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get various hand lasers to all line up with grab-point sphere

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This commit is contained in:
Seth Alves 2016-09-07 16:10:37 -07:00
parent b45181ea92
commit 746d0cd91c
5 changed files with 99 additions and 71 deletions
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22
libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp
View file

@ -277,27 +277,37 @@ void HmdDisplayPlugin::updateFrameData() {
continue;
}
const auto& laserDirection = handLaser.direction;
auto model = _presentHandPoses[i];
auto castDirection = glm::quat_cast(model) * laserDirection;
const vec3& laserDirection = handLaser.direction;
mat4 model = _presentHandPoses[i];
vec3 castStart = vec3(model[3]);
vec3 castDirection = glm::quat_cast(model) * laserDirection;
if (glm::abs(glm::length2(castDirection) - 1.0f) > EPSILON) {
castDirection = glm::normalize(castDirection);
castDirection = glm::inverse(_presentUiModelTransform.getRotation()) * castDirection;
}
// this offset needs to match GRAB_POINT_SPHERE_OFFSET in scripts/system/libraries/controllers.js
static const vec3 GRAB_POINT_SPHERE_OFFSET = vec3(0.1f, 0.04f, -0.32f);
vec3 grabPointOffset = GRAB_POINT_SPHERE_OFFSET;
if (i == 0) {
grabPointOffset.x *= -1.0f; // this changes between left and right hands
}
castStart += glm::quat_cast(model) * grabPointOffset;
// FIXME fetch the actual UI radius from... somewhere?
float uiRadius = 1.0f;
// Find the intersection of the laser with he UI and use it to scale the model matrix
float distance;
if (!glm::intersectRaySphere(vec3(_presentHandPoses[i][3]), castDirection, _presentUiModelTransform.getTranslation(), uiRadius * uiRadius, distance)) {
if (!glm::intersectRaySphere(castStart, castDirection,
_presentUiModelTransform.getTranslation(), uiRadius * uiRadius, distance)) {
continue;
}
_presentHandLaserPoints[i].first = vec3(_presentHandPoses[i][3]);
_presentHandLaserPoints[i].first = castStart;
_presentHandLaserPoints[i].second = _presentHandLaserPoints[i].first + (castDirection * distance);
vec3 intersectionPosition = vec3(_presentHandPoses[i][3]) + (castDirection * distance) - _presentUiModelTransform.getTranslation();
vec3 intersectionPosition = castStart + (castDirection * distance) - _presentUiModelTransform.getTranslation();
intersectionPosition = glm::inverse(_presentUiModelTransform.getRotation()) * intersectionPosition;
// Take the interesection normal and convert it to a texture coordinate

