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Merge pull request #10412 from druiz17/config-pucks

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Moved the puck configuration to actions into the vive controller plugin
This commit is contained in:
anshuman64 2017-05-09 15:29:51 -07:00 committed by GitHub
commit b796d8e484
3 changed files with 181 additions and 7 deletions
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6
interface/resources/controllers/vive.json
View file

@ -35,6 +35,10 @@
{ "from": "Vive.RightApplicationMenu", "to": "Standard.RightSecondaryThumb" },
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] }
{ "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.LeftFoot", "to" : "Standard.LeftFoot", "when": [ "Application.InHMD"] },
{ "from": "Vive.RightFoot", "to" : "Standard.RightFoot", "when": [ "Application.InHMD"] },
{ "from": "Vive.Hips", "to" : "Standard.Hips", "when": [ "Application.InHMD"] },
{ "from": "Vive.Spine2", "to" : "Standard.Spine2", "when": [ "Application.InHMD"] }
]
}

157
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -10,6 +10,7 @@
//
#include "ViveControllerManager.h"
#include <algorithm>
#include <PerfStat.h>
#include <PathUtils.h>
@ -20,7 +21,11 @@
#include <NumericalConstants.h>
#include <ui-plugins/PluginContainer.h>
#include <UserActivityLogger.h>
#include <NumericalConstants.h>
#include <OffscreenUi.h>
#include <GLMHelpers.h>
#include <glm/ext.hpp>
#include <glm/gtc/quaternion.hpp>
#include <controllers/UserInputMapper.h>
@ -36,14 +41,32 @@ void releaseOpenVrSystem();
static const char* CONTROLLER_MODEL_STRING = "vr_controller_05_wireless_b";
const quint64 CALIBRATION_TIMELAPSE = 2 * USECS_PER_SECOND;
static const char* MENU_PARENT = "Avatar";
static const char* MENU_NAME = "Vive Controllers";
static const char* MENU_PATH = "Avatar" ">" "Vive Controllers";
static const char* RENDER_CONTROLLERS = "Render Hand Controllers";
static const int MIN_PUCK_COUNT = 2;
static const int MIN_FEET_AND_HIPS = 3;
static const int MIN_FEET_HIPS_CHEST = 4;
static const int FIRST_FOOT = 0;
static const int SECOND_FOOT = 1;
static const int HIP = 2;
static const int CHEST = 3;
const char* ViveControllerManager::NAME { "OpenVR" };
static glm::mat4 computeOffset(glm::mat4 defaultToReferenceMat, glm::mat4 defaultJointMat, controller::Pose puckPose) {
glm::mat4 poseMat = createMatFromQuatAndPos(puckPose.rotation, puckPose.translation);
glm::mat4 referenceJointMat = defaultToReferenceMat * defaultJointMat;
return glm::inverse(poseMat) * referenceJointMat;
}
static bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
return (firstPuck.second.translation.y < firstPuck.second.translation.y);
}
bool ViveControllerManager::isSupported() const {
return openVrSupported();
}
@ -125,6 +148,7 @@ void ViveControllerManager::pluginUpdate(float deltaTime, const controller::Inpu
void ViveControllerManager::InputDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {
_poseStateMap.clear();
_buttonPressedMap.clear();
_validTrackedObjects.clear();
// While the keyboard is open, we defer strictly to the keyboard values
if (isOpenVrKeyboardShown()) {
@ -164,10 +188,27 @@ void ViveControllerManager::InputDevice::update(float deltaTime, const controlle
numTrackedControllers++;
}
_trackedControllers = numTrackedControllers;
if (checkForCalibrationEvent()) {
quint64 currentTime = usecTimestampNow();
if (!_timeTilCalibrationSet) {
_timeTilCalibrationSet = true;
_timeTilCalibration = currentTime + CALIBRATION_TIMELAPSE;
}
if (currentTime > _timeTilCalibration && !_triggersPressedHandled) {
_triggersPressedHandled = true;
calibrateOrUncalibrate(inputCalibrationData);
}
} else {
_triggersPressedHandled = false;
_timeTilCalibrationSet = false;
}
updateCalibratedLimbs();
}
void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData) {
uint32_t poseIndex = controller::TRACKED_OBJECT_00 + deviceIndex;
if (_system->IsTrackedDeviceConnected(deviceIndex) &&
@ -185,12 +226,114 @@ void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceInde
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
_poseStateMap[poseIndex] = pose.transform(controllerToAvatar);
_validTrackedObjects.push_back(std::make_pair(poseIndex, _poseStateMap[poseIndex]));
} else {
controller::Pose invalidPose;
_poseStateMap[poseIndex] = invalidPose;
}
}
void ViveControllerManager::InputDevice::calibrateOrUncalibrate(const controller::InputCalibrationData& inputCalibration) {
if (!_calibrated) {
calibrate(inputCalibration);
} else {
uncalibrate();
}
}
void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibrationData& inputCalibration) {
// convert the hmd head from sensor space to avatar space
glm::mat4 hmdSensorFlippedMat = inputCalibration.hmdSensorMat * Matrices::Y_180;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
glm::mat4 hmdAvatarMat = sensorToAvatarMat * hmdSensorFlippedMat;
// cancel the roll and pitch for the hmd head
glm::quat hmdRotation = cancelOutRollAndPitch(glmExtractRotation(hmdAvatarMat));
glm::vec3 hmdTranslation = extractTranslation(hmdAvatarMat);
glm::mat4 currentHmd = createMatFromQuatAndPos(hmdRotation, hmdTranslation);
// calculate the offset from the centerOfEye to defaultHeadMat
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::mat4 currentHead = currentHmd * defaultHeadOffset;
// calculate the defaultToRefrenceXform
glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
int puckCount = (int)_validTrackedObjects.size();
if (puckCount == MIN_PUCK_COUNT) {
_config = Config::Feet;
} else if (puckCount == MIN_FEET_AND_HIPS) {
_config = Config::FeetAndHips;
} else if (puckCount >= MIN_FEET_HIPS_CHEST) {
_config = Config::FeetHipsAndChest;
} else {
return;
}
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
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);
}
if (_config == Config::Feet) {
// done
} else if (_config == Config::FeetAndHips) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
} else if (_config == Config::FeetHipsAndChest) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
}
_calibrated = true;
}
void ViveControllerManager::InputDevice::uncalibrate() {
_pucksOffset.clear();
_jointToPuckMap.clear();
_calibrated = false;
}
void ViveControllerManager::InputDevice::updateCalibratedLimbs() {
_poseStateMap[controller::LEFT_FOOT] = addOffsetToPuckPose(controller::LEFT_FOOT);
_poseStateMap[controller::RIGHT_FOOT] = addOffsetToPuckPose(controller::RIGHT_FOOT);
_poseStateMap[controller::HIPS] = addOffsetToPuckPose(controller::HIPS);
_poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2);
}
controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joint) const {
auto puck = _jointToPuckMap.find(joint);
if (puck != _jointToPuckMap.end()) {
uint32_t puckIndex = puck->second;
auto puckPose = _poseStateMap.find(puckIndex);
auto puckOffset = _pucksOffset.find(puckIndex);
if ((puckPose != _poseStateMap.end()) && (puckOffset != _pucksOffset.end())) {
return puckPose->second.postTransform(puckOffset->second);
}
}
return controller::Pose();
}
void ViveControllerManager::InputDevice::handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand) {
if (_system->IsTrackedDeviceConnected(deviceIndex) &&
@ -276,6 +419,14 @@ enum ViveButtonChannel {
RIGHT_APP_MENU
};
bool ViveControllerManager::InputDevice::checkForCalibrationEvent() {
auto& endOfMap = _buttonPressedMap.end();
auto& leftTrigger = _buttonPressedMap.find(controller::LT);
auto& rightTrigger = _buttonPressedMap.find(controller::RT);
auto& leftAppButton = _buttonPressedMap.find(LEFT_APP_MENU);
auto& rightAppButton = _buttonPressedMap.find(RIGHT_APP_MENU);
return ((leftTrigger != endOfMap && leftAppButton != endOfMap) && (rightTrigger != endOfMap && rightAppButton != endOfMap));
}
// These functions do translation from the Steam IDs to the standard controller IDs
void ViveControllerManager::InputDevice::handleButtonEvent(float deltaTime, uint32_t button, bool pressed, bool touched, bool isLeftHand) {
@ -404,6 +555,10 @@ controller::Input::NamedVector ViveControllerManager::InputDevice::getAvailableI
// 3d location of controller
makePair(LEFT_HAND, "LeftHand"),
makePair(RIGHT_HAND, "RightHand"),
makePair(LEFT_FOOT, "LeftFoot"),
makePair(RIGHT_FOOT, "RightFoot"),
makePair(HIPS, "Hips"),
makePair(SPINE2, "Spine2"),
// 16 tracked poses
makePair(TRACKED_OBJECT_00, "TrackedObject00"),

