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https://github.com/overte-org/overte.git
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added arms
This commit is contained in:
parent
0cbdeaa1e8
commit
ac3c9655ec
12 changed files with 215 additions and 35 deletions
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@ -114,6 +114,24 @@
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"weightVar": "headWeight",
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"weightVar": "headWeight",
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"weight": 4.0,
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"weight": 4.0,
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"flexCoefficients": [1, 0.05, 0.25, 0.25, 0.25]
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"flexCoefficients": [1, 0.05, 0.25, 0.25, 0.25]
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},
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{
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"jointName": "LeftArm",
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"positionVar": "leftArmPosition",
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"rotationVar": "leftArmRotation",
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"typeVar": "leftArmType",
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"weightVar": "leftArmWeight",
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"weight": 1.0,
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"flexCoefficients": [1, 0.5, 0.25, 0.0, 0.0, 0.0]
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},
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{
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"jointName": "RightArm",
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"positionVar": "rightArmPosition",
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"rotationVar": "rightArmRotation",
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"typeVar": "rightArmType",
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"weightVar": "rightArmWeight",
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"weight": 1.0,
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"flexCoefficients": [1, 0.5, 0.25, 0.0, 0.0, 0.0]
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}
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}
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]
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]
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},
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},
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@ -66,6 +66,8 @@
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{ "from": "Standard.Hips", "to": "Actions.Hips" },
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{ "from": "Standard.Hips", "to": "Actions.Hips" },
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{ "from": "Standard.Spine2", "to": "Actions.Spine2" },
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{ "from": "Standard.Spine2", "to": "Actions.Spine2" },
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{ "from": "Standard.Head", "to": "Actions.Head" }
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{ "from": "Standard.Head", "to": "Actions.Head" },
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{ "from": "Standard.LeftArm", "to": "Actions.LeftArm" },
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{ "from": "Standard.RightArm", "to": "Actions.RightArm" }
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]
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]
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}
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}
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@ -40,6 +40,8 @@
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{ "from": "Vive.RightFoot", "to" : "Standard.RightFoot", "when": [ "Application.InHMD"] },
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{ "from": "Vive.RightFoot", "to" : "Standard.RightFoot", "when": [ "Application.InHMD"] },
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{ "from": "Vive.Hips", "to" : "Standard.Hips", "when": [ "Application.InHMD"] },
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{ "from": "Vive.Hips", "to" : "Standard.Hips", "when": [ "Application.InHMD"] },
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{ "from": "Vive.Spine2", "to" : "Standard.Spine2", "when": [ "Application.InHMD"] },
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{ "from": "Vive.Spine2", "to" : "Standard.Spine2", "when": [ "Application.InHMD"] },
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{ "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] }
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{ "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] },
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{ "from": "Vive.RightArm", "to" : "Standard.RightArm", "when" : [ "Application.InHMD"] },
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{ "from": "Vive.LeftArm", "to" : "Standard.LeftArm", "when" : [ "Application.InHMD"] }
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]
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]
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}
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}
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@ -4427,6 +4427,10 @@ void Application::update(float deltaTime) {
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controller::Pose headPose = userInputMapper->getPoseState(controller::Action::HEAD);
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controller::Pose headPose = userInputMapper->getPoseState(controller::Action::HEAD);
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myAvatar->setHeadControllerPoseInSensorFrame(headPose.transform(avatarToSensorMatrix));
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myAvatar->setHeadControllerPoseInSensorFrame(headPose.transform(avatarToSensorMatrix));
