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made the threshold for the spine angle larger to make auto transitions more robust

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This commit is contained in:
amantley 2018-10-12 15:00:15 -07:00
parent 67afc86222
commit 7dd156ccdd
3 changed files with 38 additions and 23 deletions
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57
interface/src/avatar/MyAvatar.cpp
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@ -471,6 +471,7 @@ void MyAvatar::update(float deltaTime) {
const float STANDING_HEIGHT_MULTIPLE = 1.2f; const float STANDING_HEIGHT_MULTIPLE = 1.2f;
const float SITTING_HEIGHT_MULTIPLE = 0.833f; const float SITTING_HEIGHT_MULTIPLE = 0.833f;
const float COSINE_TEN_DEGREES = 0.98f; const float COSINE_TEN_DEGREES = 0.98f;
const float COSINE_THIRTY_DEGREES = 0.866f;
const int SITTING_COUNT_THRESHOLD = 300; const int SITTING_COUNT_THRESHOLD = 300;
const int SQUATTY_COUNT_THRESHOLD = 600; const int SQUATTY_COUNT_THRESHOLD = 600;
@ -518,7 +519,7 @@ void MyAvatar::update(float deltaTime) {
upSpine2 = glm::normalize(upSpine2); upSpine2 = glm::normalize(upSpine2);
} }
float angleSpine2 = glm::dot(upSpine2, glm::vec3(0.0f, 1.0f, 0.0f)); float angleSpine2 = glm::dot(upSpine2, glm::vec3(0.0f, 1.0f, 0.0f));
if (getControllerPoseInAvatarFrame(controller::Action::HEAD).getTranslation().y < (headDefaultPositionAvatarSpace.y - SQUAT_THRESHOLD) && (angleSpine2 > COSINE_TEN_DEGREES)) { if (getControllerPoseInAvatarFrame(controller::Action::HEAD).getTranslation().y < (headDefaultPositionAvatarSpace.y - SQUAT_THRESHOLD) && (angleSpine2 > COSINE_THIRTY_DEGREES)) {
_squatCount++; _squatCount++;
} else { } else {
_squatCount = 0; _squatCount = 0;
@ -531,7 +532,7 @@ void MyAvatar::update(float deltaTime) {
glm::vec3 sensorHips = transformPoint(glm::inverse(getSensorToWorldMatrix()), worldHips); glm::vec3 sensorHips = transformPoint(glm::inverse(getSensorToWorldMatrix()), worldHips);
// put update sit stand state counts here // put update sit stand state counts here
if (getIsSitStandStateLocked()) { if (!getIsSitStandStateLocked() && (_follow._velocityCount > 60)) {
if (getIsInSittingState()) { if (getIsInSittingState()) {
if (newHeightReading.getTranslation().y > (STANDING_HEIGHT_MULTIPLE * _tippingPoint)) { if (newHeightReading.getTranslation().y > (STANDING_HEIGHT_MULTIPLE * _tippingPoint)) {
// if we recenter upwards then no longer in sitting state // if we recenter upwards then no longer in sitting state
@ -544,10 +545,10 @@ void MyAvatar::update(float deltaTime) {
_tippingPoint = newHeightReading.getTranslation().y; _tippingPoint = newHeightReading.getTranslation().y;
} }
_averageUserHeightCount = 1; _averageUserHeightCount = 1;
setResetMode(true); // setResetMode(true);
setIsInSittingState(false); setIsInSittingState(false);
setCenterOfGravityModelEnabled(true); // setCenterOfGravityModelEnabled(true);
setSitStandStateChange(true); // setSitStandStateChange(true);
} }
qCDebug(interfaceapp) << "going to stand state"; qCDebug(interfaceapp) << "going to stand state";
} else { } else {
@ -557,7 +558,7 @@ void MyAvatar::update(float deltaTime) {
} }
} else { } else {
// in the standing state // in the standing state
if ((newHeightReading.getTranslation().y < (SITTING_HEIGHT_MULTIPLE * _tippingPoint))) {// && (angleSpine2 > COSINE_TEN_DEGREES) && !(sensorHips.y > (0.4f * averageSensorSpaceHeight))) { if ((newHeightReading.getTranslation().y < (SITTING_HEIGHT_MULTIPLE * _tippingPoint)) && (angleSpine2 > COSINE_THIRTY_DEGREES)) {
_sitStandStateCount++; _sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) { if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sitStandStateCount = 0; _sitStandStateCount = 0;
@ -567,11 +568,10 @@ void MyAvatar::update(float deltaTime) {
_tippingPoint = newHeightReading.getTranslation().y; _tippingPoint = newHeightReading.getTranslation().y;
} }
_averageUserHeightCount = 1; _averageUserHeightCount = 1;
setResetMode(true); // setResetMode(true);
setIsInSittingState(true); setIsInSittingState(true);
setCenterOfGravityModelEnabled(false); // setCenterOfGravityModelEnabled(false);
// setSitStandStateChange(true);
setSitStandStateChange(true);
} }
qCDebug(interfaceapp) << "going to sit state"; qCDebug(interfaceapp) << "going to sit state";
} else { } else {
@ -3898,6 +3898,13 @@ void MyAvatar::setIsInWalkingState(bool isWalking) {
void MyAvatar::setIsInSittingState(bool isSitting) { void MyAvatar::setIsInSittingState(bool isSitting) {
_isInSittingState.set(isSitting); _isInSittingState.set(isSitting);
setResetMode(true);
if (isSitting) {
setCenterOfGravityModelEnabled(false);
} else {
setCenterOfGravityModelEnabled(true);
}
setSitStandStateChange(true);
emit sittingEnabledChanged(isSitting); emit sittingEnabledChanged(isSitting);
} }
@ -4146,32 +4153,34 @@ bool MyAvatar::FollowHelper::shouldActivateVertical(MyAvatar& myAvatar, const gl
const float CYLINDER_TOP = 0.1f; const float CYLINDER_TOP = 0.1f;
const float CYLINDER_BOTTOM = -1.5f; const float CYLINDER_BOTTOM = -1.5f;
const float SITTING_BOTTOM = -0.02f; const float SITTING_BOTTOM = -0.02f;
const int SQUATTY_COUNT_THRESHOLD = 600; const int SQUATTY_COUNT_THRESHOLD = 1800;
glm::vec3 offset = extractTranslation(desiredBodyMatrix) - extractTranslation(currentBodyMatrix); glm::vec3 offset = extractTranslation(desiredBodyMatrix) - extractTranslation(currentBodyMatrix);
bool returnValue = false; bool returnValue = false;
returnValue = (offset.y > CYLINDER_TOP) || (offset.y < CYLINDER_BOTTOM);
if (myAvatar.getSitStandStateChange()) { if (myAvatar.getSitStandStateChange()) {
qCDebug(interfaceapp) << "sit state change"; // qCDebug(interfaceapp) << "sit state change";
returnValue = true; returnValue = true;
} }
if (myAvatar.getIsInSittingState()) { if (myAvatar.getIsInSittingState()) {
if (myAvatar.getIsSitStandStateLocked()) {
returnValue = (offset.y > CYLINDER_TOP);
}
if (offset.y < SITTING_BOTTOM) { if (offset.y < SITTING_BOTTOM) {
// we recenter when sitting. // we recenter when sitting.
qCDebug(interfaceapp) << "lean back sitting "; // qCDebug(interfaceapp) << "lean back sitting ";
returnValue = true; returnValue = true;
} }
} else { } else {
// in the standing state // in the standing state
if (myAvatar._squatCount > SQUATTY_COUNT_THRESHOLD) { returnValue = (offset.y > CYLINDER_TOP) || (offset.y < CYLINDER_BOTTOM);
// finally check for squats in standing
if ((myAvatar._squatCount > SQUATTY_COUNT_THRESHOLD) && !myAvatar.getIsSitStandStateLocked()) {
myAvatar._squatCount = 0; myAvatar._squatCount = 0;
qCDebug(interfaceapp) << "squatting "; // qCDebug(interfaceapp) << "squatting ";
// returnValue = true; returnValue = true;
}
if (returnValue == true) {
qCDebug(interfaceapp) << "above or below capsule in standing";
} }
} }
return returnValue; return returnValue;
@ -4185,6 +4194,7 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) { if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
activate(Rotation); activate(Rotation);
qCDebug(interfaceapp) << "should activate rotation true ";
myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing()); myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing());
} }
if (myAvatar.getCenterOfGravityModelEnabled()) { if (myAvatar.getCenterOfGravityModelEnabled()) {
@ -4199,7 +4209,8 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
// center of gravity model is not enabled // center of gravity model is not enabled
if (!isActive(Horizontal) && (shouldActivateHorizontal(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) { if (!isActive(Horizontal) && (shouldActivateHorizontal(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
activate(Horizontal); activate(Horizontal);
if (myAvatar.getEnableStepResetRotation()) { if (myAvatar.getEnableStepResetRotation() && !myAvatar.getIsInSittingState()) {
qCDebug(interfaceapp) << "step recenter rotation true ";
activate(Rotation); activate(Rotation);
myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing()); myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing());
} }
@ -4214,6 +4225,10 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
if ((glm::length(myAvatar.getControllerPoseInSensorFrame(controller::Action::HEAD).getVelocity()) > 0.1f)) { if ((glm::length(myAvatar.getControllerPoseInSensorFrame(controller::Action::HEAD).getVelocity()) > 0.1f)) {
_velocityCount++; _velocityCount++;
} }
if (_velocityCount > 60) {
qCDebug(interfaceapp) << "reached velocity count ";
}
} }

