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Merge branch 'master' of https://github.com/worklist/hifi

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This commit is contained in:
Philip Rosedale 2014-05-15 21:58:09 -07:00
commit ad4556ab56
16 changed files with 185 additions and 56 deletions
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39
examples/editModels.js
View file

@ -76,38 +76,42 @@ function controller(wichSide) {
this.oldModelRadius;
this.laser = Overlays.addOverlay("line3d", {
position: this.palmPosition,
end: this.tipPosition,
position: { x: 0, y: 0, z: 0 },
end: { x: 0, y: 0, z: 0 },
color: LASER_COLOR,
alpha: 1,
visible: false,
lineWidth: LASER_WIDTH
lineWidth: LASER_WIDTH,
anchor: "MyAvatar"
});
this.guideScale = 0.02;
this.ball = Overlays.addOverlay("sphere", {
position: this.palmPosition,
position: { x: 0, y: 0, z: 0 },
size: this.guideScale,
solid: true,
color: { red: 0, green: 255, blue: 0 },
alpha: 1,
visible: false,
anchor: "MyAvatar"
});
this.leftRight = Overlays.addOverlay("line3d", {
position: this.palmPosition,
end: this.tipPosition,
position: { x: 0, y: 0, z: 0 },
end: { x: 0, y: 0, z: 0 },
color: { red: 0, green: 0, blue: 255 },
alpha: 1,
visible: false,
lineWidth: LASER_WIDTH
lineWidth: LASER_WIDTH,
anchor: "MyAvatar"
});
this.topDown = Overlays.addOverlay("line3d", {
position: this.palmPosition,
end: this.tipPosition,
position: { x: 0, y: 0, z: 0 },
end: { x: 0, y: 0, z: 0 },
color: { red: 0, green: 0, blue: 255 },
alpha: 1,
visible: false,
lineWidth: LASER_WIDTH
lineWidth: LASER_WIDTH,
anchor: "MyAvatar"
});
@ -170,10 +174,11 @@ function controller(wichSide) {
}
this.moveLaser = function () {
var endPosition = Vec3.sum(this.palmPosition, Vec3.multiply(this.front, LASER_LENGTH_FACTOR));
var startPosition = Vec3.subtract(this.palmPosition, MyAvatar.position);
var endPosition = Vec3.sum(startPosition, Vec3.multiply(this.front, LASER_LENGTH_FACTOR));
Overlays.editOverlay(this.laser, {
position: this.palmPosition,
position: startPosition,
end: endPosition,
visible: true
});
@ -219,11 +224,11 @@ function controller(wichSide) {
position: newPosition,
modelRotation: newRotation
});
print("Moving " + this.modelID.id);
// print("Moving " + this.modelID.id);
// Vec3.print("Old Position: ", this.oldModelPosition);
// Vec3.print("Sav Position: ", newPosition);
Quat.print("Old Rotation: ", this.oldModelRotation);
Quat.print("New Rotation: ", newRotation);
// Quat.print("Old Rotation: ", this.oldModelRotation);
// Quat.print("New Rotation: ", newRotation);
this.oldModelRotation = newRotation;
this.oldModelPosition = newPosition;
@ -301,7 +306,7 @@ var rightController = new controller(RIGHT);
function moveModels() {
if (leftController.grabbing && rightController.grabbing && rightController.modelID.id == leftController.modelID.id) {
print("Both controllers");
//print("Both controllers");
var oldLeftPoint = Vec3.sum(leftController.oldPalmPosition, Vec3.multiply(leftController.oldFront, leftController.x));
var oldRightPoint = Vec3.sum(rightController.oldPalmPosition, Vec3.multiply(rightController.oldFront, rightController.x));
@ -319,7 +324,7 @@ function moveModels() {
var newPosition = Vec3.sum(middle,
Vec3.multiply(Vec3.subtract(leftController.oldModelPosition, oldMiddle), ratio));
Vec3.print("Ratio : " + ratio + " New position: ", newPosition);
//Vec3.print("Ratio : " + ratio + " New position: ", newPosition);
var rotation = Quat.multiply(leftController.rotation,
Quat.inverse(leftController.oldRotation));
rotation = Quat.multiply(rotation, leftController.oldModelRotation);

