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changed the transition times to make them shorter sit == 3sec stand == 1sec, also added failsafe for when the average height is above 5ft. this can recover from a missed transition to standing.

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amantley 2018-10-16 15:10:26 -07:00
parent 7d7fe8c089
commit 952b112271
2 changed files with 76 additions and 87 deletions
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153
interface/src/avatar/MyAvatar.cpp
View file

@ -464,17 +464,72 @@ void MyAvatar::reset(bool andRecenter, bool andReload, bool andHead) {
}
}
void MyAvatar::updateSitStandState(float newHeightReading, float angleHeadUp) {
const float STANDING_HEIGHT_MULTIPLE = 1.2f;
const float SITTING_HEIGHT_MULTIPLE = 0.833f;
const int SITTING_COUNT_THRESHOLD = 180;
const int STANDING_COUNT_THRESHOLD = 60;
const int SQUATTY_COUNT_THRESHOLD = 600;
// qCDebug(interfaceapp) << "locked " << getIsSitStandStateLocked() << " away " << getIsAway() << " hmd " << qApp->isHMDMode() << " user height " << _userHeight.get();
if (!getIsSitStandStateLocked() && !getIsAway() && qApp->isHMDMode()) {
if (getIsInSittingState()) {
if (newHeightReading > (STANDING_HEIGHT_MULTIPLE * _tippingPoint)) {
// if we recenter upwards then no longer in sitting state
_sitStandStateCount++;
if (_sitStandStateCount > STANDING_COUNT_THRESHOLD) {
_sumUserHeightSensorSpace = newHeightReading;
_tippingPoint = newHeightReading;
setIsInSittingState(false);
}
} else if (newHeightReading < (SITTING_HEIGHT_MULTIPLE * _tippingPoint)) {
// if we are mis labelled as sitting but we are standing in the real world this will
// make sure that a real sit is still recognized so we won't be stuck in sitting unable to change state
_sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sumUserHeightSensorSpace = newHeightReading;
_tippingPoint = newHeightReading;
// here we stay in sit state but reset the average height
setIsInSittingState(true);
}
} else {
// sanity check if average height greater than 5ft they are not sitting(or get off your dangerous barstool please)
if (_sumUserHeightSensorSpace > 1.52f) {
setIsInSittingState(true);
} else {
// tipping point is average height when sitting.
_tippingPoint = _sumUserHeightSensorSpace;
_sitStandStateCount = 0;
}
}
} else {
// in the standing state
if (newHeightReading < (SITTING_HEIGHT_MULTIPLE * _tippingPoint)) {
_sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sumUserHeightSensorSpace = newHeightReading;
_tippingPoint = newHeightReading;
setIsInSittingState(true);
}
} else {
// use the mode height for the tipping point when we are standing.
_tippingPoint = getCurrentStandingHeight();
_sitStandStateCount = 0;
}
}
} else {
// if you are away then reset the average and set state to standing.
_sumUserHeightSensorSpace = _userHeight.get();
_tippingPoint = _userHeight.get();
setIsInSittingState(false);
}
}
void MyAvatar::update(float deltaTime) {
// update moving average of HMD facing in xz plane.
const float HMD_FACING_TIMESCALE = getRotationRecenterFilterLength();
const float PERCENTAGE_WEIGHT_HEAD_VS_SHOULDERS_AZIMUTH = 0.0f; // 100 percent shoulders
const float STANDING_HEIGHT_MULTIPLE = 1.2f;
const float SITTING_HEIGHT_MULTIPLE = 0.833f;
const float COSINE_THIRTY_DEGREES = 0.866f;
const float COSINE_TEN_DEGREES = 0.9848f;
const int SITTING_COUNT_THRESHOLD = 100;
const int STANDING_COUNT_THRESHOLD = 10;
const int SQUATTY_COUNT_THRESHOLD = 600;
float tau = deltaTime / HMD_FACING_TIMESCALE;
setHipToHandController(computeHandAzimuth());
@ -504,13 +559,11 @@ void MyAvatar::update(float deltaTime) {
controller::Pose newHeightReading = getControllerPoseInSensorFrame(controller::Action::HEAD);
if (newHeightReading.isValid()) {
int newHeightReadingInCentimeters = glm::floor(newHeightReading.getTranslation().y * CENTIMETERS_PER_METER);
_sumUserHeightSensorSpace += newHeightReading.getTranslation().y;
_averageUserHeightCount++;
_sumUserHeightSensorSpace = lerp(_sumUserHeightSensorSpace, newHeightReading.getTranslation().y, 0.01f);
_recentModeReadings.insert(newHeightReadingInCentimeters);
setCurrentStandingHeight(computeStandingHeightMode(newHeightReading));
setAverageHeadRotation(computeAverageHeadRotation(getControllerPoseInAvatarFrame(controller::Action::HEAD)));
}
float averageSensorSpaceHeight = _sumUserHeightSensorSpace / _averageUserHeightCount;
// if the spine is straight and the head is below the default position by 5 cm then increment squatty count.
const float SQUAT_THRESHOLD = 0.05f;
@ -533,76 +586,8 @@ void MyAvatar::update(float deltaTime) {
}
float angleHeadUp = glm::dot(headUp, glm::vec3(0.0f, 1.0f, 0.0f));
const int VELOCITY_COUNT_THRESHOLD = 60;
// put update sit stand state counts here
if (!getIsSitStandStateLocked()) {
if (!getIsAway()) {
if (qApp->isHMDMode()) {
if (getIsInSittingState()) {
if (newHeightReading.getTranslation().y > (STANDING_HEIGHT_MULTIPLE * _tippingPoint)) {
// if we recenter upwards then no longer in sitting state
_sitStandStateCount++;
if (_sitStandStateCount > STANDING_COUNT_THRESHOLD) {
_sitStandStateCount = 0;
_squatCount = 0;
if (newHeightReading.isValid()) {
_sumUserHeightSensorSpace = newHeightReading.getTranslation().y;
_tippingPoint = newHeightReading.getTranslation().y;
}
_averageUserHeightCount = 1;
setIsInSittingState(false);
}
} else if ((newHeightReading.getTranslation().y < (SITTING_HEIGHT_MULTIPLE * _tippingPoint)) && (angleHeadUp > COSINE_THIRTY_DEGREES)) {
// if we are mis labelled as sitting but we are standing in the real world this will
// make sure that a real sit is still recognized so we won't be stuck in sitting unable to change state
_sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sitStandStateCount = 0;
_squatCount = 0;
if (newHeightReading.isValid()) {
_sumUserHeightSensorSpace = newHeightReading.getTranslation().y;
_tippingPoint = newHeightReading.getTranslation().y;
}
_averageUserHeightCount = 1;
// here we stay in sit state but reset the average height
setIsInSittingState(true);
}
} else {
_sitStandStateCount = 0;
// tipping point is average height when sitting.
_tippingPoint = averageSensorSpaceHeight;
}
} else {
// in the standing state
if ((newHeightReading.getTranslation().y < (SITTING_HEIGHT_MULTIPLE * _tippingPoint)) && (angleHeadUp > COSINE_THIRTY_DEGREES)) {
_sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sitStandStateCount = 0;
_squatCount = 0;
if (newHeightReading.isValid()) {
_sumUserHeightSensorSpace = newHeightReading.getTranslation().y;
_tippingPoint = newHeightReading.getTranslation().y;
}
_averageUserHeightCount = 1;
setIsInSittingState(true);
}
} else {
// use the mode height for the tipping point when we are standing.
_tippingPoint = getCurrentStandingHeight();
_sitStandStateCount = 0;
}
}
}
} else {
// if you are away then reset the average and set state to standing.
_squatCount = 0;
_sitStandStateCount = 0;
_averageUserHeightCount = 1;
_sumUserHeightSensorSpace = DEFAULT_AVATAR_HEIGHT;
_tippingPoint = DEFAULT_AVATAR_HEIGHT;
setIsInSittingState(false);
}
}
updateSitStandState(newHeightReading.getTranslation().y, angleHeadUp);
if (_drawAverageFacingEnabled) {
auto sensorHeadPose = getControllerPoseInSensorFrame(controller::Action::HEAD);
@ -3917,6 +3902,9 @@ void MyAvatar::setIsInWalkingState(bool isWalking) {
}
void MyAvatar::setIsInSittingState(bool isSitting) {
_sitStandStateCount = 0;
_squatCount = 0;
// on reset height we need the count to be more than one in case the user sits and stands up quickly.
_isInSittingState.set(isSitting);
setResetMode(true);
if (isSitting) {
@ -3929,12 +3917,10 @@ void MyAvatar::setIsInSittingState(bool isSitting) {
}
void MyAvatar::setIsSitStandStateLocked(bool isLocked) {
const float DEFAULT_FLOOR_HEIGHT = 0.0f;
_lockSitStandState.set(isLocked);
_sitStandStateCount = 0;
_sumUserHeightSensorSpace = DEFAULT_AVATAR_HEIGHT;
_tippingPoint = DEFAULT_FLOOR_HEIGHT;
_averageUserHeightCount = 1;
_sumUserHeightSensorSpace = _userHeight.get();
_tippingPoint = _userHeight.get();
if (!isLocked) {
// always start the auto transition mode in standing state.
setIsInSittingState(false);
@ -4238,6 +4224,9 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
}
}
}
if (!isActive(Vertical) && (shouldActivateVertical(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
activate(Vertical);
}
} else {
if (!isActive(Rotation) && getForceActivateRotation()) {
activate(Rotation);