78
scripts/system/controllers/handControllerGrab.js
View file

@ -11,12 +11,13 @@
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
/* global setEntityCustomData, getEntityCustomData, flatten, Xform, Script, Quat, Vec3, MyAvatar, Entities, Overlays, Settings, Reticle, Controller, Camera, Messages, Mat4 */
/* global setEntityCustomData, getEntityCustomData, flatten, Xform, Script, Quat, Vec3, MyAvatar, Entities, Overlays, Settings, Reticle, Controller, Camera, Messages, Mat4, getControllerWorldLocation */
(function() { // BEGIN LOCAL_SCOPE
Script.include("/~/system/libraries/utils.js");
Script.include("/~/system/libraries/Xform.js");
Script.include("/~/system/libraries/controllers.js");
//
// add lines where the hand ray picking is happening
@ -110,17 +111,12 @@ var NEAR_GRAB_RADIUS = 0.04; // radius used for palm vs object for near grabbing
var NEAR_GRAB_MAX_DISTANCE = 1.0; // you cannot grab objects that are this far away from your hand
var NEAR_GRAB_PICK_RADIUS = 0.25; // radius used for search ray vs object for near grabbing.
var PICK_BACKOFF_DISTANCE = 0.2; // helps when hand is intersecting the grabble object
var NEAR_GRABBING_KINEMATIC = true; // force objects to be kinematic when near-grabbed
// if an equipped item is "adjusted" to be too far from the hand it's in, it will be unequipped.
var CHECK_TOO_FAR_UNEQUIP_TIME = 0.3; // seconds, duration between checks
// var GRAB_POINT_SPHERE_OFFSET = { x: 0, y: 0.2, z: 0 };
// var GRAB_POINT_SPHERE_OFFSET = { x: 0.1, y: 0.175, z: 0.04 };
var GRAB_POINT_SPHERE_OFFSET = { x: 0.1, y: 0.32, z: 0.04 };
var GRAB_POINT_SPHERE_RADIUS = NEAR_GRAB_RADIUS;
var GRAB_POINT_SPHERE_COLOR = { red: 20, green: 90, blue: 238 };
var GRAB_POINT_SPHERE_ALPHA = 0.85;
@ -742,30 +738,8 @@ function MyController(hand) {
}
};
this.getGrabPointSphereOffset = function() {
if (hand === RIGHT_HAND) {
return GRAB_POINT_SPHERE_OFFSET;
}
return {
x: GRAB_POINT_SPHERE_OFFSET.x * -1,
y: GRAB_POINT_SPHERE_OFFSET.y,
z: GRAB_POINT_SPHERE_OFFSET.z
};
};
// controllerLocation is where the controller would be, in-world.
this.getControllerLocation = function (doOffset) {
var standardControllerValue = (hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand;
var pose = Controller.getPoseValue(standardControllerValue);
var orientation = Quat.multiply(MyAvatar.orientation, pose.rotation);
var position = Vec3.sum(Vec3.multiplyQbyV(MyAvatar.orientation, pose.translation), MyAvatar.position);
// add to the real position so the grab-point is out in front of the hand, a bit
if (doOffset) {
position = Vec3.sum(position, Vec3.multiplyQbyV(orientation, this.getGrabPointSphereOffset()));
}
return {position: position, orientation: orientation};
this.handToController = function() {
return (hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand;
};
this.actionID = null; // action this script created...
@ -881,7 +855,7 @@ function MyController(hand) {
}
if (!this.grabPointSphere) {
this.grabPointSphere = Overlays.addOverlay("sphere", {
localPosition: this.getGrabPointSphereOffset(),
localPosition: getGrabPointSphereOffset(this.handToController()),
localRotation: { x: 0, y: 0, z: 0, w: 1 },
dimensions: GRAB_POINT_SPHERE_RADIUS,
color: GRAB_POINT_SPHERE_COLOR,
@ -1109,7 +1083,7 @@ function MyController(hand) {
}
if (!this.waitForTriggerRelease && this.triggerSmoothedSqueezed()) {
this.lastPickTime = 0;
this.startingHandRotation = this.getControllerLocation(true).orientation;
this.startingHandRotation = getControllerWorldLocation(this.handToController(), true).orientation;
if (this.triggerSmoothedSqueezed()) {
this.setState(STATE_SEARCHING, "trigger squeeze detected");
return;
@ -1118,7 +1092,7 @@ function MyController(hand) {
this.grabPointSphereOn();
var controllerLocation = this.getControllerLocation(true);
var controllerLocation = getControllerWorldLocation(this.handToController(), true);
var worldHandPosition = controllerLocation.position;
var candidateEntities = Entities.findEntities(worldHandPosition, MAX_EQUIP_HOTSPOT_RADIUS);
@ -1176,7 +1150,7 @@ function MyController(hand) {
// @returns {object} returns object with two keys entityID and distance
//
this.calcRayPickInfo = function(hand) {
var controllerLocation = this.getControllerLocation(true);
var controllerLocation = getControllerWorldLocation(this.handToController(), true);
var worldHandPosition = controllerLocation.position;
var worldHandRotation = controllerLocation.orientation;
@ -1200,9 +1174,6 @@ function MyController(hand) {
}
this.lastPickTime = now;
var directionNormalized = Vec3.normalize(pickRay.direction);
var directionBacked = Vec3.multiply(directionNormalized, PICK_BACKOFF_DISTANCE);
var intersection;
if (USE_BLACKLIST === true && blacklist.length !== 0) {
intersection = findRayIntersection(pickRay, true, [], blacklist);
