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Working on touch

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This commit is contained in:
Bradley Austin Davis 2016-06-13 14:40:15 -07:00
parent 130c0dda31
commit 62051ad297
5 changed files with 106 additions and 80 deletions
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1
libraries/controllers/src/controllers/Forward.h
View file

@ -32,6 +32,7 @@ class Mapping;
using MappingPointer = std::shared_ptr<Mapping>;
using MappingList = std::list<MappingPointer>;
struct Pose;
}
#endif

10
plugins/oculus/src/OculusBaseDisplayPlugin.cpp
View file

@ -24,7 +24,17 @@ bool OculusBaseDisplayPlugin::beginFrameRender(uint32_t frameIndex) {
auto trackingState = ovr_GetTrackingState(_session, _currentRenderFrameInfo.predictedDisplayTime, ovrTrue);
_currentRenderFrameInfo.renderPose = toGlm(trackingState.HeadPose.ThePose);
_currentRenderFrameInfo.presentPose = _currentRenderFrameInfo.renderPose;
withRenderThreadLock([&] {
// Make controller poses available to the presentation thread
ovr_for_each_hand([&](ovrHandType hand){
static const auto REQUIRED_HAND_STATUS = ovrStatus_OrientationTracked & ovrStatus_PositionTracked;
if (REQUIRED_HAND_STATUS == (trackingState.HandStatusFlags[hand] & REQUIRED_HAND_STATUS)) {
_handPoses[hand] = toGlm(trackingState.HandPoses[hand].ThePose);
} else {
_handPoses[hand] = glm::mat4();
}
});
_frameInfos[frameIndex] = _currentRenderFrameInfo;
});
return true;

82
plugins/oculus/src/OculusControllerManager.cpp
View file

@ -243,91 +243,13 @@ void OculusControllerManager::TouchDevice::focusOutEvent() {
void OculusControllerManager::TouchDevice::handlePose(float deltaTime,
const controller::InputCalibrationData& inputCalibrationData, ovrHandType hand,
const ovrPoseStatef& handPose) {
// When the sensor-to-world rotation is identity the coordinate axes look like this:
//
// user
// forward
// -z
// |
// y| user
// y o----x right
// o-----x user
// | up
// |
// z
//
// Rift
// From ABOVE the hand canonical axes looks like this:
//
// | | | | y | | | |
// | | | | | | | | |
// | | | | |
// |left | / x---- + \ |right|
// | _/ z \_ |
// | | | |
// | | | |
//
// So when the user is in Rift space facing the -zAxis with hands outstretched and palms down
// the rotation to align the Touch axes with those of the hands is:
//
// touchToHand = halfTurnAboutY * quaterTurnAboutX
// Due to how the Touch controllers fit into the palm there is an offset that is different for each hand.
// You can think of this offset as the inverse of the measured rotation when the hands are posed, such that
// the combination (measurement * offset) is identity at this orientation.
//
// Qoffset = glm::inverse(deltaRotation when hand is posed fingers forward, palm down)
//
// An approximate offset for the Touch can be obtained by inspection:
//
// Qoffset = glm::inverse(glm::angleAxis(sign * PI/2.0f, zAxis) * glm::angleAxis(PI/4.0f, xAxis))
//
// So the full equation is:
//
// Q = combinedMeasurement * touchToHand
//
// Q = (deltaQ * QOffset) * (yFlip * quarterTurnAboutX)
//
// Q = (deltaQ * inverse(deltaQForAlignedHand)) * (yFlip * quarterTurnAboutX)
auto poseId = hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND;
auto& pose = _poseStateMap[poseId];
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat touchToHand = yFlip * quarterX;
static const glm::quat leftQuarterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuarterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat eighthX = glm::angleAxis(PI / 4.0f, Vectors::UNIT_X);
static const glm::quat leftRotationOffset = glm::inverse(leftQuarterZ * eighthX) * touchToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuarterZ * eighthX) * touchToHand;
static const float CONTROLLER_LENGTH_OFFSET = 0.0762f; // three inches
static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET * 2.0f);
static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
auto translationOffset = (hand == ovrHand_Left ? leftTranslationOffset : rightTranslationOffset);
auto rotationOffset = (hand == ovrHand_Left ? leftRotationOffset : rightRotationOffset);
glm::quat rotation = toGlm(handPose.ThePose.Orientation);
pose.translation = toGlm(handPose.ThePose.Position);
pose.translation += rotation * translationOffset;
pose.rotation = rotation * rotationOffset;
pose.angularVelocity = toGlm(handPose.AngularVelocity);
pose.velocity = toGlm(handPose.LinearVelocity);
pose.valid = true;
pose = ovrControllerPoseToHandPose(hand, handPose);
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
pose = pose.transform(controllerToAvatar);
}
bool OculusControllerManager::TouchDevice::triggerHapticPulse(float strength, float duration, controller::Hand hand) {

