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Merge pull request #6745 from hyperlogic/tony/neuron-plugin
Support for Perception Neuron
This commit is contained in:
Brad Davis
commit
76eba89f7d
13 changed files with 1116 additions and 6 deletions
56
cmake/externals/neuron/CMakeLists.txt
vendored
Normal file
56
cmake/externals/neuron/CMakeLists.txt
vendored
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@ -0,0 +1,56 @@
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include(ExternalProject)
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set(EXTERNAL_NAME neuron)
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string(TOUPPER ${EXTERNAL_NAME} EXTERNAL_NAME_UPPER)
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set(NEURON_URL "https://s3.amazonaws.com/hifi-public/dependencies/neuron_datareader_b.12.zip")
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set(NEURON_URL_MD5 "0ab54ca04c9cc8094e0fa046c226e574")
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ExternalProject_Add(${EXTERNAL_NAME}
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URL ${NEURON_URL}
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URL_MD5 ${NEURON_URL_MD5}
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CONFIGURE_COMMAND ""
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BUILD_COMMAND ""
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INSTALL_COMMAND ""
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LOG_DOWNLOAD 1)
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ExternalProject_Get_Property(${EXTERNAL_NAME} SOURCE_DIR)
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set_target_properties(${EXTERNAL_NAME} PROPERTIES FOLDER "hidden/externals")
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# set include dir
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if(WIN32)
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set(${EXTERNAL_NAME_UPPER}_INCLUDE_DIRS "${SOURCE_DIR}/NeuronDataReader_Windows/include" CACHE TYPE INTERNAL)
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elseif(APPLE)
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set(${EXTERNAL_NAME_UPPER}_INCLUDE_DIRS "${SOURCE_DIR}/NeuronDataReader_Mac/include" CACHE TYPE INTERNAL)
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else()
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# Unsupported
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endif()
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if(WIN32)
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if("${CMAKE_SIZEOF_VOID_P}" EQUAL "8")
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set(ARCH_DIR "x64")
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else()
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set(ARCH_DIR "x86")
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endif()
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set(${EXTERNAL_NAME_UPPER}_LIB_PATH "${SOURCE_DIR}/NeuronDataReader_Windows/lib/${ARCH_DIR}")
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set(${EXTERNAL_NAME_UPPER}_LIBRARY_RELEASE "${${EXTERNAL_NAME_UPPER}_LIB_PATH}/NeuronDataReader.lib" CACHE TYPE INTERNAL)
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set(${EXTERNAL_NAME_UPPER}_LIBRARIES "${${EXTERNAL_NAME_UPPER}_LIB_PATH}/NeuronDataReader.lib" CACHE TYPE INTERNAL)
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add_paths_to_fixup_libs("${${EXTERNAL_NAME_UPPER}_LIB_PATH}")
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elseif(APPLE)
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set(${EXTERNAL_NAME_UPPER}_LIB_PATH "${SOURCE_DIR}/NeuronDataReader_Mac/dylib")
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set(${EXTERNAL_NAME_UPPER}_LIBRARY_RELEASE "${${EXTERNAL_NAME_UPPER}_LIB_PATH}/NeuronDataReader.dylib" CACHE TYPE INTERNAL)
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set(${EXTERNAL_NAME_UPPER}_LIBRARIES "${${EXTERNAL_NAME_UPPER}_LIB_PATH}/NeuronDataReader.dylib" CACHE TYPE INTERNAL)
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add_paths_to_fixup_libs("${${EXTERNAL_NAME_UPPER}_LIB_PATH}")
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else()
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# UNSUPPORTED
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endif()
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17
cmake/macros/TargetNeuron.cmake
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17
cmake/macros/TargetNeuron.cmake
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#
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# Copyright 2015 High Fidelity, Inc.
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# Created by Anthony J. Thibault on 2015/12/21
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#
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# Distributed under the Apache License, Version 2.0.
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# See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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#
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macro(TARGET_NEURON)
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# Neuron data reader is only available on these platforms
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if (WIN32 OR APPLE)
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add_dependency_external_projects(neuron)
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find_package(Neuron REQUIRED)
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target_include_directories(${TARGET_NAME} PRIVATE ${NEURON_INCLUDE_DIRS})
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target_link_libraries(${TARGET_NAME} ${NEURON_LIBRARIES})
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add_definitions(-DHAVE_NEURON)
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endif(WIN32 OR APPLE)
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endmacro()
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28
cmake/modules/FindNeuron.cmake
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28
cmake/modules/FindNeuron.cmake
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#
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# FindNeuron.cmake
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#
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# Try to find the Perception Neuron SDK
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#
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# You must provide a NEURON_ROOT_DIR which contains lib and include directories
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#
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# Once done this will define
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#
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# NEURON_FOUND - system found Neuron SDK
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# NEURON_INCLUDE_DIRS - the Neuron SDK include directory
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# NEURON_LIBRARIES - Link this to use Neuron
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#
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# Created on 12/21/2015 by Anthony J. Thibault
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# Copyright 2015 High Fidelity, Inc.
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#
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# Distributed under the Apache License, Version 2.0.
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# See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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#
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include(SelectLibraryConfigurations)
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select_library_configurations(NEURON)
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set(NEURON_REQUIREMENTS NEURON_INCLUDE_DIRS NEURON_LIBRARIES)
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(Neuron DEFAULT_MSG NEURON_INCLUDE_DIRS NEURON_LIBRARIES)
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mark_as_advanced(NEURON_LIBRARIES NEURON_INCLUDE_DIRS NEURON_SEARCH_DIRS)
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239
examples/controllers/neuron/neuronAvatar.js
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239
examples/controllers/neuron/neuronAvatar.js
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var JOINT_PARENT_MAP = {
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Hips: "",
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RightUpLeg: "Hips",
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RightLeg: "RightUpLeg",
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RightFoot: "RightLeg",
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LeftUpLeg: "Hips",
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LeftLeg: "LeftUpLeg",
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LeftFoot: "LeftLeg",
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Spine: "Hips",
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Spine1: "Spine",
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Spine2: "Spine1",
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Spine3: "Spine2",
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Neck: "Spine3",
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Head: "Neck",
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RightShoulder: "Spine3",
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RightArm: "RightShoulder",
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RightForeArm: "RightArm",
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RightHand: "RightForeArm",
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RightHandThumb1: "RightHand",
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RightHandThumb2: "RightHandThumb1",
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RightHandThumb3: "RightHandThumb2",
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RightHandThumb4: "RightHandThumb3",
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RightHandIndex1: "RightHand",
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RightHandIndex2: "RightHandIndex1",
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RightHandIndex3: "RightHandIndex2",
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RightHandIndex4: "RightHandIndex3",
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RightHandMiddle1: "RightHand",
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RightHandMiddle2: "RightHandMiddle1",
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RightHandMiddle3: "RightHandMiddle2",
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RightHandMiddle4: "RightHandMiddle3",
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RightHandRing1: "RightHand",
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RightHandRing2: "RightHandRing1",
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RightHandRing3: "RightHandRing2",
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RightHandRing4: "RightHandRing3",
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RightHandPinky1: "RightHand",
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RightHandPinky2: "RightHandPinky1",
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RightHandPinky3: "RightHandPinky2",
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RightHandPinky4: "RightHandPinky3",
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LeftShoulder: "Spine3",
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LeftArm: "LeftShoulder",
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LeftForeArm: "LeftArm",
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LeftHand: "LeftForeArm",
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LeftHandThumb1: "LeftHand",
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LeftHandThumb2: "LeftHandThumb1",
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LeftHandThumb3: "LeftHandThumb2",
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LeftHandThumb4: "LeftHandThumb3",
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LeftHandIndex1: "LeftHand",
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LeftHandIndex2: "LeftHandIndex1",
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LeftHandIndex3: "LeftHandIndex2",
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LeftHandIndex4: "LeftHandIndex3",
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LeftHandMiddle1: "LeftHand",
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LeftHandMiddle2: "LeftHandMiddle1",
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LeftHandMiddle3: "LeftHandMiddle2",
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LeftHandMiddle4: "LeftHandMiddle3",
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LeftHandRing1: "LeftHand",
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LeftHandRing2: "LeftHandRing1",
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LeftHandRing3: "LeftHandRing2",
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LeftHandRing4: "LeftHandRing3",
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LeftHandPinky1: "LeftHand",
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LeftHandPinky2: "LeftHandPinky1",
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LeftHandPinky3: "LeftHandPinky2",
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LeftHandPinky: "LeftHandPinky3",
