send faux joints to the avatar-mixer

interface/src/avatar/MyAvatar.h

@@ -415,8 +415,6 @@ private:
 
     // working copies -- see AvatarData for thread-safe _sensorToWorldMatrixCache, used for outward facing access
     glm::mat4 _sensorToWorldMatrix { glm::mat4() };
-    glm::mat4 _controllerRightHandMatrix { glm::mat4() };
-    glm::mat4 _controllerLeftHandMatrix { glm::mat4() };
 
     // cache of the current HMD sensor position and orientation
     // in sensor space.

libraries/avatars/src/AvatarData.cpp

@@ -374,6 +374,16 @@ QByteArray AvatarData::toByteArray(bool cullSmallChanges, bool sendAll) {
         }
     }
 
+    // faux joints
+    Transform controllerLeftHandTransform = Transform(getControllerLeftHandMatrix());
+    destinationBuffer += packOrientationQuatToSixBytes(destinationBuffer, controllerLeftHandTransform.getRotation());
+    destinationBuffer += packFloatVec3ToSignedTwoByteFixed(destinationBuffer, controllerLeftHandTransform.getTranslation(),
+                                                           TRANSLATION_COMPRESSION_RADIX);
+    Transform controllerRightHandTransform = Transform(getControllerRightHandMatrix());
+    destinationBuffer += packOrientationQuatToSixBytes(destinationBuffer, controllerRightHandTransform.getRotation());
+    destinationBuffer += packFloatVec3ToSignedTwoByteFixed(destinationBuffer, controllerRightHandTransform.getTranslation(),
+                                                           TRANSLATION_COMPRESSION_RADIX);
+
     #ifdef WANT_DEBUG
     if (sendAll) {
         qDebug() << "AvatarData::toByteArray" << cullSmallChanges << sendAll
@@ -429,6 +439,20 @@ bool AvatarData::shouldLogError(const quint64& now) {
     return false;
 }
 
+
+const unsigned char* unpackFauxJoint(const unsigned char* sourceBuffer, ThreadSafeValueCache<glm::mat4>& matrixCache) {
+    glm::quat orientation;
+    glm::vec3 position;
+    Transform transform;
+    sourceBuffer += unpackOrientationQuatFromSixBytes(sourceBuffer, orientation);
+    sourceBuffer += unpackFloatVec3FromSignedTwoByteFixed(sourceBuffer, position, TRANSLATION_COMPRESSION_RADIX);
+    transform.setTranslation(position);
+    transform.setRotation(orientation);
+    matrixCache.set(transform.getMatrix());
+    return sourceBuffer;
+}
+
+
 #define PACKET_READ_CHECK(ITEM_NAME, SIZE_TO_READ)                                        \
     if ((endPosition - sourceBuffer) < (int)SIZE_TO_READ) {                               \
         if (shouldLogError(now)) {                                                        \
@@ -655,6 +679,10 @@ int AvatarData::parseDataFromBuffer(const QByteArray& buffer) {
     }
     #endif
 
+    // faux joints
+    sourceBuffer = unpackFauxJoint(sourceBuffer, _controllerLeftHandMatrixCache);
+    sourceBuffer = unpackFauxJoint(sourceBuffer, _controllerRightHandMatrixCache);
+
     int numBytesRead = sourceBuffer - startPosition;
     _averageBytesReceived.updateAverage(numBytesRead);
     return numBytesRead;
@@ -916,13 +944,13 @@ void AvatarData::clearJointsData() {
 }
 
 int AvatarData::getFauxJointIndex(const QString& name) const {
-    if (name == "sensorToWorld") {
+    if (name == "_SENSOR_TO_WORLD_MATRIX") {
         return SENSOR_TO_WORLD_MATRIX_INDEX;
     }
-    if (name == "Controller.Standard.LeftHand") {
+    if (name == "_CONTROLLER_LEFTHAND") {
         return CONTROLLER_LEFTHAND_INDEX;
     }
-    if (name == "Controller.Standard.RightHand") {
+    if (name == "_CONTROLLER_RIGHTHAND") {
         return CONTROLLER_RIGHTHAND_INDEX;
     }
     return -1;

libraries/controllers/src/controllers/UserInputMapper.cpp

@@ -335,13 +335,7 @@ QVector<QString> UserInputMapper::getActionNames() const {
 }
 
 Pose UserInputMapper::getPoseState(Action action) const {
-    if (QThread::currentThread() != thread()) {
+    if (QThread::currentThread() != thread()) { abort(); } // XXX
-        Pose result;
-        QMetaObject::invokeMethod(const_cast<UserInputMapper*>(this), "getPoseState", Qt::BlockingQueuedConnection,
-                                  Q_RETURN_ARG(Pose, result), Q_ARG(Action, action));
-        return result;
-    }
-
     return _poseStates[toInt(action)];
 }
 

libraries/networking/src/udt/PacketHeaders.cpp

@@ -52,7 +52,7 @@ PacketVersion versionForPacketType(PacketType packetType) {
         case PacketType::AvatarData:
         case PacketType::BulkAvatarData:
         case PacketType::KillAvatar:
-            return static_cast<PacketVersion>(AvatarMixerPacketVersion::SensorToWorldMat);
+            return static_cast<PacketVersion>(AvatarMixerPacketVersion::HandControllerJoints);
         case PacketType::ICEServerHeartbeat:
             return 18; // ICE Server Heartbeat signing
         case PacketType::AssetGetInfo:

libraries/networking/src/udt/PacketHeaders.h

@@ -193,7 +193,8 @@ enum class AvatarMixerPacketVersion : PacketVersion {
     SoftAttachmentSupport,
     AvatarEntities,
     AbsoluteSixByteRotations,
-    SensorToWorldMat
+    SensorToWorldMat,
+    HandControllerJoints
 };
 
 enum class DomainConnectRequestVersion : PacketVersion {

scripts/system/controllers/handControllerGrab.js

@@ -117,7 +117,7 @@ var NEAR_GRABBING_KINEMATIC = true; // force objects to be kinematic when near-g
 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: 0.0, y: 0.2, z: 0.0 };
 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;
@@ -719,6 +719,7 @@ function MyController(hand) {
 
         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
         position = Vec3.sum(position, Vec3.multiplyQbyV(orientation, GRAB_POINT_SPHERE_OFFSET));
 
         return {position: position, orientation: orientation};
@@ -847,8 +848,8 @@ function MyController(hand) {
                 drawInFront: false,
                 parentID: MyAvatar.sessionUUID,
                 parentJointIndex: MyAvatar.getJointIndex(this.hand === RIGHT_HAND ?
-                                                         "Controller.Standard.RightHand" :
+                                                         "_CONTROLLER_RIGHTHAND" :
-                                                         "Controller.Standard.LeftHand")
+                                                         "_CONTROLLER_LEFTHAND")
             });
         }
     };
@@ -1866,6 +1867,7 @@ function MyController(hand) {
         if (this.ignoreIK) {
             var controllerLocation = this.getControllerLocation();
             handRotation = controllerLocation.orientation;
+            // subtract off the GRAB_POINT_SPHERE_OFFSET that was added in getControllerLocation
             handPosition = Vec3.subtract(controllerLocation.position,
                                          Vec3.multiplyQbyV(handRotation, GRAB_POINT_SPHERE_OFFSET));
         } else {