2
interface/src/avatar/MyAvatar.h
View file

@ -1835,7 +1835,7 @@ private:
float _sumUserHeightSensorSpace{ DEFAULT_AVATAR_HEIGHT }; float _sumUserHeightSensorSpace{ DEFAULT_AVATAR_HEIGHT };
int _averageUserHeightCount{ 1 }; int _averageUserHeightCount{ 1 };
bool _sitStandStateChange{ false }; bool _sitStandStateChange{ false };
ThreadSafeValueCache<bool> _lockSitStandState { true }; ThreadSafeValueCache<bool> _lockSitStandState { false };
// max unscaled forward movement speed // max unscaled forward movement speed
ThreadSafeValueCache<float> _walkSpeed { DEFAULT_AVATAR_MAX_WALKING_SPEED }; ThreadSafeValueCache<float> _walkSpeed { DEFAULT_AVATAR_MAX_WALKING_SPEED };

2
interface/src/avatar/MySkeletonModel.cpp
View file

@ -46,7 +46,7 @@ static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
} }
glm::mat4 hipsMat; glm::mat4 hipsMat;
if (myAvatar->getCenterOfGravityModelEnabled() && !isFlying && !(myAvatar->getIsInWalkingState()) && !(myAvatar->getIsInSittingState())) { if (myAvatar->getCenterOfGravityModelEnabled() && !isFlying && !(myAvatar->getIsInWalkingState()) && !(myAvatar->getIsInSittingState()) && myAvatar->getHMDLeanRecenterEnabled()) {
// then we use center of gravity model // then we use center of gravity model
hipsMat = myAvatar->deriveBodyUsingCgModel(); hipsMat = myAvatar->deriveBodyUsingCgModel();
} else { } else {