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};
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var USE_TRANSLATIONS = false;
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// ctor
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function Xform(rot, pos) {
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this.rot = rot;
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this.pos = pos;
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};
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Xform.mul = function (lhs, rhs) {
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var rot = Quat.multiply(lhs.rot, rhs.rot);
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var pos = Vec3.sum(lhs.pos, Vec3.multiplyQbyV(lhs.rot, rhs.pos));
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return new Xform(rot, pos);
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};
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Xform.prototype.inv = function () {
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var invRot = Quat.inverse(this.rot);
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var invPos = Vec3.multiply(-1, this.pos);
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return new Xform(invRot, Vec3.multiplyQbyV(invRot, invPos));
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};
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Xform.prototype.toString = function () {
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var rot = this.rot;
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var pos = this.pos;
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return "Xform rot = (" + rot.x + ", " + rot.y + ", " + rot.z + ", " + rot.w + "), pos = (" + pos.x + ", " + pos.y + ", " + pos.z + ")";
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};
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function dumpHardwareMapping() {
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Object.keys(Controller.Hardware).forEach(function (deviceName) {
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Object.keys(Controller.Hardware[deviceName]).forEach(function (input) {
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print("Controller.Hardware." + deviceName + "." + input + ":" + Controller.Hardware[deviceName][input]);
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});
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});
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}
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// ctor
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function NeuronAvatar() {
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var self = this;
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Script.scriptEnding.connect(function () {
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self.shutdown();
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});
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Controller.hardwareChanged.connect(function () {
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self.hardwareChanged();
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});
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if (Controller.Hardware.Neuron) {
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this.activate();
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} else {
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this.deactivate();
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}
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}
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NeuronAvatar.prototype.shutdown = function () {
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this.deactivate();
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};
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NeuronAvatar.prototype.hardwareChanged = function () {
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if (Controller.Hardware.Neuron) {
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this.activate();
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} else {
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this.deactivate();
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}
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};
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NeuronAvatar.prototype.activate = function () {
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if (!this._active) {
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Script.update.connect(updateCallback);
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}
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this._active = true;
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// build absDefaultPoseMap
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this._defaultAbsRotMap = {};
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this._defaultAbsPosMap = {};
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this._defaultAbsRotMap[""] = {x: 0, y: 0, z: 0, w: 1};
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this._defaultAbsPosMap[""] = {x: 0, y: 0, z: 0};
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var keys = Object.keys(JOINT_PARENT_MAP);
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var i, l = keys.length;
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for (i = 0; i < l; i++) {
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var jointName = keys[i];
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var j = MyAvatar.getJointIndex(jointName);
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var parentJointName = JOINT_PARENT_MAP[jointName];
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this._defaultAbsRotMap[jointName] = Quat.multiply(this._defaultAbsRotMap[parentJointName], MyAvatar.getDefaultJointRotation(j));
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this._defaultAbsPosMap[jointName] = Vec3.sum(this._defaultAbsPosMap[parentJointName],
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Quat.multiply(this._defaultAbsRotMap[parentJointName], MyAvatar.getDefaultJointTranslation(j)));
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}
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};
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NeuronAvatar.prototype.deactivate = function () {
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if (this._active) {
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var self = this;
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Script.update.disconnect(updateCallback);
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}
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this._active = false;
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MyAvatar.clearJointsData();
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};
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NeuronAvatar.prototype.update = function (deltaTime) {
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var hmdActive = HMD.active;
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var keys = Object.keys(JOINT_PARENT_MAP);
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var i, l = keys.length;
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var absDefaultRot = {};
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var jointName, channel, pose, parentJointName, j, parentDefaultAbsRot;
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var localRotations = {};
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var localTranslations = {};
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for (i = 0; i < l; i++) {
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var jointName = keys[i];
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var channel = Controller.Hardware.Neuron[jointName];
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if (channel) {
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pose = Controller.getPoseValue(channel);
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parentJointName = JOINT_PARENT_MAP[jointName];
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j = MyAvatar.getJointIndex(jointName);
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defaultAbsRot = this._defaultAbsRotMap[jointName];
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parentDefaultAbsRot = this._defaultAbsRotMap[parentJointName];
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// Rotations from the neuron controller are in world orientation but are delta's from the default pose.
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// So first we build the absolute rotation of the default pose (local into world).
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// Then apply the rotation from the controller, in world space.
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// Then we transform back into joint local by multiplying by the inverse of the parents absolute rotation.
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var localRotation = Quat.multiply(Quat.inverse(parentDefaultAbsRot), Quat.multiply(pose.rotation, defaultAbsRot));
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if (!hmdActive || jointName !== "Hips") {
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MyAvatar.setJointRotation(j, localRotation);
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}
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localRotations[jointName] = localRotation;
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// translation proportions might be different from the neuron avatar and the user avatar skeleton.
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// so this is disabled by default
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if (USE_TRANSLATIONS) {
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var localTranslation = Vec3.multiplyQbyV(Quat.inverse(parentDefaultAbsRot), pose.translation);
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MyAvatar.setJointTranslation(j, localTranslation);
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localTranslations[jointName] = localTranslation;
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||||||
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} else {
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localTranslations[jointName] = MyAvatar.getDefaultJointTranslation(j);
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|
}
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}
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}
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// it attempts to adjust the hips so that the avatar's head is at the same location & oreintation as the HMD.
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// however it's fighting with the internal c++ code that also attempts to adjust the hips.
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if (hmdActive) {
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var UNIT_SCALE = 1 / 100;
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var hmdXform = new Xform(HMD.orientation, Vec3.multiply(1 / UNIT_SCALE, HMD.position)); // convert to cm
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var y180Xform = new Xform({x: 0, y: 1, z: 0, w: 0}, {x: 0, y: 0, z: 0});
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var avatarXform = new Xform(MyAvatar.orientation, Vec3.multiply(1 / UNIT_SCALE, MyAvatar.position)); // convert to cm
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var hipsJointIndex = MyAvatar.getJointIndex("Hips");
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var modelOffsetInvXform = new Xform({x: 0, y: 0, z: 0, w: 1}, MyAvatar.getDefaultJointTranslation(hipsJointIndex));
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var defaultHipsXform = new Xform(MyAvatar.getDefaultJointRotation(hipsJointIndex), MyAvatar.getDefaultJointTranslation(hipsJointIndex));
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||||||
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var headXform = new Xform(localRotations["Head"], localTranslations["Head"]);
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||||||
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// transform eyes down the heirarchy chain into avatar space.
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var hierarchy = ["Neck", "Spine3", "Spine2", "Spine1", "Spine"];
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var i, l = hierarchy.length;
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for (i = 0; i < l; i++) {
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var xform = new Xform(localRotations[hierarchy[i]], localTranslations[hierarchy[i]]);
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headXform = Xform.mul(xform, headXform);
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}
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headXform = Xform.mul(defaultHipsXform, headXform);
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|
|
||||||
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var preXform = Xform.mul(headXform, y180Xform);
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var postXform = Xform.mul(avatarXform, Xform.mul(y180Xform, modelOffsetInvXform.inv()));
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// solve for the offset that will put the eyes at the hmd position & orientation.
