mirror of
https://github.com/overte-org/overte.git
synced 2025-08-17 01:57:19 +02:00
started moving hydra to use UserInputMapper::Poses, needs testing
This commit is contained in:
Sam Gondelman
parent
07141fd1e3
commit
64118d9118
3 changed files with 150 additions and 241 deletions
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@ -59,16 +59,7 @@ SixenseManager::SixenseManager() :
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_isEnabled(true),
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_hydrasConnected(false)
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{
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_triggerPressed[0] = false;
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_bumperPressed[0] = false;
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_oldX[0] = -1;
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_oldY[0] = -1;
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_triggerPressed[1] = false;
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_bumperPressed[1] = false;
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_oldX[1] = -1;
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_oldY[1] = -1;
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_prevPalms[0] = nullptr;
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_prevPalms[1] = nullptr;
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}
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SixenseManager::~SixenseManager() {
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@ -166,12 +157,12 @@ void SixenseManager::update(float deltaTime) {
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if (_deviceID != 0) {
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Application::getUserInputMapper()->removeDevice(_deviceID);
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_deviceID = 0;
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if (_prevPalms[0]) {
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_prevPalms[0]->setActive(false);
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}
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if (_prevPalms[1]) {
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_prevPalms[1]->setActive(false);
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}
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// if (_prevPalms[0]) {
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// _prevPalms[0]->setActive(false);
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// }
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// if (_prevPalms[1]) {
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// _prevPalms[1]->setActive(false);
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// }
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}
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return;
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}
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@ -213,114 +204,64 @@ void SixenseManager::update(float deltaTime) {
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// Set palm position and normal based on Hydra position/orientation
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// Either find a palm matching the sixense controller, or make a new one
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PalmData* palm;
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bool foundHand = false;
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for (size_t j = 0; j < hand->getNumPalms(); j++) {
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if (hand->getPalms()[j].getSixenseID() == data->controller_index) {
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palm = &(hand->getPalms()[j]);
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_prevPalms[numActiveControllers - 1] = palm;
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foundHand = true;
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}
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}
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if (!foundHand) {
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PalmData newPalm(hand);
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hand->getPalms().push_back(newPalm);
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palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
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palm->setSixenseID(data->controller_index);
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_prevPalms[numActiveControllers - 1] = palm;
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qCDebug(interfaceapp, "Found new Sixense controller, ID %i", data->controller_index);
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}
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// Disable the hands (and return to default pose) if both controllers are at base station
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if (foundHand) {
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palm->setActive(!_controllersAtBase);
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} else {
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palm->setActive(false); // if this isn't a Sixsense ID palm, always make it inactive
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}
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// Read controller buttons and joystick into the hand
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palm->setControllerButtons(data->buttons);
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palm->setTrigger(data->trigger);
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palm->setJoystick(data->joystick_x, data->joystick_y);
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handleButtonEvent(data->buttons, numActiveControllers - 1);
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handleAxisEvent(data->joystick_x, data->joystick_y, data->trigger, numActiveControllers - 1);
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// Emulate the mouse so we can use scripts
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if (Menu::getInstance()->isOptionChecked(MenuOption::HandMouseInput) && !_controllersAtBase) {
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emulateMouse(palm, numActiveControllers - 1);
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}
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// // Either find a palm matching the sixense controller, or make a new one
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// PalmData* palm;
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// bool foundHand = false;
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// for (size_t j = 0; j < hand->getNumPalms(); j++) {
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// if (hand->getPalms()[j].getSixenseID() == data->controller_index) {
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// palm = &(hand->getPalms()[j]);
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// _prevPalms[numActiveControllers - 1] = palm;
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// foundHand = true;
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// }
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// }
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// if (!foundHand) {
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// PalmData newPalm(hand);
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// hand->getPalms().push_back(newPalm);
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// palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
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// palm->setSixenseID(data->controller_index);
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// _prevPalms[numActiveControllers - 1] = palm;
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// qCDebug(interfaceapp, "Found new Sixense controller, ID %i", data->controller_index);
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// }
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// NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.