35
interface/src/Application.cpp
View file

@ -237,6 +237,13 @@ Application::Application(int& argc, char** argv, QElapsedTimer &startup_time) :
connect(&nodeList->getDomainHandler(), SIGNAL(hostnameChanged(const QString&)), SLOT(domainChanged(const QString&)));
connect(&nodeList->getDomainHandler(), SIGNAL(connectedToDomain(const QString&)), SLOT(connectedToDomain(const QString&)));
// update our location every 5 seconds in the data-server, assuming that we are authenticated with one
const float DATA_SERVER_LOCATION_CHANGE_UPDATE_MSECS = 5.0f * 1000.0f;
QTimer* locationUpdateTimer = new QTimer(this);
connect(locationUpdateTimer, &QTimer::timeout, this, &Application::updateLocationInServer);
locationUpdateTimer->start(DATA_SERVER_LOCATION_CHANGE_UPDATE_MSECS);
connect(nodeList, &NodeList::nodeAdded, this, &Application::nodeAdded);
connect(nodeList, &NodeList::nodeKilled, this, &Application::nodeKilled);
@ -3113,6 +3120,34 @@ void Application::updateWindowTitle(){
_window->setWindowTitle(title);
}
void Application::updateLocationInServer() {
AccountManager& accountManager = AccountManager::getInstance();
if (accountManager.isLoggedIn()) {
static QJsonObject lastLocationObject;
// construct a QJsonObject given the user's current address information
QJsonObject updatedLocationObject;
QJsonObject addressObject;
addressObject.insert("position", QString(createByteArray(_myAvatar->getPosition())));
addressObject.insert("orientation", QString(createByteArray(glm::degrees(safeEulerAngles(_myAvatar->getOrientation())))));
addressObject.insert("domain", NodeList::getInstance()->getDomainHandler().getHostname());
updatedLocationObject.insert("address", addressObject);
if (updatedLocationObject != lastLocationObject) {
accountManager.authenticatedRequest("/api/v1/users/address", QNetworkAccessManager::PutOperation,
JSONCallbackParameters(), QJsonDocument(updatedLocationObject).toJson());
lastLocationObject = updatedLocationObject;
}
}
}
void Application::domainChanged(const QString& domainHostname) {
updateWindowTitle();

1
interface/src/Application.h
View file

@ -278,6 +278,7 @@ signals:
public slots:
void domainChanged(const QString& domainHostname);
void updateWindowTitle();
void updateLocationInServer();
void nodeAdded(SharedNodePointer node);
void nodeKilled(SharedNodePointer node);
void packetSent(quint64 length);

1
interface/src/Menu.cpp
View file

@ -351,6 +351,7 @@ Menu::Menu() :
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::HandsCollideWithSelf, 0, false);
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::ShowIKConstraints, 0, false);
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::AlignForearmsWithWrists, 0, true);
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::AlternateIK, 0, false);
addDisabledActionAndSeparator(developerMenu, "Testing");

1
interface/src/Menu.h
View file

@ -267,6 +267,7 @@ private:
namespace MenuOption {
const QString AboutApp = "About Interface";
const QString AlignForearmsWithWrists = "Align Forearms with Wrists";
const QString AlternateIK = "Alternate IK";
const QString AmbientOcclusion = "Ambient Occlusion";
const QString Atmosphere = "Atmosphere";
const QString Attachments = "Attachments...";