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var hipsOffsetXform = Xform.mul(postXform.inv(), Xform.mul(hmdXform, preXform.inv()));
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// now combine it with the default hips transform
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var hipsXform = Xform.mul(hipsOffsetXform, defaultHipsXform);
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||||||
|
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||||||
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MyAvatar.setJointRotation("Hips", hipsXform.rot);
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||||||
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MyAvatar.setJointTranslation("Hips", hipsXform.pos);
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||||||
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}
|
||||||
|
};
|
||||||
|
|
||||||
|
var neuronAvatar = new NeuronAvatar();
|
||||||
|
|
||||||
|
function updateCallback(deltaTime) {
|
||||||
|
neuronAvatar.update(deltaTime);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
@ -109,7 +109,9 @@ add_dependency_external_projects(sdl2)
|
||||||
if (WIN32)
|
if (WIN32)
|
||||||
add_dependency_external_projects(OpenVR)
|
add_dependency_external_projects(OpenVR)
|
||||||
endif()
|
endif()
|
||||||
|
if(WIN32 OR APPLE)
|
||||||
|
add_dependency_external_projects(neuron)
|
||||||
|
endif()
|
||||||
|
|
||||||
# disable /OPT:REF and /OPT:ICF for the Debug builds
|
# disable /OPT:REF and /OPT:ICF for the Debug builds
|
||||||
# This will prevent the following linker warnings
|
# This will prevent the following linker warnings
|
||||||
|
|
|
||||||
7
interface/resources/controllers/neuron.json
Normal file
7
interface/resources/controllers/neuron.json
Normal file
|
|
@ -0,0 +1,7 @@
|
||||||
|
{
|
||||||
|
"name": "Neuron to Standard",
|
||||||
|
"channels": [
|
||||||
|
{ "from": "Hydra.LeftHand", "to": "Standard.LeftHand" },
|
||||||
|
{ "from": "Hydra.RightHand", "to": "Standard.RightHand" }
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
@ -289,8 +289,10 @@ void Rig::clearJointState(int index) {
|
||||||
|
|
||||||
void Rig::clearJointStates() {
|
void Rig::clearJointStates() {
|
||||||
_internalPoseSet._overrideFlags.clear();
|
_internalPoseSet._overrideFlags.clear();
|
||||||
_internalPoseSet._overrideFlags.resize(_animSkeleton->getNumJoints());
|
if (_animSkeleton) {
|
||||||
_internalPoseSet._overridePoses = _animSkeleton->getRelativeDefaultPoses();
|
_internalPoseSet._overrideFlags.resize(_animSkeleton->getNumJoints());
|
||||||
|
_internalPoseSet._overridePoses = _animSkeleton->getRelativeDefaultPoses();
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void Rig::clearJointAnimationPriority(int index) {
|
void Rig::clearJointAnimationPriority(int index) {
|
||||||
|
|
|
||||||
|
|
@ -88,15 +88,73 @@ namespace controller {
|
||||||
|
|
||||||
// No correlation to SDL
|
// No correlation to SDL
|
||||||
enum StandardPoseChannel {
|
enum StandardPoseChannel {
|
||||||
LEFT_HAND = 0,
|
HIPS = 0,
|
||||||
RIGHT_HAND,
|
RIGHT_UP_LEG,
|
||||||
|
RIGHT_LEG,
|
||||||
|
RIGHT_FOOT,
|
||||||
|
LEFT_UP_LEG,
|
||||||
|
LEFT_LEG,
|
||||||
|
LEFT_FOOT,
|
||||||
|
SPINE,
|
||||||
|
SPINE1,
|
||||||
|
SPINE2,
|
||||||
|
SPINE3,
|
||||||
|
NECK,
|
||||||
HEAD,
|
HEAD,
|
||||||
|
RIGHT_SHOULDER,
|
||||||
|
RIGHT_ARM,
|
||||||
|
RIGHT_FORE_ARM,
|
||||||
|
RIGHT_HAND,
|
||||||
|
RIGHT_HAND_THUMB1,
|
||||||
|
RIGHT_HAND_THUMB2,
|
||||||
|
RIGHT_HAND_THUMB3,
|
||||||
|
RIGHT_HAND_THUMB4,
|
||||||
|
RIGHT_HAND_INDEX1,
|
||||||
|
RIGHT_HAND_INDEX2,
|
||||||
|
RIGHT_HAND_INDEX3,
|
||||||
|
RIGHT_HAND_INDEX4,
|
||||||
|
RIGHT_HAND_MIDDLE1,
|
||||||
|
RIGHT_HAND_MIDDLE2,
|
||||||
|
RIGHT_HAND_MIDDLE3,
|
||||||
|
RIGHT_HAND_MIDDLE4,
|
||||||
|
RIGHT_HAND_RING1,
|
||||||
|
RIGHT_HAND_RING2,
|
||||||
|
RIGHT_HAND_RING3,
|
||||||
|
RIGHT_HAND_RING4,
|
||||||
|
RIGHT_HAND_PINKY1,
|
||||||
|
RIGHT_HAND_PINKY2,
|
||||||
|
RIGHT_HAND_PINKY3,
|
||||||
|
RIGHT_HAND_PINKY4,
|
||||||
|
LEFT_SHOULDER,
|
||||||
|
LEFT_ARM,
|
||||||
|
LEFT_FORE_ARM,
|
||||||
|
LEFT_HAND,
|
||||||
|
LEFT_HAND_THUMB1,
|
||||||
|
LEFT_HAND_THUMB2,
|
||||||
|
LEFT_HAND_THUMB3,
|
||||||
|
LEFT_HAND_THUMB4,
|
||||||
|
LEFT_HAND_INDEX1,
|
||||||
|
LEFT_HAND_INDEX2,
|
||||||
|
LEFT_HAND_INDEX3,
|
||||||
|
LEFT_HAND_INDEX4,
|
||||||
|
LEFT_HAND_MIDDLE1,
|
||||||
|
LEFT_HAND_MIDDLE2,
|
||||||
|
LEFT_HAND_MIDDLE3,
|
||||||
|
LEFT_HAND_MIDDLE4,
|
||||||
|
LEFT_HAND_RING1,
|
||||||
|
LEFT_HAND_RING2,
|
||||||
|
LEFT_HAND_RING3,
|
||||||
|
LEFT_HAND_RING4,
|
||||||
|
LEFT_HAND_PINKY1,
|
||||||
|
LEFT_HAND_PINKY2,
|
||||||
|
LEFT_HAND_PINKY3,
|
||||||
|
LEFT_HAND_PINKY4,
|
||||||
NUM_STANDARD_POSES
|
NUM_STANDARD_POSES
|
||||||
};
|
};
|
||||||
|
|
||||||
enum StandardCounts {
|
enum StandardCounts {
|
||||||
TRIGGERS = 2,
|
TRIGGERS = 2,
|
||||||
ANALOG_STICKS = 2,
|
ANALOG_STICKS = 2,
|
||||||
POSES = 2, // FIXME 3? if we want to expose the head?
|
POSES = NUM_STANDARD_POSES
|
||||||
};
|
};
|
||||||
}
|
}
|
||||||
|
|
|
||||||
13
plugins/hifiNeuron/CMakeLists.txt
Normal file
13
plugins/hifiNeuron/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,13 @@
|
||||||
|
#
|
||||||
|
# Created by Anthony Thibault on 2015/12/18
|
||||||
|
# Copyright 2015 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
|
||||||
|
#
|
||||||
|
|
||||||
|
set(TARGET_NAME hifiNeuron)
|
||||||
|
setup_hifi_plugin(Script Qml Widgets)
|
||||||
|
link_hifi_libraries(shared controllers plugins input-plugins)
|
||||||
|
target_neuron()
|
||||||
|
|
||||||
557
plugins/hifiNeuron/src/NeuronPlugin.cpp
Normal file
557
plugins/hifiNeuron/src/NeuronPlugin.cpp
Normal file
|
|
@ -0,0 +1,557 @@
|
||||||
|
//
|
||||||
|
// NeuronPlugin.cpp
|
||||||
|
// input-plugins/src/input-plugins
|
||||||
|
//
|
||||||
|
// Created by Anthony Thibault on 12/18/2015.
