From f0871c6878ff614b5b2f3d775ea161e0edb8ae91 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Fri, 21 Jul 2017 21:06:15 -0700 Subject: [PATCH 1/6] avoid unnecessary and expensive gets --- interface/src/avatar/MyAvatar.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp index b32ef4024e..7910df90ec 100755 --- a/interface/src/avatar/MyAvatar.cpp +++ b/interface/src/avatar/MyAvatar.cpp @@ -1643,10 +1643,13 @@ void MyAvatar::prepareForPhysicsSimulation() { } void MyAvatar::harvestResultsFromPhysicsSimulation(float deltaTime) { - glm::vec3 position = getPosition(); - glm::quat orientation = getOrientation(); + glm::vec3 position; + glm::quat orientation; if (_characterController.isEnabledAndReady()) { _characterController.getPositionAndOrientation(position, orientation); + } else { + position = getPosition(); + orientation = getOrientation(); } nextAttitude(position, orientation); _bodySensorMatrix = _follow.postPhysicsUpdate(*this, _bodySensorMatrix); From 29be9aee65a14e314905dead6dc8229f6667b1f2 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Fri, 21 Jul 2017 21:34:44 -0700 Subject: [PATCH 2/6] move nextAttitude() from AvatarData to MyAvatar --- interface/src/avatar/MyAvatar.cpp | 17 +++++++++++++++++ interface/src/avatar/MyAvatar.h | 1 + .../src/avatars-renderer/Avatar.h | 2 +- libraries/avatars/src/AvatarData.cpp | 17 ----------------- libraries/avatars/src/AvatarData.h | 3 --- 5 files changed, 19 insertions(+), 21 deletions(-) diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp index 7910df90ec..2e3b9a584e 100755 --- a/interface/src/avatar/MyAvatar.cpp +++ b/interface/src/avatar/MyAvatar.cpp @@ -1642,6 +1642,23 @@ void MyAvatar::prepareForPhysicsSimulation() { _prePhysicsRoomPose = AnimPose(_sensorToWorldMatrix); } +// There are a number of possible strategies for this set of tools through endRender, below. +void MyAvatar::nextAttitude(glm::vec3 position, glm::quat orientation) { + bool success; + Transform trans = getTransform(success); + if (!success) { + qCWarning(interfaceapp) << "Warning -- MyAvatar::nextAttitude failed"; + return; + } + trans.setTranslation(position); + trans.setRotation(orientation); + SpatiallyNestable::setTransform(trans, success); + if (!success) { + qCWarning(interfaceapp) << "Warning -- MyAvatar::nextAttitude failed"; + } + updateAttitude(); +} + void MyAvatar::harvestResultsFromPhysicsSimulation(float deltaTime) { glm::vec3 position; glm::quat orientation; diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h index 648a5b5f29..86321137d4 100644 --- a/interface/src/avatar/MyAvatar.h +++ b/interface/src/avatar/MyAvatar.h @@ -432,6 +432,7 @@ public: void updateMotors(); void prepareForPhysicsSimulation(); + void nextAttitude(glm::vec3 position, glm::quat orientation); // Can be safely called at any time. void harvestResultsFromPhysicsSimulation(float deltaTime); const QString& getCollisionSoundURL() { return _collisionSoundURL; } diff --git a/libraries/avatars-renderer/src/avatars-renderer/Avatar.h b/libraries/avatars-renderer/src/avatars-renderer/Avatar.h index 89db519abc..db9d36be7a 100644 --- a/libraries/avatars-renderer/src/avatars-renderer/Avatar.h +++ b/libraries/avatars-renderer/src/avatars-renderer/Avatar.h @@ -184,7 +184,7 @@ public: void scaleVectorRelativeToPosition(glm::vec3 &positionToScale) const; void slamPosition(const glm::vec3& position); - virtual void updateAttitude() override { _skeletonModel->updateAttitude(); } + virtual void updateAttitude() { _skeletonModel->updateAttitude(); } // Call this when updating Avatar position with a delta. This will allow us to // _accurately_ measure position changes and compute the resulting velocity diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp index 6fdb4d1ef6..85228af941 100644 --- a/libraries/avatars/src/AvatarData.cpp +++ b/libraries/avatars/src/AvatarData.cpp @@ -110,23 +110,6 @@ const QUrl& AvatarData::defaultFullAvatarModelUrl() { return _defaultFullAvatarModelUrl; } -// There