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glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
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position *= METERS_PER_MILLIMETER;
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// Check to see if this hand/controller is on the base
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const float CONTROLLER_AT_BASE_DISTANCE = 0.075f;
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if (glm::length(position) < CONTROLLER_AT_BASE_DISTANCE) {
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numControllersAtBase++;
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}
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// Transform the measured position into body frame.
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glm::vec3 neck = _neckBase;
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// Zeroing y component of the "neck" effectively raises the measured position a little bit.
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neck.y = 0.0f;
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position = _orbRotation * (position - neck);
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// Rotation of Palm
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glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]);
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rotation = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)) * _orbRotation * rotation;
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// Compute current velocity from position change
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glm::vec3 rawVelocity;
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if (deltaTime > 0.0f) {
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rawVelocity = (position - palm->getRawPosition()) / deltaTime;
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if (!_controllersAtBase) {
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// Rotation of Palm
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glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]);
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rotation = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)) * _orbRotation * rotation;
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handlePoseEvent(position, rotation, numActiveControlers - 1);
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} else {
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rawVelocity = glm::vec3(0.0f);
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}
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palm->setRawVelocity(rawVelocity); // meters/sec
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// adjustment for hydra controllers fit into hands
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float sign = (i == 0) ? -1.0f : 1.0f;
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rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f));
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// Angular Velocity of Palm
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glm::quat deltaRotation = rotation * glm::inverse(palm->getRawRotation());
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glm::vec3 angularVelocity(0.0f);
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float rotationAngle = glm::angle(deltaRotation);
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if ((rotationAngle > EPSILON) && (deltaTime > 0.0f)) {
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angularVelocity = glm::normalize(glm::axis(deltaRotation));
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angularVelocity *= (rotationAngle / deltaTime);
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palm->setRawAngularVelocity(angularVelocity);
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} else {
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palm->setRawAngularVelocity(glm::vec3(0.0f));
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_poseStateMap.clear();
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}
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if (_lowVelocityFilter) {
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// Use a velocity sensitive filter to damp small motions and preserve large ones with
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// no latency.
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float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);
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position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter);
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rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter);
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palm->setRawPosition(position);
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palm->setRawRotation(rotation);
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} else {
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palm->setRawPosition(position);
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palm->setRawRotation(rotation);
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}
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// // Disable the hands (and return to default pose) if both controllers are at base station
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// if (foundHand) {
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// palm->setActive(!_controllersAtBase);
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// } else {
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// palm->setActive(false); // if this isn't a Sixsense ID palm, always make it inactive
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// }
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// Store the one fingertip in the palm structure so we can track velocity
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const float FINGER_LENGTH = 0.3f; // meters