32
interface/src/avatar/MyAvatar.cpp
View file

@ -49,8 +49,6 @@ const float COLLISION_RADIUS_SCALE = 0.125f;
const float MIN_KEYBOARD_CONTROL_SPEED = 2.0f;
const float MAX_WALKING_SPEED = 3.0f * MIN_KEYBOARD_CONTROL_SPEED;
const float DATA_SERVER_LOCATION_CHANGE_UPDATE_MSECS = 5.0f * 1000.0f;
// TODO: normalize avatar speed for standard avatar size, then scale all motion logic
// to properly follow avatar size.
float DEFAULT_MOTOR_TIMESCALE = 0.25f;
@ -83,11 +81,6 @@ MyAvatar::MyAvatar() :
for (int i = 0; i < MAX_DRIVE_KEYS; i++) {
_driveKeys[i] = 0.0f;
}
// update our location every 5 seconds in the data-server, assuming that we are authenticated with one
QTimer* locationUpdateTimer = new QTimer(this);
connect(locationUpdateTimer, &QTimer::timeout, this, &MyAvatar::updateLocationInDataServer);
locationUpdateTimer->start(DATA_SERVER_LOCATION_CHANGE_UPDATE_MSECS);
}
MyAvatar::~MyAvatar() {
@ -237,7 +230,7 @@ void MyAvatar::simulate(float deltaTime) {
void MyAvatar::updateFromTrackers(float deltaTime) {
glm::vec3 estimatedPosition, estimatedRotation;
if (Application::getInstance()->getPrioVR()->isActive()) {
if (Application::getInstance()->getPrioVR()->hasHeadRotation()) {
estimatedRotation = glm::degrees(safeEulerAngles(Application::getInstance()->getPrioVR()->getHeadRotation()));
estimatedRotation.x *= -1.0f;
estimatedRotation.z *= -1.0f;
@ -1434,29 +1427,6 @@ void MyAvatar::resetSize() {
qDebug("Reseted scale to %f", _targetScale);
}
static QByteArray createByteArray(const glm::vec3& vector) {
return QByteArray::number(vector.x) + ',' + QByteArray::number(vector.y) + ',' + QByteArray::number(vector.z);
}
void MyAvatar::updateLocationInDataServer() {
// TODO: don't re-send this when it hasn't change or doesn't change by some threshold
// This will required storing the last sent values and clearing them when the AccountManager rootURL changes
AccountManager& accountManager = AccountManager::getInstance();
if (accountManager.isLoggedIn()) {
QString positionString(createByteArray(_position));
QString orientationString(createByteArray(glm::degrees(safeEulerAngles(getOrientation()))));
// construct the json to put the user's location
QString locationPutJson = QString() + "{\"address\":{\"position\":\""
+ positionString + "\", \"orientation\":\"" + orientationString + "\"}}";
accountManager.authenticatedRequest("/api/v1/users/address", QNetworkAccessManager::PutOperation,
JSONCallbackParameters(), locationPutJson.toUtf8());
}
}
void MyAvatar::goToLocationFromResponse(const QJsonObject& jsonObject) {
if (jsonObject["status"].toString() == "success") {

1
interface/src/avatar/MyAvatar.h
View file

@ -108,7 +108,6 @@ public slots:
void decreaseSize();
void resetSize();
void updateLocationInDataServer();
void goToLocationFromResponse(const QJsonObject& jsonObject);
// Set/Get update the thrust that will move the avatar around