88
plugins/oculus/src/OculusHelpers.cpp
View file

@ -15,6 +15,9 @@
#include <QtCore/QFile>
#include <QtCore/QDir>
#include <controllers/Input.h>
#include <controllers/Pose.h>
using Mutex = std::mutex;
using Lock = std::unique_lock<Mutex>;
@ -191,3 +194,88 @@ void SwapFramebufferWrapper::onBind(oglplus::Framebuffer::Target target) {
void SwapFramebufferWrapper::onUnbind(oglplus::Framebuffer::Target target) {
glFramebufferTexture2D(toEnum(target), GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, 0, 0);
}
controller::Pose ovrControllerPoseToHandPose(
ovrHandType hand,
const ovrPoseStatef& handPose) {
// When the sensor-to-world rotation is identity the coordinate axes look like this:
//
// user
// forward
// -z
// |
// y| user
// y o----x right
// o-----x user
// | up
// |
// z
//
// Rift
// From ABOVE the hand canonical axes looks like this:
//
// | | | | y | | | |
// | | | | | | | | |
// | | | | |
// |left | / x---- + \ |right|
// | _/ z \_ |
// | | | |
// | | | |
//
// So when the user is in Rift space facing the -zAxis with hands outstretched and palms down
// the rotation to align the Touch axes with those of the hands is:
//
// touchToHand = halfTurnAboutY * quaterTurnAboutX
// Due to how the Touch controllers fit into the palm there is an offset that is different for each hand.
// You can think of this offset as the inverse of the measured rotation when the hands are posed, such that
// the combination (measurement * offset) is identity at this orientation.
//
// Qoffset = glm::inverse(deltaRotation when hand is posed fingers forward, palm down)
//
// An approximate offset for the Touch can be obtained by inspection:
//
// Qoffset = glm::inverse(glm::angleAxis(sign * PI/2.0f, zAxis) * glm::angleAxis(PI/4.0f, xAxis))
//
// So the full equation is:
//
// Q = combinedMeasurement * touchToHand
//
// Q = (deltaQ * QOffset) * (yFlip * quarterTurnAboutX)
//
// Q = (deltaQ * inverse(deltaQForAlignedHand)) * (yFlip * quarterTurnAboutX)
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat touchToHand = yFlip * quarterX;
static const glm::quat leftQuarterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuarterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat eighthX = glm::angleAxis(PI / 4.0f, Vectors::UNIT_X);
static const glm::quat leftRotationOffset = glm::inverse(leftQuarterZ * eighthX) * touchToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuarterZ * eighthX) * touchToHand;
static const float CONTROLLER_LENGTH_OFFSET = 0.0762f; // three inches
static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET * 2.0f);
static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
auto translationOffset = (hand == ovrHand_Left ? leftTranslationOffset : rightTranslationOffset);
auto rotationOffset = (hand == ovrHand_Left ? leftRotationOffset : rightRotationOffset);
glm::quat rotation = toGlm(handPose.ThePose.Orientation);
controller::Pose pose;
pose.translation = toGlm(handPose.ThePose.Position);
pose.translation += rotation * translationOffset;
pose.rotation = rotation * rotationOffset;
pose.angularVelocity = toGlm(handPose.AngularVelocity);
pose.velocity = toGlm(handPose.LinearVelocity);
pose.valid = true;
return pose;
}

5
plugins/oculus/src/OculusHelpers.h
View file

@ -13,6 +13,7 @@
#include <glm/gtc/matrix_transform.hpp>
#include <gl/OglplusHelpers.h>
#include <controllers/Forward.h>
void logWarning(const char* what);
void logFatal(const char* what);
@ -128,3 +129,7 @@ protected:
private:
ovrSession _session;
};
controller::Pose ovrControllerPoseToHandPose(
ovrHandType hand,
const ovrPoseStatef& handPose);