|
||||||
|
// Copyright 2015 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
|
||||||
|
//
|
||||||
|
|
||||||
|
#include "NeuronPlugin.h"
|
||||||
|
|
||||||
|
#include <controllers/UserInputMapper.h>
|
||||||
|
#include <QLoggingCategory>
|
||||||
|
#include <PathUtils.h>
|
||||||
|
#include <DebugDraw.h>
|
||||||
|
#include <cassert>
|
||||||
|
#include <NumericalConstants.h>
|
||||||
|
#include <StreamUtils.h>
|
||||||
|
|
||||||
|
Q_DECLARE_LOGGING_CATEGORY(inputplugins)
|
||||||
|
Q_LOGGING_CATEGORY(inputplugins, "hifi.inputplugins")
|
||||||
|
|
||||||
|
#define __OS_XUN__ 1
|
||||||
|
#define BOOL int
|
||||||
|
|
||||||
|
#ifdef HAVE_NEURON
|
||||||
|
#include <NeuronDataReader.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
const QString NeuronPlugin::NAME = "Neuron";
|
||||||
|
const QString NeuronPlugin::NEURON_ID_STRING = "Perception Neuron";
|
||||||
|
|
||||||
|
// indices of joints of the Neuron standard skeleton.
|
||||||
|
// This is 'almost' the same as the High Fidelity standard skeleton.
|
||||||
|
// It is missing a thumb joint.
|
||||||
|
enum NeuronJointIndex {
|
||||||
|
Hips = 0,
|
||||||
|
RightUpLeg,
|
||||||
|
RightLeg,
|
||||||
|
RightFoot,
|
||||||
|
LeftUpLeg,
|
||||||
|
LeftLeg,
|
||||||
|
LeftFoot,
|
||||||
|
Spine,
|
||||||
|
Spine1,
|
||||||
|
Spine2,
|
||||||
|
Spine3,
|
||||||
|
Neck,
|
||||||
|
Head,
|
||||||
|
RightShoulder,
|
||||||
|
RightArm,
|
||||||
|
RightForeArm,
|
||||||
|
RightHand,
|
||||||
|
RightHandThumb1,
|
||||||
|
RightHandThumb2,
|
||||||
|
RightHandThumb3,
|
||||||
|
RightInHandIndex,
|
||||||
|
RightHandIndex1,
|
||||||
|
RightHandIndex2,
|
||||||
|
RightHandIndex3,
|
||||||
|
RightInHandMiddle,
|
||||||
|
RightHandMiddle1,
|
||||||
|
RightHandMiddle2,
|
||||||
|
RightHandMiddle3,
|
||||||
|
RightInHandRing,
|
||||||
|
RightHandRing1,
|
||||||
|
RightHandRing2,
|
||||||
|
RightHandRing3,
|
||||||
|
RightInHandPinky,
|
||||||
|
RightHandPinky1,
|
||||||
|
RightHandPinky2,
|
||||||
|
RightHandPinky3,
|
||||||
|
LeftShoulder,
|
||||||
|
LeftArm,
|
||||||
|
LeftForeArm,
|
||||||
|
LeftHand,
|
||||||
|
LeftHandThumb1,
|
||||||
|
LeftHandThumb2,
|
||||||
|
LeftHandThumb3,
|
||||||
|
LeftInHandIndex,
|
||||||
|
LeftHandIndex1,
|
||||||
|
LeftHandIndex2,
|
||||||
|
LeftHandIndex3,
|
||||||
|
LeftInHandMiddle,
|
||||||
|
LeftHandMiddle1,
|
||||||
|
LeftHandMiddle2,
|
||||||
|
LeftHandMiddle3,
|
||||||
|
LeftInHandRing,
|
||||||
|
LeftHandRing1,
|
||||||
|
LeftHandRing2,
|
||||||
|
LeftHandRing3,
|
||||||
|
LeftInHandPinky,
|
||||||
|
LeftHandPinky1,
|
||||||
|
LeftHandPinky2,
|
||||||
|
LeftHandPinky3,
|
||||||
|
Size
|
||||||
|
};
|
||||||
|
|
||||||
|
// Almost a direct mapping except for LEFT_HAND_THUMB1 and RIGHT_HAND_THUMB1,
|
||||||
|
// which are not present in the Neuron standard skeleton.
|
||||||
|
static controller::StandardPoseChannel neuronJointIndexToPoseIndexMap[NeuronJointIndex::Size] = {
|
||||||
|
controller::HIPS,
|
||||||
|
controller::RIGHT_UP_LEG,
|
||||||
|
controller::RIGHT_LEG,
|
||||||
|
controller::RIGHT_FOOT,
|
||||||
|
controller::LEFT_UP_LEG,
|
||||||
|
controller::LEFT_LEG,
|
||||||
|
controller::LEFT_FOOT,
|
||||||
|
controller::SPINE,
|
||||||
|
controller::SPINE1,
|
||||||
|
controller::SPINE2,
|
||||||
|
controller::SPINE3,
|
||||||
|
controller::NECK,
|
||||||
|
controller::HEAD,
|
||||||
|
controller::RIGHT_SHOULDER,
|
||||||
|
controller::RIGHT_ARM,
|
||||||
|
controller::RIGHT_FORE_ARM,
|
||||||
|
controller::RIGHT_HAND,
|
||||||
|
controller::RIGHT_HAND_THUMB2,
|
||||||
|
controller::RIGHT_HAND_THUMB3,
|
||||||
|
controller::RIGHT_HAND_THUMB4,
|
||||||
|
controller::RIGHT_HAND_INDEX1,
|
||||||
|
controller::RIGHT_HAND_INDEX2,
|
||||||
|
controller::RIGHT_HAND_INDEX3,
|
||||||
|
controller::RIGHT_HAND_INDEX4,
|
||||||
|
controller::RIGHT_HAND_MIDDLE1,
|
||||||
|
controller::RIGHT_HAND_MIDDLE2,
|
||||||
|
controller::RIGHT_HAND_MIDDLE3,
|
||||||
|
controller::RIGHT_HAND_MIDDLE4,
|
||||||
|
controller::RIGHT_HAND_RING1,
|
||||||
|
controller::RIGHT_HAND_RING2,
|
||||||
|
controller::RIGHT_HAND_RING3,
|
||||||
|
controller::RIGHT_HAND_RING4,
|
||||||
|
controller::RIGHT_HAND_PINKY1,
|
||||||
|
controller::RIGHT_HAND_PINKY2,
|
||||||
|
controller::RIGHT_HAND_PINKY3,
|
||||||
|
controller::RIGHT_HAND_PINKY4,
|
||||||
|
controller::LEFT_SHOULDER,
|
||||||
|
controller::LEFT_ARM,
|
||||||
|
controller::LEFT_FORE_ARM,
|
||||||
|
controller::LEFT_HAND,
|
||||||
|
controller::LEFT_HAND_THUMB2,
|
||||||
|
controller::LEFT_HAND_THUMB3,
|
||||||
|
controller::LEFT_HAND_THUMB4,
|
||||||
|
controller::LEFT_HAND_INDEX1,
|
||||||
|
controller::LEFT_HAND_INDEX2,
|
||||||
|
controller::LEFT_HAND_INDEX3,
|
||||||
|
controller::LEFT_HAND_INDEX4,
|
||||||
|
controller::LEFT_HAND_MIDDLE1,
|
||||||
|
controller::LEFT_HAND_MIDDLE2,
|
||||||
|
controller::LEFT_HAND_MIDDLE3,
|
||||||
|
controller::LEFT_HAND_MIDDLE4,
|
||||||
|
controller::LEFT_HAND_RING1,
|
||||||
|
controller::LEFT_HAND_RING2,
|
||||||
|
controller::LEFT_HAND_RING3,
|
||||||
|
controller::LEFT_HAND_RING4,
|
||||||
|
controller::LEFT_HAND_PINKY1,
|
||||||
|
controller::LEFT_HAND_PINKY2,
|
||||||
|
controller::LEFT_HAND_PINKY3,
|
||||||
|
controller::LEFT_HAND_PINKY4
|
||||||
|
};
|
||||||
|
|
||||||
|
// in rig frame
|
||||||
|
static glm::vec3 rightHandThumb1DefaultAbsTranslation(-2.155500650405884, -0.7610001564025879, 2.685631036758423);
|
||||||
|
static glm::vec3 leftHandThumb1DefaultAbsTranslation(2.1555817127227783, -0.7603635787963867, 2.6856393814086914);