@ -1420,7 +1391,8 @@ function MyController(hand) {
return _this.collectEquipHotspots(entityID);
})).filter(function(hotspot) {
return (_this.hotspotIsEquippable(hotspot) &&
Vec3.distance(hotspot.worldPosition, _this.getControllerLocation(true).position) < hotspot.radius + distance);
Vec3.distance(hotspot.worldPosition, getControllerWorldLocation(_this.handToController(), true).position) <
hotspot.radius + distance);
});
return equippableHotspots;
};
@ -1431,8 +1403,9 @@ function MyController(hand) {
if (equippableHotspots.length > 0) {
// sort by distance
equippableHotspots.sort(function(a, b) {
var aDistance = Vec3.distance(a.worldPosition, this.getControllerLocation(true).position);
var bDistance = Vec3.distance(b.worldPosition, this.getControllerLocation(true).position);
var handControllerLocation = getControllerWorldLocation(this.handToController(), true);
var aDistance = Vec3.distance(a.worldPosition, handControllerLocation.position);
var bDistance = Vec3.distance(b.worldPosition, handControllerLocation.position);
return aDistance - bDistance;
});
return equippableHotspots[0];
@ -1467,7 +1440,7 @@ function MyController(hand) {
return;
}
var handPosition = this.getControllerLocation(true).position;
var handPosition = getControllerWorldLocation(this.handToController(), true).position;
var rayPickInfo = this.calcRayPickInfo(this.hand);
@ -1652,7 +1625,7 @@ function MyController(hand) {
this.clearEquipHaptics();
this.grabPointSphereOff();
var worldControllerPosition = this.getControllerLocation(true).position;
var worldControllerPosition = getControllerWorldLocation(this.handToController(), true).position;
// transform the position into room space
var worldToSensorMat = Mat4.inverse(MyAvatar.getSensorToWorldMatrix());
@ -1727,7 +1700,7 @@ function MyController(hand) {
this.heartBeat(this.grabbedEntity);
var controllerLocation = this.getControllerLocation(true);
var controllerLocation = getControllerWorldLocation(this.handToController(), true);
var worldControllerPosition = controllerLocation.position;
var worldControllerRotation = controllerLocation.orientation;
@ -1864,7 +1837,7 @@ function MyController(hand) {
};
this.dropGestureProcess = function(deltaTime) {
var worldHandRotation = this.getControllerLocation(true).orientation;
var worldHandRotation = getControllerWorldLocation(this.handToController(), true).orientation;
var localHandUpAxis = this.hand === RIGHT_HAND ? {
x: 1,
y: 0,
@ -1942,7 +1915,7 @@ function MyController(hand) {
var handRotation;
var handPosition;
if (this.ignoreIK) {
var controllerLocation = this.getControllerLocation(false);
var controllerLocation = getControllerWorldLocation(this.handToController(), false);
handRotation = controllerLocation.orientation;
handPosition = controllerLocation.position;
} else {
@ -2122,7 +2095,7 @@ function MyController(hand) {
if (props.parentID == MyAvatar.sessionUUID) {
var handPosition;
if (this.ignoreIK) {
handPosition = this.getControllerLocation(false).position;
handPosition = getControllerWorldLocation(this.handToController(), false).position;
} else {
handPosition = this.getHandPosition();
}
@ -2238,8 +2211,8 @@ function MyController(hand) {
}
var pickRay = {
origin: this.getControllerLocation().position,
direction: Quat.getUp(this.getControllerLocation().orientation)
origin: getControllerWorldLocation(this.handToController(), false).position,
direction: Quat.getUp(getControllerWorldLocation(this.handToController(), false).orientation)
};
var now = Date.now();
@ -2268,7 +2241,8 @@ function MyController(hand) {
this.entityTouchingEnter = function() {
// test for intersection between controller laser and web entity plane.
var intersectInfo = handLaserIntersectEntity(this.grabbedEntity, this.getControllerLocation(true));
var intersectInfo = handLaserIntersectEntity(this.grabbedEntity,
getControllerWorldLocation(this.handToController(), true));
if (intersectInfo) {
var pointerEvent = {
type: "Press",
@ -2293,7 +2267,8 @@ function MyController(hand) {
this.entityTouchingExit = function() {
// test for intersection between controller laser and web entity plane.
var intersectInfo = handLaserIntersectEntity(this.grabbedEntity, this.getControllerLocation(true));
var intersectInfo = handLaserIntersectEntity(this.grabbedEntity,
getControllerWorldLocation(this.handToController(), true));
if (intersectInfo) {
var pointerEvent;
if (this.deadspotExpired) {
@ -2331,7 +2306,8 @@ function MyController(hand) {
}
// test for intersection between controller laser and web entity plane.
var intersectInfo = handLaserIntersectEntity(this.grabbedEntity, this.getControllerLocation(true));
var intersectInfo = handLaserIntersectEntity(this.grabbedEntity,
getControllerWorldLocation(this.handToController(), true));
if (intersectInfo) {
if (Entities.keyboardFocusEntity != this.grabbedEntity) {