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controller::Pose leftArmPose = userInputMapper->getPoseState(controller::Action::LEFT_ARM);
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controller::Pose rightArmPose = userInputMapper->getPoseState(controller::Action::RIGHT_ARM);
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myAvatar->setArmControllerPosesInSensorFrame(leftArmPose.transform(avatarToSensorMatrix), rightArmPose.transform(avatarToSensorMatrix));
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updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
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updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
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updateDialogs(deltaTime); // update various stats dialogs if present
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updateDialogs(deltaTime); // update various stats dialogs if present
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@ -1479,6 +1479,37 @@ controller::Pose MyAvatar::getHeadControllerPoseInAvatarFrame() const {
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return getHeadControllerPoseInWorldFrame().transform(invAvatarMatrix);
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return getHeadControllerPoseInWorldFrame().transform(invAvatarMatrix);
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}
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}
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void MyAvatar::setArmControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right) {
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_leftArmControllerPoseInSensorFrameCache.set(left);
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_rightArmControllerPoseInSensorFrameCache.set(right);
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}
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controller::Pose MyAvatar::getLeftArmControllerInSensorFrame() const {
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return _leftArmControllerPoseInSensorFrameCache.get();
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}
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controller::Pose MyAvatar::getRightArmControllerInSensorFrame() const {
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return _rightArmControllerPoseInSensorFrameCache.get();
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}
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controller::Pose MyAvatar::getLeftArmControllerInWorldFrame() const {
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return getLeftArmControllerInSensorFrame().transform(getSensorToWorldMatrix());
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}
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controller::Pose MyAvatar::getRightArmControllerInWorldFrame() const {
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return getRightArmControllerInSensorFrame().transform(getSensorToWorldMatrix());
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}
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controller::Pose MyAvatar::getLeftArmControllerInAvatarFrame() const {
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glm::mat4 worldToAvatarMat = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
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return getLeftArmControllerInWorldFrame().transform(worldToAvatarMat);
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}
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controller::Pose MyAvatar::getRightArmControllerInAvatarFrame() const {
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glm::mat4 worldToAvatarMat = glm::inverse(createMatFromQuatAndPos(getOrientation(), getPosition()));
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return getRightArmControllerInWorldFrame().transform(worldToAvatarMat);
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}
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void MyAvatar::updateMotors() {
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void MyAvatar::updateMotors() {
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_characterController.clearMotors();
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_characterController.clearMotors();
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glm::quat motorRotation;
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glm::quat motorRotation;
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@ -2794,7 +2825,7 @@ glm::mat4 MyAvatar::getRightFootCalibrationMat() const {
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glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
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glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
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int rightArmIndex = _rig->indexOfJoint("RightArm");
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int rightArmIndex = _skeletonModel->getRig().indexOfJoint("RightArm");
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if (rightArmIndex >= 0) {
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if (rightArmIndex >= 0) {
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auto rightArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightArmIndex);
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auto rightArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightArmIndex);
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auto rightArmRot = getAbsoluteDefaultJointRotationInObjectFrame(rightArmIndex);
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auto rightArmRot = getAbsoluteDefaultJointRotationInObjectFrame(rightArmIndex);
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@ -2805,8 +2836,7 @@ glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
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}
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}
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glm::mat4 MyAvatar::getLeftArmCalibrationMat() const {
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glm::mat4 MyAvatar::getLeftArmCalibrationMat() const {
