mirror of
https://github.com/overte-org/overte.git
synced 2025-04-08 08:14:48 +02:00
made requested chnages
This commit is contained in:
Dante Ruiz
parent
c3d57459d5
commit
bce9e9ea82
2 changed files with 110 additions and 90 deletions
|
|
@ -45,20 +45,20 @@ 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";
|
||||
const quint64 CALIBRATION_TIMELAPSE = 3000000;
|
||||
static const int MIN_PUCK_COUNT = 2;
|
||||
static const int MIN_FEET_AND_HIPS = 3;
|
||||
static const int MIN_FEET_HIPS_CHEST = 4;
|
||||
|
||||
const char* ViveControllerManager::NAME { "OpenVR" };
|
||||
|
||||
glm::mat4 computeOffset(glm::mat4 defaultToReferenceMat, glm::mat4 defaultJointMat, controller::Pose puckPose) {
|
||||
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;
|
||||
}
|
||||
|
||||
bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
|
||||
controller::Pose firstPose = firstPuck.second;
|
||||
controller::Pose secondPose = secondPuck.second;
|
||||
return (firstPose.translation.y < secondPose.translation.y);
|
||||
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 {
|
||||
|
|
@ -182,7 +182,16 @@ void ViveControllerManager::InputDevice::update(float deltaTime, const controlle
|
|||
numTrackedControllers++;
|
||||
}
|
||||
_trackedControllers = numTrackedControllers;
|
||||
calibrate(inputCalibrationData);
|
||||
|
||||
if (checkForCalibrationEvent()) {
|
||||
if (!_triggersPressedHandled) {
|
||||
_triggersPressedHandled = true;
|
||||
calibrateOrUncalibrate(inputCalibrationData);
|
||||
}
|
||||
} else {
|
||||
_triggersPressedHandled = false;
|
||||
}
|
||||
|
||||
updateCalibratedLimbs();
|
||||
}
|
||||
|
||||
|
|
@ -211,102 +220,110 @@ void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceInde
|
|||
}
|
||||
}
|
||||
|
||||
void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibrationData& inputCalibration) {
|
||||
auto leftTrigger = _buttonPressedMap.find(controller::LT);
|
||||
auto rightTrigger = _buttonPressedMap.find(controller::RT);
|
||||
if ((leftTrigger != _buttonPressedMap.end()) && (rightTrigger != _buttonPressedMap.end())) {
|
||||
if (!_triggersPressedHandled) {
|
||||
_triggersPressedHandled = true;
|
||||
if (!_calibrated) {
|
||||
// conver 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 currentHead = createMatFromQuatAndPos(hmdRotation, hmdTranslation);
|
||||
|
||||
// calculate the offset from the centerOfEye to defaultHeadMat
|
||||
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
|
||||
|
||||
currentHead = currentHead * defaultHeadOffset;
|
||||
|
||||
// calculate the defaultToRefrenceXform
|
||||
glm::mat4 defaultReferenceXform = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
|
||||
|
||||
auto puckCount = _validTrackedObjects.size();
|
||||
if (puckCount == 2) {
|
||||
_config = Config::Feet;
|
||||
} else if (puckCount == 3) {
|
||||
_config = Config::FeetAndHips;
|
||||
} else if (puckCount >= 4) {
|
||||
_config = Config::FeetHipsAndChest;
|
||||
} else {
|
||||
return;
|
||||
}
|
||||
|
||||
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
|
||||
|
||||
auto firstFoot = _validTrackedObjects[0];
|
||||
auto secondFoot = _validTrackedObjects[1];
|
||||
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(defaultReferenceXform, inputCalibration.defaultLeftFoot, firstFootPose);
|
||||
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
|
||||
_pucksOffset[secondFoot.first] = computeOffset(defaultReferenceXform, inputCalibration.defaultRightFoot, secondFootPose);
|
||||
|
||||
} else {
|
||||
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
|
||||
_pucksOffset[secondFoot.first] = computeOffset(defaultReferenceXform, inputCalibration.defaultLeftFoot, secondFootPose);
|
||||
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
|
||||
_pucksOffset[firstFoot.first] = computeOffset(defaultReferenceXform, inputCalibration.defaultRightFoot, firstFootPose);
|
||||
}
|
||||
|
||||
if (_config == Config::Feet) {
|
||||
// done
|
||||
} else if (_config == Config::FeetAndHips) {
|
||||
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
|
||||
_pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultReferenceXform, inputCalibration.defaultHips, _validTrackedObjects[2].second);
|
||||
} else if (_config == Config::FeetHipsAndChest) {
|
||||
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
|
||||
_pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultReferenceXform, inputCalibration.defaultHips, _validTrackedObjects[2].second);
|
||||
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[3].first;
|
||||
_pucksOffset[_validTrackedObjects[3].first] = computeOffset(defaultReferenceXform, inputCalibration.defaultSpine2, _validTrackedObjects[3].second);
|
||||
}
|
||||
_calibrated = true;
|
||||
|
||||
} else {
|
||||
_pucksOffset.clear();
|
||||
_jointToPuckMap.clear();
|
||||
_calibrated = false;
|
||||
}
|
||||
}
|
||||
void ViveControllerManager::InputDevice::calibrateOrUncalibrate(const controller::InputCalibrationData& inputCalibration) {
|
||||
if (!_calibrated) {
|
||||
calibrate(inputCalibration);
|
||||
} else {
|
||||
_triggersPressedHandled = false;
|
||||
uncalibrate();
|
||||
}
|
||||
}
|
||||
|
||||
bool ViveControllerManager::InputDevice::checkForCalibrationEvent() {
|
||||
auto& leftTrigger = _buttonPressedMap.find(controller::LT);
|
||||
auto& rightTrigger = _buttonPressedMap.find(controller::RT);
|
||||
return ((leftTrigger != _buttonPressedMap.end()) && (rightTrigger != _buttonPressedMap.end()));
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
int firstFootIndex = 0;
|
||||
int secondFootIndex = 1;
|
||||
|
||||
auto& firstFoot = _validTrackedObjects[firstFootIndex];
|
||||
auto& secondFoot = _validTrackedObjects[secondFootIndex];
|
||||
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[2].first;
|
||||
_pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[2].second);
|
||||
} else if (_config == Config::FeetHipsAndChest) {
|
||||
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[2].first;
|
||||
_pucksOffset[_validTrackedObjects[2].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[2].second);
|
||||
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[3].first;
|
||||
_pucksOffset[_validTrackedObjects[3].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[3].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::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) {
|
||||
controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joint) const {
|
||||
auto puck = _jointToPuckMap.find(joint);
|
||||
if (puck != _jointToPuckMap.end()) {
|
||||
uint32_t puckIndex = puck->second;
|
||||
controller::Pose puckPose = _poseStateMap[puckIndex];
|
||||
glm::mat4 puckOffset = _pucksOffset[puckIndex];
|
||||
controller::Pose newPose = puckPose.postTransform(puckOffset);
|
||||
return newPose;
|
||||
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();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -60,9 +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);
|
||||
controller::Pose addOffsetToPuckPose(int joint);
|
||||
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);
|
||||
|
|
|
|||
Loading…
Reference in a new issue