|
||||||
|
|
||||||
|
// default translations (cm)
|
||||||
|
static glm::vec3 neuronJointTranslations[NeuronJointIndex::Size] = {
|
||||||
|
{131.901, 95.6602, -27.9815},
|
||||||
|
{-9.55907, -1.58772, 0.0760284},
|
||||||
|
{0.0144232, -41.4683, -0.105322},
|
||||||
|
{1.59348, -41.5875, -0.557237},
|
||||||
|
{9.72077, -1.68926, -0.280643},
|
||||||
|
{0.0886684, -43.1586, -0.0111596},
|
||||||
|
{-2.98473, -44.0517, 0.0694456},
|
||||||
|
{0.110967, 16.3959, 0.140463},
|
||||||
|
{0.0500451, 10.0238, 0.0731921},
|
||||||
|
{0.061568, 10.4352, 0.0583075},
|
||||||
|
{0.0500606, 10.0217, 0.0711083},
|
||||||
|
{0.0317731, 10.7176, 0.0779325},
|
||||||
|
{-0.0204253, 9.71067, 0.131734},
|
||||||
|
{-3.24245, 7.13584, 0.185638},
|
||||||
|
{-13.0885, -0.0877601, 0.176065},
|
||||||
|
{-27.2674, 0.0688724, 0.0272146},
|
||||||
|
{-26.7673, 0.0301916, 0.0102847},
|
||||||
|
{-2.56017, 0.195537, 3.20968},
|
||||||
|
{-3.78796, 0, 0},
|
||||||
|
{-2.63141, 0, 0},
|
||||||
|
{-3.31579, 0.522947, 2.03495},
|
||||||
|
{-5.36589, -0.0939789, 1.02771},
|
||||||
|
{-3.72278, 0, 0},
|
||||||
|
{-2.11074, 0, 0},
|
||||||
|
{-3.47874, 0.532042, 0.778358},
|
||||||
|
{-5.32194, -0.0864, 0.322863},
|
||||||
|
{-4.06232, 0, 0},
|
||||||
|
{-2.54653, 0, 0},
|
||||||
|
{-3.46131, 0.553263, -0.132632},
|
||||||
|
{-4.76716, -0.0227368, -0.492632},
|
||||||
|
{-3.54073, 0, 0},
|
||||||
|
{-2.45634, 0, 0},
|
||||||
|
{-3.25137, 0.482779, -1.23613},
|
||||||
|
{-4.25937, -0.0227368, -1.12168},
|
||||||
|
{-2.83528, 0, 0},
|
||||||
|
{-1.79166, 0, 0},
|
||||||
|
{3.25624, 7.13148, -0.131575},
|
||||||
|
{13.149, -0.052598, -0.125076},
|
||||||
|
{27.2903, 0.00282644, -0.0181535},
|
||||||
|
{26.6602, 0.000969969, -0.0487599},
|
||||||
|
{2.56017, 0.195537, 3.20968},
|
||||||
|
{3.78796, 0, 0},
|
||||||
|
{2.63141, 0, 0},
|
||||||
|
{3.31579, 0.522947, 2.03495},
|
||||||
|
{5.36589, -0.0939789, 1.02771},
|
||||||
|
{3.72278, 0, 0},
|
||||||
|
{2.11074, 0, 0},
|
||||||
|
{3.47874, 0.532042, 0.778358},
|
||||||
|
{5.32194, -0.0864, 0.322863},
|
||||||
|
{4.06232, 0, 0},
|
||||||
|
{2.54653, 0, 0},
|
||||||
|
{3.46131, 0.553263, -0.132632},
|
||||||
|
{4.76716, -0.0227368, -0.492632},
|
||||||
|
{3.54073, 0, 0},
|
||||||
|
{2.45634, 0, 0},
|
||||||
|
{3.25137, 0.482779, -1.23613},
|
||||||
|
{4.25937, -0.0227368, -1.12168},
|
||||||
|
{2.83528, 0, 0},
|
||||||
|
{1.79166, 0, 0}
|
||||||
|
};
|
||||||
|
|
||||||
|
static controller::StandardPoseChannel neuronJointIndexToPoseIndex(NeuronJointIndex i) {
|
||||||
|
assert(i >= 0 && i < NeuronJointIndex::Size);
|
||||||
|
if (i >= 0 && i < NeuronJointIndex::Size) {
|
||||||
|
return neuronJointIndexToPoseIndexMap[i];
|
||||||
|
} else {
|
||||||
|
return (controller::StandardPoseChannel)0; // not sure what to do here, but don't crash!
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static const char* controllerJointName(controller::StandardPoseChannel i) {
|
||||||
|
switch (i) {
|
||||||
|
case controller::HIPS: return "Hips";
|
||||||
|
case controller::RIGHT_UP_LEG: return "RightUpLeg";
|
||||||
|
case controller::RIGHT_LEG: return "RightLeg";
|
||||||
|
case controller::RIGHT_FOOT: return "RightFoot";
|
||||||
|
case controller::LEFT_UP_LEG: return "LeftUpLeg";
|
||||||
|
case controller::LEFT_LEG: return "LeftLeg";
|
||||||
|
case controller::LEFT_FOOT: return "LeftFoot";
|
||||||
|
case controller::SPINE: return "Spine";
|
||||||
|
case controller::SPINE1: return "Spine1";
|
||||||
|
case controller::SPINE2: return "Spine2";
|
||||||
|
case controller::SPINE3: return "Spine3";
|
||||||
|
case controller::NECK: return "Neck";
|
||||||
|
case controller::HEAD: return "Head";
|
||||||
|
case controller::RIGHT_SHOULDER: return "RightShoulder";
|
||||||
|
case controller::RIGHT_ARM: return "RightArm";
|
||||||
|
case controller::RIGHT_FORE_ARM: return "RightForeArm";
|
||||||
|
case controller::RIGHT_HAND: return "RightHand";
|
||||||
|
case controller::RIGHT_HAND_THUMB1: return "RightHandThumb1";
|
||||||
|
case controller::RIGHT_HAND_THUMB2: return "RightHandThumb2";
|
||||||
|
case controller::RIGHT_HAND_THUMB3: return "RightHandThumb3";
|
||||||
|
case controller::RIGHT_HAND_THUMB4: return "RightHandThumb4";
|
||||||
|
case controller::RIGHT_HAND_INDEX1: return "RightHandIndex1";
|
||||||
|
case controller::RIGHT_HAND_INDEX2: return "RightHandIndex2";
|
||||||
|
case controller::RIGHT_HAND_INDEX3: return "RightHandIndex3";
|
||||||
|
case controller::RIGHT_HAND_INDEX4: return "RightHandIndex4";
|
||||||
|
case controller::RIGHT_HAND_MIDDLE1: return "RightHandMiddle1";
|
||||||
|
case controller::RIGHT_HAND_MIDDLE2: return "RightHandMiddle2";
|
||||||
|
case controller::RIGHT_HAND_MIDDLE3: return "RightHandMiddle3";
|
||||||
|
case controller::RIGHT_HAND_MIDDLE4: return "RightHandMiddle4";
|
||||||
|
case controller::RIGHT_HAND_RING1: return "RightHandRing1";
|
||||||
|
case controller::RIGHT_HAND_RING2: return "RightHandRing2";
|
||||||
|
case controller::RIGHT_HAND_RING3: return "RightHandRing3";
|
||||||
|
case controller::RIGHT_HAND_RING4: return "RightHandRing4";
|
||||||
|
case controller::RIGHT_HAND_PINKY1: return "RightHandPinky1";
|
||||||
|
case controller::RIGHT_HAND_PINKY2: return "RightHandPinky2";
|
||||||
|
case controller::RIGHT_HAND_PINKY3: return "RightHandPinky3";
|
||||||
|
case controller::RIGHT_HAND_PINKY4: return "RightHandPinky4";
|
||||||
|
case controller::LEFT_SHOULDER: return "LeftShoulder";
|
||||||
|
