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Moved animation after physics, hand poses are in world frame.

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There are still some debug hacks enabled so I can test in the vive room.
This commit is contained in:
Anthony J. Thibault 2016-03-10 20:44:35 -08:00
parent 807d31743c
commit ab19d3e5a2
7 changed files with 68 additions and 41 deletions
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7
interface/src/Application.cpp
View file

@ -3218,13 +3218,12 @@ void Application::update(float deltaTime) {
controller::Pose leftHandPose = userInputMapper->getPoseState(controller::Action::LEFT_HAND); controller::Pose leftHandPose = userInputMapper->getPoseState(controller::Action::LEFT_HAND);
controller::Pose rightHandPose = userInputMapper->getPoseState(controller::Action::RIGHT_HAND); controller::Pose rightHandPose = userInputMapper->getPoseState(controller::Action::RIGHT_HAND);
myAvatar->setHandControllerPoses(leftHandPose, rightHandPose); auto myAvatarMatrix = createMatFromQuatAndPos(myAvatar->getOrientation(), myAvatar->getPosition());
myAvatar->setHandControllerPosesInWorldFrame(leftHandPose.transform(myAvatarMatrix), rightHandPose.transform(myAvatarMatrix));
updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process... updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
updateDialogs(deltaTime); // update various stats dialogs if present updateDialogs(deltaTime); // update various stats dialogs if present
_avatarUpdate->synchronousProcess();
if (_physicsEnabled) { if (_physicsEnabled) {
PerformanceTimer perfTimer("physics"); PerformanceTimer perfTimer("physics");
AvatarManager* avatarManager = DependencyManager::get<AvatarManager>().data(); AvatarManager* avatarManager = DependencyManager::get<AvatarManager>().data();
@ -3296,6 +3295,8 @@ void Application::update(float deltaTime) {
} }
} }
_avatarUpdate->synchronousProcess();
{ {
PerformanceTimer perfTimer("overlays"); PerformanceTimer perfTimer("overlays");
_overlays.update(deltaTime); _overlays.update(deltaTime);

4
interface/src/avatar/AvatarActionHold.cpp
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@ -113,9 +113,9 @@ std::shared_ptr<Avatar> AvatarActionHold::getTarget(float deltaTimeStep, glm::qu
// fetch the hand controller pose // fetch the hand controller pose
controller::Pose pose; controller::Pose pose;
if (isRightHand) { if (isRightHand) {
pose = avatarManager->getMyAvatar()->getRightHandControllerPose(); pose = avatarManager->getMyAvatar()->getRightHandControllerPoseInWorldFrame();
} else { } else {
pose = avatarManager->getMyAvatar()->getLeftHandControllerPose(); pose = avatarManager->getMyAvatar()->getLeftHandControllerPoseInWorldFrame();
} }
if (pose.isValid()) { if (pose.isValid()) {