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const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
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const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
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glm::vec3 oldTipPosition = palm->getTipRawPosition();
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if (deltaTime > 0.0f) {
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palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
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} else {
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palm->setTipVelocity(glm::vec3(0.0f));
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}
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palm->setTipPosition(newTipPosition);
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// // Read controller buttons and joystick into the hand
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// palm->setControllerButtons(data->buttons);
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// palm->setTrigger(data->trigger);
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// palm->setJoystick(data->joystick_x, data->joystick_y);
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handleButtonEvent(data->buttons, numActiveControllers - 1);
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handleAxisEvent(data->joystick_x, data->joystick_y, data->trigger, numActiveControllers - 1);
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// // Emulate the mouse so we can use scripts
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// if (Menu::getInstance()->isOptionChecked(MenuOption::HandMouseInput) && !_controllersAtBase) {
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// emulateMouse(palm, numActiveControllers - 1);
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// }
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}
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if (numActiveControllers == 2) {
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@ -500,124 +441,6 @@ void SixenseManager::updateCalibration(const sixenseControllerData* controllers)
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}
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}
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//Injecting mouse movements and clicks
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void SixenseManager::emulateMouse(PalmData* palm, int index) {
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MyAvatar* avatar = DependencyManager::get<AvatarManager>()->getMyAvatar();
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QPoint pos;
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Qt::MouseButton bumperButton;
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Qt::MouseButton triggerButton;
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unsigned int deviceID = index == 0 ? CONTROLLER_0_EVENT : CONTROLLER_1_EVENT;
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if (_invertButtons) {
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bumperButton = Qt::LeftButton;
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triggerButton = Qt::RightButton;
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} else {
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bumperButton = Qt::RightButton;
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triggerButton = Qt::LeftButton;
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}
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if (Menu::getInstance()->isOptionChecked(MenuOption::HandLasers) || qApp->isHMDMode()) {
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pos = qApp->getApplicationCompositor().getPalmClickLocation(palm);
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} else {
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// Get directon relative to avatar orientation
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glm::vec3 direction = glm::inverse(avatar->getOrientation()) * palm->getFingerDirection();
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// Get the angles, scaled between (-0.5,0.5)
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float xAngle = (atan2(direction.z, direction.x) + M_PI_2);
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float yAngle = 0.5f - ((atan2f(direction.z, direction.y) + (float)M_PI_2));
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auto canvasSize = qApp->getCanvasSize();
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// Get the pixel range over which the xAngle and yAngle are scaled
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float cursorRange = canvasSize.x * getCursorPixelRangeMult();
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pos.setX(canvasSize.x / 2.0f + cursorRange * xAngle);
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pos.setY(canvasSize.y / 2.0f + cursorRange * yAngle);
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}
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//If we are off screen then we should stop processing, and if a trigger or bumper is pressed,
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//we should unpress them.
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if (pos.x() == INT_MAX) {
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if (_bumperPressed[index]) {
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QMouseEvent mouseEvent(QEvent::MouseButtonRelease, pos, bumperButton, bumperButton, 0);
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qApp->mouseReleaseEvent(&mouseEvent, deviceID);
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_bumperPressed[index] = false;
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}
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if (_triggerPressed[index]) {