case controller::LEFT_ARM: return "LeftArm";
|
||||||
|
case controller::LEFT_FORE_ARM: return "LeftForeArm";
|
||||||
|
case controller::LEFT_HAND: return "LeftHand";
|
||||||
|
case controller::LEFT_HAND_THUMB1: return "LeftHandThumb1";
|
||||||
|
case controller::LEFT_HAND_THUMB2: return "LeftHandThumb2";
|
||||||
|
case controller::LEFT_HAND_THUMB3: return "LeftHandThumb3";
|
||||||
|
case controller::LEFT_HAND_THUMB4: return "LeftHandThumb4";
|
||||||
|
case controller::LEFT_HAND_INDEX1: return "LeftHandIndex1";
|
||||||
|
case controller::LEFT_HAND_INDEX2: return "LeftHandIndex2";
|
||||||
|
case controller::LEFT_HAND_INDEX3: return "LeftHandIndex3";
|
||||||
|
case controller::LEFT_HAND_INDEX4: return "LeftHandIndex4";
|
||||||
|
case controller::LEFT_HAND_MIDDLE1: return "LeftHandMiddle1";
|
||||||
|
case controller::LEFT_HAND_MIDDLE2: return "LeftHandMiddle2";
|
||||||
|
case controller::LEFT_HAND_MIDDLE3: return "LeftHandMiddle3";
|
||||||
|
case controller::LEFT_HAND_MIDDLE4: return "LeftHandMiddle4";
|
||||||
|
case controller::LEFT_HAND_RING1: return "LeftHandRing1";
|
||||||
|
case controller::LEFT_HAND_RING2: return "LeftHandRing2";
|
||||||
|
case controller::LEFT_HAND_RING3: return "LeftHandRing3";
|
||||||
|
case controller::LEFT_HAND_RING4: return "LeftHandRing4";
|
||||||
|
case controller::LEFT_HAND_PINKY1: return "LeftHandPinky1";
|
||||||
|
case controller::LEFT_HAND_PINKY2: return "LeftHandPinky2";
|
||||||
|
case controller::LEFT_HAND_PINKY3: return "LeftHandPinky3";
|
||||||
|
case controller::LEFT_HAND_PINKY4: return "LeftHandPinky4";
|
||||||
|
default: return "???";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// convert between YXZ neuron euler angles in degrees to quaternion
|
||||||
|
// this is the default setting in the Axis Neuron server.
|
||||||
|
static quat eulerToQuat(vec3 euler) {
|
||||||
|
// euler.x and euler.y are swaped, WTF.
|
||||||
|
glm::vec3 e = glm::vec3(euler.y, euler.x, euler.z) * RADIANS_PER_DEGREE;
|
||||||
|
return (glm::angleAxis(e.y, Vectors::UNIT_Y) *
|
||||||
|
glm::angleAxis(e.x, Vectors::UNIT_X) *
|
||||||
|
glm::angleAxis(e.z, Vectors::UNIT_Z));
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef HAVE_NEURON
|
||||||
|
|
||||||
|
//
|
||||||
|
// neuronDataReader SDK callback functions
|
||||||
|
//
|
||||||
|
|
||||||
|
// NOTE: must be thread-safe
|
||||||
|
void FrameDataReceivedCallback(void* context, SOCKET_REF sender, BvhDataHeaderEx* header, float* data) {
|
||||||
|
|
||||||
|
auto neuronPlugin = reinterpret_cast<NeuronPlugin*>(context);
|
||||||
|
|
||||||
|
// version 1.0
|
||||||
|
if (header->DataVersion.Major == 1 && header->DataVersion.Minor == 0) {
|
||||||
|
|
||||||
|
// skip reference joint if present
|
||||||
|
if (header->WithReference && header->WithDisp) {
|
||||||
|
data += 6;
|
||||||
|
} else if (header->WithReference && !header->WithDisp) {
|
||||||
|
data += 3;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (header->WithDisp) {
|
||||||
|
// enter mutex
|
||||||
|
std::lock_guard<std::mutex> guard(neuronPlugin->_jointsMutex);
|
||||||
|
|
||||||
|
//
|
||||||
|
// Data is 6 floats per joint: 3 position values, 3 rotation euler angles (degrees)
|
||||||
|
//
|
||||||
|
|
||||||
|
// resize vector if necessary
|
||||||
|
const size_t NUM_FLOATS_PER_JOINT = 6;
|
||||||
|
const size_t NUM_JOINTS = header->DataCount / NUM_FLOATS_PER_JOINT;
|
||||||
|
if (neuronPlugin->_joints.size() != NUM_JOINTS) {
|
||||||
|
neuronPlugin->_joints.resize(NUM_JOINTS, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f } });
|
||||||
|
}
|
||||||
|
|
||||||
|
assert(sizeof(NeuronPlugin::NeuronJoint) == (NUM_FLOATS_PER_JOINT * sizeof(float)));
|
||||||
|
|
||||||
|
// copy the data
|
||||||
|
memcpy(&(neuronPlugin->_joints[0]), data, sizeof(NeuronPlugin::NeuronJoint) * NUM_JOINTS);
|
||||||
|
|
||||||
|
} else {
|
||||||
|
qCWarning(inputplugins) << "NeuronPlugin: unsuported binary format, please enable displacements";
|
||||||
|
|
||||||
|
// enter mutex
|
||||||
|
std::lock_guard<std::mutex> guard(neuronPlugin->_jointsMutex);
|
||||||
|
|
||||||
|
if (neuronPlugin->_joints.size() != NeuronJointIndex::Size) {
|
||||||
|
neuronPlugin->_joints.resize(NeuronJointIndex::Size, { { 0.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 0.0f } });
|
||||||
|
}
|
||||||
|
|
||||||
|
for (int i = 0; i < NeuronJointIndex::Size; i++) {
|
||||||
|
neuronPlugin->_joints[i].euler = glm::vec3();
|
||||||
|
neuronPlugin->_joints[i].pos = neuronJointTranslations[i];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
static bool ONCE = false;
|
||||||
|
if (!ONCE) {
|
||||||
|
qCCritical(inputplugins) << "NeuronPlugin: bad frame version number, expected 1.0";
|
||||||
|
ONCE = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// I can't even get the SDK to send me a callback.
|
||||||
|
// BRCommandFetchAvatarDataFromServer & BRRegisterAutoSyncParmeter [sic] don't seem to work.
|
||||||
|
// So this is totally untested.
|
||||||
|
// NOTE: must be thread-safe
|
||||||
|
static void CommandDataReceivedCallback(void* context, SOCKET_REF sender, CommandPack* pack, void* data) {
|
||||||
|
|
||||||
|
DATA_VER version;
|
||||||
|
version._VersionMask = pack->DataVersion;
|
||||||
|
if (version.Major == 1 && version.Minor == 0) {
|
||||||
|
const char* str = "Unknown";
|
||||||
|
switch (pack->CommandId) {
|
||||||
|
case Cmd_BoneSize: // Id can be used to request bone size from server or register avatar name command.
