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added a reset when the hips go below 1/3 of the default avatar height of the hips also reset the vertical this prevents real life sitting

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This commit is contained in:
amantley 2018-07-25 10:29:29 -07:00
parent 1a732f9c8f
commit c5599623f7
2 changed files with 17 additions and 5 deletions
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18
interface/src/avatar/MyAvatar.cpp
View file

@ -3042,7 +3042,7 @@ static glm::vec3 dampenCgMovement(glm::vec3 cgUnderHeadHandsAvatarSpace, float b
}
// computeCounterBalance returns the center of gravity in Avatar space
glm::vec3 MyAvatar::computeCounterBalance() const {
glm::vec3 MyAvatar::computeCounterBalance() {
struct JointMass {
QString name;
float weight;
@ -3061,6 +3061,7 @@ glm::vec3 MyAvatar::computeCounterBalance() const {
JointMass cgRightHandMass(QString("RightHand"), DEFAULT_AVATAR_RIGHTHAND_MASS, glm::vec3(0.0f, 0.0f, 0.0f));
glm::vec3 tposeHead = DEFAULT_AVATAR_HEAD_POS;
glm::vec3 tposeHips = glm::vec3(0.0f, 0.0f, 0.0f);
glm::vec3 tposeRightFoot = glm::vec3(0.0f, -1.0f, 0.0f);
if (_skeletonModel->getRig().indexOfJoint(cgHeadMass.name) != -1) {
cgHeadMass.position = getAbsoluteJointTranslationInObjectFrame(_skeletonModel->getRig().indexOfJoint(cgHeadMass.name));
@ -3079,6 +3080,9 @@ glm::vec3 MyAvatar::computeCounterBalance() const {
if (_skeletonModel->getRig().indexOfJoint("Hips") != -1) {
tposeHips = getAbsoluteDefaultJointTranslationInObjectFrame(_skeletonModel->getRig().indexOfJoint("Hips"));
}
if (_skeletonModel->getRig().indexOfJoint("RightFoot") != -1) {
tposeRightFoot = getAbsoluteDefaultJointTranslationInObjectFrame(_skeletonModel->getRig().indexOfJoint("RightFoot"));
}
// find the current center of gravity position based on head and hand moments
glm::vec3 sumOfMoments = (cgHeadMass.weight * cgHeadMass.position) + (cgLeftHandMass.weight * cgLeftHandMass.position) + (cgRightHandMass.weight * cgRightHandMass.position);
@ -3102,6 +3106,8 @@ glm::vec3 MyAvatar::computeCounterBalance() const {
glm::vec3 xzDiff((cgHeadMass.position.x - counterBalancedCg.x), 0.0f, (cgHeadMass.position.z - counterBalancedCg.z));
float headMinusHipXz = glm::length(xzDiff);
float headHipDefault = glm::length(tposeHead - tposeHips);
float hipFootDefault = glm::length(tposeHips - tposeRightFoot);
float sitSquatThreshold = tposeHips.y - (0.333f)*hipFootDefault;
float hipHeight = 0.0f;
if (headHipDefault > headMinusHipXz) {
hipHeight = sqrtf((headHipDefault * headHipDefault) - (headMinusHipXz * headMinusHipXz));
@ -3113,6 +3119,12 @@ glm::vec3 MyAvatar::computeCounterBalance() const {
if (counterBalancedCg.y > (tposeHips.y + 0.05f)) {
// if the height is higher than default hips, clamp to default hips
counterBalancedCg.y = tposeHips.y + 0.05f;
} else if (counterBalancedCg.y < sitSquatThreshold) {
//do a height reset
setResetMode(true);
_follow.activate(FollowHelper::Vertical);
qCDebug(interfaceapp) << "doing a reset for sitting";
}
return counterBalancedCg;
}
@ -3162,7 +3174,7 @@ static void drawBaseOfSupport(float baseOfSupportScale, float footLocal, glm::ma
// this function finds the hips position using a center of gravity model that
// balances the head and hands with the hips over the base of support
// returns the rotation (-z forward) and position of the Avatar in Sensor space
glm::mat4 MyAvatar::deriveBodyUsingCgModel() const {
glm::mat4 MyAvatar::deriveBodyUsingCgModel() {
glm::mat4 sensorToWorldMat = getSensorToWorldMatrix();
glm::mat4 worldToSensorMat = glm::inverse(sensorToWorldMat);
auto headPose = getControllerPoseInSensorFrame(controller::Action::HEAD);
@ -3180,7 +3192,7 @@ glm::mat4 MyAvatar::deriveBodyUsingCgModel() const {
}
// get the new center of gravity
const glm::vec3 cgHipsPosition = computeCounterBalance();
glm::vec3 cgHipsPosition = computeCounterBalance();
// find the new hips rotation using the new head-hips axis as the up axis
glm::mat4 avatarHipsMat = computeNewHipsMatrix(glmExtractRotation(avatarHeadMat), extractTranslation(avatarHeadMat), cgHipsPosition);

4
interface/src/avatar/MyAvatar.h
View file

@ -1017,12 +1017,12 @@ public:
// results are in sensor frame (-z forward)
glm::mat4 deriveBodyFromHMDSensor() const;
glm::vec3 computeCounterBalance() const;
glm::vec3 computeCounterBalance();
// derive avatar body position and orientation from using the current HMD Sensor location in relation to the previous
// location of the base of support of the avatar.
// results are in sensor frame (-z foward)
glm::mat4 deriveBodyUsingCgModel() const;
glm::mat4 deriveBodyUsingCgModel();
/**jsdoc
* @function MyAvatar.isUp