73
interface/src/avatar/SkeletonModel.cpp
View file

@ -164,7 +164,8 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
// rotate palm to align with its normal (normal points out of hand's palm)
glm::quat palmRotation;
if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
if (!Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK) &&
Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
getJointRotation(parentJointIndex, palmRotation, true);
} else {
getJointRotation(jointIndex, palmRotation, true);
@ -176,7 +177,10 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
palmRotation = rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), direction) * palmRotation;
// set hand position, rotation
if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
if (Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK)) {
setHandPosition(jointIndex, palm.getPosition(), palmRotation);
} else if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
glm::vec3 forearmVector = palmRotation * glm::vec3(sign, 0.0f, 0.0f);
setJointPosition(parentJointIndex, palm.getPosition() + forearmVector *
geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale));
@ -276,3 +280,68 @@ void SkeletonModel::renderJointConstraints(int jointIndex) {
glLineWidth(1.0f);
}
void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation) {
// this algorithm is from sample code from sixense
const FBXGeometry& geometry = _geometry->getFBXGeometry();
int elbowJointIndex = geometry.joints.at(jointIndex).parentIndex;
if (elbowJointIndex == -1) {
return;
}
int shoulderJointIndex = geometry.joints.at(elbowJointIndex).parentIndex;
glm::vec3 shoulderPosition;
if (!getJointPosition(shoulderJointIndex, shoulderPosition)) {
return;
}
// precomputed lengths
float scale = extractUniformScale(_scale);
float upperArmLength = geometry.joints.at(elbowJointIndex).distanceToParent * scale;
float lowerArmLength = geometry.joints.at(jointIndex).distanceToParent * scale;
// first set wrist position
glm::vec3 wristPosition = position;
glm::vec3 shoulderToWrist = wristPosition - shoulderPosition;
float distanceToWrist = glm::length(shoulderToWrist);
// prevent gimbal lock
if (distanceToWrist > upperArmLength + lowerArmLength - EPSILON) {
distanceToWrist = upperArmLength + lowerArmLength - EPSILON;
shoulderToWrist = glm::normalize(shoulderToWrist) * distanceToWrist;
wristPosition = shoulderPosition + shoulderToWrist;
}
// cosine of angle from upper arm to hand vector
float cosA = (upperArmLength * upperArmLength + distanceToWrist * distanceToWrist - lowerArmLength * lowerArmLength) /
(2 * upperArmLength * distanceToWrist);
float mid = upperArmLength * cosA;
float height = sqrt(upperArmLength * upperArmLength + mid * mid - 2 * upperArmLength * mid * cosA);
// direction of the elbow
glm::vec3 handNormal = glm::cross(rotation * glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow rotating with wrist
glm::vec3 relaxedNormal = glm::cross(glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow pointing straight down
const float NORMAL_WEIGHT = 0.5f;
glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT);
bool rightHand = (jointIndex == geometry.rightHandJointIndex);
if (rightHand ? (finalNormal.y > 0.0f) : (finalNormal.y < 0.0f)) {
finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis)
}
glm::vec3 tangent = glm::normalize(glm::cross(shoulderToWrist, finalNormal));
// ik solution
glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height;
glm::vec3 forwardVector(rightHand ? -1.0f : 1.0f, 0.0f, 0.0f);
glm::quat shoulderRotation;
getJointRotation(shoulderJointIndex, shoulderRotation, true);
applyRotationDelta(shoulderJointIndex, rotationBetween(shoulderRotation * forwardVector, elbowPosition - shoulderPosition), false);
glm::quat elbowRotation;
getJointRotation(elbowJointIndex, elbowRotation, true);
applyRotationDelta(elbowJointIndex, rotationBetween(elbowRotation * forwardVector, wristPosition - elbowPosition), false);
setJointRotation(jointIndex, rotation, true);
}

1
interface/src/avatar/SkeletonModel.h
View file

@ -51,6 +51,7 @@ protected:
private:
void renderJointConstraints(int jointIndex);
void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
Avatar* _owningAvatar;
};

16
interface/src/devices/PrioVR.cpp
View file

@ -48,6 +48,7 @@ PrioVR::PrioVR() {
return;
}
_jointRotations.resize(LIST_LENGTH);
_lastJointRotations.resize(LIST_LENGTH);
for (int i = 0; i < LIST_LENGTH; i++) {
_humanIKJointIndices.append(jointsDiscovered[i] ? indexOfHumanIKJoint(JOINT_NAMES[i]) : -1);
}
@ -62,8 +63,13 @@ PrioVR::~PrioVR() {
#endif
}
glm::quat PrioVR::getHeadRotation() const {
const int HEAD_ROTATION_INDEX = 0;
const int HEAD_ROTATION_INDEX = 0;
bool PrioVR::hasHeadRotation() const {
return _humanIKJointIndices.size() > HEAD_ROTATION_INDEX && _humanIKJointIndices.at(HEAD_ROTATION_INDEX) != -1;
}
glm::quat PrioVR::getHeadRotation() const {
return _jointRotations.size() > HEAD_ROTATION_INDEX ? _jointRotations.at(HEAD_ROTATION_INDEX) : glm::quat();
}
@ -81,10 +87,14 @@ void PrioVR::update() {
yei_getLastStreamDataAll(_skeletalDevice, (char*)_jointRotations.data(),
_jointRotations.size() * sizeof(glm::quat), &timestamp);
// convert to our expected coordinate system
// convert to our expected coordinate system, average with last rotations to smooth
for (int i = 0; i < _jointRotations.size(); i++) {
_jointRotations[i].y *= -1.0f;
_jointRotations[i].z *= -1.0f;
glm::quat lastRotation = _lastJointRotations.at(i);
_lastJointRotations[i] = _jointRotations.at(i);
_jointRotations[i] = safeMix(lastRotation, _jointRotations.at(i), 0.5f);
}
#endif
}

