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added some comment to explain rig to avatar transform

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amantley 2018-08-27 17:57:50 -07:00
parent 055f03878e
commit 89b508251e
2 changed files with 23 additions and 19 deletions
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38
interface/src/avatar/MyAvatar.cpp
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@ -453,13 +453,16 @@ void MyAvatar::update(float deltaTime) {
// put the spine facing in sensor space.
// then mix it with head facing to determine rotation recenter
glm::vec3 handHipAzimuthWorldSpace = transformVectorFast(getTransform().getMatrix(), glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y));
glm::mat4 sensorToWorldMat = getSensorToWorldMatrix();
glm::mat4 worldToSensorMat = glm::inverse(sensorToWorldMat);
glm::vec3 handHipAzimuthSensorSpace = transformVectorFast(worldToSensorMat, glm::vec3(handHipAzimuthWorldSpace.x, 0.0f, handHipAzimuthWorldSpace.z));
glm::vec2 normedHandHipAzimuthSensorSpace = glm::normalize(glm::vec2(handHipAzimuthSensorSpace.x, handHipAzimuthSensorSpace.z));
glm::vec2 headFacingPlusHandHipAzimuthMix = lerp(normedHandHipAzimuthSensorSpace, _headControllerFacing, PERCENTAGE_WEIGHT_SHOULDERS_VS_HEAD_AZIMUTH);
if (getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() && getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid()) {
glm::vec3 handHipAzimuthWorldSpace = transformVectorFast(getTransform().getMatrix(), glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y));
glm::mat4 sensorToWorldMat = getSensorToWorldMatrix();
glm::mat4 worldToSensorMat = glm::inverse(sensorToWorldMat);
glm::vec3 handHipAzimuthSensorSpace = transformVectorFast(worldToSensorMat, handHipAzimuthWorldSpace);
glm::vec2 normedHandHipAzimuthSensorSpace(0.0f, 1.0f);
if (glm::length(glm::vec2(handHipAzimuthSensorSpace.x, handHipAzimuthSensorSpace.z)) > 0.0f) {
normedHandHipAzimuthSensorSpace = glm::normalize(glm::vec2(handHipAzimuthSensorSpace.x, handHipAzimuthSensorSpace.z));
}
glm::vec2 headFacingPlusHandHipAzimuthMix = lerp(normedHandHipAzimuthSensorSpace, _headControllerFacing, PERCENTAGE_WEIGHT_SHOULDERS_VS_HEAD_AZIMUTH);
_headControllerFacingMovingAverage = lerp(_headControllerFacingMovingAverage, headFacingPlusHandHipAzimuthMix, tau);
} else {
_headControllerFacingMovingAverage = _headControllerFacing;
@ -475,7 +478,6 @@ void MyAvatar::update(float deltaTime) {
_recentModeReadings.insert(newHeightReadingInCentimeters);
setCurrentStandingHeight(computeStandingHeightMode(getControllerPoseInAvatarFrame(controller::Action::HEAD)));
setAverageHeadRotation(computeAverageHeadRotation(getControllerPoseInAvatarFrame(controller::Action::HEAD)));
computeHandAzimuth();
#ifdef DEBUG_DRAW_HMD_MOVING_AVERAGE
@ -495,12 +497,8 @@ void MyAvatar::update(float deltaTime) {
if (_goToPending) {
setWorldPosition(_goToPosition);
setWorldOrientation(_goToOrientation);
if (getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() && getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid()) {
_headControllerFacingMovingAverage = headFacingPlusHandHipAzimuthMix;
} else {
_headControllerFacingMovingAverage = _headControllerFacing; // reset moving average
}
setWorldOrientation(_goToOrientation);
_headControllerFacingMovingAverage = _headControllerFacing;
_goToPending = false;
// updateFromHMDSensorMatrix (called from paintGL) expects that the sensorToWorldMatrix is updated for any position changes
