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This commit is contained in:
Anthony Thibault 2018-09-25 10:42:43 -07:00
parent fa27bb7e11
commit a41591323b
1 changed files with 14 additions and 11 deletions
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25
plugins/openvr/src/ViveControllerManager.cpp
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@ -1027,20 +1027,20 @@ void ViveControllerManager::InputDevice::hapticsHelper(float deltaTime, bool lef
void ViveControllerManager::InputDevice::calibrateLeftHand(const glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& handPair) {
controller::Pose& handPose = handPair.second;
glm::vec3 handPoseZAxis = handPose.getRotation() * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 defaultHandYAxis = transformVectorFast(defaultToReferenceMat * inputCalibration.defaultLeftHand, glm::vec3(0.0f, 1.0f, 0.0f));
glm::vec3 referenceHandYAxis = transformVectorFast(defaultToReferenceMat * inputCalibration.defaultLeftHand, glm::vec3(0.0f, 1.0f, 0.0f));
const float EPSILON = 1.0e-4f;
if (fabsf(fabsf(glm::dot(glm::normalize(defaultHandYAxis), glm::normalize(handPoseZAxis))) - 1.0f) < EPSILON) {
if (fabsf(fabsf(glm::dot(glm::normalize(referenceHandYAxis), glm::normalize(handPoseZAxis))) - 1.0f) < EPSILON) {
handPoseZAxis = glm::vec3(0.0f, 0.0f, 1.0f);
}
// This allows the user to not have to match the t-pose exactly. We assume that the y facing of the hand lies in the plane of the puck.
// Where the plane of the puck is defined by the the local z-axis of the puck, which is facing out of the vive logo/power button.
glm::vec3 zPrime = handPoseZAxis;
glm::vec3 xPrime = glm::normalize(glm::cross(defaultHandYAxis, handPoseZAxis));
glm::vec3 xPrime = glm::normalize(glm::cross(referenceHandYAxis, handPoseZAxis));
glm::vec3 yPrime = glm::normalize(glm::cross(zPrime, xPrime));
glm::mat4 newHandMat = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f),
glm::vec4(zPrime, 0.0f), glm::vec4(0.0f, 0.0f, 0.0f, 1.0f));
glm::vec3 translationOffset = glm::vec3(0.0f, _handPuckYOffset, _handPuckZOffset);
glm::quat initialRotation = handPose.getRotation();
glm::quat finalRotation = glmExtractRotation(newHandMat);
@ -1056,20 +1056,20 @@ void ViveControllerManager::InputDevice::calibrateLeftHand(const glm::mat4& defa
void ViveControllerManager::InputDevice::calibrateRightHand(const glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& handPair) {
controller::Pose& handPose = handPair.second;
glm::vec3 handPoseZAxis = handPose.getRotation() * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 defaultHandYAxis = transformVectorFast(defaultToReferenceMat * inputCalibration.defaultRightHand, glm::vec3(0.0f, 1.0f, 0.0f));
glm::vec3 referenceHandYAxis = transformVectorFast(defaultToReferenceMat * inputCalibration.defaultRightHand, glm::vec3(0.0f, 1.0f, 0.0f));
const float EPSILON = 1.0e-4f;
if (fabsf(fabsf(glm::dot(glm::normalize(defaultHandYAxis), glm::normalize(handPoseZAxis))) - 1.0f) < EPSILON) {
if (fabsf(fabsf(glm::dot(glm::normalize(referenceHandYAxis), glm::normalize(handPoseZAxis))) - 1.0f) < EPSILON) {
handPoseZAxis = glm::vec3(0.0f, 0.0f, 1.0f);
}
// This allows the user to not have to match the t-pose exactly. We assume that the y facing of the hand lies in the plane of the puck.
// Where the plane of the puck is defined by the the local z-axis of the puck, which is facing out of the vive logo/power button.
glm::vec3 zPrime = handPoseZAxis;
glm::vec3 xPrime = glm::normalize(glm::cross(defaultHandYAxis, handPoseZAxis));
glm::vec3 xPrime = glm::normalize(glm::cross(referenceHandYAxis, handPoseZAxis));
glm::vec3 yPrime = glm::normalize(glm::cross(zPrime, xPrime));
glm::mat4 newHandMat = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f),
glm::vec4(zPrime, 0.0f), glm::vec4(0.0f, 0.0f, 0.0f, 1.0f));
glm::vec3 translationOffset = glm::vec3(0.0f, _handPuckYOffset, _handPuckZOffset);
glm::quat initialRotation = handPose.getRotation();
glm::quat finalRotation = glmExtractRotation(newHandMat);
@ -1105,11 +1105,14 @@ void ViveControllerManager::InputDevice::calibrateFoot(const glm::mat4& defaultT
glm::mat4 puckPoseMat = createMatFromQuatAndPos(footPose.getRotation(), footPose.getTranslation());
glm::mat4 defaultFoot = isLeftFoot ? inputCalibration.defaultLeftFoot : inputCalibration.defaultRightFoot;
glm::mat4 footOffset = computeOffset(defaultToReferenceMat, defaultFoot, footPose);
glm::quat rotationOffset = glmExtractRotation(footOffset);
glm::vec3 translationOffset = extractTranslation(footOffset);
glm::vec3 localXAxisInPuckFrame = glm::normalize(transformVectorFast(glm::inverse(puckPoseMat) * defaultToReferenceMat, glm::vec3(-1.0f, 0.0f, 0.0f)));
float distance = glm::dot(translationOffset, localXAxisInPuckFrame);
// We ensure the offset vector lies in the sagital plane of the avatar.
// This helps prevent wide or narrow stances due to the user not matching the t-pose perfectly.
glm::vec3 finalTranslation = translationOffset - (distance * localXAxisInPuckFrame);
glm::mat4 finalOffset = createMatFromQuatAndPos(rotationOffset, finalTranslation);