3
interface/src/devices/PrioVR.h
View file

@ -35,6 +35,8 @@ public:
bool isActive() const { return !_jointRotations.isEmpty(); }
bool hasHeadRotation() const;
glm::quat getHeadRotation() const;
glm::quat getTorsoRotation() const;
@ -55,6 +57,7 @@ private:
QVector<int> _humanIKJointIndices;
QVector<glm::quat> _jointRotations;
QVector<glm::quat> _lastJointRotations;
QDateTime _calibrationCountdownStarted;
};

12
interface/src/ui/overlays/Overlay.cpp
View file

@ -23,7 +23,8 @@ Overlay::Overlay() :
_parent(NULL),
_alpha(DEFAULT_ALPHA),
_color(DEFAULT_BACKGROUND_COLOR),
_visible(true)
_visible(true),
_anchor(NO_ANCHOR)
{
}
@ -51,8 +52,15 @@ void Overlay::setProperties(const QScriptValue& properties) {
if (properties.property("alpha").isValid()) {
setAlpha(properties.property("alpha").toVariant().toFloat());
}
if (properties.property("visible").isValid()) {
setVisible(properties.property("visible").toVariant().toBool());
}
if (properties.property("anchor").isValid()) {
QString property = properties.property("anchor").toVariant().toString();
if (property == "MyAvatar") {
setAnchor(MY_AVATAR);
}
}
}

8
interface/src/ui/overlays/Overlay.h
View file

@ -28,6 +28,11 @@ class Overlay : public QObject {
Q_OBJECT
public:
enum Anchor {
NO_ANCHOR,
MY_AVATAR
};
Overlay();
~Overlay();
void init(QGLWidget* parent);
@ -38,11 +43,13 @@ public:
bool getVisible() const { return _visible; }
const xColor& getColor() const { return _color; }
float getAlpha() const { return _alpha; }
Anchor getAnchor() const { return _anchor; }
// setters
void setVisible(bool visible) { _visible = visible; }
void setColor(const xColor& color) { _color = color; }
void setAlpha(float alpha) { _alpha = alpha; }
void setAnchor(Anchor anchor) { _anchor = anchor; }
virtual void setProperties(const QScriptValue& properties);
@ -51,6 +58,7 @@ protected:
float _alpha;
xColor _color;
bool _visible; // should the overlay be drawn at all
Anchor _anchor;
};

12
interface/src/ui/overlays/Overlays.cpp
View file

@ -8,6 +8,7 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include <Application.h>
#include "Cube3DOverlay.h"
#include "ImageOverlay.h"
@ -57,8 +58,19 @@ void Overlays::render2D() {
}
void Overlays::render3D() {
glm::vec3 myAvatarPosition = Application::getInstance()->getAvatar()->getPosition();
foreach(Overlay* thisOverlay, _overlays3D) {
glPushMatrix();
switch (thisOverlay->getAnchor()) {
case Overlay::MY_AVATAR:
glTranslatef(myAvatarPosition.x, myAvatarPosition.y, myAvatarPosition.z);
break;
default:
break;
}
thisOverlay->render();
glPopMatrix();
}
}

4
libraries/shared/src/SharedUtil.cpp
View file

@ -828,3 +828,7 @@ bool isSimilarPosition(const glm::vec3& positionA, const glm::vec3& positionB, f
float positionDistance = glm::distance(positionA, positionB);
return (positionDistance <= similarEnough);
}
QByteArray createByteArray(const glm::vec3& vector) {
return QByteArray::number(vector.x) + ',' + QByteArray::number(vector.y) + ',' + QByteArray::number(vector.z);
}

2
libraries/shared/src/SharedUtil.h
View file

@ -187,4 +187,6 @@ bool isSimilarPosition(const glm::vec3& positionA, const glm::vec3& positionB, f
/// \return bool is the float NaN
bool isNaN(float value);
QByteArray createByteArray(const glm::vec3& vector);
#endif // hifi_SharedUtil_h