// that happen between render and Application::update (which calls updateSensorToWorldMatrix to do so).
@ -827,15 +825,17 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
void MyAvatar::computeHandAzimuth() {
auto leftHandPoseAvatarSpace = getLeftHandPose();
auto rightHandPoseAvatarSpace = getRightHandPose();
glm::vec3 localLookat(0.0f, 0.0f, 1.0f);
const float HALFWAY = 0.50f;
if (leftHandPoseAvatarSpace.isValid() && rightHandPoseAvatarSpace.isValid()) {
// we need the old azimuth reading to prevent flipping the facing direction 180
// in the case where the hands go from being slightly less than 180 apart to slightly more than 180 apart.
vec2 oldAzimuthReading = _hipToHandController;
_hipToHandController = lerp(glm::normalize(glm::vec2(rightHandPoseAvatarSpace.translation.x, rightHandPoseAvatarSpace.translation.z)), glm::normalize(glm::vec2(leftHandPoseAvatarSpace.translation.x, leftHandPoseAvatarSpace.translation.z)), HALFWAY);
if ((glm::length(glm::vec2(rightHandPoseAvatarSpace.translation.x, rightHandPoseAvatarSpace.translation.z)) > 0.0f) && (glm::length(glm::vec2(leftHandPoseAvatarSpace.translation.x, leftHandPoseAvatarSpace.translation.z)) > 0.0f)) {
_hipToHandController = lerp(glm::normalize(glm::vec2(rightHandPoseAvatarSpace.translation.x, rightHandPoseAvatarSpace.translation.z)), glm::normalize(glm::vec2(leftHandPoseAvatarSpace.translation.x, leftHandPoseAvatarSpace.translation.z)), HALFWAY);
} else {
_hipToHandController = glm::vec2(0.0f, 1.0f);
}
// check the angular distance from forward and back
float cosForwardAngle = glm::dot(_hipToHandController, oldAzimuthReading);
float cosBackwardAngle = glm::dot(_hipToHandController, -oldAzimuthReading);
@ -3376,7 +3376,11 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
glm::mat4 MyAvatar::getSpine2RotationRigSpace() const {
static const glm::quat RIG_CHANGE_OF_BASIS = Quaternions::Y_180;
glm::vec3 hipToHandRigSpace = RIG_CHANGE_OF_BASIS * glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y);
// RIG_CHANGE_OF_BASIS * INITIAL_RIG_ROTATION * Quaternions::IDENTITY(explicit rig rotation) * inverse(RIG_CHANGE_OF_BASIS) = Quaternions::Y_180(avatar Space);
// INITIAL_RIG_ROTATION = Quaternions::Y_180;
static const glm::quat INITIAL_RIG_ROTATION = Quaternions::Y_180;
glm::quat avatarToRigSpace = INITIAL_RIG_ROTATION * Quaternions::IDENTITY;
glm::vec3 hipToHandRigSpace = avatarToRigSpace * glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y);
glm::vec3 u, v, w;
generateBasisVectors(glm::vec3(0.0f,1.0f,0.0f), hipToHandRigSpace, u, v, w);

4
interface/src/avatar/MyAvatar.h
View file

@ -285,7 +285,7 @@ public:
Q_INVOKABLE void centerBody(); // thread-safe
/**jsdoc_hmdSensorMatrix
/**jsdoc
* The internal inverse-kinematics system maintains a record of which joints are "locked". Sometimes it is useful to forget this history, to prevent
* contorted joints.
* @function MyAvatar.clearIKJointLimitHistory
@ -1650,7 +1650,7 @@ private:
std::atomic<bool> _hasScriptedBlendShapes { false };
std::atomic<float> _rotationRecenterFilterLength { 4.0f };
std::atomic<float> _rotationThreshold { 0.5235f }; // 30 degrees in radians
std::atomic<bool> _stepResetRotationEnabled { false };
std::atomic<bool> _stepResetRotationEnabled { true };
std::atomic<bool> _drawAverageFacingEnabled { false };
// working copy -- see AvatarData for thread-safe _sensorToWorldMatrixCache, used for outward facing access