12
scripts/system/controllers/handControllerPointer.js
View file

@ -20,6 +20,7 @@
// When partially squeezing over a HUD element, a laser or the reticle is shown where the active hand
// controller beam intersects the HUD.
Script.include("/~/system/libraries/controllers.js");
// UTILITIES -------------
//
@ -203,16 +204,13 @@ function overlayFromWorldPoint(point) {
}
function activeHudPoint2d(activeHand) { // if controller is valid, update reticle position and answer 2d point. Otherwise falsey.
var controllerPose = Controller.getPoseValue(activeHand);
// Valid if any plugged-in hand controller is "on". (uncradled Hydra, green-lighted Vive...)
var controllerPose = getControllerWorldLocation(activeHand, true);
if (!controllerPose.valid) {
return; // Controller is cradled.
}
var controllerPosition = Vec3.sum(Vec3.multiplyQbyV(MyAvatar.orientation, controllerPose.translation),
MyAvatar.position);
// This gets point direction right, but if you want general quaternion it would be more complicated:
var controllerDirection = Quat.getUp(Quat.multiply(MyAvatar.orientation, controllerPose.rotation));
var controllerPosition = controllerPose.position;
var controllerDirection = Quat.getUp(controllerPose.rotation);
var hudPoint3d = calculateRayUICollisionPoint(controllerPosition, controllerDirection);
if (!hudPoint3d) {
if (Menu.isOptionChecked("Overlays")) { // With our hud resetting strategy, hudPoint3d should be valid here

46
scripts/system/libraries/controllers.js Normal file
View file

@ -0,0 +1,46 @@
// handControllerGrab.js
//
// Created by Seth Alves on 2016-9-7
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
/* global MyAvatar, Vec3, Controller, Quat */
// var GRAB_POINT_SPHERE_OFFSET = { x: 0, y: 0.2, z: 0 };
// var GRAB_POINT_SPHERE_OFFSET = { x: 0.1, y: 0.175, z: 0.04 };
// this offset needs to match the one in libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp
var GRAB_POINT_SPHERE_OFFSET = { x: 0.1, y: 0.32, z: 0.04 };
getGrabPointSphereOffset = function(handController) {
if (handController === Controller.Standard.RightHand) {
return GRAB_POINT_SPHERE_OFFSET;
}
return {
x: GRAB_POINT_SPHERE_OFFSET.x * -1,
y: GRAB_POINT_SPHERE_OFFSET.y,
z: GRAB_POINT_SPHERE_OFFSET.z
};
};
// controllerLocation is where the controller would be, in-world.
getControllerWorldLocation = function (handController, doOffset) {
var orientation;
var position;
var pose = Controller.getPoseValue(handController);
if (pose.valid) {
orientation = Quat.multiply(MyAvatar.orientation, pose.rotation);
position = Vec3.sum(Vec3.multiplyQbyV(MyAvatar.orientation, pose.translation), MyAvatar.position);
// add to the real position so the grab-point is out in front of the hand, a bit
if (doOffset) {
position = Vec3.sum(position, Vec3.multiplyQbyV(orientation, getGrabPointSphereOffset(handController)));
}
}
return {position: position,
translation: position,
orientation: orientation,
rotation: orientation,
valid: pose.valid};
};

12
scripts/system/mod.js
View file

@ -10,6 +10,8 @@
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
/* global Toolbars, Script, Users, Overlays, AvatarList, Controller, Camera, getControllerWorldLocation */
(function() { // BEGIN LOCAL_SCOPE
@ -144,7 +146,7 @@ AvatarList.avatarRemovedEvent.connect(function(avatarID){
function handleSelectedOverlay(clickedOverlay) {
// see this is one of our mod overlays
var modOverlayKeys = Object.keys(modOverlays)
var modOverlayKeys = Object.keys(modOverlays);
for (var i = 0; i < modOverlayKeys.length; ++i) {
var avatarID = modOverlayKeys[i];
var modOverlay = modOverlays[avatarID];
@ -187,13 +189,9 @@ Controller.mousePressEvent.connect(function(event){
var triggerMapping = Controller.newMapping(Script.resolvePath('') + '-click');
function controllerComputePickRay(hand) {
var controllerPose = Controller.getPoseValue(hand);
var controllerPose = getControllerWorldLocation(hand, true);
if (controllerPose.valid) {
var controllerPosition = Vec3.sum(Vec3.multiplyQbyV(MyAvatar.orientation, controllerPose.translation),
MyAvatar.position);
// This gets point direction right, but if you want general quaternion it would be more complicated:
var controllerDirection = Quat.getUp(Quat.multiply(MyAvatar.orientation, controllerPose.rotation));
return { origin: controllerPosition, direction: controllerDirection };
return { origin: controllerPose.position, direction: controllerPose.orientation };
}
}