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Merge branch 'master' of https://github.com/worklist/hifi

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This commit is contained in:
Andrzej Kapolka 2013-05-22 12:49:35 -07:00
commit 88bc6caf51
7 changed files with 105 additions and 57 deletions
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23
interface/src/Application.cpp
View file

@ -114,7 +114,7 @@ void GLCanvas::wheelEvent(QWheelEvent* event) {
Application::getInstance()->wheelEvent(event);
}
Application::Application(int& argc, char** argv) :
Application::Application(int& argc, char** argv, timeval &startup_time) :
QApplication(argc, argv),
_window(new QMainWindow(desktop())),
_glWidget(new GLCanvas()),
@ -152,7 +152,7 @@ Application::Application(int& argc, char** argv) :
_bytesPerSecond(0),
_bytesCount(0)
{
gettimeofday(&_applicationStartupTime, NULL);
_applicationStartupTime = startup_time;
_window->setWindowTitle("Interface");
printLog("Interface Startup:\n");
@ -268,6 +268,15 @@ void Application::initializeGL() {
QTimer* idleTimer = new QTimer(this);
connect(idleTimer, SIGNAL(timeout()), SLOT(idle()));
idleTimer->start(0);
if (_justStarted) {
float startupTime = (usecTimestampNow() - usecTimestamp(&_applicationStartupTime))/1000000.0;
_justStarted = false;
char title[50];
sprintf(title, "Interface: %4.2f seconds\n", startupTime);
printLog("%s", title);
_window->setWindowTitle(title);
}
}
void Application::paintGL() {
@ -404,16 +413,6 @@ void Application::paintGL() {
_frameCount++;
// If application has just started, report time from startup to now (first frame display)
if (_justStarted) {
float startupTime = (usecTimestampNow() - usecTimestamp(&_applicationStartupTime))/1000000.0;
_justStarted = false;
char title[50];
sprintf(title, "Interface: %4.2f seconds\n", startupTime);
printLog("%s", title);
_window->setWindowTitle(title);
}
}
void Application::resizeGL(int width, int height) {

2
interface/src/Application.h
View file

@ -46,7 +46,7 @@ class Application : public QApplication {
public:
static Application* getInstance() { return static_cast<Application*>(QCoreApplication::instance()); }
Application(int& argc, char** argv);
Application(int& argc, char** argv, timeval &startup_time);
void initializeGL();
void paintGL();

17
interface/src/Avatar.cpp
View file

@ -276,18 +276,29 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
if (transmitter) {
glm::vec3 rotation = transmitter->getEstimatedRotation();
const float TRANSMITTER_MIN_RATE = 1.f;
const float TRANSMITTER_MIN_YAW_RATE = 4.f;
const float TRANSMITTER_LATERAL_FORCE_SCALE = 25.f;
const float TRANSMITTER_FWD_FORCE_SCALE = 50.f;
const float TRANSMITTER_YAW_SCALE = 7.0f;
const float TRANSMITTER_FWD_FORCE_SCALE = 25.f;
const float TRANSMITTER_YAW_SCALE = 10.0f;
const float TRANSMITTER_LIFT_SCALE = 3.f;
const float TOUCH_POSITION_RANGE_HALF = 32767.f;
if (fabs(rotation.z) > TRANSMITTER_MIN_RATE) {
_thrust += rotation.z * TRANSMITTER_LATERAL_FORCE_SCALE * deltaTime * _orientation.getRight();
}
if (fabs(rotation.x) > TRANSMITTER_MIN_RATE) {
_thrust += -rotation.x * TRANSMITTER_FWD_FORCE_SCALE * deltaTime * _orientation.getFront();
}
if (fabs(rotation.y) > TRANSMITTER_MIN_RATE) {
if (fabs(rotation.y) > TRANSMITTER_MIN_YAW_RATE) {
_bodyYawDelta += rotation.y * TRANSMITTER_YAW_SCALE * deltaTime;
}
if (transmitter->getTouchState()->state == 'D') {
_thrust += THRUST_MAG *
(float)(transmitter->getTouchState()->y - TOUCH_POSITION_RANGE_HALF) / TOUCH_POSITION_RANGE_HALF *
TRANSMITTER_LIFT_SCALE *
deltaTime *
_orientation.getUp();
}
}
}

