Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-08-19 19:22:53 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

added walk velocity threshold, this determines if we are in the walk state. when we are then we don't do cg leaning calculation. this will smooth out the walking in a large tracked area

Browse source
This commit is contained in:
amantley 2018-09-06 13:12:48 -07:00
parent 6fb335429d
commit 90a51e6181
4 changed files with 39 additions and 31 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

59
interface/src/avatar/MyAvatar.cpp
View file

@ -516,8 +516,8 @@ void MyAvatar::update(float deltaTime) {
head->relax(deltaTime);
updateFromTrackers(deltaTime);
if (_isInWalkingState && glm::length(getControllerPoseInAvatarFrame(controller::Action::HEAD).getVelocity()) < 0.15f) {
_isInWalkingState = false;
if (getIsInWalkingState() && glm::length(getControllerPoseInAvatarFrame(controller::Action::HEAD).getVelocity()) < DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
setIsInWalkingState(false);
}
// Get audio loudness data from audio input device
@ -3806,6 +3806,10 @@ float MyAvatar::getUserEyeHeight() const {
return userHeight - userHeight * ratio;
}
bool MyAvatar::getIsInWalkingState() const {
return _isInWalkingState;
}
float MyAvatar::getWalkSpeed() const {
return _walkSpeed.get() * _walkSpeedScalar;
}
@ -3822,6 +3826,10 @@ void MyAvatar::setSprintMode(bool sprint) {
_walkSpeedScalar = sprint ? _sprintSpeed.get() : AVATAR_WALK_SPEED_SCALAR;
}
void MyAvatar::setIsInWalkingState(bool isWalking) {
_isInWalkingState = isWalking;
}
void MyAvatar::setWalkSpeed(float value) {
_walkSpeed.set(value);
}
@ -4006,37 +4014,38 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontalCG(MyAvatar& myAvatar) cons
controller::Pose currentLeftHandPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND);
controller::Pose currentRightHandPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND);
qCDebug(interfaceapp) << "currentVelocity is " <<currentHeadPose.velocity;
bool stepDetected = false;
float myScale = myAvatar.getAvatarScale();
if (!withinBaseOfSupport(currentHeadPose) &&
if (myAvatar.getIsInWalkingState()) {
stepDetected = true;
} else {
if (!withinBaseOfSupport(currentHeadPose) &&
headAngularVelocityBelowThreshold(currentHeadPose) &&
isWithinThresholdHeightMode(currentHeadPose, myAvatar.getCurrentStandingHeight(), myScale) &&
handDirectionMatchesHeadDirection(currentLeftHandPose, currentRightHandPose, currentHeadPose) &&
handAngularVelocityBelowThreshold(currentLeftHandPose, currentRightHandPose) &&
headVelocityGreaterThanThreshold(currentHeadPose) &&
isHeadLevel(currentHeadPose, myAvatar.getAverageHeadRotation())) {
// a step is detected
stepDetected = true;
if (glm::length(currentHeadPose.velocity) > 0.15f) {
myAvatar._isInWalkingState = true;
}
} else {
glm::vec3 defaultHipsPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Hips"));
glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head"));
glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
if (!isActive(Horizontal) &&
(glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance)))) {
myAvatar.setResetMode(true);
qCDebug(interfaceapp) << "failsafe called, default back " << anatomicalHeadToHipsDistance << " scale " << myAvatar.getAvatarScale() << " current length " << glm::length(currentHeadPosition - defaultHipsPosition);
// a step is detected
stepDetected = true;
if (glm::length(currentHeadPose.velocity) > 0.15f) {
myAvatar._isInWalkingState = true;
if (glm::length(currentHeadPose.velocity) > DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
myAvatar.setIsInWalkingState(true);
}
} else {
glm::vec3 defaultHipsPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Hips"));
glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head"));
glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
if (!isActive(Horizontal) &&
(glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance)))) {
myAvatar.setResetMode(true);
stepDetected = true;
if (glm::length(currentHeadPose.velocity) > DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
myAvatar.setIsInWalkingState(true);
}
}
}
qCDebug(interfaceapp) << "current head height " << currentHeadPose.getTranslation().y << " scale " << myAvatar.getAvatarScale() << " anatomical " << anatomicalHeadToHipsDistance;
}
return stepDetected;
}
@ -4053,9 +4062,6 @@ bool MyAvatar::FollowHelper::shouldActivateVertical(const MyAvatar& myAvatar, co
void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat4& desiredBodyMatrix,
const glm::mat4& currentBodyMatrix, bool hasDriveInput) {
const float VELOCITY_THRESHHOLD = 1.0f;
float currentVelocity = glm::length(myAvatar.getLocalVelocity() / myAvatar.getSensorToWorldScale());
if (myAvatar.getHMDLeanRecenterEnabled() &&
qApp->getCamera().getMode() != CAMERA_MODE_MIRROR) {
if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
@ -4063,7 +4069,7 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing());
}
if (myAvatar.getCenterOfGravityModelEnabled()) {
if ((!isActive(Horizontal) && (shouldActivateHorizontalCG(myAvatar) || hasDriveInput)) || ( isActive(Horizontal) && (currentVelocity > VELOCITY_THRESHHOLD))) {
if (!isActive(Horizontal) && (shouldActivateHorizontalCG(myAvatar) || hasDriveInput)) {
activate(Horizontal);
if (myAvatar.getEnableStepResetRotation()) {
activate(Rotation);
@ -4089,7 +4095,6 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
setForceActivateRotation(false);
}
if (!isActive(Horizontal) && getForceActivateHorizontal()) {
qCDebug(interfaceapp) << "called the recentering from script";
activate(Horizontal);
setForceActivateHorizontal(false);
}