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QMouseEvent mouseEvent(QEvent::MouseButtonRelease, pos, triggerButton, triggerButton, 0);
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qApp->mouseReleaseEvent(&mouseEvent, deviceID);
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_triggerPressed[index] = false;
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}
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return;
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}
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//If position has changed, emit a mouse move to the application
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if (pos.x() != _oldX[index] || pos.y() != _oldY[index]) {
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QMouseEvent mouseEvent(QEvent::MouseMove, pos, Qt::NoButton, Qt::NoButton, 0);
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//Only send the mouse event if the opposite left button isnt held down.
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if (triggerButton == Qt::LeftButton) {
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if (!_triggerPressed[(int)(!index)]) {
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qApp->mouseMoveEvent(&mouseEvent, deviceID);
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}
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} else {
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if (!_bumperPressed[(int)(!index)]) {
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qApp->mouseMoveEvent(&mouseEvent, deviceID);
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}
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}
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}
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_oldX[index] = pos.x();
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_oldY[index] = pos.y();
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//We need separate coordinates for clicks, since we need to check if
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//a magnification window was clicked on
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int clickX = pos.x();
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int clickY = pos.y();
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//Set pos to the new click location, which may be the same if no magnification window is open
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pos.setX(clickX);
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pos.setY(clickY);
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//Check for bumper press ( Right Click )
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if (palm->getControllerButtons() & BUTTON_FWD) {
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if (!_bumperPressed[index]) {
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_bumperPressed[index] = true;
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QMouseEvent mouseEvent(QEvent::MouseButtonPress, pos, bumperButton, bumperButton, 0);
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qApp->mousePressEvent(&mouseEvent, deviceID);
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}
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} else if (_bumperPressed[index]) {
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QMouseEvent mouseEvent(QEvent::MouseButtonRelease, pos, bumperButton, bumperButton, 0);
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qApp->mouseReleaseEvent(&mouseEvent, deviceID);
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_bumperPressed[index] = false;
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}
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//Check for trigger press ( Left Click )
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if (palm->getTrigger() == 1.0f) {
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if (!_triggerPressed[index]) {
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_triggerPressed[index] = true;
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QMouseEvent mouseEvent(QEvent::MouseButtonPress, pos, triggerButton, triggerButton, 0);
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qApp->mousePressEvent(&mouseEvent, deviceID);
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}
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} else if (_triggerPressed[index]) {
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QMouseEvent mouseEvent(QEvent::MouseButtonRelease, pos, triggerButton, triggerButton, 0);
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qApp->mouseReleaseEvent(&mouseEvent, deviceID);
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_triggerPressed[index] = false;
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}
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}
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#endif // HAVE_SIXENSE
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void SixenseManager::focusOutEvent() {
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@ -657,6 +480,66 @@ void SixenseManager::handleButtonEvent(unsigned int buttons, int index) {
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}
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}
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void SixenseManager::handlePoseEvent(glm::vec3 position, glm::quat rotation, int index) {
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// Transform the measured position into body frame.
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glm::vec3 neck = _neckBase;
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// Zeroing y component of the "neck" effectively raises the measured position a little bit.
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neck.y = 0.0f;
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position = _orbRotation * (position - neck);
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// // Compute current velocity from position change
