mirror of
https://github.com/overte-org/overte.git
synced 2025-04-20 04:44:11 +02:00
Minor changes based on code review feedback
See https://worklist.net/21317, https://github.com/highfidelity/hifi/pull/10609 and https://github.com/highfidelity/hifi/pull/10609#pullrequestreview-42090197
This commit is contained in:
Chris Howe
parent
6edc6b2756
commit
8166fec0e0
4 changed files with 124 additions and 164 deletions
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@ -773,114 +773,78 @@ controller::Pose MyAvatar::getRightHandTipPose() const {
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return pose;
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}
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glm::vec3 MyAvatar::worldToJointPoint(const glm::vec3& position, const int jointIndex) const {
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glm::vec3 jointPos = getPosition();//default value if no or invalid joint specified
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1) {
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if (_skeletonModel->getJointPositionInWorldFrame(jointIndex, jointPos)) {
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_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot);
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}
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else {
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 modelOffset = position - jointPos;
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glm::vec3 jointSpacePosition = glm::inverse(jointRot) * modelOffset;
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////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////
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//:1P: conversion functions for world-space to avatar-space or vice versa
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glm::vec3 MyAvatar::worldToAvatarPoint(const glm::vec3& position, const int jointIndex) const
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{
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glm::vec3 jointPos = getPosition();//default value if no or invalid joint specified
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointPositionInWorldFrame(jointIndex, jointPos))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 modelOffset = position - jointPos;
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glm::vec3 modelPosition = glm::inverse(jointRot) * modelOffset;
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return modelPosition;
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return jointSpacePosition;
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}
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glm::vec3 MyAvatar::worldToAvatarDirection(const glm::vec3& worldDir, const int jointIndex) const
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{
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 MyAvatar::worldToJointDirection(const glm::vec3& worldDir, const int jointIndex) const {
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if ((jointIndex != -1) && (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))) {
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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glm::vec3 avatarDir = glm::inverse(jointRot) * worldDir;
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return avatarDir;
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glm::vec3 jointSpaceDir = glm::inverse(jointRot) * worldDir;
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return jointSpaceDir;
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}
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glm::quat MyAvatar::worldToAvatarRotation(const glm::quat& worldRot, const int jointIndex) const
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{
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::quat avatarRot = glm::inverse(jointRot) * worldRot;
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return avatarRot;
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glm::quat MyAvatar::worldToJointRotation(const glm::quat& worldRot, const int jointIndex) const {
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if ((jointIndex != -1) && (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))) {
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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glm::quat jointSpaceRot = glm::inverse(jointRot) * worldRot;
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return jointSpaceRot;
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}
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glm::vec3 MyAvatar::avatarToWorldPoint(const glm::vec3& avatarPos, const int jointIndex) const
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{
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glm::vec3 jointPos = getPosition();//default value if no or invalid joint specified
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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glm::vec3 MyAvatar::jointToWorldPoint(const glm::vec3& jointSpacePos, const int jointIndex) const {
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glm::vec3 jointPos = getPosition();//default value if no or invalid joint specified
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointPositionInWorldFrame(jointIndex, jointPos))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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if (jointIndex != -1) {
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if (_skeletonModel->getJointPositionInWorldFrame(jointIndex, jointPos)) {
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_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot);
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}
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else {
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 worldOffset = jointRot * avatarPos;
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glm::vec3 worldPos = jointPos + worldOffset;
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glm::vec3 worldOffset = jointRot * jointSpacePos;
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glm::vec3 worldPos = jointPos + worldOffset;
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return worldPos;
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return worldPos;
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}
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glm::vec3 MyAvatar::avatarToWorldDirection(const glm::vec3& avatarDir, const int jointIndex) const