9
interface/src/Head.cpp
View file

@ -18,7 +18,6 @@ const float EYE_FRONT_OFFSET = 0.8f;
const float EAR_RIGHT_OFFSET = 1.0;
const float MOUTH_FRONT_OFFSET = 1.0f;
const float MOUTH_UP_OFFSET = -0.3f;
const float HEAD_MOTION_DECAY = 0.1;
const float MINIMUM_EYE_ROTATION = 0.7f; // based on a dot product: 1.0 is straight ahead, 0.0 is 90 degrees off
const float EYEBALL_RADIUS = 0.02;
const float EYEBALL_COLOR[3] = { 0.9f, 0.9f, 0.8f };
@ -56,13 +55,15 @@ void Head::reset() {
void Head::simulate(float deltaTime, bool isMine) {
const float HEAD_MOTION_DECAY = 0.00;
// Decay head back to center if turned on
if (isMine && _returnHeadToCenter) {
// Decay rotation back toward center
_pitch *= (1.0f - HEAD_MOTION_DECAY * _returnSpringScale * 2 * deltaTime);
_yaw *= (1.0f - HEAD_MOTION_DECAY * _returnSpringScale * 2 * deltaTime);
_roll *= (1.0f - HEAD_MOTION_DECAY * _returnSpringScale * 2 * deltaTime);
_pitch *= (1.0f - HEAD_MOTION_DECAY * _returnSpringScale * deltaTime);
_yaw *= (1.0f - HEAD_MOTION_DECAY * _returnSpringScale * deltaTime);
_roll *= (1.0f - HEAD_MOTION_DECAY * _returnSpringScale * deltaTime);
}
// For invensense gyro, decay only slightly when roughly centered

45
interface/src/Transmitter.cpp
View file

@ -11,6 +11,7 @@
#include "Util.h"
#include <cstring>
#include <glm/glm.hpp>
#include "Log.h"
const float DELTA_TIME = 1.f / 60.f;
const float DECAY_RATE = 0.15f;
@ -30,24 +31,50 @@ void Transmitter::resetLevels() {
}
void Transmitter::processIncomingData(unsigned char* packetData, int numBytes) {
if (numBytes == 3 + sizeof(_lastRotationRate) +
sizeof(_lastAcceleration)) {
memcpy(&_lastRotationRate, packetData + 2, sizeof(_lastRotationRate));
memcpy(&_lastAcceleration, packetData + 3 + sizeof(_lastAcceleration), sizeof(_lastAcceleration));
const int PACKET_HEADER_SIZE = 1; // Packet's first byte is 'T'
const int ROTATION_MARKER_SIZE = 1; // 'R' = Rotation (clockwise about x,y,z)
const int ACCELERATION_MARKER_SIZE = 1; // 'A' = Acceleration (x,y,z)
if (numBytes == PACKET_HEADER_SIZE + ROTATION_MARKER_SIZE + ACCELERATION_MARKER_SIZE
+ sizeof(_lastRotationRate) + sizeof(_lastAcceleration)
+ sizeof(_touchState.x) + sizeof(_touchState.y) + sizeof(_touchState.state)) {
unsigned char* packetDataPosition = &packetData[PACKET_HEADER_SIZE + ROTATION_MARKER_SIZE];
memcpy(&_lastRotationRate, packetDataPosition, sizeof(_lastRotationRate));
packetDataPosition += sizeof(_lastRotationRate) + ACCELERATION_MARKER_SIZE;
memcpy(&_lastAcceleration, packetDataPosition, sizeof(_lastAcceleration));
packetDataPosition += sizeof(_lastAcceleration);
memcpy(&_touchState.state, packetDataPosition, sizeof(_touchState.state));
packetDataPosition += sizeof(_touchState.state);
memcpy(&_touchState.x, packetDataPosition, sizeof(_touchState.x));
packetDataPosition += sizeof(_touchState.x);
memcpy(&_touchState.y, packetDataPosition, sizeof(_touchState.y));
packetDataPosition += sizeof(_touchState.y);
// Update estimated absolute position from rotation rates
_estimatedRotation += _lastRotationRate * DELTA_TIME;
// Decay estimated absolute position to slowly return to zero regardless
_estimatedRotation *= (1.f - DECAY_RATE * DELTA_TIME);
// Sensor Fusion! Slowly adjust estimated rotation to be relative to gravity (average acceleration)
const float GRAVITY_FOLLOW_RATE = 1.f;
float rollAngle = angleBetween(glm::vec3(_lastAcceleration.x, _lastAcceleration.y, 0.f), glm::vec3(0,-1,0)) *
((_lastAcceleration.x < 0.f) ? -1.f : 1.f);
float pitchAngle = angleBetween(glm::vec3(0.f, _lastAcceleration.y, _lastAcceleration.z), glm::vec3(0,-1,0)) *
((_lastAcceleration.z < 0.f) ? 1.f : -1.f);
_estimatedRotation.x = (1.f - GRAVITY_FOLLOW_RATE * DELTA_TIME) * _estimatedRotation.x +
GRAVITY_FOLLOW_RATE * DELTA_TIME * pitchAngle;
_estimatedRotation.z = (1.f - GRAVITY_FOLLOW_RATE * DELTA_TIME) * _estimatedRotation.z +
GRAVITY_FOLLOW_RATE * DELTA_TIME * rollAngle;
// Can't apply gravity fusion to Yaw, so decay estimated yaw to zero,
// presuming that the average yaw direction is toward screen
_estimatedRotation.y *= (1.f - DECAY_RATE * DELTA_TIME);
if (!_isConnected) {
printf("Transmitter V2 Connected.\n");
_isConnected = true;
_estimatedRotation *= 0.0;
}
} else {
printf("Transmitter V2 packet read error.\n");
printf("Transmitter V2 packet read error, %d bytes.\n", numBytes);
}
}