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// glm::vec3 rawVelocity;
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// if (deltaTime > 0.0f) {
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// rawVelocity = (position - palm->getRawPosition()) / deltaTime;
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// } else {
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// rawVelocity = glm::vec3(0.0f);
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// }
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// palm->setRawVelocity(rawVelocity); // meters/sec
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// adjustment for hydra controllers fit into hands
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float sign = (index == 0) ? -1.0f : 1.0f;
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rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f));
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// // Angular Velocity of Palm
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// glm::quat deltaRotation = rotation * glm::inverse(palm->getRawRotation());
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// glm::vec3 angularVelocity(0.0f);
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// float rotationAngle = glm::angle(deltaRotation);
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// if ((rotationAngle > EPSILON) && (deltaTime > 0.0f)) {
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// angularVelocity = glm::normalize(glm::axis(deltaRotation));
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// angularVelocity *= (rotationAngle / deltaTime);
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// palm->setRawAngularVelocity(angularVelocity);
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// } else {
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// palm->setRawAngularVelocity(glm::vec3(0.0f));
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// }
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// if (_lowVelocityFilter) {
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// // Use a velocity sensitive filter to damp small motions and preserve large ones with
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// // no latency.
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// float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);
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// position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter);
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// rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter);
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// palm->setRawPosition(position);
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// palm->setRawRotation(rotation);
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// } else {
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// palm->setRawPosition(position);
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// palm->setRawRotation(rotation);
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// }
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// // Store the one fingertip in the palm structure so we can track velocity
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// const float FINGER_LENGTH = 0.3f; // meters
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// const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
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// const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
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// glm::vec3 oldTipPosition = palm->getTipRawPosition();
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// if (deltaTime > 0.0f) {
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// palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
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// } else {
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// palm->setTipVelocity(glm::vec3(0.0f));
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// }
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// palm->setTipPosition(newTipPosition);
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_poseStateMap[makeInput(JointChannel(index)).getChannel()] = UserInputMapper::PoseValue(position, rotation);
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}
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void SixenseManager::registerToUserInputMapper(UserInputMapper& mapper) {
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// Grab the current free device ID
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_deviceID = mapper.getFreeDeviceID();
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@ -664,6 +547,7 @@ void SixenseManager::registerToUserInputMapper(UserInputMapper& mapper) {
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auto proxy = UserInputMapper::DeviceProxy::Pointer(new UserInputMapper::DeviceProxy("Hydra"));
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proxy->getButton = [this] (const UserInputMapper::Input& input, int timestamp) -> bool { return this->getButton(input.getChannel()); };
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proxy->getAxis = [this] (const UserInputMapper::Input& input, int timestamp) -> float { return this->getAxis(input.getChannel()); };
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proxy->getPose = [this](const UserInputMapper::Input& input, int timestamp) -> UserInputMapper::PoseValue { return this->getPose(input.getChannel()); };
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proxy->getAvailabeInputs = [this] () -> QVector<UserInputMapper::InputPair> {
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QVector<UserInputMapper::InputPair> availableInputs;
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availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_0, 0), "Left Start"));