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{
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::vec3 worldDir = jointRot * avatarDir;
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return worldDir;
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glm::vec3 MyAvatar::jointToWorldDirection(const glm::vec3& jointSpaceDir, const int jointIndex) const {
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if ((jointIndex != -1) && (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))) {
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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glm::vec3 worldDir = jointRot * jointSpaceDir;
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return worldDir;
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}
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glm::quat MyAvatar::avatarToWorldRotation(const glm::quat& avatarRot, const int jointIndex) const
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{
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if (jointIndex != -1)
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{
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if (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))
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{
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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}
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glm::quat worldRot = jointRot * avatarRot;
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return worldRot;
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glm::quat MyAvatar::jointToWorldRotation(const glm::quat& jointSpaceRot, const int jointIndex) const {
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glm::quat jointRot = getRotation();//default value if no or invalid joint specified
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if ((jointIndex != -1) && (!_skeletonModel->getJointRotationInWorldFrame(jointIndex, jointRot))) {
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qWarning() << "Invalid joint index specified: " << jointIndex;
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}
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glm::quat worldRot = jointRot * jointSpaceRot;
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return worldRot;
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}
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////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////
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// virtual
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void MyAvatar::render(RenderArgs* renderArgs) {
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@ -379,18 +379,14 @@ public:
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Q_INVOKABLE controller::Pose getLeftHandTipPose() const;
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Q_INVOKABLE controller::Pose getRightHandTipPose() const;
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////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////
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//:1P: world-space to avatar-space rigconversion functions
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Q_INVOKABLE glm::vec3 worldToAvatarPoint(const glm::vec3& position, const int jointIndex = -1) const;
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Q_INVOKABLE glm::vec3 worldToAvatarDirection(const glm::vec3& direction, const int jointIndex = -1) const;
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Q_INVOKABLE glm::quat worldToAvatarRotation(const glm::quat& rotation, const int jointIndex = -1) const;
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// world-space to avatar-space rigconversion functions
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Q_INVOKABLE glm::vec3 worldToJointPoint(const glm::vec3& position, const int jointIndex = -1) const;
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Q_INVOKABLE glm::vec3 worldToJointDirection(const glm::vec3& direction, const int jointIndex = -1) const;
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Q_INVOKABLE glm::quat worldToJointRotation(const glm::quat& rotation, const int jointIndex = -1) const;
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Q_INVOKABLE glm::vec3 avatarToWorldPoint(const glm::vec3& position, const int jointIndex = -1) const;
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Q_INVOKABLE glm::vec3 avatarToWorldDirection(const glm::vec3& direction, const int jointIndex = -1) const;
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Q_INVOKABLE glm::quat avatarToWorldRotation(const glm::quat& rotation, const int jointIndex = -1) const;
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////////////////////////////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////////////////////////////
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Q_INVOKABLE glm::vec3 jointToWorldPoint(const glm::vec3& position, const int jointIndex = -1) const;
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Q_INVOKABLE glm::vec3 jointToWorldDirection(const glm::vec3& direction, const int jointIndex = -1) const;
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Q_INVOKABLE glm::quat jointToWorldRotation(const glm::quat& rotation, const int jointIndex = -1) const;
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AvatarWeakPointer getLookAtTargetAvatar() const { return _lookAtTargetAvatar; }
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void updateLookAtTargetAvatar();
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@ -20,45 +20,45 @@ var debugBoxBaseProperties = {
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userData: "{ \"grabbableKey\": { \"grabbable\": false, \"kinematic\": false } }"
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};
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//avatarToWorldPoint
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//jointToWorldPoint
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// create sphere for finger on left hand
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// each frame, calculate world position of finger, with some offset
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// update sphere to match this position
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var avatarToWorldPointTest_sphereEntity;
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function avatarToWorldPointTest() {
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var jointToWorldPointTest_sphereEntity;