7
interface/src/Transmitter.h
View file

@ -15,6 +15,11 @@
#include <cstring>
#include "world.h"
struct TouchState {
uint16_t x, y;
char state;
};
class Transmitter
{
public:
@ -26,6 +31,7 @@ public:
const glm::vec3 getLastRotationRate() const { return _lastRotationRate; };
const glm::vec3 getLastAcceleration() const { return _lastRotationRate; };
const glm::vec3 getEstimatedRotation() const { return _estimatedRotation; };
const TouchState* getTouchState() const { return &_touchState; };
void processIncomingData(unsigned char* packetData, int numBytes);
private:
@ -33,6 +39,7 @@ private:
glm::vec3 _lastRotationRate;
glm::vec3 _lastAcceleration;
glm::vec3 _estimatedRotation;
TouchState _touchState;
#endif /* defined(__hifi__Transmitter__) */
};

59
interface/src/main.cpp
View file

@ -1,28 +1,31 @@
//
// Interface
//
// Allows you to connect to and see/hear the shared 3D space.
// Optionally uses serialUSB connection to get gyro data for head movement.
// Optionally gets UDP stream from transmitter to animate controller/hand.
//
// Usage: The interface client first attempts to contact a domain server to
// discover the appropriate audio, voxel, and avatar servers to contact.
// Right now, the default domain server is "highfidelity.below92.com"
// You can change the domain server to use your own by editing the
// DOMAIN_HOSTNAME or DOMAIN_IP strings in the file AgentList.cpp
//
//
// Welcome Aboard!
//
#include "Application.h"
#include "Log.h"
int main(int argc, const char * argv[]) {
Application app(argc, const_cast<char**>(argv));
printLog( "Created QT Application.\n" );
int exitCode = app.exec();
printLog("Normal exit.\n");
return exitCode;
}
//
// Interface
//
// Allows you to connect to and see/hear the shared 3D space.
// Optionally uses serialUSB connection to get gyro data for head movement.
// Optionally gets UDP stream from transmitter to animate controller/hand.
//
// Usage: The interface client first attempts to contact a domain server to
// discover the appropriate audio, voxel, and avatar servers to contact.
// Right now, the default domain server is "highfidelity.below92.com"
// You can change the domain server to use your own by editing the
// DOMAIN_HOSTNAME or DOMAIN_IP strings in the file AgentList.cpp
//
//
// Welcome Aboard!
//
#include "Application.h"
#include "Log.h"
int main(int argc, const char * argv[]) {
timeval startup_time;
gettimeofday(&startup_time, NULL);
Application app(argc, const_cast<char**>(argv), startup_time);
printLog( "Created QT Application.\n" );
int exitCode = app.exec();
printLog("Normal exit.\n");
return exitCode;
}