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int leftArmIndex = _rig->indexOfJoint("LeftArm");
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int leftArmIndex = _skeletonModel->getRig().indexOfJoint("LeftArm");
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auto skeleton = _rig->getAnimSkeleton();
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if (leftArmIndex >= 0) {
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if (leftArmIndex >= 0) {
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auto leftArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftArmIndex);
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auto leftArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftArmIndex);
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auto leftArmRot = getAbsoluteDefaultJointRotationInObjectFrame(leftArmIndex);
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auto leftArmRot = getAbsoluteDefaultJointRotationInObjectFrame(leftArmIndex);
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@ -2817,8 +2847,7 @@ glm::mat4 MyAvatar::getLeftArmCalibrationMat() const {
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}
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}
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glm::mat4 MyAvatar::getRightHandCalibrationMat() const {
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glm::mat4 MyAvatar::getRightHandCalibrationMat() const {
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int rightHandIndex = _rig->indexOfJoint("RightHand");
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int rightHandIndex = _skeletonModel->getRig().indexOfJoint("RightHand");
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auto skeleton = _rig->getAnimSkeleton();
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if (rightHandIndex >= 0) {
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if (rightHandIndex >= 0) {
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auto rightHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightHandIndex);
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auto rightHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightHandIndex);
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auto rightHandRot = getAbsoluteDefaultJointRotationInObjectFrame(rightHandIndex);
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auto rightHandRot = getAbsoluteDefaultJointRotationInObjectFrame(rightHandIndex);
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@ -2829,8 +2858,7 @@ glm::mat4 MyAvatar::getRightHandCalibrationMat() const {
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}
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}
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glm::mat4 MyAvatar::getLeftHandCalibrationMat() const {
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glm::mat4 MyAvatar::getLeftHandCalibrationMat() const {
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int leftHandIndex = _rig->indexOfJoint("LeftHand");
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int leftHandIndex = _skeletonModel->getRig().indexOfJoint("LeftHand");
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auto skeleton = _rig->getAnimSkeleton();
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if (leftHandIndex >= 0) {
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if (leftHandIndex >= 0) {
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auto leftHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftHandIndex);
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auto leftHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftHandIndex);
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auto leftHandRot = getAbsoluteDefaultJointRotationInObjectFrame(leftHandIndex);
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auto leftHandRot = getAbsoluteDefaultJointRotationInObjectFrame(leftHandIndex);
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@ -471,6 +471,14 @@ public:
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controller::Pose getHeadControllerPoseInWorldFrame() const;
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controller::Pose getHeadControllerPoseInWorldFrame() const;
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controller::Pose getHeadControllerPoseInAvatarFrame() const;
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controller::Pose getHeadControllerPoseInAvatarFrame() const;
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void setArmControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right);
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controller::Pose getLeftArmControllerInSensorFrame() const;
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controller::Pose getRightArmControllerInSensorFrame() const;
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controller::Pose getLeftArmControllerInWorldFrame() const;
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controller::Pose getRightArmControllerInWorldFrame() const;
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controller::Pose getLeftArmControllerInAvatarFrame() const;
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controller::Pose getRightArmControllerInAvatarFrame() const;
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bool hasDriveInput() const;
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bool hasDriveInput() const;
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Q_INVOKABLE void setCollisionsEnabled(bool enabled);
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Q_INVOKABLE void setCollisionsEnabled(bool enabled);
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@ -741,6 +749,8 @@ private:
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ThreadSafeValueCache<controller::Pose> _hipsControllerPoseInSensorFrameCache{ controller::Pose() };
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ThreadSafeValueCache<controller::Pose> _hipsControllerPoseInSensorFrameCache{ controller::Pose() };