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function jointToWorldPointTest() {
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var jointIndex = MyAvatar.getJointIndex("LeftHandPinky4");
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var jointOffset_WorldSpace = { x: 0.1, y: 0, z: 0 };
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var worldPos = MyAvatar.avatarToWorldPoint(jointOffset_WorldSpace, jointIndex);
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var worldPos = MyAvatar.jointToWorldPoint(jointOffset_WorldSpace, jointIndex);
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var jointSphereProps = Object.create(debugSphereBaseProperties);
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jointSphereProps.name = "avatarToWorldPointTest_Sphere";
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jointSphereProps.name = "jointToWorldPointTest_Sphere";
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jointSphereProps.color = { blue: 240, green: 150, red: 150 };
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jointSphereProps.position = worldPos;
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avatarToWorldPointTest_sphereEntity = Entities.addEntity(jointSphereProps);
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jointToWorldPointTest_sphereEntity = Entities.addEntity(jointSphereProps);
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}
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function avatarToWorldPointTest_update(deltaTime) {
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function jointToWorldPointTest_update(deltaTime) {
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var jointIndex = MyAvatar.getJointIndex("LeftHandPinky4");
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var jointOffset_WorldSpace = { x: 0.1, y: 0, z: 0 };
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var worldPos = MyAvatar.avatarToWorldPoint(jointOffset_WorldSpace, jointIndex);
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var worldPos = MyAvatar.jointToWorldPoint(jointOffset_WorldSpace, jointIndex);
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var newProperties = { position: worldPos };
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Entities.editEntity(avatarToWorldPointTest_sphereEntity, newProperties);
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Entities.editEntity(jointToWorldPointTest_sphereEntity, newProperties);
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}
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//avatarToWorldDirection
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//jointToWorldDirection
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// create line in world space
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// each frame calculate world space direction of players head z axis
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// update line to match
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var avatarToWorldDirectionTest_lineEntity;
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function avatarToWorldDirectionTest() {
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var jointToWorldDirectionTest_lineEntity;
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function jointToWorldDirectionTest() {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var avatarPos = MyAvatar.getJointPosition(jointIndex);
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var jointDir = { x: 1, y: 0, z: 1 };
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var worldDir = MyAvatar.avatarToWorldDirection(jointDir, jointIndex);
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var worldDir = MyAvatar.jointToWorldDirection(jointDir, jointIndex);
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print(worldDir.x);
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print(worldDir.y);
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print(worldDir.z);
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avatarToWorldDirectionTest_lineEntity = Entities.addEntity({
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jointToWorldDirectionTest_lineEntity = Entities.addEntity({
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type: "Line",
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color: {red: 250, green: 0, blue: 0},
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dimensions: {x: 5, y: 5, z: 5},
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@ -72,11 +72,11 @@ function avatarToWorldDirectionTest() {
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position : avatarPos,
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});
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}
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function avatarToWorldDirection_update(deltaTime) {
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function jointToWorldDirection_update(deltaTime) {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var avatarPos = MyAvatar.getJointPosition(jointIndex);
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var jointDir = { x: 1, y: 0, z: 0 };
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var worldDir = MyAvatar.avatarToWorldDirection(jointDir, jointIndex);
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var worldDir = MyAvatar.jointToWorldDirection(jointDir, jointIndex);
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var newProperties = {
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linePoints: [{
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x: 0,
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@ -87,41 +87,41 @@ function avatarToWorldDirection_update(deltaTime) {
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position : avatarPos
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};
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Entities.editEntity(avatarToWorldDirectionTest_lineEntity, newProperties);
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Entities.editEntity(jointToWorldDirectionTest_lineEntity, newProperties);
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}
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//avatarToWorldRotation
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//jointToWorldRotation
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// create box in world space
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// each frame calculate world space rotation of players head
