From c9f96d1adfe520d899bec8b301b38a1b353ce218 Mon Sep 17 00:00:00 2001 From: Philip Rosedale Date: Tue, 10 Dec 2013 16:52:08 -0800 Subject: [PATCH] Basic joystick thrust/view drive behavior --- interface/src/Application.cpp | 6 ++- interface/src/avatar/Hand.cpp | 63 ++++++------------------ interface/src/avatar/Hand.h | 6 +++ interface/src/avatar/MyAvatar.cpp | 18 +++++-- interface/src/devices/SixenseManager.cpp | 13 +++-- libraries/avatars/src/HandData.cpp | 3 +- libraries/avatars/src/HandData.h | 22 +++++++-- 7 files changed, 69 insertions(+), 62 deletions(-) diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp index 61d6f925c3..077fd3c875 100644 --- a/interface/src/Application.cpp +++ b/interface/src/Application.cpp @@ -2477,8 +2477,10 @@ void Application::updateAvatar(float deltaTime) { _yawFromTouch = 0.f; // apply pitch from touch - _myAvatar.getHead().setMousePitch(_myAvatar.getHead().getMousePitch() + _pitchFromTouch); - + _myAvatar.getHead().setMousePitch(_myAvatar.getHead().getMousePitch() + + _myAvatar.getHand().getPitchUpdate() + + _pitchFromTouch); + _myAvatar.getHand().setPitchUpdate(0.f); _pitchFromTouch = 0.0f; // Update my avatar's state from gyros and/or webcam diff --git a/interface/src/avatar/Hand.cpp b/interface/src/avatar/Hand.cpp index c5d0fe371d..a0f46e474f 100755 --- a/interface/src/avatar/Hand.cpp +++ b/interface/src/avatar/Hand.cpp @@ -19,6 +19,8 @@ using namespace std; +const int TOY_BALL_HAND = 1; + Hand::Hand(Avatar* owningAvatar) : HandData((AvatarData*)owningAvatar), @@ -30,7 +32,8 @@ Hand::Hand(Avatar* owningAvatar) : _collisionDuration(0), _toyBallPosition(0), _toyBallVelocity(0), - _toyBallInHand(false) + _toyBallInHand(false), + _pitchUpdate(0) { } @@ -77,7 +80,7 @@ void Hand::simulate(float deltaTime, bool isMine) { FingerData& finger = palm.getFingers()[0]; // Sixense has only one finger glm::vec3 fingerTipPosition = finger.getTipPosition(); // Toy ball game - if (palm.getSixenseID() == 0) { + if (palm.getSixenseID() == TOY_BALL_HAND) { if (palm.getControllerButtons() & BUTTON_FWD) { // If grabbing toy ball, add forces to it if (!_toyBallInHand) { @@ -97,9 +100,11 @@ void Hand::simulate(float deltaTime, bool isMine) { // If toy ball just released, add velocity to it! if (_toyBallInHand) { _toyBallInHand = false; - glm::vec3 handVelocity = palm.getVelocity(); - printVector(handVelocity); - _toyBallVelocity += handVelocity; + glm::vec3 handVelocity = palm.getRawVelocity(); + glm::vec3 fingerTipVelocity = palm.getTipVelocity(); + glm::quat avatarRotation = _owningAvatar->getOrientation(); + //printVector(avatarRotation * handVelocity); + _toyBallVelocity += avatarRotation * fingerTipVelocity; } } // Simulate toy ball @@ -211,7 +216,7 @@ void Hand::handleVoxelCollision(PalmData* palm, const glm::vec3& fingerTipPositi const float DECAY_PER_SAMPLE = 0.0005f; const float DURATION_MAX = 2.0f; const float MIN_VOLUME = 0.1f; - float volume = MIN_VOLUME + glm::clamp(glm::length(palm->getVelocity()), 0.f, (1.f - MIN_VOLUME)); + float volume = MIN_VOLUME + glm::clamp(glm::length(palm->getRawVelocity()), 0.f, (1.f - MIN_VOLUME)); float duration = volume; _collisionCenter = fingerTipPosition; _collisionAge = deltaTime; @@ -296,9 +301,10 @@ void Hand::render( bool isMine) { // Render toy ball if (isMine) { glPushMatrix(); - glColor4f(1, 0, 0, 0.5); + const float TOY_BALL_RADIUS = 0.05f; + glColor3f(1, 0, 0); glTranslatef(_toyBallPosition.x, _toyBallPosition.y, _toyBallPosition.z); - glutSolidSphere(0.1f, 10, 10); + glutSolidSphere(TOY_BALL_RADIUS, 10, 10); glPopMatrix(); } @@ -315,47 +321,8 @@ void Hand::render( bool isMine) { _collisionAge = 0.f; } } - - // If hand controller buttons pressed, render stuff as needed - if (getPalms().size() > 0) { - for (size_t i = 0; i < getPalms().size(); ++i) { - PalmData& palm = getPalms()[i]; - // If trigger pulled, thrust in that direction and draw beam - const float MAX_THRUSTER_BEAM_LENGTH = 5.f; - const float THRUSTER_MARKER_SIZE = 0.0125f; - if (palm.getJoystickY() != 0.f) { - FingerData& finger = palm.getFingers()[0]; - if (finger.isActive()) { - if (palm.getJoystickY() > 0.f) { - glColor3f(0, 1, 0); - } else { - glColor3f(1, 0, 0); - } - glm::vec3 palmPosition = palm.getPosition(); - glm::vec3 pointerPosition = palmPosition + - glm::normalize(finger.getTipPosition() - palmPosition) * - MAX_THRUSTER_BEAM_LENGTH; - glPushMatrix(); - glm::vec3 markerPosition = palmPosition + - glm::normalize(finger.getTipPosition() - palmPosition) * - MAX_THRUSTER_BEAM_LENGTH * - (0.5f + palm.getJoystickY() / 2.f); - - glTranslatef(markerPosition.x, markerPosition.y, markerPosition.z); - glutSolidSphere(THRUSTER_MARKER_SIZE, 10, 10); - glPopMatrix(); - glLineWidth(2.0); - glBegin(GL_LINES); - glVertex3f(palmPosition.x, palmPosition.y, palmPosition.z); - glVertex3f(pointerPosition.x, pointerPosition.y, pointerPosition.z); - glEnd(); - } - } - } - } } - - + glEnable(GL_DEPTH_TEST); glEnable(GL_RESCALE_NORMAL); diff --git a/interface/src/avatar/Hand.h b/interface/src/avatar/Hand.h index 6900e40815..a358c371dc 100755 --- a/interface/src/avatar/Hand.h +++ b/interface/src/avatar/Hand.h @@ -54,6 +54,10 @@ public: const glm::vec3& getLeapFingerTipBallPosition (int ball) const { return _leapFingerTipBalls [ball].position;} const glm::vec3& getLeapFingerRootBallPosition(int ball) const { return _leapFingerRootBalls[ball].position;} + // Pitch from controller input to view + const float getPitchUpdate() const { return _pitchUpdate; } + void setPitchUpdate(float pitchUpdate) { _pitchUpdate = pitchUpdate; } + private: // disallow copies of the Hand, copy of owning Avatar is disallowed too Hand(const Hand&); @@ -90,6 +94,8 @@ private: glm::vec3 _toyBallPosition; glm::vec3 _toyBallVelocity; bool _toyBallInHand; + + float _pitchUpdate; }; diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp index c65c6d50a3..cf282811d1 100644 --- a/interface/src/avatar/MyAvatar.cpp +++ b/interface/src/avatar/MyAvatar.cpp @@ -667,20 +667,32 @@ void MyAvatar::updateThrust(float deltaTime, Transmitter * transmitter) { // Add thrust and rotation from hand controllers const float THRUST_MAG_HAND_JETS = THRUST_MAG_FWD; const float JOYSTICK_YAW_MAG = YAW_MAG; + const float JOYSTICK_PITCH_MAG = PITCH_MAG; + const int THRUST_CONTROLLER = 0; + const int VIEW_CONTROLLER = 1; for (size_t i = 0; i < getHand().getPalms().size(); ++i) { PalmData& palm = getHand().getPalms()[i]; - if (palm.isActive()) { + if (palm.isActive() && (palm.getSixenseID() == THRUST_CONTROLLER)) { if (palm.getJoystickY() != 0.f) { FingerData& finger = palm.getFingers()[0]; if (finger.isActive()) { } - glm::vec3 thrustDirection = glm::normalize(finger.getTipPosition() - palm.getPosition()); - _thrust += thrustDirection * _scale * THRUST_MAG_HAND_JETS * palm.getJoystickY() * _thrustMultiplier * deltaTime; + //glm::vec3 thrustDirection = glm::normalize(finger.getTipPosition() - palm.getPosition()); + _thrust += front * _scale * THRUST_MAG_HAND_JETS * palm.getJoystickY() * _thrustMultiplier * deltaTime; } + if (palm.getJoystickX() != 0.f) { + _thrust += right * _scale * THRUST_MAG_HAND_JETS * palm.getJoystickX() * _thrustMultiplier * deltaTime; + } + } else if (palm.isActive() && (palm.getSixenseID() == VIEW_CONTROLLER)) { if (palm.getJoystickX() != 0.f) { _bodyYawDelta -= palm.getJoystickX() * JOYSTICK_YAW_MAG * deltaTime; } + if (palm.getJoystickY() != 0.f) { + getHand().setPitchUpdate(getHand().getPitchUpdate() + + (palm.getJoystickY() * JOYSTICK_PITCH_MAG * deltaTime)); + } } + } // Update speed brake status diff --git a/interface/src/devices/SixenseManager.cpp b/interface/src/devices/SixenseManager.cpp index da7f710c11..a76bed3ac9 100644 --- a/interface/src/devices/SixenseManager.cpp +++ b/interface/src/devices/SixenseManager.cpp @@ -16,7 +16,7 @@ SixenseManager::SixenseManager() { #ifdef HAVE_SIXENSE sixenseInit(); - sixenseSetFilterEnabled(0); + sixenseSetFilterEnabled(1); #endif } @@ -86,20 +86,27 @@ void SixenseManager::update(float deltaTime) { const glm::vec3 PALM_VECTOR(0.0f, -1.0f, 0.0f); glm::vec3 newNormal = rotation * PALM_VECTOR; palm->setRawNormal(newNormal); + palm->setRawRotation(rotation); // Compute current velocity from position change