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ThreadSafeValueCache<controller::Pose> _spine2ControllerPoseInSensorFrameCache{ controller::Pose() };
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ThreadSafeValueCache<controller::Pose> _spine2ControllerPoseInSensorFrameCache{ controller::Pose() };
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ThreadSafeValueCache<controller::Pose> _headControllerPoseInSensorFrameCache{ controller::Pose() };
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ThreadSafeValueCache<controller::Pose> _headControllerPoseInSensorFrameCache{ controller::Pose() };
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ThreadSafeValueCache<controller::Pose> _leftArmControllerPoseInSensorFrameCache{ controller::Pose() };
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ThreadSafeValueCache<controller::Pose> _rightArmControllerPoseInSensorFrameCache{ controller::Pose() };
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bool _hmdLeanRecenterEnabled = true;
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bool _hmdLeanRecenterEnabled = true;
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@ -92,6 +92,26 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
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headParams.spine2Enabled = false;
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headParams.spine2Enabled = false;
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}
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}
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auto avatarRightArmPose = myAvatar->getRightArmControllerInAvatarFrame();
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if (avatarRightArmPose.isValid()) {
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glm::mat4 rightArmMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarRightArmPose.getRotation(), avatarRightArmPose.getTranslation());
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headParams.rightArmPosition = extractTranslation(rightArmMat);
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headParams.rightArmRotation = glmExtractRotation(rightArmMat);
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headParams.rightArmEnabled = true;
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} else {
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headParams.rightArmEnabled = false;
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}
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auto avatarLeftArmPose = myAvatar->getLeftArmControllerInAvatarFrame();
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if (avatarLeftArmPose.isValid()) {
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glm::mat4 leftArmMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarLeftArmPose.getRotation(), avatarLeftArmPose.getTranslation());
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headParams.leftArmPosition = extractTranslation(leftArmMat);
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headParams.leftArmRotation = glmExtractRotation(leftArmMat);
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headParams.leftArmEnabled = true;
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} else {
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headParams.leftArmEnabled = false;
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}
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headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f;
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headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f;
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_rig.updateFromHeadParameters(headParams, deltaTime);
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_rig.updateFromHeadParameters(headParams, deltaTime);
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@ -1047,6 +1047,17 @@ void Rig::updateFromHeadParameters(const HeadParameters& params, float dt) {
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} else {
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} else {
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_animVars.set("spine2Type", (int)IKTarget::Type::Unknown);
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_animVars.set("spine2Type", (int)IKTarget::Type::Unknown);
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}
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}
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if (params.leftArmEnabled) {
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} else {
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_animVars.set("leftArmType", (int)IKTarget::Type::Unknown);
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}
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if (params.rightArmEnabled) {
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} else {
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_animVars.set("rightArmType", (int)IKTarget::Type::Unknown);
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}
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}
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}
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void Rig::updateFromEyeParameters(const EyeParameters& params) {
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void Rig::updateFromEyeParameters(const EyeParameters& params) {
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glm::mat4 spine2Matrix = glm::mat4(); // rig space
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glm::mat4 spine2Matrix = glm::mat4(); // rig space
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glm::quat rigHeadOrientation = glm::quat(); // rig space (-z forward)
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glm::quat rigHeadOrientation = glm::quat(); // rig space (-z forward)
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glm::vec3 rigHeadPosition = glm::vec3(); // rig space
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glm::vec3 rigHeadPosition = glm::vec3(); // rig space