2
interface/src/avatar/MyAvatar.h
View file

@ -1086,6 +1086,8 @@ public:
const QUuid& getSelfID() const { return AVATAR_SELF_ID; }
void setIsInWalkingState(bool isWalking);
bool getIsInWalkingState() const;
void setWalkSpeed(float value);
float getWalkSpeed() const;
void setWalkBackwardSpeed(float value);

2
interface/src/avatar/MySkeletonModel.cpp
View file

@ -46,7 +46,7 @@ static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
}
glm::mat4 hipsMat;
if (myAvatar->getCenterOfGravityModelEnabled() && !isFlying) {
if (myAvatar->getCenterOfGravityModelEnabled() && !isFlying && !(myAvatar->getIsInWalkingState())) {
// then we use center of gravity model
hipsMat = myAvatar->deriveBodyUsingCgModel();
} else {

7
libraries/shared/src/AvatarConstants.h
View file

@ -25,9 +25,9 @@ const float DEFAULT_AVATAR_SUPPORT_BASE_RIGHT = 0.25f;
const float DEFAULT_AVATAR_SUPPORT_BASE_FRONT = -0.20f;
const float DEFAULT_AVATAR_SUPPORT_BASE_BACK = 0.12f;
const float DEFAULT_AVATAR_LATERAL_STEPPING_THRESHOLD = 0.10f;
const float DEFAULT_AVATAR_ANTERIOR_STEPPING_THRESHOLD = 0.07f;
const float DEFAULT_AVATAR_POSTERIOR_STEPPING_THRESHOLD = 0.06f;
const float DEFAULT_AVATAR_HEAD_ANGULAR_VELOCITY_STEPPING_THRESHOLD = 0.4f;
const float DEFAULT_AVATAR_ANTERIOR_STEPPING_THRESHOLD = 0.04f;
const float DEFAULT_AVATAR_POSTERIOR_STEPPING_THRESHOLD = 0.05f;
const float DEFAULT_AVATAR_HEAD_ANGULAR_VELOCITY_STEPPING_THRESHOLD = 0.3f;
const float DEFAULT_AVATAR_MODE_HEIGHT_STEPPING_THRESHOLD = -0.02f;
const float DEFAULT_HANDS_VELOCITY_DIRECTION_STEPPING_THRESHOLD = 0.4f;
const float DEFAULT_HANDS_ANGULAR_VELOCITY_STEPPING_THRESHOLD = 3.3f;
@ -68,6 +68,7 @@ const glm::quat DEFAULT_AVATAR_RIGHTFOOT_ROT { -0.4016716778278351f, 0.915461599
const float DEFAULT_AVATAR_MAX_WALKING_SPEED = 2.6f; // meters / second
const float DEFAULT_AVATAR_MAX_WALKING_BACKWARD_SPEED = 2.2f; // meters / second
const float DEFAULT_AVATAR_MAX_FLYING_SPEED = 30.0f; // meters / second
const float DEFAULT_AVATAR_WALK_SPEED_THRESHOLD = 0.15f;
const float DEFAULT_AVATAR_GRAVITY = -5.0f; // meters / second^2
const float DEFAULT_AVATAR_JUMP_SPEED = 3.5f; // meters / second