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@ -737,6 +621,12 @@ void SixenseManager::assignDefaultInputMapping(UserInputMapper& mapper) {
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mapper.addInputChannel(UserInputMapper::ACTION1, makeInput(BUTTON_4, 0));
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mapper.addInputChannel(UserInputMapper::ACTION2, makeInput(BUTTON_4, 1));
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mapper.addInputChannel(UserInputMapper::LEFT_HAND, makeInput(LEFT_HAND));
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mapper.addInputChannel(UserInputMapper::RIGHT_HAND, makeInput(RIGHT_HAND));
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mapper.addInputChannel(UserInputMapper::LEFT_HAND_CLICK, makeInput(BUTTON_FWD, 0));
|
||||
mapper.addInputChannel(UserInputMapper::LEFT_HAND_CLICK, makeInput(BUTTON_FWD, 1));
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -760,6 +650,15 @@ float SixenseManager::getAxis(int channel) const {
|
|||
}
|
||||
}
|
||||
|
||||
UserInputMapper::PoseValue SixenseManager::getPose(int channel) const {
|
||||
auto pose = _poseStateMap.find(channel);
|
||||
if (pose != _poseStateMap.end()) {
|
||||
return (*pose).second;
|
||||
} else {
|
||||
return UserInputMapper::PoseValue();
|
||||
}
|
||||
}
|
||||
|
||||
UserInputMapper::Input SixenseManager::makeInput(unsigned int button, int index) {
|
||||
return UserInputMapper::Input(_deviceID, button | (index == 0 ? LEFT_MASK : RIGHT_MASK), UserInputMapper::ChannelType::BUTTON);
|
||||
}
|
||||
|
|
@ -767,3 +666,7 @@ UserInputMapper::Input SixenseManager::makeInput(unsigned int button, int index)
|
|||
UserInputMapper::Input SixenseManager::makeInput(SixenseManager::JoystickAxisChannel axis, int index) {
|
||||
return UserInputMapper::Input(_deviceID, axis | (index == 0 ? LEFT_MASK : RIGHT_MASK), UserInputMapper::ChannelType::AXIS);
|
||||
}
|
||||
|
||||
UserInputMapper::Input SixenseManager::makeInput(JointChannel joint) {
|
||||
return UserInputMapper::Input(_deviceID, joint, UserInputMapper::ChannelType::POSE);
|
||||
}
|
||||
|
|
@ -28,8 +28,6 @@
|
|||
|
||||
#include <input-plugins/UserInputMapper.h>
|
||||
|
||||
class PalmData;
|
||||
|
||||
const unsigned int BUTTON_0 = 1U << 0; // the skinny button between 1 and 2
|
||||
const unsigned int BUTTON_1 = 1U << 5;
|
||||
const unsigned int BUTTON_2 = 1U << 6;
|
||||
|
|
@ -57,6 +55,11 @@ public:
|
|||
BACK_TRIGGER = 1U << 6,
|
||||
};
|
||||
|
||||
enum JointChannel {
|
||||
LEFT_HAND = 0,
|
||||
RIGHT_HAND,
|
||||
};
|
||||
|
||||
static SixenseManager& getInstance();
|
||||
|
||||
void initialize();
|
||||
|
|
@ -74,12 +77,15 @@ public:
|
|||
|
||||
typedef std::unordered_set<int> ButtonPressedMap;
|
||||
typedef std::map<int, float> AxisStateMap;
|
||||
typedef std::map<int, UserInputMapper::PoseValue> PoseStateMap;
|
||||
|
||||
float getButton(int channel) const;
|
||||
float getAxis(int channel) const;
|
||||
UserInputMapper::PoseValue getPose(int channel) const;
|
||||
|
||||
UserInputMapper::Input makeInput(unsigned int button, int index);
|
||||
UserInputMapper::Input makeInput(JoystickAxisChannel axis, int index);
|
||||
UserInputMapper::Input makeInput(JointChannel joint);
|
||||
|
||||
void registerToUserInputMapper(UserInputMapper& mapper);
|
||||
void assignDefaultInputMapping(UserInputMapper& mapper);
|
||||
|
|
@ -97,10 +103,11 @@ private:
|
|||
|
||||
void handleButtonEvent(unsigned int buttons, int index);
|
||||
void handleAxisEvent(float x, float y, float trigger, int index);
|
||||
void handlePoseEvent(glm::vec3 position, glm::quat rotation, int index);
|
||||
|
||||
#ifdef HAVE_SIXENSE
|
||||
void updateCalibration(const sixenseControllerData* controllers);
|
||||
void emulateMouse(PalmData* palm, int index);
|
||||
|
||||
|
||||
int _calibrationState;
|
||||
|
||||
// these are calibration results
|
||||
|
|
@ -126,13 +133,6 @@ private:
|
|||
bool _isInitialized;
|
||||
bool _isEnabled;
|
||||
bool _hydrasConnected;
|
||||
|
||||
// for mouse emulation with the two controllers
|
||||
bool _triggerPressed[2];
|
||||
bool _bumperPressed[2];
|
||||
int _oldX[2];
|
||||
int _oldY[2];
|
||||
PalmData* _prevPalms[2];
|
||||
|
||||
bool _lowVelocityFilter;
|
||||
bool _controllersAtBase;
|
||||
|
|
@ -145,6 +145,7 @@ protected:
|
|||
|
||||
ButtonPressedMap _buttonPressedMap;
|
||||
AxisStateMap _axisStateMap;
|
||||
PoseStateMap _poseStateMap;
|
||||
};
|
||||
|
||||
#endif // hifi_SixenseManager_h
|
||||
|
|
|
|||
|
|
@ -186,6 +186,8 @@ void ViveControllerManager::registerToUserInputMapper(UserInputMapper& mapper) {
|
|||
proxy->getPose = [this](const UserInputMapper::Input& input, int timestamp) -> UserInputMapper::PoseValue { return this->getPose(input.getChannel()); };
|
||||
proxy->getAvailabeInputs = [this] () -> QVector<UserInputMapper::InputPair> {
|
||||
QVector<UserInputMapper::InputPair> availableInputs;
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(LEFT_HAND), "Left Hand"));
|
||||
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_A, 0), "Left Button A"));
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(GRIP_BUTTON, 0), "Left Grip Button"));
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(TRACKPAD_BUTTON, 0), "Left Trackpad Button"));
|
||||
|
|
@ -197,6 +199,9 @@ void ViveControllerManager::registerToUserInputMapper(UserInputMapper& mapper) {
|
|||
availableInputs.append(UserInputMapper::InputPair(makeInput(AXIS_X_NEG, 0), "Left Trackpad Left"));
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(BACK_TRIGGER, 0), "Left Back Trigger"));
|
||||
|
||||
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(RIGHT_HAND), "Right Hand"));
|
||||
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(BUTTON_A, 1), "Right Button A"));
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(GRIP_BUTTON, 1), "Right Grip Button"));
|
||||
availableInputs.append(UserInputMapper::InputPair(makeInput(TRACKPAD_BUTTON, 1), "Right Trackpad Button"));
|
||||
|
|
|
|||
Loading…
Reference in a new issue