glm::vec3 rawVelocity = (position - palm->getRawPosition()) / deltaTime / 1000.f; - palm->setVelocity(rotation * rawVelocity); // meters/sec + palm->setRawVelocity(rawVelocity); // meters/sec palm->setRawPosition(position); - + // initialize the "finger" based on the direction FingerData finger(palm, &hand); finger.setActive(true); finger.setRawRootPosition(position); const float FINGER_LENGTH = 300.0f; // Millimeters const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH); + const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR; finger.setRawTipPosition(position + rotation * FINGER_VECTOR); + // temporary for toy ball - store first finger tip velocity + glm::vec3 oldTipPosition = palm->getTipPosition(); + palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime / 1000.f); + palm->setTipPosition(newTipPosition); + // three fingers indicates to the skeleton that we have enough data to determine direction palm->getFingers().clear(); palm->getFingers().push_back(finger); diff --git a/libraries/avatars/src/HandData.cpp b/libraries/avatars/src/HandData.cpp index 1705673b43..12af614de3 100644 --- a/libraries/avatars/src/HandData.cpp +++ b/libraries/avatars/src/HandData.cpp @@ -59,9 +59,10 @@ void HandData::getLeftRightPalmIndices(int& leftPalmIndex, int& rightPalmIndex) } PalmData::PalmData(HandData* owningHandData) : +_rawRotation(0, 0, 0, 1), _rawPosition(0, 0, 0), _rawNormal(0, 1, 0), -_velocity(0, 0, 0), +_rawVelocity(0, 0, 0), _rotationalVelocity(0, 0, 0), _controllerButtons(0), _isActive(false), diff --git a/libraries/avatars/src/HandData.h b/libraries/avatars/src/HandData.h index 461820b0b3..2677ffdba8 100755 --- a/libraries/avatars/src/HandData.h +++ b/libraries/avatars/src/HandData.h @@ -94,6 +94,7 @@ public: void setLeapID(int id) { _leapID = id; } void setRawTipPosition(const glm::vec3& pos) { _tipRawPosition = pos; } void setRawRootPosition(const glm::vec3& pos) { _rootRawPosition = pos; } + void setTrailLength(unsigned int length); void updateTrail(); @@ -122,6 +123,7 @@ public: PalmData(HandData* owningHandData); glm::vec3 getPosition() const { return _owningHandData->leapPositionToWorldPosition(_rawPosition); } glm::vec3 getNormal() const { return _owningHandData->leapDirectionToWorldDirection(_rawNormal); } + const glm::vec3& getRawPosition() const { return _rawPosition; } const glm::vec3& getRawNormal() const { return _rawNormal; } bool isActive() const { return _isActive; } @@ -136,13 +138,19 @@ public: void setLeapID(int id) { _leapID = id; } void setSixenseID(int id) { _sixenseID = id; } + void setRawRotation(const glm::quat rawRotation) { _rawRotation = rawRotation; }; + const glm::quat getRawRotation() const { return _rawRotation; } void setRawPosition(const glm::vec3& pos) { _rawPosition = pos; } void setRawNormal(const glm::vec3& normal) { _rawNormal = normal; } - void setVelocity(const glm::vec3& velocity) { _velocity = velocity; } - const glm::vec3& getVelocity() const { return _velocity; } - const glm::vec3& getRotationalVelocity() const { return _rotationalVelocity; } + void setRawVelocity(const glm::vec3& velocity) { _rawVelocity = velocity; } + const glm::vec3& getRawVelocity() const { return _rawVelocity; } void addToPosition(const glm::vec3& delta); - + + void setTipPosition(const glm::vec3& position) { _tipPosition = position; } + const glm::vec3 getTipPosition() const { return _tipPosition; } + const glm::vec3& getTipVelocity() const { return _tipVelocity; } + void setTipVelocity(const glm::vec3& velocity) { _tipVelocity = velocity; } + void incrementFramesWithoutData() { _numFramesWithoutData++; } void resetFramesWithoutData() { _numFramesWithoutData = 0; } int getFramesWithoutData() const { return _numFramesWithoutData; } @@ -162,11 +170,15 @@ public: private: std::vector _fingers; + glm::quat _rawRotation; glm::vec3 _rawPosition; glm::vec3 _rawNormal; - glm::vec3 _velocity; + glm::vec3 _rawVelocity; glm::vec3 _rotationalVelocity; glm::quat _lastRotation; + + glm::vec3 _tipPosition; + glm::vec3 _tipVelocity; int _controllerButtons; float _trigger; float _joystickX, _joystickY;