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far-grabbed objects no longer fly away when the avatar body shifts

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Before this fix, a hand vector was being tracked that was the difference between the avatar's hand in avatar space with the avatar's hand
in avatar space the previous frame.  This hand vector was used to move the grabbed object position.  However, when the body shifts, objects
in the avatar's space will change rapidly, this would cause this hand vector to be incorrect and cause the object to shoot off in the distance.

Now, we track this hand delta in sensor a.k.a. room space.  This is immune to the shifts caused by body shifting.
This commit is contained in:
Anthony J. Thibault 2016-07-18 13:10:16 -07:00
parent 5a01bf406e
commit 959a2f9915
1 changed files with 28 additions and 36 deletions

64
scripts/system/controllers/handControllerGrab.js
View file

@ -1592,13 +1592,16 @@ function MyController(hand) {
this.clearEquipHaptics();
// controller pose is in avatar frame
var avatarControllerPose =
Controller.getPoseValue((this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand);
var device = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand;
var avatarControllerPose = Controller.getPoseValue(device);
// transform it into world frame
var controllerPositionVSAvatar = Vec3.multiplyQbyV(MyAvatar.orientation, avatarControllerPose.translation);
var controllerPosition = Vec3.sum(MyAvatar.position, controllerPositionVSAvatar);
var controllerRotation = Quat.multiply(MyAvatar.orientation, avatarControllerPose.rotation);
var worldControllerPosition = Vec3.sum(MyAvatar.position,
Vec3.multiplyQbyV(MyAvatar.orientation, avatarControllerPose.translation));
// also transform the position into room space
var worldToSensorMat = Mat4.inverse(MyAvatar.getSensorToWorldMatrix());
var roomControllerPosition = Mat4.transformPoint(worldToSensorMat, worldControllerPosition);
var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, GRABBABLE_PROPERTIES);
var now = Date.now();
@ -1609,7 +1612,7 @@ function MyController(hand) {
this.currentObjectTime = now;
this.currentCameraOrientation = Camera.orientation;
this.grabRadius = Vec3.distance(this.currentObjectPosition, controllerPosition);
this.grabRadius = Vec3.distance(this.currentObjectPosition, worldControllerPosition);
this.grabRadialVelocity = 0.0;
// compute a constant based on the initial conditions which we use below to exagerate hand motion onto the held object
@ -1644,8 +1647,7 @@ function MyController(hand) {
this.turnOffVisualizations();
this.previousControllerPositionVSAvatar = controllerPositionVSAvatar;
this.previousControllerRotation = controllerRotation;
this.previousRoomControllerPosition = roomControllerPosition;
};
this.distanceHolding = function (deltaTime, timestamp) {
@ -1658,13 +1660,17 @@ function MyController(hand) {
this.heartBeat(this.grabbedEntity);
// controller pose is in avatar frame
var avatarControllerPose = Controller.getPoseValue((this.hand === RIGHT_HAND) ?
Controller.Standard.RightHand : Controller.Standard.LeftHand);
var device = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand;
var avatarControllerPose = Controller.getPoseValue(device);
// transform it into world frame
var controllerPositionVSAvatar = Vec3.multiplyQbyV(MyAvatar.orientation, avatarControllerPose.translation);
var controllerPosition = Vec3.sum(MyAvatar.position, controllerPositionVSAvatar);
var controllerRotation = Quat.multiply(MyAvatar.orientation, avatarControllerPose.rotation);
var worldControllerPosition = Vec3.sum(MyAvatar.position,
Vec3.multiplyQbyV(MyAvatar.orientation, avatarControllerPose.translation));
var worldControllerRotation = Quat.multiply(MyAvatar.orientation, avatarControllerPose.rotation);
// also transform the position into room space
var worldToSensorMat = Mat4.inverse(MyAvatar.getSensorToWorldMatrix());
var roomControllerPosition = Mat4.transformPoint(worldToSensorMat, worldControllerPosition);
var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, GRABBABLE_PROPERTIES);
@ -1673,26 +1679,15 @@ function MyController(hand) {
this.currentObjectTime = now;
// the action was set up when this.distanceHolding was called. update the targets.
var radius = Vec3.distance(this.currentObjectPosition, controllerPosition) *
var radius = Vec3.distance(this.currentObjectPosition, worldControllerPosition) *
this.radiusScalar * DISTANCE_HOLDING_RADIUS_FACTOR;
if (radius < 1.0) {
radius = 1.0;
}
// scale delta controller hand movement by radius.
var handMoved = Vec3.multiply(Vec3.subtract(controllerPositionVSAvatar, this.previousControllerPositionVSAvatar),
radius);
/// double delta controller rotation
// var DISTANCE_HOLDING_ROTATION_EXAGGERATION_FACTOR = 2.0; // object rotates this much more than hand did
// var handChange = Quat.multiply(Quat.slerp(this.previousControllerRotation,
// controllerRotation,
// DISTANCE_HOLDING_ROTATION_EXAGGERATION_FACTOR),
// Quat.inverse(this.previousControllerRotation));
// update the currentObject position and rotation.
var handDelta = Vec3.subtract(roomControllerPosition, this.previousRoomControllerPosition);
var handMoved = Vec3.multiply(handDelta, radius);
this.currentObjectPosition = Vec3.sum(this.currentObjectPosition, handMoved);
// this.currentObjectRotation = Quat.multiply(handChange, this.currentObjectRotation);
this.callEntityMethodOnGrabbed("continueDistantGrab");
@ -1703,10 +1698,9 @@ function MyController(hand) {
var handControllerData = getEntityCustomData('handControllerKey', this.grabbedEntity, defaultMoveWithHeadData);
// Update radialVelocity
var lastVelocity = Vec3.subtract(controllerPositionVSAvatar, this.previousControllerPositionVSAvatar);
lastVelocity = Vec3.multiply(lastVelocity, 1.0 / deltaObjectTime);
var newRadialVelocity = Vec3.dot(lastVelocity,
Vec3.normalize(Vec3.subtract(grabbedProperties.position, controllerPosition)));
var lastVelocity = Vec3.multiply(handDelta, 1.0 / deltaObjectTime);
var delta = Vec3.normalize(Vec3.subtract(grabbedProperties.position, worldControllerPosition));
var newRadialVelocity = Vec3.dot(lastVelocity, delta);
var VELOCITY_AVERAGING_TIME = 0.016;
this.grabRadialVelocity = (deltaObjectTime / VELOCITY_AVERAGING_TIME) * newRadialVelocity +
@ -1718,9 +1712,8 @@ function MyController(hand) {
this.grabRadius * RADIAL_GRAB_AMPLIFIER);
}
var newTargetPosition = Vec3.multiply(this.grabRadius, Quat.getUp(controllerRotation));
newTargetPosition = Vec3.sum(newTargetPosition, controllerPosition);
var newTargetPosition = Vec3.multiply(this.grabRadius, Quat.getUp(worldControllerRotation));
newTargetPosition = Vec3.sum(newTargetPosition, worldControllerPosition);
var objectToAvatar = Vec3.subtract(this.currentObjectPosition, MyAvatar.position);
if (handControllerData.disableMoveWithHead !== true) {
@ -1776,8 +1769,7 @@ function MyController(hand) {
print("continueDistanceHolding -- updateAction failed");
}
this.previousControllerPositionVSAvatar = controllerPositionVSAvatar;
this.previousControllerRotation = controllerRotation;
this.previousRoomControllerPosition = roomControllerPosition;
};
this.setupHoldAction = function () {