68
interface/src/avatar/MyAvatar.cpp
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@ -512,39 +512,38 @@ void MyAvatar::updateFromTrackers(float deltaTime) {
-MAX_LEAN, MAX_LEAN)); -MAX_LEAN, MAX_LEAN));
} }
glm::vec3 MyAvatar::getLeftHandPosition() const { glm::vec3 MyAvatar::getLeftHandPosition() const {
auto pose = getLeftHandControllerPose(); auto pose = getLeftHandControllerPoseInAvatarFrame();
return pose.isValid() ? pose.getTranslation() : glm::vec3(0.0f); return pose.isValid() ? pose.getTranslation() : glm::vec3(0.0f);
} }
glm::vec3 MyAvatar::getRightHandPosition() const { glm::vec3 MyAvatar::getRightHandPosition() const {
auto pose = getRightHandControllerPose(); auto pose = getRightHandControllerPoseInAvatarFrame();
return pose.isValid() ? pose.getTranslation() : glm::vec3(0.0f); return pose.isValid() ? pose.getTranslation() : glm::vec3(0.0f);
} }
glm::vec3 MyAvatar::getLeftHandTipPosition() const { glm::vec3 MyAvatar::getLeftHandTipPosition() const {
const float TIP_LENGTH = 0.3f; const float TIP_LENGTH = 0.3f;
auto pose = getLeftHandControllerPose(); auto pose = getLeftHandControllerPoseInAvatarFrame();
return pose.isValid() ? pose.getTranslation() * pose.getRotation() + glm::vec3(0.0f, TIP_LENGTH, 0.0f) : glm::vec3(0.0f); return pose.isValid() ? pose.getTranslation() * pose.getRotation() + glm::vec3(0.0f, TIP_LENGTH, 0.0f) : glm::vec3(0.0f);
} }
glm::vec3 MyAvatar::getRightHandTipPosition() const { glm::vec3 MyAvatar::getRightHandTipPosition() const {
const float TIP_LENGTH = 0.3f; const float TIP_LENGTH = 0.3f;
auto pose = getRightHandControllerPose(); auto pose = getRightHandControllerPoseInAvatarFrame();
return pose.isValid() ? pose.getTranslation() * pose.getRotation() + glm::vec3(0.0f, TIP_LENGTH, 0.0f) : glm::vec3(0.0f); return pose.isValid() ? pose.getTranslation() * pose.getRotation() + glm::vec3(0.0f, TIP_LENGTH, 0.0f) : glm::vec3(0.0f);
} }
controller::Pose MyAvatar::getLeftHandPose() const { controller::Pose MyAvatar::getLeftHandPose() const {
return getLeftHandControllerPose(); return getLeftHandControllerPoseInAvatarFrame();
} }
controller::Pose MyAvatar::getRightHandPose() const { controller::Pose MyAvatar::getRightHandPose() const {
return getRightHandControllerPose(); return getRightHandControllerPoseInAvatarFrame();
} }
controller::Pose MyAvatar::getLeftHandTipPose() const { controller::Pose MyAvatar::getLeftHandTipPose() const {
auto pose = getLeftHandControllerPose(); auto pose = getLeftHandControllerPoseInAvatarFrame();
glm::vec3 tipTrans = getLeftHandTipPosition(); glm::vec3 tipTrans = getLeftHandTipPosition();
pose.velocity += glm::cross(pose.getAngularVelocity(), pose.getTranslation() - tipTrans); pose.velocity += glm::cross(pose.getAngularVelocity(), pose.getTranslation() - tipTrans);
pose.translation = tipTrans; pose.translation = tipTrans;
@ -552,7 +551,7 @@ controller::Pose MyAvatar::getLeftHandTipPose() const {
} }
controller::Pose MyAvatar::getRightHandTipPose() const { controller::Pose MyAvatar::getRightHandTipPose() const {
auto pose = getRightHandControllerPose(); auto pose = getRightHandControllerPoseInAvatarFrame();
glm::vec3 tipTrans = getRightHandTipPosition(); glm::vec3 tipTrans = getRightHandTipPosition();
pose.velocity += glm::cross(pose.getAngularVelocity(), pose.getTranslation() - tipTrans); pose.velocity += glm::cross(pose.getAngularVelocity(), pose.getTranslation() - tipTrans);
pose.translation = tipTrans; pose.translation = tipTrans;
@ -697,8 +696,8 @@ void MyAvatar::setEnableDebugDrawPosition(bool isEnabled) {
void MyAvatar::setEnableDebugDrawHandControllers(bool isEnabled) { void MyAvatar::setEnableDebugDrawHandControllers(bool isEnabled) {
_enableDebugDrawHandControllers = isEnabled; _enableDebugDrawHandControllers = isEnabled;
if (!isEnabled) { if (!isEnabled) {
DebugDraw::getInstance().removeMyAvatarMarker("leftHandController"); DebugDraw::getInstance().removeMarker("leftHandController");