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glm::vec3 rightArmPosition = glm::vec3(); // rig space
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glm::quat rightArmRotation = glm::quat(); // rig space
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glm::vec3 leftArmPosition = glm::vec3(); // rig space
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glm::quat leftArmRotation = glm::quat(); // rig space
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bool hipsEnabled = false;
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bool hipsEnabled = false;
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bool headEnabled = false;
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bool headEnabled = false;
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bool spine2Enabled = false;
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bool spine2Enabled = false;
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bool leftArmEnabled = false;
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bool rightArmEnabled = false;
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bool isTalking = false;
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bool isTalking = false;
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};
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};
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@ -25,7 +25,7 @@ struct InputCalibrationData {
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glm::mat4 defaultHips; // default pose for hips joint in avatar space
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glm::mat4 defaultHips; // default pose for hips joint in avatar space
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glm::mat4 defaultLeftFoot; // default pose for leftFoot joint in avatar space
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glm::mat4 defaultLeftFoot; // default pose for leftFoot joint in avatar space
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glm::mat4 defaultRightFoot; // default pose for rightFoot joint in avatar space
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glm::mat4 defaultRightFoot; // default pose for rightFoot joint in avatar space
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glm::mat4 defaultRigtArm; // default pose for rightArm joint in avatar space
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glm::mat4 defaultRightArm; // default pose for rightArm joint in avatar space
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glm::mat4 defaultLeftArm; // default pose for leftArm joint in avatar space
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glm::mat4 defaultLeftArm; // default pose for leftArm joint in avatar space
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glm::mat4 defaultRightHand; // default pose for rightHand joint in avatar space
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glm::mat4 defaultRightHand; // default pose for rightHand joint in avatar space
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glm::mat4 defaultLeftHand; // default pose for leftHand joint in avatar space
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glm::mat4 defaultLeftHand; // default pose for leftHand joint in avatar space
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#include <controllers/StandardControls.h>
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#include <controllers/StandardControls.h>
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extern PoseData _nextSimPoseData;
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extern PoseData _nextSimPoseData;
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vr::IVRSystem* acquireOpenVrSystem();
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vr::IVRSystem* acquireOpenVrSystem();
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return glm::inverse(poseMat) * referenceJointMat;
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return glm::inverse(poseMat) * referenceJointMat;
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}
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}
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static bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
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static bool sortPucksYPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) {
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return (firstPuck.second.translation.y < secondPuck.second.translation.y);
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return (firstPuck.second.translation.y < secondPuck.second.translation.y);
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}
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}
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static bool sortPucksXPosition(PuckPosePair firstPuck, PuckPosePair secondPuck) {
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return (firstPuck.second.translation.x < secondPuck.second.translation.x);
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}
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static QString deviceTrackingResultToString(vr::ETrackingResult trackingResult) {
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static QString deviceTrackingResultToString(vr::ETrackingResult trackingResult) {
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QString result;
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QString result;
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auto iterator = TRACKING_RESULT_TO_STRING.find(trackingResult);
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auto iterator = TRACKING_RESULT_TO_STRING.find(trackingResult);
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@ -172,6 +177,8 @@ ViveControllerManager::InputDevice::InputDevice(vr::IVRSystem*& system) : contro
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_configStringMap[Config::Feet] = QString("Feet");
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_configStringMap[Config::Feet] = QString("Feet");
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_configStringMap[Config::FeetAndHips] = QString("FeetAndHips");
