From 6b0f9314baba5f6dafc053f452468ae94963c4b9 Mon Sep 17 00:00:00 2001 From: Freddy Date: Thu, 26 Sep 2013 23:52:44 -0700 Subject: [PATCH] Faceshift drives body rotation, remove gyro-driven rotation --- interface/src/Application.cpp | 11 +++++--- interface/src/Menu.cpp | 7 ----- interface/src/Menu.h | 2 -- interface/src/avatar/Avatar.cpp | 4 +-- interface/src/avatar/Avatar.h | 2 +- interface/src/avatar/Head.cpp | 41 ++--------------------------- interface/src/avatar/Head.h | 5 +++- interface/src/avatar/MyAvatar.cpp | 12 ++++++--- interface/src/avatar/MyAvatar.h | 2 +- interface/src/devices/Faceshift.cpp | 12 ++++++--- interface/src/devices/Faceshift.h | 2 ++ 11 files changed, 38 insertions(+), 62 deletions(-) diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp index 8426b1fd55..360482e1f3 100644 --- a/interface/src/Application.cpp +++ b/interface/src/Application.cpp @@ -1750,6 +1750,11 @@ void Application::update(float deltaTime) { // Update faceshift _faceshift.update(); + + // Copy angular velocity if measured by faceshift, to the head + if (_faceshift.isActive()) { + _myAvatar.getHead().setAngularVelocity(_faceshift.getHeadAngularVelocity()); + } // if we have faceshift, use that to compute the lookat direction glm::vec3 lookAtRayOrigin = mouseRayOrigin, lookAtRayDirection = mouseRayDirection; @@ -1932,7 +1937,7 @@ void Application::update(float deltaTime) { if (!avatar->isInitialized()) { avatar->init(); } - avatar->simulate(deltaTime, NULL, 0.f); + avatar->simulate(deltaTime, NULL); avatar->setMouseRay(mouseRayOrigin, mouseRayDirection); } node->unlock(); @@ -1947,9 +1952,9 @@ void Application::update(float deltaTime) { } if (Menu::getInstance()->isOptionChecked(MenuOption::TransmitterDrive) && _myTransmitter.isConnected()) { - _myAvatar.simulate(deltaTime, &_myTransmitter, Menu::getInstance()->getGyroCameraSensitivity()); + _myAvatar.simulate(deltaTime, &_myTransmitter); } else { - _myAvatar.simulate(deltaTime, NULL, Menu::getInstance()->getGyroCameraSensitivity()); + _myAvatar.simulate(deltaTime, NULL); } // no transmitter drive implies transmitter pick diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp index 0e796e28c2..7fd1bcd0fe 100644 --- a/interface/src/Menu.cpp +++ b/interface/src/Menu.cpp @@ -485,7 +485,6 @@ void Menu::loadSettings(QSettings* settings) { settings = Application::getInstance()->getSettings(); } - _gyroCameraSensitivity = loadSetting(settings, "gyroCameraSensitivity", 0.5f); _audioJitterBufferSamples = loadSetting(settings, "audioJitterBufferSamples", 0); _fieldOfView = loadSetting(settings, "fieldOfView", DEFAULT_FIELD_OF_VIEW_DEGREES); _maxVoxels = loadSetting(settings, "maxVoxels", DEFAULT_MAX_VOXELS_PER_SYSTEM); @@ -509,7 +508,6 @@ void Menu::saveSettings(QSettings* settings) { settings = Application::getInstance()->getSettings(); } - settings->setValue("gyroCameraSensitivity", _gyroCameraSensitivity); settings->setValue("audioJitterBufferSamples", _audioJitterBufferSamples); settings->setValue("fieldOfView", _fieldOfView); settings->setValue("maxVoxels", _maxVoxels); @@ -778,10 +776,6 @@ void Menu::editPreferences() { fieldOfView->setValue(_fieldOfView); form->addRow("Vertical Field of View (Degrees):", fieldOfView); - QDoubleSpinBox* gyroCameraSensitivity = new QDoubleSpinBox(); - gyroCameraSensitivity->setValue(_gyroCameraSensitivity); - form->addRow("Gyro Camera Sensitivity (0 - 1):", gyroCameraSensitivity); - QDoubleSpinBox* leanScale = new QDoubleSpinBox(); leanScale->setValue(applicationInstance->getAvatar()->getLeanScale()); form->addRow("Lean