DebugDraw::getInstance().removeMyAvatarMarker("rightHandController"); DebugDraw::getInstance().removeMarker("rightHandController");
} }
} }
@ -1096,24 +1095,34 @@ static controller::Pose applyLowVelocityFilter(const controller::Pose& oldPose,
return finalPose; return finalPose;
} }
void MyAvatar::setHandControllerPoses(const controller::Pose& left, const controller::Pose& right) { void MyAvatar::setHandControllerPosesInWorldFrame(const controller::Pose& left, const controller::Pose& right) {
if (controller::InputDevice::getLowVelocityFilter()) { if (controller::InputDevice::getLowVelocityFilter()) {
auto oldLeftPose = getLeftHandControllerPose(); auto oldLeftPose = getLeftHandControllerPoseInWorldFrame();
auto oldRightPose = getRightHandControllerPose(); auto oldRightPose = getRightHandControllerPoseInWorldFrame();
_leftHandControllerPoseCache.set(applyLowVelocityFilter(oldLeftPose, left)); _leftHandControllerPoseInWorldFrameCache.set(applyLowVelocityFilter(oldLeftPose, left));
_rightHandControllerPoseCache.set(applyLowVelocityFilter(oldRightPose, right)); _rightHandControllerPoseInWorldFrameCache.set(applyLowVelocityFilter(oldRightPose, right));
} else { } else {
_leftHandControllerPoseCache.set(left); _leftHandControllerPoseInWorldFrameCache.set(left);
_rightHandControllerPoseCache.set(right); _rightHandControllerPoseInWorldFrameCache.set(right);
} }
} }
controller::Pose MyAvatar::getLeftHandControllerPose() const { controller::Pose MyAvatar::getLeftHandControllerPoseInWorldFrame() const {
return _leftHandControllerPoseCache.get(); return _leftHandControllerPoseInWorldFrameCache.get();
} }
controller::Pose MyAvatar::getRightHandControllerPose() const { controller::Pose MyAvatar::getRightHandControllerPoseInWorldFrame() const {
return _rightHandControllerPoseCache.get(); return _rightHandControllerPoseInWorldFrameCache.get();
}
controller::Pose MyAvatar::getLeftHandControllerPoseInAvatarFrame() const {
glm::mat4 invAvatarMatrix = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
return getLeftHandControllerPoseInWorldFrame().transform(invAvatarMatrix);
}
controller::Pose MyAvatar::getRightHandControllerPoseInAvatarFrame() const {
glm::mat4 invAvatarMatrix = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
return getRightHandControllerPoseInWorldFrame().transform(invAvatarMatrix);
} }
void MyAvatar::prepareForPhysicsSimulation() { void MyAvatar::prepareForPhysicsSimulation() {
@ -1360,20 +1369,23 @@ void MyAvatar::preRender(RenderArgs* renderArgs) {
} }
if (_enableDebugDrawHandControllers) { if (_enableDebugDrawHandControllers) {
auto leftHandPose = getLeftHandControllerPose(); auto leftHandPose = getLeftHandControllerPoseInWorldFrame();
auto rightHandPose = getRightHandControllerPose(); auto rightHandPose = getRightHandControllerPoseInWorldFrame();
if (leftHandPose.isValid()) { if (leftHandPose.isValid()) {
DebugDraw::getInstance().addMyAvatarMarker("leftHandController", leftHandPose.getRotation(), leftHandPose.getTranslation(), glm::vec4(1)); DebugDraw::getInstance().addMarker("leftHandController", leftHandPose.getRotation(), leftHandPose.getTranslation(), glm::vec4(1));
} else { } else {
DebugDraw::getInstance().removeMyAvatarMarker("leftHandController"); DebugDraw::getInstance().removeMarker("leftHandController");
} }
if (rightHandPose.isValid()) { if (rightHandPose.isValid()) {
DebugDraw::getInstance().addMyAvatarMarker("rightHandController", rightHandPose.getRotation(), rightHandPose.getTranslation(), glm::vec4(1)); DebugDraw::getInstance().addMarker("rightHandController", rightHandPose.getRotation(), rightHandPose.getTranslation(), glm::vec4(1));
} else { } else {
DebugDraw::getInstance().removeMyAvatarMarker("rightHandController"); DebugDraw::getInstance().removeMarker("rightHandController");
} }
// AJT: REMOVE
DebugDraw::getInstance().addMyAvatarMarker("REFERENCE", glm::quat(), glm::vec3(0.0f, 0.7f, -0.5f), glm::vec4(1));
} }
DebugDraw::getInstance().updateMyAvatarPos(getPosition()); DebugDraw::getInstance().updateMyAvatarPos(getPosition());

