diff --git a/interface/resources/controllers/vive.json b/interface/resources/controllers/vive.json index 591b6f515e..a0e9bd30d4 100644 --- a/interface/resources/controllers/vive.json +++ b/interface/resources/controllers/vive.json @@ -35,35 +35,35 @@ { "from": "Vive.RightApplicationMenu", "to": "Standard.RightSecondaryThumb" }, { "from": "Vive.LeftHand", "to": "Standard.LeftHand", "when": [ "Application.InHMD" ] }, - { "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] }, + { "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] }, { "from": "Vive.LeftFoot", "to" : "Standard.LeftFoot", "filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}], - "when": [ "Application.InHMD"] + "when": [ "Application.InHMD" ] }, { "from": "Vive.RightFoot", "to" : "Standard.RightFoot", "filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}], - "when": [ "Application.InHMD"] + "when": [ "Application.InHMD" ] }, { "from": "Vive.Hips", "to" : "Standard.Hips", "filters" : [{"type" : "lowVelocity", "rotation" : 0.01, "translation": 0.01}], - "when": [ "Application.InHMD"] + "when": [ "Application.InHMD" ] }, { "from": "Vive.Spine2", "to" : "Standard.Spine2", "filters" : [{"type" : "lowVelocity", "rotation" : 0.01, "translation": 0.01}], - "when": [ "Application.InHMD"] + "when": [ "Application.InHMD" ] }, - { "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] }, + { "from": "Vive.Head", "to" : "Standard.Head", "when": [ "Application.InHMD" ] }, - { "from": "Vive.RightArm", "to" : "Standard.RightArm", "when" : [ "Application.InHMD"] }, - { "from": "Vive.LeftArm", "to" : "Standard.LeftArm", "when" : [ "Application.InHMD"] } + { "from": "Vive.RightArm", "to" : "Standard.RightArm", "when": [ "Application.InHMD" ] }, + { "from": "Vive.LeftArm", "to" : "Standard.LeftArm", "when": [ "Application.InHMD" ] } ] } diff --git a/interface/resources/qml/hifi/tablet/tabletWindows/TabletPreferencesDialog.qml b/interface/resources/qml/hifi/tablet/tabletWindows/TabletPreferencesDialog.qml index 3e497b053e..fcb3e9ff92 100644 --- a/interface/resources/qml/hifi/tablet/tabletWindows/TabletPreferencesDialog.qml +++ b/interface/resources/qml/hifi/tablet/tabletWindows/TabletPreferencesDialog.qml @@ -136,7 +136,7 @@ Item { for (var i = 0; i < sections.length; i++) { totalHeight += sections[i].height + sections[i].getPreferencesHeight(); } - var bottomPadding = 100; + var bottomPadding = 170; return (totalHeight + bottomPadding); } } diff --git a/plugins/openvr/src/ViveControllerManager.cpp b/plugins/openvr/src/ViveControllerManager.cpp index 53500a3353..5583ec6351 100644 --- a/plugins/openvr/src/ViveControllerManager.cpp +++ b/plugins/openvr/src/ViveControllerManager.cpp @@ -50,11 +50,15 @@ static const char* RENDER_CONTROLLERS = "Render Hand Controllers"; static const int MIN_PUCK_COUNT = 2; static const int MIN_FEET_AND_HIPS = 3; static const int MIN_FEET_HIPS_CHEST = 4; +static const int MIN_FEET_HIPS_HEAD = 4; static const int MIN_FEET_HIPS_SHOULDERS = 5; +static const int MIN_FEET_HIPS_CHEST_HEAD = 5; static const int FIRST_FOOT = 0; static const int SECOND_FOOT = 1; static const int HIP = 2; static const int CHEST = 3; +static float HEAD_PUCK_Y_OFFSET = -0.0254f; +static float HEAD_PUCK_Z_OFFSET = -0.152f; const char* ViveControllerManager::NAME { "OpenVR" }; @@ -80,6 +84,28 @@ static bool sortPucksXPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) return (firstPuck.second.translation.x < secondPuck.second.translation.x); } +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 poseAVector = poseAPosition - axisOrigin; + glm::vec3 poseBVector = poseBPosition - axisOrigin; + + float poseAProjection = glm::dot(poseAVector, axis); + float poseBProjection = glm::dot(poseBVector, axis); + return (poseAProjection > poseBProjection); +} + +static glm::vec3 getReferenceHeadXAxis(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) { + glm::mat4 finalHead = defaultToReferenceMat * defaultHead; + return glmExtractRotation(finalHead) * Vectors::UNIT_X; +} + +static glm::vec3 getReferenceHeadPosition(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) { + glm::mat4 finalHead = defaultToReferenceMat * defaultHead; + return extractTranslation(finalHead); +} + static QString deviceTrackingResultToString(vr::ETrackingResult trackingResult) { QString result; auto iterator = TRACKING_RESULT_TO_STRING.find(trackingResult); @@ -175,6 +201,8 @@ ViveControllerManager::InputDevice::InputDevice(vr::IVRSystem*& system) : contro _configStringMap[Config::FeetAndHips] = QString("FeetAndHips"); _configStringMap[Config::FeetHipsAndChest] = QString("FeetHipsAndChest"); _configStringMap[Config::FeetHipsAndShoulders] = QString("FeetHipsAndShoulders"); + _configStringMap[Config::FeetHipsChestAndHead] = QString("FeetHipsChestAndHead"); + _configStringMap[Config::FeetHipsAndHead] = QString("FeetHipsAndHead"); if (openVrSupported()) { createPreferences(); @@ -355,6 +383,23 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr int firstShoulderIndex = 3; int secondShoulderIndex = 4; calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex); + } else if (_config == Config::FeetHipsAndHead && puckCount == MIN_FEET_HIPS_HEAD) { + glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration); + 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 = 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(); @@ -369,6 +414,7 @@ void ViveControllerManager::InputDevice::uncalibrate() { _pucksOffset.clear(); _jointToPuckMap.clear(); _calibrated = false; + _overrideHead = false; } void ViveControllerManager::InputDevice::updateCalibratedLimbs() { @@ -378,6 +424,10 @@ void ViveControllerManager::InputDevice::updateCalibratedLimbs() { _poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2); _poseStateMap[controller::RIGHT_ARM] = addOffsetToPuckPose(controller::RIGHT_ARM); _poseStateMap[controller::LEFT_ARM] = addOffsetToPuckPose(controller::LEFT_ARM); + + if (_overrideHead) { + _poseStateMap[controller::HEAD] = addOffsetToPuckPose(controller::HEAD); + } } controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joint) const { @@ -443,6 +493,43 @@ void ViveControllerManager::InputDevice::handleHandController(float deltaTime, u } } +glm::mat4 ViveControllerManager::InputDevice::recalculateDefaultToReferenceForHeadPuck(const controller::InputCalibrationData& inputCalibration) { + glm::mat4 avatarToSensorMat = glm::inverse(inputCalibration.sensorToWorldMat) * inputCalibration.avatarMat; + glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat; + size_t headPuckIndex = _validTrackedObjects.size() - 1; + controller::Pose headPuckPose = _validTrackedObjects[headPuckIndex].second; + glm::mat4 headPuckAvatarMat = createMatFromQuatAndPos(headPuckPose.getRotation(), headPuckPose.getTranslation()) * Matrices::Y_180; + glm::vec3 headPuckTranslation = extractTranslation(headPuckAvatarMat); + glm::vec3 headPuckZAxis = cancelOutRollAndPitch(glmExtractRotation(headPuckAvatarMat)) * glm::vec3(0.0f, 0.0f, 1.0f); + glm::vec3 worldUp = glm::vec3(0.0f, 1.0f, 0.0f); + + // check that the head puck z axis is not parrallel to the world up + const float EPSILON = 1.0e-4f; + glm::vec3 zAxis = glmExtractRotation(headPuckAvatarMat) * glm::vec3(0.0f, 0.0f, 1.0f); + if (fabsf(fabsf(glm::dot(glm::normalize(worldUp), glm::normalize(zAxis))) - 1.0f) < EPSILON) { + headPuckZAxis = glm::vec3(1.0f, 0.0f, 0.0f); + } + + glm::vec3 yPrime = glm::vec3(0.0f, 1.0f, 0.0f); + glm::vec3 xPrime = glm::normalize(glm::cross(worldUp, headPuckZAxis)); + glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, yPrime)); + glm::mat4 newHeadPuck = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f), + 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, HEAD_PUCK_Y_OFFSET, HEAD_PUCK_Z_OFFSET, 1.0f)); + + glm::mat4 finalHeadPuck = newHeadPuck * headPuckOffset; + + glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat; + + glm::mat4 currentHead = finalHeadPuck * defaultHeadOffset; + + // calculate the defaultToRefrenceXform + glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat); + return defaultToReferenceMat; +} + void ViveControllerManager::InputDevice::partitionTouchpad(int sButton, int xAxis, int yAxis, int centerPseudoButton, int xPseudoButton, int yPseudoButton) { // Populate the L/RS_CENTER/OUTER pseudo buttons, corresponding to a partition of the L/RS space based on the X/Y values. const float CENTER_DEADBAND = 0.6f; @@ -630,6 +717,26 @@ void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToRefer } } + +void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, glm::vec3 headXAxis, glm::vec3 headPosition) { + auto& firstFoot = _validTrackedObjects[FIRST_FOOT]; + auto& secondFoot = _validTrackedObjects[SECOND_FOOT]; + controller::Pose& firstFootPose = firstFoot.second; + controller::Pose& secondFootPose = secondFoot.second; + + 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; + _pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose); + } else { + _jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first; + _pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose); + _jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first; + _pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose); + } +} + void ViveControllerManager::InputDevice::calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) { _jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first; _pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second); @@ -658,7 +765,19 @@ void ViveControllerManager::InputDevice::calibrateShoulders(glm::mat4& defaultTo _jointToPuckMap[controller::RIGHT_ARM] = firstShoulder.first; _pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, firstShoulder.second); } -} +} + +void ViveControllerManager::InputDevice::calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) { + size_t headIndex = _validTrackedObjects.size() - 1; + const PuckPosePair& head = _validTrackedObjects[headIndex]; + + // assume the person is wearing the head puck on his/her forehead + glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat; + controller::Pose newHead = head.second.postTransform(defaultHeadOffset); + + _jointToPuckMap[controller::HEAD] = head.first; + _pucksOffset[head.