Scale:", leanScale); @@ -823,7 +817,6 @@ void Menu::editPreferences() { applicationInstance->getAvatar()->getHead().setPupilDilation(pupilDilation->value() / (float)pupilDilation->maximum()); - _gyroCameraSensitivity = gyroCameraSensitivity->value(); _maxVoxels = maxVoxels->value(); applicationInstance->getVoxels()->setMaxVoxels(_maxVoxels); diff --git a/interface/src/Menu.h b/interface/src/Menu.h index 3f242f5fd9..1b1c236295 100644 --- a/interface/src/Menu.h +++ b/interface/src/Menu.h @@ -49,7 +49,6 @@ public: float getAudioJitterBufferSamples() const { return _audioJitterBufferSamples; } float getFieldOfView() const { return _fieldOfView; } - float getGyroCameraSensitivity() const { return _gyroCameraSensitivity; } BandwidthDialog* getBandwidthDialog() const { return _bandwidthDialog; } FrustumDrawMode getFrustumDrawMode() const { return _frustumDrawMode; } ViewFrustumOffset getViewFrustumOffset() const { return _viewFrustumOffset; } @@ -114,7 +113,6 @@ private: BandwidthDialog* _bandwidthDialog; float _fieldOfView; /// in Degrees, doesn't apply to HMD like Oculus FrustumDrawMode _frustumDrawMode; - float _gyroCameraSensitivity; ViewFrustumOffset _viewFrustumOffset; QActionGroup* _voxelModeActionsGroup; VoxelStatsDialog* _voxelStatsDialog; diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp index 028bfef2ef..e3cdcac2c7 100755 --- a/interface/src/avatar/Avatar.cpp +++ b/interface/src/avatar/Avatar.cpp @@ -289,7 +289,7 @@ void Avatar::follow(Avatar* leadingAvatar) { } } -void Avatar::simulate(float deltaTime, Transmitter* transmitter, float gyroCameraSensitivity) { +void Avatar::simulate(float deltaTime, Transmitter* transmitter) { glm::quat orientation = getOrientation(); glm::vec3 front = orientation * IDENTITY_FRONT; @@ -403,7 +403,7 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter, float gyroCamer _head.setBodyRotation(glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll)); _head.setPosition(_bodyBall[ BODY_BALL_HEAD_BASE ].position); _head.setSkinColor(glm::vec3(SKIN_COLOR[0], SKIN_COLOR[1], SKIN_COLOR[2])); - _head.simulate(deltaTime, false, gyroCameraSensitivity); + _head.simulate(deltaTime, false); _hand.simulate(deltaTime, false); // use speed and angular velocity to determine walking vs. standing diff --git a/interface/src/avatar/Avatar.h b/interface/src/avatar/Avatar.h index 1dd316f160..83cfd5993e 100755 --- a/interface/src/avatar/Avatar.h +++ b/interface/src/avatar/Avatar.h @@ -135,7 +135,7 @@ public: ~Avatar(); void init(); - void simulate(float deltaTime, Transmitter* transmitter, float gyroCameraSensitivity); + void simulate(float deltaTime, Transmitter* transmitter); void follow(Avatar* leadingAvatar); void render(bool lookingInMirror, bool renderAvatarBalls); diff --git a/interface/src/avatar/Head.cpp b/interface/src/avatar/Head.cpp index 6e437780e9..47677ec0e5 100644 --- a/interface/src/avatar/Head.cpp +++ b/interface/src/avatar/Head.cpp @@ -71,6 +71,7 @@ Head::Head(Avatar* owningAvatar) : _audioAttack(0.0f), _returnSpringScale(1.0f), _bodyRotation(0.0f, 0.0f, 0.0f), + _angularVelocity(0,0,0), _renderLookatVectors(false), _mohawkInitialized(false), _saccade(0.0f, 0.0f, 0.0f), @@ -132,7 +133,7 @@ void Head::resetHairPhysics() { } -void Head::simulate(float deltaTime, bool isMine, float gyroCameraSensitivity) { +void Head::simulate(float deltaTime, bool isMine) { // Update audio trailing average for rendering facial animations Faceshift* faceshift = Application::getInstance()->getFaceshift(); @@ -230,44 +231,6 @@ void Head::simulate(float deltaTime, bool isMine, float gyroCameraSensitivity) { // based on the nature of the lookat position, determine if the eyes can look / are looking at it. if (USING_PHYSICAL_MOHAWK) { updateHairPhysics(deltaTime); - - } - - // Update camera pitch and yaw independently from motion of head (for gyro-based interface) - if (isMine && _cameraFollowsHead && (gyroCameraSensitivity > 0.f)) { - // If we are using gyros and using gyroLook, have the camera follow head but with a null region - // to create stable rendering view with small head movements. - const float CAMERA_FOLLOW_HEAD_RATE_START = 0.1f; - const float CAMERA_FOLLOW_HEAD_RATE_MAX = 1.0f; - const float CAMERA_FOLLOW_HEAD_RATE_RAMP_RATE = 1.05f; - const float CAMERA_STOP_TOLERANCE_DEGREES = 0.5f; - const float PITCH_START_RANGE = 20.f; - const float YAW_START_RANGE = 10.f; - float pitchStartTolerance = PITCH_START_RANGE - * (1.f - gyroCameraSensitivity) - + (2.f * CAMERA_STOP_TOLERANCE_DEGREES); - float yawStartTolerance = YAW_START_RANGE - * (1.f - gyroCameraSensitivity) - + (2.f * CAMERA_STOP_TOLERANCE_DEGREES); - - float cameraHeadAngleDifference = glm::length(glm::vec2(_pitch - _cameraPitch, _yaw - _cameraYaw)); - if (_isCameraMoving) { - _cameraFollowHeadRate = glm::clamp(_cameraFollowHeadRate * CAMERA_FOLLOW_HEAD_RATE_RAMP_RATE, - 0.f, - CAMERA_FOLLOW_HEAD_RATE_MAX); - - _cameraPitch += (_pitch - _cameraPitch) * _cameraFollowHeadRate; - _cameraYaw += (_yaw - _cameraYaw) * _cameraFollowHeadRate; - if (cameraHeadAngleDifference < CAMERA_STOP_TOLERANCE_DEGREES) { - _isCameraMoving = false; - } - } else { - if ((fabs(_pitch - _cameraPitch) > pitchStartTolerance) || - (fabs(_yaw - _cameraYaw) > yawStartTolerance)) { - _isCameraMoving = true; - _cameraFollowHeadRate = CAMERA_FOLLOW_HEAD_RATE_START; - } - } } } diff --git a/interface/src/avatar/Head.h b/interface/src/avatar/Head.h index ab07227fc6..0af640af04 100644 --- a/interface/src/avatar/Head.h +++ b/interface/src/avatar/Head.h @@ -44,7 +44,7 @@ public: void init(); void reset(); - void simulate(float deltaTime, bool isMine, float gyroCameraSensitivity); + void simulate(float deltaTime, bool isMine); void render(float alpha, bool isMine); void renderMohawk(); @@ -64,6 +64,8 @@ public: glm::quat getOrientation() const; glm::quat getCameraOrientation () const; + const glm::vec3& getAngularVelocity() const { return _angularVelocity; } + void setAngularVelocity(glm::vec3 angularVelocity) { _angularVelocity = angularVelocity; } float getScale() const { return _scale; } glm::vec3 getPosition() const { return _position; } @@ -116,6 +118,7 @@ private: float _audioAttack; float _returnSpringScale; //strength of return springs glm::vec3 _bodyRotation; + glm::vec3 _angularVelocity; bool _renderLookatVectors; BendyLine _hairTuft[NUM_HAIR_TUFTS]; bool _mohawkInitialized; diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp index 3c2ce3dcb5..74291e66d4 100644 --- a/interface/src/avatar/MyAvatar.cpp +++ b/interface/src/avatar/MyAvatar.cpp @@ -65,7 +65,7 @@ void MyAvatar::reset() { _hand.reset(); } -void MyAvatar::simulate(float deltaTime, Transmitter* transmitter, float gyroCameraSensitivity) { +void MyAvatar::simulate(float deltaTime, Transmitter* transmitter) { glm::quat orientation = getOrientation(); glm::vec3 front = orientation * IDENTITY_FRONT; @@ -303,7 +303,7 @@ void MyAvatar::simulate(float deltaTime, Transmitter* transmitter, float gyroCam _head.setPosition(_bodyBall[ BODY_BALL_HEAD_BASE ].position); _head.setScale(_scale); _head.setSkinColor(glm::vec3(SKIN_COLOR[0], SKIN_COLOR[1], SKIN_COLOR[2])); - _head.simulate(deltaTime, true, gyroCameraSensitivity); + _head.simulate(deltaTime, true); _hand.simulate(deltaTime, true); const float WALKING_SPEED_THRESHOLD = 0.2f; @@ -337,7 +337,13 @@ void MyAvatar::updateFromGyrosAndOrWebcam(bool gyroLook, if (faceshift->isActive()) { estimatedPosition = faceshift->getHeadTranslation(); estimatedRotation = safeEulerAngles(faceshift->getHeadRotation()); - + // Rotate the body if the head is turned quickly + glm::vec3 headAngularVelocity = faceshift->getHeadAngularVelocity(); + const float FACESHIFT_YAW_VIEW_SENSITIVITY = 20.f; + const float FACESHIFT_MIN_YAW_VELOCITY = 1.0f; + if (fabs(headAngularVelocity.y) > FACESHIFT_MIN_YAW_VELOCITY) { + _bodyYawDelta += headAngularVelocity.y * FACESHIFT_YAW_VIEW_SENSITIVITY; + } } else if (gyros->isActive()) { estimatedRotation = gyros->getEstimatedRotation(); diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h index feea7f4e7a..d0f7d74bf4 100644 --- a/interface/src/avatar/MyAvatar.h +++ b/interface/src/avatar/MyAvatar.h @@ -16,7 +16,7 @@ public: MyAvatar(Node* owningNode = NULL); void reset(); - void simulate(float deltaTime, Transmitter* transmitter, float gyroCameraSensitivity); + void simulate(float deltaTime, Transmitter* transmitter); void updateFromGyrosAndOrWebcam(bool gyroLook, float pitchFromTouch); void render(bool lookingInMirror, bool renderAvatarBalls); void renderScreenTint(ScreenTintLayer layer, Camera& whichCamera); diff --git a/interface/src/devices/Faceshift.cpp b/interface/src/devices/Faceshift.cpp index ebc5d5b880..1798acba46 100644 --- a/interface/src/devices/Faceshift.cpp +++ b/interface/src/devices/Faceshift.cpp @@ -144,12 +144,18 @@ void Faceshift::receive(const QByteArray& buffer) { if ((_tracking = data.m_trackingSuccessful)) { glm::quat newRotation = glm::quat(data.m_headRotation.w, -data.m_headRotation.x, data.m_headRotation.y, -data.m_headRotation.z); + // Compute angular velocity of the head glm::quat r = newRotation * glm::inverse(_headRotation); - //printf("angle = %.3f\n", 2 * acos(r.w)); + float theta = 2 * acos(r.w); + if (theta > EPSILON) { + float rMag = glm::length(glm::vec3(r.x, r.y, r.z)); + float AVERAGE_FACESHIFT_FRAME_TIME = 0.033f; + _headAngularVelocity = theta / AVERAGE_FACESHIFT_FRAME_TIME * glm::vec3(r.x, r.y, r.z) / rMag; + } else { + _headAngularVelocity = glm::vec3(0,0,0); + } _headRotation = newRotation; - //_headRotation = glm::quat(data.m_headRotation.w, -data.m_headRotation.x, - // data.m_headRotation.y, -data.m_headRotation.z); const float TRANSLATION_SCALE = 0.02f; _headTranslation = glm::vec3(data.m_headTranslation.x, data.m_headTranslation.y, -data.m_headTranslation.z) * TRANSLATION_SCALE; diff --git a/interface/src/devices/Faceshift.h b/interface/src/devices/Faceshift.h index ad98f72d38..22f474192d 100644 --- a/interface/src/devices/Faceshift.h +++ b/interface/src/devices/Faceshift.h @@ -30,6 +30,7 @@ public: bool isActive() const; const glm::quat& getHeadRotation() const { return _headRotation; } + const glm::vec3& getHeadAngularVelocity() const { return _headAngularVelocity; } const glm::vec3& getHeadTranslation() const { return _headTranslation; } float getEyeGazeLeftPitch() const { return _eyeGazeLeftPitch; } @@ -88,6 +89,7 @@ private: uint64_t _lastTrackingStateReceived; glm::quat _headRotation; + glm::vec3 _headAngularVelocity; glm::vec3 _headTranslation; float _eyeGazeLeftPitch;