are a number of possible strategies for this set of tools through endRender, below. -void AvatarData::nextAttitude(glm::vec3 position, glm::quat orientation) { - bool success; - Transform trans = getTransform(success); - if (!success) { - qCWarning(avatars) << "Warning -- AvatarData::nextAttitude failed"; - return; - } - trans.setTranslation(position); - trans.setRotation(orientation); - SpatiallyNestable::setTransform(trans, success); - if (!success) { - qCWarning(avatars) << "Warning -- AvatarData::nextAttitude failed"; - } - updateAttitude(); -} - void AvatarData::setTargetScale(float targetScale) { auto newValue = glm::clamp(targetScale, MIN_AVATAR_SCALE, MAX_AVATAR_SCALE); if (_targetScale != newValue) { diff --git a/libraries/avatars/src/AvatarData.h b/libraries/avatars/src/AvatarData.h index 16768ec62a..1cf7d7dd91 100644 --- a/libraries/avatars/src/AvatarData.h +++ b/libraries/avatars/src/AvatarData.h @@ -445,9 +445,6 @@ public: using SpatiallyNestable::setOrientation; virtual void setOrientation(const glm::quat& orientation) override; - void nextAttitude(glm::vec3 position, glm::quat orientation); // Can be safely called at any time. - virtual void updateAttitude() {} // Tell skeleton mesh about changes - glm::quat getHeadOrientation() const { lazyInitHeadData(); return _headData->getOrientation(); From f598b1f1f581761010f45ca0f7907a71943c484f Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Mon, 24 Jul 2017 15:56:05 -0700 Subject: [PATCH 3/6] fix spelling typo in comment --- interface/src/avatar/MyHead.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/interface/src/avatar/MyHead.cpp b/interface/src/avatar/MyHead.cpp index 9f2d080cd6..7fc6b9fa26 100644 --- a/interface/src/avatar/MyHead.cpp +++ b/interface/src/avatar/MyHead.cpp @@ -29,7 +29,7 @@ MyHead::MyHead(MyAvatar* owningAvatar) : Head(owningAvatar) { glm::quat MyHead::getHeadOrientation() const { // NOTE: Head::getHeadOrientation() is not used for orienting the camera "view" while in Oculus mode, so // you may wonder why this code is here. This method will be called while in Oculus mode to determine how - // to change the driving direction while in Oculus mode. It is used to support driving toward where you're + // to change the driving direction while in Oculus mode. It is used to support driving toward where your // head is looking. Note that in oculus mode, your actual camera view and where your head is looking is not // always the same. @@ -39,7 +39,7 @@ glm::quat MyHead::getHeadOrientation() const { return headPose.rotation * Quaternions::Y_180; } - return myAvatar->getWorldAlignedOrientation() * glm::quat(glm::radians(glm::vec3(_basePitch, 0.0f, 0.0f))); + return myAvatar->getOrientation() * glm::quat(glm::radians(glm::vec3(_basePitch, 0.0f, 0.0f))); } void MyHead::simulate(float deltaTime) { From 49942832474dd2638100d4114ac7d0ab68466f9e Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Mon, 24 Jul 2017 15:57:18 -0700 Subject: [PATCH 4/6] remove unnecessary state check --- libraries/physics/src/CharacterController.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/physics/src/CharacterController.cpp b/libraries/physics/src/CharacterController.cpp index bd4d1201c7..9a7abc4e98 100755 --- a/libraries/physics/src/CharacterController.cpp +++ b/libraries/physics/src/CharacterController.cpp @@ -445,7 +445,7 @@ void CharacterController::handleChangedCollisionGroup() { void CharacterController::updateUpAxis(const glm::quat& rotation) { _currentUp = quatRotate(glmToBullet(rotation), LOCAL_UP_AXIS); - if (_state != State::Hover && _rigidBody) { + if (_rigidBody) { _rigidBody->setGravity(_gravity * _currentUp); } } From 8c55476c65feb3762141403cc6225bd9f8b85699 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Mon, 24 Jul 2017 15:58:39 -0700 Subject: [PATCH 5/6] fix motor direction when walking upside down also maintain worldUp and remove unnecessary cruft --- interface/src/Application.cpp | 4 +- interface/src/avatar/MyAvatar.cpp | 6 +-- interface/src/avatar/MyAvatar.h | 1 - .../src/avatars-renderer/Avatar.cpp | 38 ++++++------------- .../src/avatars-renderer/Avatar.h | 13 ++----- .../src/avatars-renderer/SkeletonModel.cpp | 6 +-- .../src/avatars-renderer/SkeletonModel.h | 2 +- libraries/avatars/src/AvatarData.cpp | 14 +++---- libraries/avatars/src/AvatarData.h | 12 +++--- libraries/shared/src/shared/Camera.h | 2 +- 10 files changed, 38 insertions(+), 60 deletions(-) diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp index dbb94cfdae..166b4fee72 100644 --- a/interface/src/Application.cpp +++ b/interface/src/Application.cpp @@ -2314,7 +2314,7 @@ void Application::paintGL() { } } else if (_myCamera.getMode() == CAMERA_MODE_MIRROR) { if (isHMDMode()) { - auto mirrorBodyOrientation = myAvatar->getWorldAlignedOrientation() * glm::quat(glm::vec3(0.0f, PI + _rotateMirror, 0.0f)); + auto mirrorBodyOrientation = myAvatar->getOrientation() * glm::quat(glm::vec3(0.0f, PI + _rotateMirror, 0.0f)); glm::quat hmdRotation = extractRotation(myAvatar->getHMDSensorMatrix()); // Mirror HMD yaw and roll @@ -2336,7 +2336,7 @@ void Application::paintGL() { + mirrorBodyOrientation * glm::vec3(0.0f, 0.0f, 1.0f) * MIRROR_FULLSCREEN_DISTANCE * _scaleMirror + mirrorBodyOrientation * hmdOffset); } else { - _myCamera.setOrientation(myAvatar->getWorldAlignedOrientation() + _myCamera.setOrientation(myAvatar->getOrientation() * glm::quat(glm::vec3(0.0f, PI + _rotateMirror, 0.0f))); _myCamera.setPosition(myAvatar->getDefaultEyePosition() + glm::vec3(0, _raiseMirror * myAvatar->getUniformScale(), 0) diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp index 2e3b9a584e..b644defde2 100755 --- a/interface/src/avatar/MyAvatar.cpp +++ b/interface/src/avatar/MyAvatar.cpp @@ -1291,7 +1291,7 @@ eyeContactTarget MyAvatar::getEyeContactTarget() { } glm::vec3 MyAvatar::getDefaultEyePosition() const { - return getPosition() + getWorldAlignedOrientation() * Quaternions::Y_180 * _skeletonModel->getDefaultEyeModelPosition(); + return getPosition() + getOrientation() * Quaternions::Y_180 * _skeletonModel->getDefaultEyeModelPosition(); } const float SCRIPT_PRIORITY = 1.0f + 1.0f; @@ -1588,7 +1588,7 @@ void MyAvatar::updateMotors() { // non-hovering = walking: follow camera twist about vertical but not lift // so we decompose camera's rotation and store the twist part in motorRotation glm::quat liftRotation; - swingTwistDecomposition(getMyHead()->getHeadOrientation(), _worldUpDirection, liftRotation, motorRotation); + motorRotation = getOrientation(); } const float DEFAULT_MOTOR_TIMESCALE = 0.2f; const float INVALID_MOTOR_TIMESCALE = 1.0e6f; @@ -1656,7 +1656,7 @@ void MyAvatar::nextAttitude(glm::vec3 position, glm::quat orientation) { if (!success) { qCWarning(interfaceapp) << "Warning -- MyAvatar::nextAttitude failed"; } - updateAttitude(); + updateAttitude(orientation); } void MyAvatar::harvestResultsFromPhysicsSimulation(float deltaTime) { diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h index 86321137d4..2f8f838cf9 100644 --- a/interface/src/avatar/MyAvatar.h +++ b/interface/src/avatar/MyAvatar.h @@ -552,7 +552,6 @@ public: Q_INVOKABLE bool isUp(const glm::vec3& direction) { return glm::dot(direction, _worldUpDirection) > 0.0f; }; // true iff direction points up wrt avatar's definition of up. Q_INVOKABLE bool isDown(const glm::vec3& direction) { return glm::dot(direction, _worldUpDirection) < 0.0f; }; - public slots: void increaseSize(); void decreaseSize(); diff --git a/libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp b/libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp index 4016592d0a..06814c2707 100644 --- a/libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp +++ b/libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp @@ -151,11 +151,6 @@ glm::vec3 Avatar::getNeckPosition() const { return _skeletonModel->getNeckPosition(neckPosition) ? neckPosition : getPosition(); } - -glm::quat Avatar::getWorldAlignedOrientation () const { - return computeRotationFromBodyToWorldUp() * getOrientation(); -} - AABox Avatar::getBounds() const { if (!