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_configStringMap[Config::FeetAndHips] = QString("FeetAndHips");
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_configStringMap[Config::FeetHipsAndChest] = QString("FeetHipsAndChest");
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_configStringMap[Config::FeetHipsAndChest] = QString("FeetHipsAndChest");
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_configStringMap[Config::FeetHipsAndShoulders] = QString("FeetHipsAndShoulders");
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_configStringMap[Config::FeetAndShoulders] = QString("FeetAndShoulders");
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}
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}
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void ViveControllerManager::InputDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {
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void ViveControllerManager::InputDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {
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@ -334,31 +341,25 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
|
||||||
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
|
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
|
||||||
|
|
||||||
if (_config == Config::Feet) {
|
if (_config == Config::Feet) {
|
||||||
auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
|
calibrateFeet(defaultToReferenceMat, inputCalibration);
|
||||||
auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
|
} else if (_config == Config::FeetAndShoulders && puckCount >= MIN_FEET_HIPS_CHEST) {
|
||||||
controller::Pose& firstFootPose = firstFoot.second;
|
calibrateFeet(defaultToReferenceMat, inputCalibration);
|
||||||
controller::Pose& secondFootPose = secondFoot.second;
|
int firstShoulder = 2;
|
||||||
|
int secondShoulder = 3;
|
||||||
if (firstFootPose.translation.x < secondFootPose.translation.x) {
|
calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulder, secondShoulder);
|
||||||
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
|
|
||||||
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
|
|
||||||
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
|
|
||||||
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
|
|
||||||
} else {
|
|
||||||
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
|
|
||||||
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
|
|
||||||
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
|
|
||||||
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
|
|
||||||
}
|
|
||||||
} else if (_config == Config::FeetAndHips && puckCount >= MIN_FEET_AND_HIPS) {
|
} else if (_config == Config::FeetAndHips && puckCount >= MIN_FEET_AND_HIPS) {
|
||||||
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
|
calibrateFeet(defaultToReferenceMat, inputCalibration);
|
||||||
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
|
calibrateHips(defaultToReferenceMat, inputCalibration);
|
||||||
} else if (_config == Config::FeetHipsAndChest && puckCount >= MIN_FEET_HIPS_CHEST) {
|
} else if (_config == Config::FeetHipsAndChest && puckCount >= MIN_FEET_HIPS_CHEST) {
|
||||||
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
|
calibrateFeet(defaultToReferenceMat, inputCalibration);
|
||||||
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
|
calibrateHips(defaultToReferenceMat, inputCalibration);
|
||||||
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
|
calibrateChest(defaultToReferenceMat, inputCalibration);
|
||||||
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
|
|
||||||
} else if (_config == Config::FeetHipsAndShoulders && puckCount >= MIN_FEET_HIPS_SHOULDERS){
|
} else if (_config == Config::FeetHipsAndShoulders && puckCount >= MIN_FEET_HIPS_SHOULDERS){
|
||||||
|
calibrateFeet(defaultToReferenceMat, inputCalibration);
|
||||||
|
calibrateHips(defaultToReferenceMat, inputCalibration);
|
||||||
|
int firstShoulderIndex = 3;
|
||||||
|
int secondShoulderIndex = 4;
|
||||||
|
calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex);
|
||||||
} else {
|
} else {
|
||||||
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
|
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
|
||||||
uncalibrate();
|
uncalibrate();
|
||||||
|
@ -615,6 +616,65 @@ void ViveControllerManager::InputDevice::hapticsHelper(float deltaTime, bool lef
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
|
||||||
|
auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
|
||||||
|
auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
|
||||||
|
controller::Pose& firstFootPose = firstFoot.second;
|
||||||
|
controller::Pose& secondFootPose = secondFoot.second;
|
||||||
|
|
||||||
|
if (firstFootPose.translation.x < secondFootPose.translation.x) {
|
||||||
|
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
|
||||||
|
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
|
||||||
|
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
|
||||||
|
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
|
||||||
|
} else {
|
||||||
|
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
|
||||||
|
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
|
||||||
|
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
|
||||||
|
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void ViveControllerManager::InputDevice::calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
|
||||||
|
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
|
||||||
|
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
|
||||||
|
}
|
||||||
|
|
||||||
|
void ViveControllerManager::InputDevice::calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
|
||||||
|
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
|
||||||
|
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
|
||||||
|
}
|
||||||
|
|
||||||
|
void ViveControllerManager::InputDevice::calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
|
||||||
|
int firstShoulderIndex, int secondShoulderIndex) {
|
||||||
|
qDebug() << "calibrate shoulders";