21
plugins/openvr/src/ViveControllerManager.h
View file

@ -14,9 +14,11 @@
#include <QObject>
#include <unordered_set>
#include <vector>
#include <map>
#include <utility>
#include <GLMHelpers.h>
#include <model/Geometry.h>
#include <gpu/Texture.h>
#include <controllers/InputDevice.h>
@ -58,7 +60,12 @@ private:
bool triggerHapticPulse(float strength, float duration, controller::Hand hand) override;
void hapticsHelper(float deltaTime, bool leftHand);
void calibrateOrUncalibrate(const controller::InputCalibrationData& inputCalibration);
void calibrate(const controller::InputCalibrationData& inputCalibration);
void uncalibrate();
controller::Pose addOffsetToPuckPose(int joint) const;
void updateCalibratedLimbs();
bool checkForCalibrationEvent();
void handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand);
void handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData);
void handleButtonEvent(float deltaTime, uint32_t button, bool pressed, bool touched, bool isLeftHand);
@ -90,10 +97,14 @@ private:
float _timer { 0.0f };
glm::vec2 _stick { 0.0f, 0.0f };
};
enum class Config { Feet, FeetAndHips, FeetHipsAndChest, NoConfig };
Config _config { Config::NoConfig };
FilteredStick _filteredLeftStick;
FilteredStick _filteredRightStick;
std::vector<std::pair<uint32_t, controller::Pose>> _validTrackedObjects;
std::map<uint32_t, glm::mat4> _pucksOffset;
std::map<int, uint32_t> _jointToPuckMap;
// perform an action when the InputDevice mutex is acquired.
using Locker = std::unique_lock<std::recursive_mutex>;
template <typename F>
@ -101,10 +112,14 @@ private:
int _trackedControllers { 0 };
vr::IVRSystem*& _system;
quint64 _timeTilCalibration { 0.0f };
float _leftHapticStrength { 0.0f };
float _leftHapticDuration { 0.0f };
float _rightHapticStrength { 0.0f };
float _rightHapticDuration { 0.0f };
bool _triggersPressedHandled { false };
bool _calibrated { false };
bool _timeTilCalibrationSet { false };
mutable std::recursive_mutex _lock;
friend class ViveControllerManager;