (msg.name === "left-hand-rotation-acceleration-limit") {
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setRotationAccelerationLimit(LEFT_HAND_INDEX, parseInt(msg.val, 10));
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} else if (msg.name === "left-hand-rotation-deceleration-limit") {
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setRotationDecelerationLimit(LEFT_HAND_INDEX, parseInt(msg.val, 10));
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}
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}
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tablet.screenChanged.connect(onScreenChanged);
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function shutdownTabletApp() {
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tablet.removeButton(tabletButton);
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if (shown) {
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tablet.webEventReceived.disconnect(onWebEventReceived);
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tablet.gotoHomeScreen();
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}
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tablet.screenChanged.disconnect(onScreenChanged);
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}
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//
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// end tablet app boiler plate
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//
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var mapping;
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function mappingChanged() {
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if (mapping) {
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mapping.disable();
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}
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mapping = Controller.parseMapping(JSON.stringify(mappingJson));
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mapping.enable();
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}
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function shownChanged(newShown) {
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if (newShown) {
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mappingChanged();
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} else {
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mapping.disable();
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}
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}
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mappingChanged();
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Script.scriptEnding.connect(function() {
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if (mapping) {
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mapping.disable();
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}
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tablet.removeButton(tabletButton);
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});
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