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touch properly sets pose.valid and further corrected hand rotation

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This commit is contained in:
SamGondelman 2016-06-02 10:09:41 -07:00
parent 7bd29c13b0
commit 9984667742
1 changed files with 27 additions and 1 deletions
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28
plugins/oculus/src/OculusControllerManager.cpp
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@ -183,6 +183,8 @@ void OculusControllerManager::TouchDevice::update(float deltaTime, const control
++numTrackedControllers;
if (REQUIRED_HAND_STATUS == (tracking.HandStatusFlags[hand] & REQUIRED_HAND_STATUS)) {
handlePose(deltaTime, inputCalibrationData, hand, tracking.HandPoses[hand]);
} else {
_poseStateMap[hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND].valid = false;
}
});
using namespace controller;
@ -250,6 +252,25 @@ void OculusControllerManager::TouchDevice::handlePose(float deltaTime,
// the rotation to align the Touch axes with those of the hands is:
//
// touchToHand = halfTurnAboutY * quaterTurnAboutX
// Due to how the Touch controllers fit into the palm there is an offset that is different for each hand.
// You can think of this offset as the inverse of the measured rotation when the hands are posed, such that
// the combination (measurement * offset) is identity at this orientation.
//
// Qoffset = glm::inverse(deltaRotation when hand is posed fingers forward, palm down)
//
// An approximate offset for the Touch can be obtained by inspection:
//
// Qoffset = glm::inverse(glm::angleAxis(sign * PI/2.0f, zAxis)
//
// So the full equation is:
//
// Q = combinedMeasurement * touchToHand
//
// Q = (deltaQ * QOffset) * (yFlip * quarterTurnAboutX)
//
// Q = (deltaQ * inverse(deltaQForAlignedHand)) * (yFlip * quarterTurnAboutX)
auto poseId = hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND;
auto& pose = _poseStateMap[poseId];
@ -257,10 +278,15 @@ void OculusControllerManager::TouchDevice::handlePose(float deltaTime,
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat touchToHand = yFlip * quarterX;
static const float sign = (hand == ovrHand_Left ? 1.0f : -1.0f);
static const glm::quat signedQuarterZ = glm::angleAxis(sign * PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat signedRotationOffset = glm::inverse(signedQuarterZ) * touchToHand;
pose.translation = toGlm(handPose.ThePose.Position);
pose.rotation = toGlm(handPose.ThePose.Orientation)*touchToHand;
pose.rotation = toGlm(handPose.ThePose.Orientation)*signedRotationOffset;
pose.angularVelocity = toGlm(handPose.AngularVelocity);
pose.velocity = toGlm(handPose.LinearVelocity);
pose.valid = true;
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;