|
||||||
|
str = "BoneSize";
|
||||||
|
break;
|
||||||
|
case Cmd_AvatarName: // Id can be used to request avatar name from server or register avatar name command.
|
||||||
|
str = "AvatarName";
|
||||||
|
break;
|
||||||
|
case Cmd_FaceDirection: // Id used to request face direction from server
|
||||||
|
str = "FaceDirection";
|
||||||
|
break;
|
||||||
|
case Cmd_DataFrequency: // Id can be used to request data frequency from server or register data frequency command.
|
||||||
|
str = "DataFrequency";
|
||||||
|
break;
|
||||||
|
case Cmd_BvhInheritanceTxt: // Id can be used to request bvh header txt from server or register bvh header txt command.
|
||||||
|
str = "BvhInheritanceTxt";
|
||||||
|
break;
|
||||||
|
case Cmd_AvatarCount: // Id can be used to request avatar count from server or register avatar count command.
|
||||||
|
str = "AvatarCount";
|
||||||
|
break;
|
||||||
|
case Cmd_CombinationMode: // Id can be used to request combination mode from server or register combination mode command.
|
||||||
|
str = "CombinationMode";
|
||||||
|
break;
|
||||||
|
case Cmd_RegisterEvent: // Id can be used to register event.
|
||||||
|
str = "RegisterEvent";
|
||||||
|
break;
|
||||||
|
case Cmd_UnRegisterEvent: // Id can be used to unregister event.
|
||||||
|
str = "UnRegisterEvent";
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
qCDebug(inputplugins) << "NeuronPlugin: command data received CommandID = " << str;
|
||||||
|
} else {
|
||||||
|
static bool ONCE = false;
|
||||||
|
if (!ONCE) {
|
||||||
|
qCCritical(inputplugins) << "NeuronPlugin: bad command version number, expected 1.0";
|
||||||
|
ONCE = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// NOTE: must be thread-safe
|
||||||
|
static void SocketStatusChangedCallback(void* context, SOCKET_REF sender, SocketStatus status, char* message) {
|
||||||
|
// just dump to log, later we might want to pop up a connection lost dialog or attempt to reconnect.
|
||||||
|
qCDebug(inputplugins) << "NeuronPlugin: socket status = " << message;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // #ifdef HAVE_NEURON
|
||||||
|
|
||||||
|
//
|
||||||
|
// NeuronPlugin
|
||||||
|
//
|
||||||
|
|
||||||
|
bool NeuronPlugin::isSupported() const {
|
||||||
|
#ifdef HAVE_NEURON
|
||||||
|
// Because it's a client/server network architecture, we can't tell
|
||||||
|
// if the neuron is actually connected until we connect to the server.
|
||||||
|
return true;
|
||||||
|
#else
|
||||||
|
return false;
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
void NeuronPlugin::activate() {
|
||||||
|
#ifdef HAVE_NEURON
|
||||||
|
InputPlugin::activate();
|
||||||
|
|
||||||
|
// register with userInputMapper
|
||||||
|
auto userInputMapper = DependencyManager::get<controller::UserInputMapper>();
|
||||||
|
userInputMapper->registerDevice(_inputDevice);
|
||||||
|
|
||||||
|
// register c-style callbacks
|
||||||
|
BRRegisterFrameDataCallback((void*)this, FrameDataReceivedCallback);
|
||||||
|
BRRegisterCommandDataCallback((void*)this, CommandDataReceivedCallback);
|
||||||
|
BRRegisterSocketStatusCallback((void*)this, SocketStatusChangedCallback);
|
||||||
|
|
||||||
|
// TODO: Pull these from prefs dialog?
|
||||||
|
// localhost is fine for now.
|
||||||
|
_serverAddress = "localhost";
|
||||||
|
_serverPort = 7001; // default port for TCP Axis Neuron server.
|
||||||
|
|
||||||
|
_socketRef = BRConnectTo((char*)_serverAddress.c_str(), _serverPort);
|
||||||
|
if (!_socketRef) {
|
||||||
|
// error
|
||||||
|
qCCritical(inputplugins) << "NeuronPlugin: error connecting to " << _serverAddress.c_str() << ":" << _serverPort << ", error = " << BRGetLastErrorMessage();
|
||||||
|
} else {
|
||||||
|
qCDebug(inputplugins) << "NeuronPlugin: success connecting to " << _serverAddress.c_str() << ":" << _serverPort;
|
||||||
|
|
||||||
|
BRRegisterAutoSyncParmeter(_socketRef, Cmd_CombinationMode);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
void NeuronPlugin::deactivate() {
|
||||||
|
#ifdef HAVE_NEURON
|
||||||
|
// unregister from userInputMapper
|
||||||
|
if (_inputDevice->_deviceID != controller::Input::INVALID_DEVICE) {
|
||||||
|
auto userInputMapper = DependencyManager::get<controller::UserInputMapper>();
|
||||||
|
userInputMapper->removeDevice(_inputDevice->_deviceID);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (_socketRef) {
|
||||||
|
BRUnregisterAutoSyncParmeter(_socketRef, Cmd_CombinationMode);
|
||||||
|
BRCloseSocket(_socketRef);
|
||||||
|
}
|
||||||
|
|
||||||
|
InputPlugin::deactivate();
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
void NeuronPlugin::pluginUpdate(float deltaTime, bool jointsCaptured) {
|
||||||
|
std::vector<NeuronJoint> joints;
|
||||||
|
{
|
||||||
|
// lock and copy
|
||||||
|
std::lock_guard<std::mutex> guard(_jointsMutex);
|
||||||
|
joints = _joints;
|
||||||
|
}
|
||||||
|
_inputDevice->update(deltaTime, joints, _prevJoints);
|
||||||
|
_prevJoints = joints;
|
||||||
|
}
|
||||||
|
|
||||||
|
void NeuronPlugin::saveSettings() const {
|
||||||
|
InputPlugin::saveSettings();
|
||||||
|
}
|
||||||
|
|
||||||
|
void NeuronPlugin::loadSettings() {
|
||||||
|
InputPlugin::loadSettings();
|
||||||
|
}
|
||||||
|
|
||||||
|
//
|
||||||
|
// InputDevice
|
||||||
|
//
|
||||||
|
|
||||||
|
controller::Input::NamedVector NeuronPlugin::InputDevice::getAvailableInputs() const {
|
||||||
|
static controller::Input::NamedVector availableInputs;
|
||||||
|
if (availableInputs.size() == 0) {
|
||||||
|
for (int i = 0; i < controller::NUM_STANDARD_POSES; i++) {
|
||||||
|
auto channel = static_cast<controller::StandardPoseChannel>(i);
|
||||||
|
availableInputs.push_back(makePair(channel, controllerJointName(channel)));
|
||||||
|
}
|
||||||
|
};
|
||||||
|
return availableInputs;
|
||||||
|
}
|
||||||
|
|
||||||
|
QString NeuronPlugin::InputDevice::getDefaultMappingConfig() const {
|
||||||
|
static const QString MAPPING_JSON = PathUtils::resourcesPath() + "/controllers/neuron.json";
|
||||||
|
return MAPPING_JSON;
|
||||||
|
}
|
||||||
|
|
||||||
|
void NeuronPlugin::InputDevice::update(float deltaTime, const std::vector<NeuronPlugin::NeuronJoint>& joints, const std::vector<NeuronPlugin::NeuronJoint>& prevJoints) {
|
||||||
|
for (size_t i = 0; i < joints.size(); i++) {
|
||||||
|
glm::vec3 linearVel, angularVel;
|
||||||
|
glm::vec3 pos = joints[i].pos;
|
||||||
|
glm::quat rot = eulerToQuat(joints[i].euler);
|
||||||
|
if (i < prevJoints.size()) {
|
||||||
|
linearVel = (pos - (prevJoints[i].pos * METERS_PER_CENTIMETER)) / deltaTime; // m/s
|
||||||
|
// quat log imaginary part points along the axis of rotation, with length of one half the angle of rotation.