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// update box rotation to match
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var avatarToWorldRotationTest_boxEntity;
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function avatarToWorldRotationTest() {
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var jointToWorldRotationTest_boxEntity;
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function jointToWorldRotationTest() {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointRot = MyAvatar.getJointRotation(jointIndex);
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var jointRot_WorldSpace = MyAvatar.avatarToWorldRotation(jointRot, jointIndex);
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var jointRot_WorldSpace = MyAvatar.jointToWorldRotation(jointRot, jointIndex);
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var boxProps = Object.create(debugBoxBaseProperties);
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boxProps.name = "avatarToWorldRotationTest_Box";
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boxProps.name = "jointToWorldRotationTest_Box";
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boxProps.color = { blue: 250, green: 250, red: 250 };
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boxProps.position = jointPosition_WorldSpace;
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boxProps.rotation = jointRot_WorldSpace;
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avatarToWorldRotationTest_boxEntity = Entities.addEntity(boxProps);
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jointToWorldRotationTest_boxEntity = Entities.addEntity(boxProps);
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}
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function avatarToWorldRotationTest_update(deltaTime) {
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function jointToWorldRotationTest_update(deltaTime) {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointRot = MyAvatar.getJointRotation(jointIndex);
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var jointRot_WorldSpace = MyAvatar.avatarToWorldRotation(jointRot, jointIndex);
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var jointRot_WorldSpace = MyAvatar.jointToWorldRotation(jointRot, jointIndex);
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var newProperties = { position: jointPosition_WorldSpace, rotation: jointRot_WorldSpace };
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Entities.editEntity(avatarToWorldRotationTest_boxEntity, newProperties);
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Entities.editEntity(jointToWorldRotationTest_boxEntity, newProperties);
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}
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avatarToWorldPointTest();
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Script.update.connect(avatarToWorldPointTest_update);
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jointToWorldPointTest();
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Script.update.connect(jointToWorldPointTest_update);
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avatarToWorldDirectionTest();
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Script.update.connect(avatarToWorldDirection_update);
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jointToWorldDirectionTest();
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Script.update.connect(jointToWorldDirection_update);
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avatarToWorldRotationTest();
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Script.update.connect(avatarToWorldRotationTest_update);
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jointToWorldRotationTest();
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Script.update.connect(jointToWorldRotationTest_update);
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@ -20,22 +20,22 @@ var debugBoxBaseProperties = {
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userData: "{ \"grabbableKey\": { \"grabbable\": false, \"kinematic\": false } }"
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};
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//worldToAvatarPoint
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//worldToJointPoint
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// calculate position offset from joint using getJointPosition
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// pass through worldToAvatarPoint to get offset in joint space of players joint
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// pass through worldToJointPoint to get offset in joint space of players joint
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// create a blue sphere and attach it to players joint using the joint space offset
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// The two spheres should appear in the same place, but the blue sphere will follow the avatar
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function worldToAvatarPointTest() {
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function worldToJointPointTest() {
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var jointIndex = MyAvatar.getJointIndex("LeftHandPinky4");
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var avatarPos = MyAvatar.position;
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointOffset_WorldSpace = { x: 0.1, y: 0, z: 0 };
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var jointPosition_WorldSpaceOffset = Vec3.sum(jointPosition_WorldSpace, jointOffset_WorldSpace);
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var jointPosition_JointSpaceOffset = MyAvatar.worldToAvatarPoint(jointPosition_WorldSpaceOffset, jointIndex);
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var jointPosition_JointSpaceOffset = MyAvatar.worldToJointPoint(jointPosition_WorldSpaceOffset, jointIndex);
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var jointSphereProps = Object.create(debugSphereBaseProperties);
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jointSphereProps.name = "worldToAvatarPointTest_Joint";
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jointSphereProps.name = "worldToJointPointTest_Joint";
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jointSphereProps.color = { blue: 240, green: 150, red: 150 };
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jointSphereProps.localPosition = jointPosition_JointSpaceOffset;
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jointSphereProps.parentID = AVATAR_SELF_ID;