|
||||||
|
const PuckPosePair& firstShoulder = _validTrackedObjects[firstShoulderIndex];
|
||||||
|
const PuckPosePair& secondShoulder = _validTrackedObjects[secondShoulderIndex];
|
||||||
|
const controller::Pose& firstShoulderPose = firstShoulder.second;
|
||||||
|
const controller::Pose& secondShoulderPose = secondShoulder.second;
|
||||||
|
|
||||||
|
if (firstShoulderPose.translation.x < secondShoulderPose.translation.x) {
|
||||||
|
_jointToPuckMap[controller::LEFT_ARM] = firstShoulder.first;
|
||||||
|
_pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftArm, firstShoulder.second);
|
||||||
|
_jointToPuckMap[controller::RIGHT_ARM] = secondShoulder.first;
|
||||||
|
_pucksOffset[secondShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, secondShoulder.second);
|
||||||
|
} else {
|
||||||
|
_jointToPuckMap[controller::LEFT_ARM] = secondShoulder.first;
|
||||||
|
_pucksOffset[secondShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftArm, secondShoulder.second);
|
||||||
|
_jointToPuckMap[controller::RIGHT_ARM] = firstShoulder.first;
|
||||||
|
_pucksOffset[firstShoulder.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightArm, firstShoulder.second);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void ViveControllerManager::InputDevice::calibrateHands(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
|
||||||
|
PuckPosePair firstHand, PuckPosePair secondHand) {
|
||||||
|
}
|
||||||
|
|
||||||
|
void ViveControllerManager::InputDevice::calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
|
||||||
|
int headIndex = _validTrackedObjects.size() - 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
void ViveControllerManager::InputDevice::loadSettings() {
|
void ViveControllerManager::InputDevice::loadSettings() {
|
||||||
Settings settings;
|
Settings settings;
|
||||||
settings.beginGroup("PUCK_CONFIG");
|
settings.beginGroup("PUCK_CONFIG");
|
||||||
|
@ -646,6 +706,10 @@ void ViveControllerManager::InputDevice::setConfigFromString(const QString& valu
|
||||||
_preferedConfig = Config::FeetAndHips;
|
_preferedConfig = Config::FeetAndHips;
|
||||||
} else if (value == "FeetHipsAndChest") {
|
} else if (value == "FeetHipsAndChest") {
|
||||||
_preferedConfig = Config::FeetHipsAndChest;
|
_preferedConfig = Config::FeetHipsAndChest;
|
||||||
|
} else if (value == "FeetHipsAndShoulders") {
|
||||||
|
_preferedConfig = Config::FeetHipsAndShoulders;
|
||||||
|
} else if (value == "FeetAndShoulders") {
|
||||||
|
_preferedConfig = Config::FeetAndShoulders;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -658,7 +722,7 @@ void ViveControllerManager::InputDevice::createPreferences() {
|
||||||
auto getter = [this]()->QString { return _configStringMap[_preferedConfig]; };
|
auto getter = [this]()->QString { return _configStringMap[_preferedConfig]; };
|
||||||
auto setter = [this](const QString& value) { setConfigFromString(value); saveSettings(); };
|
auto setter = [this](const QString& value) { setConfigFromString(value); saveSettings(); };
|
||||||
auto preference = new ComboBoxPreference(VIVE_PUCKS_CONFIG, "Configuration", getter, setter);
|
auto preference = new ComboBoxPreference(VIVE_PUCKS_CONFIG, "Configuration", getter, setter);
|
||||||
QStringList list = (QStringList() << "Auto" << "Feet" << "FeetAndHips" << "FeetHipsAndChest");
|
QStringList list = (QStringList() << "Auto" << "Feet" << "FeetAndHips" << "FeetHipsAndChest" << "FeetAndShoulders");
|
||||||
preference->setItems(list);
|
preference->setItems(list);
|
||||||
preferences->addPreference(preference);
|
preferences->addPreference(preference);
|
||||||
|
|
||||||
|
|
|
@ -27,6 +27,8 @@
|
||||||
#include <render/Scene.h>
|
#include <render/Scene.h>
|
||||||
#include "OpenVrHelpers.h"
|
#include "OpenVrHelpers.h"
|
||||||
|
|
||||||
|
using PuckPosePair = std::pair<uint32_t, controller::Pose>;
|
||||||
|
|
||||||
namespace vr {
|
namespace vr {
|
||||||
class IVRSystem;
|
class IVRSystem;
|
||||||
}
|
}
|
||||||
|
@ -104,10 +106,12 @@ private:
|
||||||
};
|
};
|
||||||
enum class Config {
|
enum class Config {
|
||||||
Auto,
|
Auto,
|
||||||
|
Head,
|
||||||
Feet,
|
Feet,
|
||||||
Hands,
|
Hands,
|
||||||
Shoulders,
|
Shoulders,
|
||||||
FeetAndHips,
|
FeetAndHips,
|
||||||
|
FeetAndShoulders,
|
||||||
FeetHipsAndChest,
|
FeetHipsAndChest,
|
||||||
FeetHipsAndShoulders,
|
FeetHipsAndShoulders,
|
||||||
FeetHipsChestAndHands,
|
FeetHipsChestAndHands,
|
||||||
|
@ -118,7 +122,7 @@ private:
|
||||||
FilteredStick _filteredLeftStick;
|
FilteredStick _filteredLeftStick;
|
||||||
FilteredStick _filteredRightStick;
|
FilteredStick _filteredRightStick;
|
||||||
|
|
||||||
std::vector<std::pair<uint32_t, controller::Pose>> _validTrackedObjects;
|
std::vector<PuckPosePair> _validTrackedObjects;
|
||||||
std::map<uint32_t, glm::mat4> _pucksOffset;
|
std::map<uint32_t, glm::mat4> _pucksOffset;
|
||||||
std::map<int, uint32_t> _jointToPuckMap;
|
std::map<int, uint32_t> _jointToPuckMap;
|
||||||
std::map<Config, QString> _configStringMap;
|
std::map<Config, QString> _configStringMap;
|
||||||
|
@ -145,6 +149,17 @@ private:
|
||||||
void setConfigFromString(const QString& value);
|
void setConfigFromString(const QString& value);
|
||||||
void loadSettings();
|
void loadSettings();
|
||||||
void saveSettings() const;
|
void saveSettings() const;
|
||||||
|
void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
|
||||||
|
void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
|
||||||
|
void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
|
||||||
|
|
||||||
|
void calibrateHands(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
|
||||||
|
PuckPosePair firstHand, PuckPosePair secondHand);
|
||||||
|
|
||||||
|
void calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
|
||||||
|
int firstShoulderIndex, int secondShoulderIndex);
|
||||||
|
|
||||||
|
void calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
|
||||||
friend class ViveControllerManager;
|
friend class ViveControllerManager;
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
Loading…
Reference in a new issue