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Merge pull request #10127 from druiz17/oculus-tracking

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Use old controller data for 3 seconds when losing track of touch controllers
This commit is contained in:
Seth Alves 2017-04-05 12:34:43 -07:00 committed by GitHub
commit b58fe6ee90
4 changed files with 75 additions and 5 deletions
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38
plugins/oculus/src/OculusControllerManager.cpp
View file

@ -33,6 +33,8 @@ static const char* MENU_PATH = "Avatar" ">" "Oculus Touch Controllers";
const char* OculusControllerManager::NAME = "Oculus";
const quint64 LOST_TRACKING_DELAY = 3000000;
bool OculusControllerManager::isSupported() const {
return oculusAvailable();
}
@ -207,9 +209,7 @@ void OculusControllerManager::RemoteDevice::focusOutEvent() {
}
void OculusControllerManager::TouchDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {
_poseStateMap.clear();
_buttonPressedMap.clear();
ovrSessionStatus status;
if (!OVR_SUCCESS(ovr_GetSessionStatus(_parent._session, &status)) || (ovrFalse == status.HmdMounted)) {
// if the HMD isn't on someone's head, don't take input from the controllers
@ -217,15 +217,33 @@ void OculusControllerManager::TouchDevice::update(float deltaTime, const control
}
int numTrackedControllers = 0;
quint64 currentTime = usecTimestampNow();
static const auto REQUIRED_HAND_STATUS = ovrStatus_OrientationTracked | ovrStatus_PositionTracked;
auto tracking = ovr_GetTrackingState(_parent._session, 0, false);
ovr_for_each_hand([&](ovrHandType hand) {
++numTrackedControllers;
int controller = (hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND);
if (REQUIRED_HAND_STATUS == (tracking.HandStatusFlags[hand] & REQUIRED_HAND_STATUS)) {
_poseStateMap.erase(controller);
handlePose(deltaTime, inputCalibrationData, hand, tracking.HandPoses[hand]);
} else {
_poseStateMap[hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND].valid = false;
_lostTracking[controller] = false;
_lastControllerPose[controller] = tracking.HandPoses[hand];
return;
}
if (_lostTracking[controller]) {
if (currentTime > _regainTrackingDeadline[controller]) {
_poseStateMap.erase(controller);
_poseStateMap[controller].valid = false;
return;
}
} else {
quint64 deadlineToRegainTracking = currentTime + LOST_TRACKING_DELAY;
_regainTrackingDeadline[controller] = deadlineToRegainTracking;
_lostTracking[controller] = true;
}
handleRotationForUntrackedHand(inputCalibrationData, hand, tracking.HandPoses[hand]);
});
using namespace controller;
// Axes
@ -251,7 +269,7 @@ void OculusControllerManager::TouchDevice::update(float deltaTime, const control
if (inputState.Touches & pair.first) {
_buttonPressedMap.insert(pair.second);
}
}
}
// Haptics
{
@ -286,6 +304,16 @@ void OculusControllerManager::TouchDevice::handlePose(float deltaTime,
}
void OculusControllerManager::TouchDevice::handleRotationForUntrackedHand(const controller::InputCalibrationData& inputCalibrationData,
ovrHandType hand, const ovrPoseStatef& handPose) {
auto poseId = (hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND);
auto& pose = _poseStateMap[poseId];
auto lastHandPose = _lastControllerPose[poseId];
pose = ovrControllerRotationToHandRotation(hand, handPose, lastHandPose);
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
pose = pose.transform(controllerToAvatar);
}
bool OculusControllerManager::TouchDevice::triggerHapticPulse(float strength, float duration, controller::Hand hand) {
Locker locker(_lock);
bool toReturn = true;

5
plugins/oculus/src/OculusControllerManager.h
View file

@ -11,6 +11,7 @@
#include <QObject>
#include <unordered_set>
#include <map>
#include <GLMHelpers.h>
@ -75,6 +76,7 @@ private:
private:
void stopHapticPulse(bool leftHand);
void handlePose(float deltaTime, const controller::InputCalibrationData& inputCalibrationData, ovrHandType hand, const ovrPoseStatef& handPose);
void handleRotationForUntrackedHand(const controller::InputCalibrationData& inputCalibrationData, ovrHandType hand, const ovrPoseStatef& handPose);
int _trackedControllers { 0 };
// perform an action when the TouchDevice mutex is acquired.
@ -87,6 +89,9 @@ private:
float _rightHapticDuration { 0.0f };
float _rightHapticStrength { 0.0f };
mutable std::recursive_mutex _lock;
std::map<int, bool> _lostTracking;
std::map<int, quint64> _regainTrackingDeadline;
std::map<int, ovrPoseStatef> _lastControllerPose;
friend class OculusControllerManager;
};

34
plugins/oculus/src/OculusHelpers.cpp
View file

@ -267,3 +267,37 @@ controller::Pose ovrControllerPoseToHandPose(
pose.valid = true;
return pose;
}
controller::Pose ovrControllerRotationToHandRotation(ovrHandType hand, const ovrPoseStatef& handPose,
const ovrPoseStatef& lastHandPose) {
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat touchToHand = yFlip * quarterX;
static const glm::quat leftQuarterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuarterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat leftRotationOffset = glm::inverse(leftQuarterZ) * touchToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuarterZ) * touchToHand;
static const float CONTROLLER_LENGTH_OFFSET = 0.0762f; // three inches
static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
-CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET * 1.5f);
static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
auto translationOffset = (hand == ovrHand_Left ? leftTranslationOffset : rightTranslationOffset);
auto rotationOffset = (hand == ovrHand_Left ? leftRotationOffset : rightRotationOffset);
glm::quat rotation = toGlm(handPose.ThePose.Orientation);
controller::Pose pose;
pose.translation = toGlm(lastHandPose.ThePose.Position);
pose.translation += rotation * translationOffset;
pose.rotation = rotation * rotationOffset;
pose.angularVelocity = toGlm(lastHandPose.AngularVelocity);
pose.velocity = toGlm(lastHandPose.LinearVelocity);
pose.valid = true;
return pose;
}

3
plugins/oculus/src/OculusHelpers.h
View file

@ -118,3 +118,6 @@ inline ovrPosef ovrPoseFromGlm(const glm::mat4 & m) {
controller::Pose ovrControllerPoseToHandPose(
ovrHandType hand,
const ovrPoseStatef& handPose);
controller::Pose ovrControllerRotationToHandRotation(ovrHandType hand,
const ovrPoseStatef& handPose, const ovrPoseStatef& lastHandPose);