Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-07 17:52:26 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

saving head work

Browse source
This commit is contained in:
Dante Ruiz 2017-05-25 21:41:41 +01:00
parent 8cb9bfcc81
commit 8538c700b5
3 changed files with 70 additions and 31 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

22
interface/resources/controllers/vive.json
View file

@ -34,36 +34,32 @@
{ "from": "Vive.RSCenter", "to": "Standard.RightPrimaryThumb" },
{ "from": "Vive.RightApplicationMenu", "to": "Standard.RightSecondaryThumb" },
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand" },
{ "from": "Vive.RightHand", "to": "Standard.RightHand" },
{
"from": "Vive.LeftFoot", "to" : "Standard.LeftFoot",
"filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}],
"when": [ "Application.InHMD"]
"filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}]
},
{
"from": "Vive.RightFoot", "to" : "Standard.RightFoot",
"filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}],
"when": [ "Application.InHMD"]
"filters" : [{"type" : "lowVelocity", "rotation" : 1.0, "translation": 1.0}]
},
{
"from": "Vive.Hips", "to" : "Standard.Hips",
"filters" : [{"type" : "lowVelocity", "rotation" : 0.01, "translation": 0.01}],
"when": [ "Application.InHMD"]
"filters" : [{"type" : "lowVelocity", "rotation" : 0.01, "translation": 0.01}]
},
{
"from": "Vive.Spine2", "to" : "Standard.Spine2",
"filters" : [{"type" : "lowVelocity", "rotation" : 0.01, "translation": 0.01}],
"when": [ "Application.InHMD"]
"filters" : [{"type" : "lowVelocity", "rotation" : 0.01, "translation": 0.01}]
},
{ "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] },
{ "from": "Vive.Head", "to" : "Standard.Head"},
{ "from": "Vive.RightArm", "to" : "Standard.RightArm", "when" : [ "Application.InHMD"] },
{ "from": "Vive.LeftArm", "to" : "Standard.LeftArm", "when" : [ "Application.InHMD"] }
{ "from": "Vive.RightArm", "to" : "Standard.RightArm"},
{ "from": "Vive.LeftArm", "to" : "Standard.LeftArm"}
]
}