10
interface/src/avatar/MyAvatar.h
View file

@ -1116,6 +1116,7 @@ public:
float getSprintSpeed() const;
void setSitStandStateChange(bool stateChanged);
float getSitStandStateChange() const;
void updateSitStandState(float newHeightReading, float angleHeadUp);
QVector<QString> getScriptUrls();
@ -1830,10 +1831,9 @@ private:
const float DEFAULT_FLOOR_HEIGHT = 0.0f;
// height of user in sensor space, when standing erect.
ThreadSafeValueCache<float> _userHeight{ DEFAULT_AVATAR_HEIGHT };
float _sumUserHeightSensorSpace{ DEFAULT_AVATAR_HEIGHT };
int _averageUserHeightCount{ 1 };
bool _sitStandStateChange{ false };
ThreadSafeValueCache<float> _userHeight { DEFAULT_AVATAR_HEIGHT };
float _sumUserHeightSensorSpace { _userHeight.get() };
bool _sitStandStateChange { false };
ThreadSafeValueCache<bool> _lockSitStandState { false };
// max unscaled forward movement speed
@ -1845,7 +1845,7 @@ private:
ThreadSafeValueCache<bool> _isInSittingState { false };
int _sitStandStateCount { 0 };
int _squatCount { 0 };
float _tippingPoint { DEFAULT_AVATAR_HEIGHT };
float _tippingPoint { _userHeight.get() };
// load avatar scripts once when rig is ready
bool _shouldLoadScripts { false };