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHeadMat, newHead); +} void ViveControllerManager::InputDevice::loadSettings() { @@ -694,6 +813,10 @@ void ViveControllerManager::InputDevice::setConfigFromString(const QString& valu _preferedConfig = Config::FeetHipsAndChest; } else if (value == "FeetHipsAndShoulders") { _preferedConfig = Config::FeetHipsAndShoulders; + } else if (value == "FeetHipsChestAndHead") { + _preferedConfig = Config::FeetHipsChestAndHead; + } else if (value == "FeetHipsAndHead") { + _preferedConfig = Config::FeetHipsAndHead; } } @@ -702,11 +825,43 @@ void ViveControllerManager::InputDevice::createPreferences() { auto preferences = DependencyManager::get(); static const QString VIVE_PUCKS_CONFIG = "Vive Pucks Configuration"; + { + static const float MIN_VALUE = -3.0f; + static const float MAX_VALUE = 3.0f; + static const float STEP = 0.01f; + + auto getter = [this]()->float { return HEAD_PUCK_Y_OFFSET; }; + auto setter = [this](const float& value) { HEAD_PUCK_Y_OFFSET = value; }; + + auto preference = new SpinnerPreference(VIVE_PUCKS_CONFIG, "HeadPuckYOffset", getter, setter); + preference->setMin(MIN_VALUE); + preference->setMax(MAX_VALUE); + preference->setDecimals(3); + preference->setStep(STEP); + preferences->addPreference(preference); + } + + { + static const float MIN_VALUE = -3.0f; + static const float MAX_VALUE = 3.0f; + static const float STEP = 0.01f; + + auto getter = [this]()->float { return HEAD_PUCK_Z_OFFSET; }; + auto setter = [this](const float& value) { HEAD_PUCK_Z_OFFSET = value; }; + + auto preference = new SpinnerPreference(VIVE_PUCKS_CONFIG, "HeadPuckXOffset", getter, setter); + preference->setMin(MIN_VALUE); + preference->setMax(MAX_VALUE); + preference->setStep(STEP); + preference->setDecimals(3); + preferences->addPreference(preference); + } + { auto getter = [this]()->QString { return _configStringMap[_preferedConfig]; }; auto setter = [this](const QString& value) { setConfigFromString(value); saveSettings(); }; auto preference = new ComboBoxPreference(VIVE_PUCKS_CONFIG, "Configuration", getter, setter); - QStringList list = {"Auto", "Feet", "FeetAndHips", "FeetHipsAndChest", "FeetHipsAndShoulders"}; + QStringList list = {"Auto", "Feet", "FeetAndHips", "FeetHipsAndChest", "FeetHipsAndShoulders", "FeetHipsAndHead"}; preference->setItems(list); preferences->addPreference(preference); diff --git a/plugins/openvr/src/ViveControllerManager.h b/plugins/openvr/src/ViveControllerManager.h index a76adaa8f9..c32579b0d8 100644 --- a/plugins/openvr/src/ViveControllerManager.h +++ b/plugins/openvr/src/ViveControllerManager.h @@ -67,6 +67,7 @@ private: void calibrate(const controller::InputCalibrationData& inputCalibration); void uncalibrate(); controller::Pose addOffsetToPuckPose(int joint) const; + glm::mat4 recalculateDefaultToReferenceForHeadPuck(const controller::InputCalibrationData& inputCalibration); void updateCalibratedLimbs(); bool checkForCalibrationEvent(); void handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand); @@ -84,11 +85,14 @@ private: void loadSettings(); void saveSettings() const; void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration); + void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, glm::vec3 headXAxis, glm::vec3 headPosition); void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration); void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration); void calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, int firstShoulderIndex, int secondShoulderIndex); + void calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration); + class FilteredStick { public: @@ -119,6 +123,8 @@ private: FeetAndHips, FeetHipsAndChest, FeetHipsAndShoulders, + FeetHipsChestAndHead, + FeetHipsAndHead }; Config _config { Config::Auto }; Config _preferedConfig { Config::Auto }; @@ -145,6 +151,7 @@ private: bool _triggersPressedHandled { false }; bool _calibrated { false }; bool _timeTilCalibrationSet { false }; + bool _overrideHead { false }; mutable std::recursive_mutex _lock; QString configToString(Config config);