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@ -43,29 +43,29 @@ function worldToAvatarPointTest() {
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Entities.addEntity(jointSphereProps);
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var worldSphereProps = Object.create(debugSphereBaseProperties);
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worldSphereProps.name = "worldToAvatarPointTest_World";
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worldSphereProps.name = "worldToJointPointTest_World";
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worldSphereProps.color = { blue: 150, green: 250, red: 150 };
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worldSphereProps.position = jointPosition_WorldSpaceOffset;
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Entities.addEntity(worldSphereProps);
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}
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//worldToAvatarDirection
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//worldToJointDirection
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// create line and attach to avatars head
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// each frame calculate direction of world x axis in joint space of players head
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// update arrow orientation to match
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var worldToAvatarDirectionTest_lineEntity;
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function worldToAvatarDirectionTest() {
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var worldToJointDirectionTest_lineEntity;
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function worldToJointDirectionTest() {
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var jointIndex = MyAvatar.getJointIndex("Head");
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var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
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var jointOffset_WorldSpace = { x: 0, y: 0, z: 0 };
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var jointPosition_WorldSpaceOffset = Vec3.sum(jointPosition_WorldSpace, jointOffset_WorldSpace);
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var jointPosition_JointSpaceOffset = MyAvatar.worldToAvatarPoint(jointPosition_WorldSpaceOffset, jointIndex);
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var jointPosition_JointSpaceOffset = MyAvatar.worldToJointPoint(jointPosition_WorldSpaceOffset, jointIndex);
|
||||
|
||||
var worldDir = { x: 1, y: 0, z: 0 };
|
||||
var avatarDir = MyAvatar.worldToAvatarDirection(worldDir, jointIndex);
|
||||
var avatarDir = MyAvatar.worldToJointDirection(worldDir, jointIndex);
|
||||
|
||||
worldToAvatarDirectionTest_lineEntity = Entities.addEntity({
|
||||
worldToJointDirectionTest_lineEntity = Entities.addEntity({
|
||||
type: "Line",
|
||||
color: {red: 200, green: 250, blue: 0},
|
||||
dimensions: {x: 5, y: 5, z: 5},
|
||||
|
|
@ -82,10 +82,10 @@ function worldToAvatarDirectionTest() {
|
|||
});
|
||||
}
|
||||
|
||||
function worldToAvatarDirectionTest_update(deltaTime) {
|
||||
function worldToJointDirectionTest_update(deltaTime) {
|
||||
var jointIndex = MyAvatar.getJointIndex("Head");
|
||||
var worldDir = { x: 1, y: 0, z: 0 };
|
||||
var avatarDir = MyAvatar.worldToAvatarDirection(worldDir, jointIndex);
|
||||
var avatarDir = MyAvatar.worldToJointDirection(worldDir, jointIndex);
|
||||
var newProperties = { linePoints: [{
|
||||
x: 0,
|
||||
y: 0,
|
||||
|
|
@ -93,42 +93,42 @@ function worldToAvatarDirectionTest_update(deltaTime) {
|
|||
}, avatarDir
|
||||
]};
|
||||
|
||||
Entities.editEntity(worldToAvatarDirectionTest_lineEntity, newProperties);
|
||||
Entities.editEntity(worldToJointDirectionTest_lineEntity, newProperties);
|
||||
}
|
||||
|
||||
//worldToAvatarRotation
|
||||
//worldToJointRotation
|
||||
// create box and parent to some player joint
|
||||
// convert world identity rotation to joint space rotation
|
||||
// each frame, update box with new orientation
|
||||
var worldToAvatarRotationTest_boxEntity;
|
||||
function worldToAvatarRotationTest() {
|
||||
var worldToJointRotationTest_boxEntity;
|
||||
function worldToJointRotationTest() {
|
||||
var jointIndex = MyAvatar.getJointIndex("RightHandPinky4");
|
||||
var avatarPos = MyAvatar.position;
|
||||
|
||||
var jointPosition_WorldSpace = MyAvatar.getJointPosition(jointIndex);
|
||||
var jointOffset_WorldSpace = { x: 0.0, y: 0, z: 0 };
|
||||
var jointPosition_WorldSpaceOffset = Vec3.sum(jointPosition_WorldSpace, jointOffset_WorldSpace);
|
||||
var jointPosition_JointSpaceOffset = MyAvatar.worldToAvatarPoint(jointPosition_WorldSpaceOffset, jointIndex);
|
||||
var jointPosition_JointSpaceOffset = MyAvatar.worldToJointPoint(jointPosition_WorldSpaceOffset, jointIndex);
|
||||
|
||||
var jointBoxProps = Object.create(debugBoxBaseProperties);
|
||||
jointBoxProps.name = "worldToAvatarRotationTest_Box";
|
||||
jointBoxProps.name = "worldToJointRotationTest_Box";
|
||||
jointBoxProps.color = { blue: 0, green: 0, red: 250 };
|
||||
jointBoxProps.localPosition = jointPosition_JointSpaceOffset;
|
||||
jointBoxProps.parentID = AVATAR_SELF_ID;
|
||||
jointBoxProps.parentJointIndex = jointIndex;
|
||||
worldToAvatarRotationTest_boxEntity = Entities.addEntity(jointBoxProps);
|
||||
worldToJointRotationTest_boxEntity = Entities.addEntity(jointBoxProps);
|
||||
}
|
||||
function worldToAvatarRotationTest_update(deltaTime) {
|
||||
function worldToJointRotationTest_update(deltaTime) {
|
||||
var jointIndex = MyAvatar.getJointIndex("RightHandPinky4");
|
||||
var worldRot = Quat.fromPitchYawRollDegrees(0,0,0);
|
||||
var avatarRot = MyAvatar.worldToAvatarRotation(worldRot, jointIndex);
|
||||
var avatarRot = MyAvatar.worldToJointRotation(worldRot, jointIndex);
|
||||
var newProperties = { localRotation: avatarRot };
|
||||
Entities.editEntity(worldToAvatarRotationTest_boxEntity, newProperties);
|
||||
Entities.editEntity(worldToJointRotationTest_boxEntity, newProperties);
|
||||
}
|
||||
|
||||
worldToAvatarPointTest();
|
||||
worldToAvatarDirectionTest();
|
||||
worldToAvatarRotationTest();
|
||||
worldToJointPointTest();
|
||||
worldToJointDirectionTest();
|
||||
worldToJointRotationTest();
|
||||
|
||||
Script.update.connect(worldToAvatarDirectionTest_update);
|
||||
Script.update.connect(worldToAvatarRotationTest_update);
|
||||
Script.update.connect(worldToJointDirectionTest_update);
|
||||
Script.update.connect(worldToJointRotationTest_update);
|
||||
|
|
|
|||
Loading…
Reference in a new issue