53
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -51,8 +51,7 @@ static const int MIN_PUCK_COUNT = 2;
static const int MIN_FEET_AND_HIPS = 3;
static const int MIN_FEET_HIPS_CHEST = 4;
static const int MIN_FEET_HIPS_SHOULDERS = 5;
static const int MIN_FEET_HIPS_CHEST_AND_HANDS = 6;
static const int MIN_FEET_HIPS_SHOULDERS_AND_HANDS = 7;
static const int MIN_FEET_HIPS_CHEST_HEAD = 5;
static const int FIRST_FOOT = 0;
static const int SECOND_FOOT = 1;
static const int HIP = 2;
@ -177,6 +176,7 @@ ViveControllerManager::InputDevice::InputDevice(vr::IVRSystem*& system) : contro
_configStringMap[Config::FeetAndHips] = QString("FeetAndHips");
_configStringMap[Config::FeetHipsAndChest] = QString("FeetHipsAndChest");
_configStringMap[Config::FeetHipsAndShoulders] = QString("FeetHipsAndShoulders");
_configStringMap[Config::FeetHipsChestAndHead] = QString("FeetHipsChestAndHead");
if (openVrSupported()) {
createPreferences();
@ -351,12 +351,18 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
calibrateFeet(defaultToReferenceMat, inputCalibration);
calibrateHips(defaultToReferenceMat, inputCalibration);
calibrateChest(defaultToReferenceMat, inputCalibration);
} else if (_config == Config::FeetHipsAndShoulders && puckCount >= MIN_FEET_HIPS_SHOULDERS){
} else if (_config == Config::FeetHipsAndShoulders && puckCount >= MIN_FEET_HIPS_SHOULDERS) {
calibrateFeet(defaultToReferenceMat, inputCalibration);
calibrateHips(defaultToReferenceMat, inputCalibration);
int firstShoulderIndex = 3;
int secondShoulderIndex = 4;
calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex);
} else if (_config == Config::FeetHipsChestAndHead && puckCount == MIN_FEET_HIPS_CHEST_HEAD) {
glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration);
calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
calibrateChest(headPuckDefaultToReferenceMat, inputCalibration);
calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
} else {
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
uncalibrate();
@ -371,6 +377,7 @@ void ViveControllerManager::InputDevice::uncalibrate() {
_pucksOffset.clear();
_jointToPuckMap.clear();
_calibrated = false;
_overrideHead = false;
}
void ViveControllerManager::InputDevice::updateCalibratedLimbs() {
@ -380,6 +387,10 @@ void ViveControllerManager::InputDevice::updateCalibratedLimbs() {
_poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2);
_poseStateMap[controller::RIGHT_ARM] = addOffsetToPuckPose(controller::RIGHT_ARM);
_poseStateMap[controller::LEFT_ARM] = addOffsetToPuckPose(controller::LEFT_ARM);
if (_overrideHead) {
_poseStateMap[controller::HEAD] = addOffsetToPuckPose(controller::HEAD);
}
}
controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joint) const {
@ -445,6 +456,27 @@ void ViveControllerManager::InputDevice::handleHandController(float deltaTime, u
}
}
glm::mat4 ViveControllerManager::InputDevice::recalculateDefaultToReferenceForHeadPuck(const controller::InputCalibrationData& inputCalibration) {
size_t headPuckIndex = _validTrackedObjects.size() - 1;
controller::Pose headPuckPose = _validTrackedObjects[headPuckIndex].second;
// make the head puck rotation to match the default head rotation
glm::quat headPuckRotation = cancelOutRollAndPitch(headPuckPose.getRotation());
glm::quat defaultHeadRotation = glmExtractRotation(inputCalibration.defaultHeadMat);
glm::quat defaultRotationOffset = glm::inverse(headPuckRotation) * defaultHeadRotation;
glm::quat finalHeadPuckRotation = defaultRotationOffset * headPuckRotation;
glm::vec3 headPuckTranslation = headPuckPose.getTranslation();
glm::mat4 headPuckMat = createMatFromQuatAndPos(finalHeadPuckRotation, headPuckTranslation);
// calculate the offset from the centerOfEye to defaultHeadMat
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::mat4 currentHead = headPuckMat * defaultHeadOffset;
// calculate the defaultToRefrenceXform
return currentHead * glm::inverse(inputCalibration.defaultHeadMat);
}
void ViveControllerManager::InputDevice::partitionTouchpad(int sButton, int xAxis, int yAxis, int centerPseudoButton, int xPseudoButton, int yPseudoButton) {
// Populate the L/RS_CENTER/OUTER pseudo buttons, corresponding to a partition of the L/RS space based on the X/Y values.
const float CENTER_DEADBAND = 0.6f;
@ -664,7 +696,16 @@ void ViveControllerManager::InputDevice::calibrateShoulders(glm::mat4& defaultTo
}
void ViveControllerManager::InputDevice::calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
int headIndex = _validTrackedObjects.size() - 1;
size_t headIndex = _validTrackedObjects.size() - 1;
const PuckPosePair& head = _validTrackedObjects[headIndex];
// assume the person is wearing the head puck on his/her forehead
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
controller::Pose newHead = head.second.postTransform(defaultHeadOffset);
_jointToPuckMap[controller::HEAD] = head.first;
_pucksOffset[head.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHeadMat, newHead);
_overrideHead = true;
}
@ -701,6 +742,8 @@ void ViveControllerManager::InputDevice::setConfigFromString(const QString& valu
_preferedConfig = Config::FeetHipsAndChest;
} else if (value == "FeetHipsAndShoulders") {
_preferedConfig = Config::FeetHipsAndShoulders;
} else if (value == "FeetHipsChestAndHead") {
_preferedConfig = Config::FeetHipsChestAndHead;
}
}
@ -713,7 +756,7 @@ void ViveControllerManager::InputDevice::createPreferences() {
auto getter = [this]()->QString { return _configStringMap[_preferedConfig]; };
auto setter = [this](const QString& value) { setConfigFromString(value); saveSettings(); };
auto preference = new ComboBoxPreference(VIVE_PUCKS_CONFIG, "Configuration", getter, setter);
QStringList list = (QStringList() << "Auto" << "Feet" << "FeetAndHips" << "FeetHipsAndChest" << "FeetHipsAndShoulders");
QStringList list = (QStringList() << "Feet" << "FeetAndHips" << "FeetHipsAndChest" << "FeetHipsAndShoulders" << "FeetHipsChestAndHead");
preference->setItems(list);
preferences->addPreference(preference);

26
plugins/openvr/src/ViveControllerManager.h
View file

@ -67,6 +67,7 @@ private:
void calibrate(const controller::InputCalibrationData& inputCalibration);
void uncalibrate();
controller::Pose addOffsetToPuckPose(int joint) const;
glm::mat4 recalculateDefaultToReferenceForHeadPuck(const controller::InputCalibrationData& inputCalibration);
void updateCalibratedLimbs();
bool checkForCalibrationEvent();
void handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand);
@ -80,6 +81,17 @@ private:
const vec3& angularVelocity);
void partitionTouchpad(int sButton, int xAxis, int yAxis, int centerPsuedoButton, int xPseudoButton, int yPseudoButton);
void printDeviceTrackingResultChange(uint32_t deviceIndex);
void setConfigFromString(const QString& value);
void loadSettings();
void saveSettings() const;
void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
int firstShoulderIndex, int secondShoulderIndex);
void calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
class FilteredStick {
public:
@ -106,9 +118,7 @@ private:
};
enum class Config {
Auto,
Head,
Feet,
Shoulders,
FeetAndHips,
FeetHipsAndChest,
FeetHipsAndShoulders,
@ -139,21 +149,11 @@ private:
bool _triggersPressedHandled { false };
bool _calibrated { false };
bool _timeTilCalibrationSet { false };
bool overrideHands { false };
bool _overrideHead { false };
mutable std::recursive_mutex _lock;
QString configToString(Config config);
void setConfigFromString(const QString& value);
void loadSettings();
void saveSettings() const;
void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
int firstShoulderIndex, int secondShoulderIndex);
void calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
friend class ViveControllerManager;
};