_skeletonModel->isRenderable() || _skeletonModel->needsFixupInScene()) { // approximately 2m tall, scaled to user request. @@ -436,6 +431,11 @@ void Avatar::slamPosition(const glm::vec3& newPosition) { _lastVelocity = glm::vec3(0.0f); } +void Avatar::updateAttitude(const glm::quat& orientation) { + _skeletonModel->updateAttitude(orientation); + _worldUpDirection = orientation * Vectors::UNIT_Y; +} + void Avatar::applyPositionDelta(const glm::vec3& delta) { setPosition(getPosition() + delta); _positionDeltaAccumulator += delta; @@ -628,22 +628,6 @@ void Avatar::render(RenderArgs* renderArgs) { } } -glm::quat Avatar::computeRotationFromBodyToWorldUp(float proportion) const { - glm::quat orientation = getOrientation(); - glm::vec3 currentUp = orientation * IDENTITY_UP; - float angle = acosf(glm::clamp(glm::dot(currentUp, _worldUpDirection), -1.0f, 1.0f)); - if (angle < EPSILON) { - return glm::quat(); - } - glm::vec3 axis; - if (angle > 179.99f * RADIANS_PER_DEGREE) { // 180 degree rotation; must use another axis - axis = orientation * IDENTITY_RIGHT; - } else { - axis = glm::normalize(glm::cross(currentUp, _worldUpDirection)); - } - return glm::angleAxis(angle * proportion, axis); -} - void Avatar::fixupModelsInScene(const render::ScenePointer& scene) { _attachmentsToDelete.clear(); @@ -1401,14 +1385,14 @@ glm::quat Avatar::getUncachedRightPalmRotation() const { return rightPalmRotation; } -void Avatar::setPosition(const glm::vec3& position) { - AvatarData::setPosition(position); - updateAttitude(); +void Avatar::setPositionViaScript(const glm::vec3& position) { + setPosition(position); + updateAttitude(getOrientation()); } -void Avatar::setOrientation(const glm::quat& orientation) { - AvatarData::setOrientation(orientation); - updateAttitude(); +void Avatar::setOrientationViaScript(const glm::quat& orientation) { + setOrientation(orientation); + updateAttitude(orientation); } void Avatar::updatePalms() { diff --git a/libraries/avatars-renderer/src/avatars-renderer/Avatar.h b/libraries/avatars-renderer/src/avatars-renderer/Avatar.h index db9d36be7a..2c75012209 100644 --- a/libraries/avatars-renderer/src/avatars-renderer/Avatar.h +++ b/libraries/avatars-renderer/src/avatars-renderer/Avatar.h @@ -112,8 +112,6 @@ public: const Head* getHead() const { return static_cast(_headData); } Head* getHead() { return static_cast(_headData); } - glm::quat getWorldAlignedOrientation() const; - AABox getBounds() const; /// Returns the distance to use as a LOD parameter. @@ -184,7 +182,7 @@ public: void scaleVectorRelativeToPosition(glm::vec3 &positionToScale) const; void slamPosition(const glm::vec3& position); - virtual void updateAttitude() { _skeletonModel->updateAttitude(); } + virtual void updateAttitude(const glm::quat& orientation) override; // Call this when updating Avatar position with a delta. This will allow us to // _accurately_ measure position changes and compute the resulting velocity @@ -197,10 +195,8 @@ public: void getCapsule(glm::vec3& start, glm::vec3& end, float& radius); float computeMass(); - using SpatiallyNestable::setPosition; - virtual void setPosition(const glm::vec3& position) override; - using SpatiallyNestable::setOrientation; - virtual void setOrientation(const glm::quat& orientation) override; + void setPositionViaScript(const glm::vec3& position) override; + void setOrientationViaScript(const glm::quat& orientation) override; // these call through to the SpatiallyNestable versions, but they are here to expose these to javascript. Q_INVOKABLE virtual const QUuid getParentID() const override { return SpatiallyNestable::getParentID(); } @@ -240,7 +236,7 @@ public: bool hasNewJointData() const { return _hasNewJointData; } float getBoundingRadius() const; - + void addToScene(AvatarSharedPointer self, const