|
||||||
|
glm::quat d = glm::log(rot * glm::inverse(eulerToQuat(prevJoints[i].euler)));
|
||||||
|
angularVel = glm::vec3(d.x, d.y, d.z) / (0.5f * deltaTime); // radians/s
|
||||||
|
}
|
||||||
|
int poseIndex = neuronJointIndexToPoseIndex((NeuronJointIndex)i);
|
||||||
|
_poseStateMap[poseIndex] = controller::Pose(pos, rot, linearVel, angularVel);
|
||||||
|
}
|
||||||
|
|
||||||
|
_poseStateMap[controller::RIGHT_HAND_THUMB1] = controller::Pose(rightHandThumb1DefaultAbsTranslation, glm::quat(), glm::vec3(), glm::vec3());
|
||||||
|
_poseStateMap[controller::LEFT_HAND_THUMB1] = controller::Pose(leftHandThumb1DefaultAbsTranslation, glm::quat(), glm::vec3(), glm::vec3());
|
||||||
|
}
|
||||||
85
plugins/hifiNeuron/src/NeuronPlugin.h
Normal file
85
plugins/hifiNeuron/src/NeuronPlugin.h
Normal file
|
|
@ -0,0 +1,85 @@
|
||||||
|
//
|
||||||
|
// NeuronPlugin.h
|
||||||
|
// input-plugins/src/input-plugins
|
||||||
|
//
|
||||||
|
// Created by Anthony Thibault on 12/18/2015.
|
||||||
|
// Copyright 2015 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
|
||||||
|
//
|
||||||
|
|
||||||
|
#ifndef hifi_NeuronPlugin_h
|
||||||
|
#define hifi_NeuronPlugin_h
|
||||||
|
|
||||||
|
#include <controllers/InputDevice.h>
|
||||||
|
#include <controllers/StandardControls.h>
|
||||||
|
#include <plugins/InputPlugin.h>
|
||||||
|
|
||||||
|
struct _BvhDataHeaderEx;
|
||||||
|
void FrameDataReceivedCallback(void* context, void* sender, _BvhDataHeaderEx* header, float* data);
|
||||||
|
|
||||||
|
// Handles interaction with the Neuron SDK
|
||||||
|
class NeuronPlugin : public InputPlugin {
|
||||||
|
Q_OBJECT
|
||||||
|
public:
|
||||||
|
friend void FrameDataReceivedCallback(void* context, void* sender, _BvhDataHeaderEx* header, float* data);
|
||||||
|
|
||||||
|
// Plugin functions
|
||||||
|
virtual bool isSupported() const override;
|
||||||
|
virtual bool isJointController() const override { return true; }
|
||||||
|
const QString& getName() const override { return NAME; }
|
||||||
|
const QString& getID() const override { return NEURON_ID_STRING; }
|
||||||
|
|
||||||
|
virtual void activate() override;
|
||||||
|
virtual void deactivate() override;
|
||||||
|
|
||||||
|
virtual void pluginFocusOutEvent() override { _inputDevice->focusOutEvent(); }
|
||||||
|
virtual void pluginUpdate(float deltaTime, bool jointsCaptured) override;
|
||||||
|
|
||||||
|
virtual void saveSettings() const override;
|
||||||
|
virtual void loadSettings() override;
|
||||||
|
|
||||||
|
protected:
|
||||||
|
|
||||||
|
struct NeuronJoint {
|
||||||
|
glm::vec3 pos;
|
||||||
|
glm::vec3 euler;
|
||||||
|
};
|
||||||
|
|
||||||
|
class InputDevice : public controller::InputDevice {
|
||||||
|
public:
|
||||||
|
friend class NeuronPlugin;
|
||||||
|
|
||||||
|
InputDevice() : controller::InputDevice("Neuron") {}
|
||||||
|
|
||||||
|
// Device functions
|
||||||
|
virtual controller::Input::NamedVector getAvailableInputs() const override;
|
||||||
|
virtual QString getDefaultMappingConfig() const override;
|
||||||
|
virtual void update(float deltaTime, bool jointsCaptured) override {};
|
||||||
|
virtual void focusOutEvent() override {};
|
||||||
|
|
||||||
|
void update(float deltaTime, const std::vector<NeuronPlugin::NeuronJoint>& joints, const std::vector<NeuronPlugin::NeuronJoint>& prevJoints);
|
||||||
|
};
|
||||||
|
|
||||||
|
std::shared_ptr<InputDevice> _inputDevice { std::make_shared<InputDevice>() };
|
||||||
|
|
||||||
|
static const QString NAME;
|
||||||
|
static const QString NEURON_ID_STRING;
|
||||||
|
|
||||||
|
std::string _serverAddress;
|
||||||
|
int _serverPort;
|
||||||
|
void* _socketRef;
|
||||||
|
|
||||||
|
// used to guard multi-threaded access to _joints
|
||||||
|
std::mutex _jointsMutex;
|
||||||
|
|
||||||
|
// copy of data directly from the NeuronDataReader SDK
|
||||||
|
std::vector<NeuronJoint> _joints;
|
||||||
|
|
||||||
|
// one frame old copy of _joints, used to caluclate angular and linear velocity.
|
||||||
|
std::vector<NeuronJoint> _prevJoints;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // hifi_NeuronPlugin_h
|
||||||
|
|
||||||
45
plugins/hifiNeuron/src/NeuronProvider.cpp
Normal file
45
plugins/hifiNeuron/src/NeuronProvider.cpp
Normal file
|
|
@ -0,0 +1,45 @@
|
||||||
|
//
|
||||||
|
// Created by Anthony Thibault on 2015/12/18
|
||||||
|
// Copyright 2015 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
|
||||||
|
//
|
||||||
|
|
||||||
|
#include <mutex>
|
||||||
|
|
||||||
|
#include <QtCore/QObject>
|
||||||
|
#include <QtCore/QtPlugin>
|
||||||
|
#include <QtCore/QStringList>
|
||||||
|
|
||||||
|
#include <plugins/RuntimePlugin.h>
|
||||||
|
#include <plugins/InputPlugin.h>
|
||||||
|
|
||||||
|
#include "NeuronPlugin.h"
|
||||||
|
|
||||||
|
class NeuronProvider : public QObject, public InputProvider
|
||||||
|
{
|
||||||
|
Q_OBJECT
|
||||||
|
Q_PLUGIN_METADATA(IID InputProvider_iid FILE "plugin.json")
|
||||||
|
Q_INTERFACES(InputProvider)
|
||||||
|
|
||||||
|
public:
|
||||||
|
NeuronProvider(QObject* parent = nullptr) : QObject(parent) {}
|
||||||
|
virtual ~NeuronProvider() {}
|
||||||
|
|
||||||
|
virtual InputPluginList getInputPlugins() override {
|
||||||
|
static std::once_flag once;
|
||||||
|
std::call_once(once, [&] {
|
||||||
|
InputPluginPointer plugin(new NeuronPlugin());
|
||||||
|
if (plugin->isSupported()) {
|
||||||
|
_inputPlugins.push_back(plugin);
|
||||||
|
}
|
||||||
|
});
|
||||||
|
return _inputPlugins;
|
||||||
|
}
|
||||||
|
|
||||||
|
private:
|
||||||
|
InputPluginList _inputPlugins;
|
||||||
|
};
|
||||||
|
|
||||||
|
#include "NeuronProvider.moc"
|
||||||
1
plugins/hifiNeuron/src/plugin.json
Normal file
1
plugins/hifiNeuron/src/plugin.json
Normal file
|
|
@ -0,0 +1 @@
|
||||||
|
{}
|
||||||
Loading…
Reference in a new issue