13
interface/src/avatar/MyAvatar.h
View file

@ -249,9 +249,11 @@ public:
virtual void rebuildCollisionShape() override; virtual void rebuildCollisionShape() override;
void setHandControllerPoses(const controller::Pose& left, const controller::Pose& right); void setHandControllerPosesInWorldFrame(const controller::Pose& left, const controller::Pose& right);
controller::Pose MyAvatar::getLeftHandControllerPose() const; controller::Pose getLeftHandControllerPoseInWorldFrame() const;
controller::Pose MyAvatar::getRightHandControllerPose() const; controller::Pose getRightHandControllerPoseInWorldFrame() const;
controller::Pose getLeftHandControllerPoseInAvatarFrame() const;
controller::Pose getRightHandControllerPoseInAvatarFrame() const;
public slots: public slots:
void increaseSize(); void increaseSize();
@ -450,8 +452,9 @@ private:
bool _hoverReferenceCameraFacingIsCaptured { false }; bool _hoverReferenceCameraFacingIsCaptured { false };
glm::vec3 _hoverReferenceCameraFacing { 0.0f, 0.0f, -1.0f }; // hmd sensor space glm::vec3 _hoverReferenceCameraFacing { 0.0f, 0.0f, -1.0f }; // hmd sensor space
ThreadSafeValueCache<controller::Pose> _leftHandControllerPoseCache { controller::Pose() }; // These are stored in WORLD frame
ThreadSafeValueCache<controller::Pose> _rightHandControllerPoseCache { controller::Pose() }; ThreadSafeValueCache<controller::Pose> _leftHandControllerPoseInWorldFrameCache { controller::Pose() };
ThreadSafeValueCache<controller::Pose> _rightHandControllerPoseInWorldFrameCache { controller::Pose() };
float AVATAR_MOVEMENT_ENERGY_CONSTANT { 0.001f }; float AVATAR_MOVEMENT_ENERGY_CONSTANT { 0.001f };
float AUDIO_ENERGY_CONSTANT { 0.000001f }; float AUDIO_ENERGY_CONSTANT { 0.000001f };

4
interface/src/avatar/SkeletonModel.cpp
View file

@ -126,7 +126,7 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
Rig::HandParameters handParams; Rig::HandParameters handParams;
auto leftPose = myAvatar->getLeftHandControllerPose(); auto leftPose = myAvatar->getLeftHandControllerPoseInAvatarFrame();
if (leftPose.isValid()) { if (leftPose.isValid()) {
handParams.isLeftEnabled = true; handParams.isLeftEnabled = true;
handParams.leftPosition = Quaternions::Y_180 * leftPose.getTranslation(); handParams.leftPosition = Quaternions::Y_180 * leftPose.getTranslation();
@ -135,7 +135,7 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
handParams.isLeftEnabled = false; handParams.isLeftEnabled = false;
} }
auto rightPose = myAvatar->getRightHandControllerPose(); auto rightPose = myAvatar->getRightHandControllerPoseInAvatarFrame();
if (rightPose.isValid()) { if (rightPose.isValid()) {
handParams.isRightEnabled = true; handParams.isRightEnabled = true;
handParams.rightPosition = Quaternions::Y_180 * rightPose.getTranslation(); handParams.rightPosition = Quaternions::Y_180 * rightPose.getTranslation();

7
libraries/render-utils/src/AnimDebugDraw.cpp
View file

@ -392,13 +392,18 @@ void AnimDebugDraw::update() {
assert(numVerts == (v - verts)); assert(numVerts == (v - verts));
// This render item bound shit is broken.
// Fuck that, use the big ass bound instead.
/*
render::Item::Bound theBound; render::Item::Bound theBound;
for (int i = 0; i < numVerts; i++) { for (int i = 0; i < numVerts; i++) {
theBound += verts[i].pos; theBound += verts[i].pos;
} }
*/
data._isVisible = (numVerts > 0); data._isVisible = (numVerts > 0);
data._bound = theBound;
//data._bound = theBound;
data._indexBuffer->resize(sizeof(uint16_t) * numVerts); data._indexBuffer->resize(sizeof(uint16_t) * numVerts);
uint16_t* indices = (uint16_t*)data._indexBuffer->editData(); uint16_t* indices = (uint16_t*)data._indexBuffer->editData();
for (int i = 0; i < numVerts; i++) { for (int i = 0; i < numVerts; i++) {

6
plugins/hifiSixense/src/SixenseManager.cpp
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@ -481,6 +481,12 @@ void SixenseManager::InputDevice::handlePoseEvent(float deltaTime, const control
// transform pose into avatar frame. // transform pose into avatar frame.
auto nextPose = controller::Pose(pos, rot, velocity, angularVelocity).transform(controllerToAvatar); auto nextPose = controller::Pose(pos, rot, velocity, angularVelocity).transform(controllerToAvatar);
if (!left) {
// AJT: HACK TO DEBUG IK
nextPose.translation = glm::vec3(0.25f, 0.7f, -0.5f);
nextPose.rotation = glm::quat();
}
if (prevPose.isValid() && (deltaTime > std::numeric_limits<float>::epsilon())) { if (prevPose.isValid() && (deltaTime > std::numeric_limits<float>::epsilon())) {
nextPose.velocity = (nextPose.getTranslation() - prevPose.getTranslation()) / deltaTime; nextPose.velocity = (nextPose.getTranslation() - prevPose.getTranslation()) / deltaTime;