render::ScenePointer& scene); void ensureInScene(AvatarSharedPointer self, const render::ScenePointer& scene); bool isInScene() const { return render::Item::isValidID(_renderItemID); } @@ -303,7 +299,6 @@ protected: glm::vec3 getBodyRightDirection() const { return getOrientation() * IDENTITY_RIGHT; } glm::vec3 getBodyUpDirection() const { return getOrientation() * IDENTITY_UP; } - glm::quat computeRotationFromBodyToWorldUp(float proportion = 1.0f) const; void measureMotionDerivatives(float deltaTime); float getSkeletonHeight() const; diff --git a/libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.cpp b/libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.cpp index 9651951b46..c0d5fc07d7 100644 --- a/libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.cpp +++ b/libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.cpp @@ -118,16 +118,16 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) { _rig.updateFromEyeParameters(eyeParams); } -void SkeletonModel::updateAttitude() { +void SkeletonModel::updateAttitude(const glm::quat& orientation) { setTranslation(_owningAvatar->getSkeletonPosition()); - setRotation(_owningAvatar->getOrientation() * Quaternions::Y_180); + setRotation(orientation * Quaternions::Y_180); setScale(glm::vec3(1.0f, 1.0f, 1.0f) * _owningAvatar->getScale()); } // Called by Avatar::simulate after it has set the joint states (fullUpdate true if changed), // but just before head has been simulated. void SkeletonModel::simulate(float deltaTime, bool fullUpdate) { - updateAttitude(); + updateAttitude(_owningAvatar->getOrientation()); if (fullUpdate) { setBlendshapeCoefficients(_owningAvatar->getHead()->getSummedBlendshapeCoefficients()); diff --git a/libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.h b/libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.h index e48884c581..919e82825c 100644 --- a/libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.h +++ b/libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.h @@ -35,7 +35,7 @@ public: void simulate(float deltaTime, bool fullUpdate = true) override; void updateRig(float deltaTime, glm::mat4 parentTransform) override; - void updateAttitude(); + void updateAttitude(const glm::quat& orientation); /// Returns the index of the left hand joint, or -1 if not found. int getLeftHandJointIndex() const { return isActive() ? getFBXGeometry().leftHandJointIndex : -1; } diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp index 85228af941..9570056353 100644 --- a/libraries/avatars/src/AvatarData.cpp +++ b/libraries/avatars/src/AvatarData.cpp @@ -91,9 +91,6 @@ AvatarData::AvatarData() : _targetVelocity(0.0f), _density(DEFAULT_AVATAR_DENSITY) { - setBodyPitch(0.0f); - setBodyYaw(-90.0f); - setBodyRoll(0.0f); } AvatarData::~AvatarData() { @@ -2083,6 +2080,7 @@ void AvatarData::fromJson(const QJsonObject& json, bool useFrameSkeleton) { currentBasis = std::make_shared(Transform::fromJson(json[JSON_AVATAR_BASIS])); } + glm::quat orientation; if (json.contains(JSON_AVATAR_RELATIVE)) { // During playback you can either have the recording basis set to the avatar current state // meaning that all playback is relative to this avatars starting position, or @@ -2094,12 +2092,14 @@ void AvatarData::fromJson(const QJsonObject& json, bool useFrameSkeleton) { auto relativeTransform = Transform::fromJson(json[JSON_AVATAR_RELATIVE]); auto worldTransform = currentBasis->worldTransform(relativeTransform); setPosition(worldTransform.getTranslation()); - setOrientation(worldTransform.getRotation()); + orientation = worldTransform.getRotation(); } else { // We still set the position in the case that there is no movement. setPosition(currentBasis->getTranslation()); - setOrientation(currentBasis->getRotation()); + orientation = currentBasis->getRotation(); } + setOrientation(orientation); + updateAttitude(orientation); // Do after avatar orientation because head look-at needs avatar orientation. if (json.contains(JSON_AVATAR_HEAD)) { @@ -2217,11 +2217,11 @@ void AvatarData::setBodyRoll(float bodyRoll) { setOrientation(glm::quat(glm::radians(eulerAngles))); } -void AvatarData::setPosition(const glm::vec3& position) { +void AvatarData::setPositionViaScript(const glm::vec3& position) { SpatiallyNestable::setPosition(position); } -void AvatarData::setOrientation(const glm::quat& orientation) { +void AvatarData::setOrientationViaScript(const glm::quat& orientation) { SpatiallyNestable::setOrientation(orientation); } diff --git a/libraries/avatars/src/AvatarData.h b/libraries/avatars/src/AvatarData.h index 1cf7d7dd91..0e936c49e0 100644 --- a/libraries/avatars/src/AvatarData.h +++ b/libraries/avatars/src/AvatarData.h @@ -351,14 +351,14 @@ public: class AvatarData : public QObject, public SpatiallyNestable { Q_OBJECT - Q_PROPERTY(glm::vec3 position READ getPosition WRITE setPosition) + Q_PROPERTY(glm::vec3 position READ getPosition WRITE setPositionViaScript) Q_PROPERTY(float scale READ getTargetScale WRITE setTargetScale) Q_PROPERTY(glm::vec3 handPosition READ getHandPosition WRITE setHandPosition) Q_PROPERTY(float bodyYaw READ getBodyYaw WRITE setBodyYaw) Q_PROPERTY(float bodyPitch READ getBodyPitch WRITE setBodyPitch) Q_PROPERTY(float bodyRoll READ getBodyRoll WRITE setBodyRoll) - Q_PROPERTY(glm::quat orientation READ getOrientation WRITE setOrientation) + Q_PROPERTY(glm::quat orientation READ getOrientation WRITE setOrientationViaScript) Q_PROPERTY(glm::quat headOrientation READ getHeadOrientation WRITE setHeadOrientation) Q_PROPERTY(float headPitch READ getHeadPitch WRITE setHeadPitch) Q_PROPERTY(float headYaw READ getHeadYaw WRITE setHeadYaw) @@ -440,10 +440,10 @@ public: float getBodyRoll() const; void setBodyRoll(float bodyRoll); - using SpatiallyNestable::setPosition; - virtual void setPosition(const glm::vec3& position) override; - using SpatiallyNestable::setOrientation; - virtual void setOrientation(const glm::quat& orientation) override; + virtual void setPositionViaScript(const glm::vec3& position); + virtual void setOrientationViaScript(const glm::quat& orientation); + + virtual void updateAttitude(const glm::quat& orientation) {} glm::quat getHeadOrientation() const { lazyInitHeadData(); diff --git a/libraries/shared/src/shared/Camera.h b/libraries/shared/src/shared/Camera.h index 5f2162ff6e..c7b943f0dd 100644 --- a/libraries/shared/src/shared/Camera.h +++ b/libraries/shared/src/shared/Camera.h @@ -127,7 +127,7 @@ private: glm::mat4 _projection; // derived - glm::vec3 _position; + glm::vec3 _position { 0.0f, 0.0f, 0.0f }; glm::quat _orientation; bool _isKeepLookingAt{ false }; glm::vec3 _lookingAt; From 3ec9640ea1e8bdf201dd56e8043432bf9b4262e2 Mon Sep 17 00:00:00 2001 From: Andrew Meadows Date: Fri, 28 Jul 2017 09:22:47 -0700 Subject: [PATCH 6/6] fix calculation of walk motor for HMD --- interface/src/avatar/MyAvatar.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp index b644defde2..83d170300b 100755 --- a/interface/src/avatar/MyAvatar.cpp +++ b/interface/src/avatar/MyAvatar.cpp @@ -1586,9 +1586,14 @@ void MyAvatar::updateMotors() { motorRotation = getMyHead()->getHeadOrientation(); } else { // non-hovering = walking: follow camera twist about vertical but not lift - // so we decompose camera's rotation and store the twist part in motorRotation + // we decompose camera's rotation and store the twist part in motorRotation + // however, we need to perform the decomposition in the avatar-frame + // using the local UP axis and then transform back into world-frame + glm::quat orientation = getOrientation(); + glm::quat headOrientation = glm::inverse(orientation) * getMyHead()->getHeadOrientation(); // avatar-frame glm::quat liftRotation; - motorRotation = getOrientation(); + swingTwistDecomposition(headOrientation, Vectors::UNIT_Y, liftRotation, motorRotation); + motorRotation = orientation * motorRotation; } const float DEFAULT_MOTOR_TIMESCALE = 0.2f; const float INVALID_MOTOR_TIMESCALE = 1.0e6f;