Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-08-09 08:49:05 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

HMD hand positions and orientations

Browse source
This commit is contained in:
David Rowe 2017-06-19 17:21:44 +12:00
parent deae33fd1e
commit cacc89e8b6
2 changed files with 36 additions and 14 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

44
plugins/hifiLeapMotion/src/LeapMotionPlugin.cpp
View file

@ -177,11 +177,19 @@ void LeapMotionPlugin::InputDevice::update(float deltaTime, const controller::In
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat; glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
glm::quat controllerToAvatarRotation = glmExtractRotation(controllerToAvatar); glm::quat controllerToAvatarRotation = glmExtractRotation(controllerToAvatar);
// Desktop "zero" position is some distance above the Leap Motion sensor and half the avatar's shoulder-to-hand length in glm::vec3 hmdSensorPosition; // HMD
// front of avatar. glm::quat hmdSensorOrientation; // HMD
glm::vec3 leapMotionOffset; // Desktop
if (_isLeapOnHMD) {
hmdSensorPosition = extractTranslation(inputCalibrationData.hmdSensorMat);
hmdSensorOrientation = extractRotation(inputCalibrationData.hmdSensorMat);
} else {
// Desktop "zero" position is some distance above the Leap Motion sensor and half the avatar's shoulder-to-hand length
// in front of avatar.
float halfShouldToHandLength = fabsf(extractTranslation(inputCalibrationData.defaultLeftHand).x float halfShouldToHandLength = fabsf(extractTranslation(inputCalibrationData.defaultLeftHand).x
- extractTranslation(inputCalibrationData.defaultLeftArm).x) / 2.0f; - extractTranslation(inputCalibrationData.defaultLeftArm).x) / 2.0f;
glm::vec3 leapMotionOffset = glm::vec3(0.0f, _desktopHeightOffset, halfShouldToHandLength); leapMotionOffset = glm::vec3(0.0f, _desktopHeightOffset, halfShouldToHandLength);
}
for (size_t i = 0; i < joints.size(); i++) { for (size_t i = 0; i < joints.size(); i++) {
int poseIndex = LeapMotionJointIndexToPoseIndex((LeapMotionJointIndex)i); int poseIndex = LeapMotionJointIndexToPoseIndex((LeapMotionJointIndex)i);
@ -191,8 +199,23 @@ void LeapMotionPlugin::InputDevice::update(float deltaTime, const controller::In
continue; continue;
} }
const glm::vec3& pos = controllerToAvatarRotation * (joints[i].position - leapMotionOffset); glm::vec3 pos;
glm::quat rot = controllerToAvatarRotation * joints[i].orientation; glm::quat rot;
if (_isLeapOnHMD) {
auto jointPosition = joints[i].position;
const glm::vec3 HMD_EYE_TO_LEAP_OFFSET = glm::vec3(0.0f, 0.0f, -0.09f); // Eyes to surface of Leap Motion.
jointPosition = glm::vec3(-jointPosition.x, -jointPosition.z, -jointPosition.y) + HMD_EYE_TO_LEAP_OFFSET;
jointPosition = hmdSensorPosition + hmdSensorOrientation * jointPosition;
pos = transformPoint(controllerToAvatar, jointPosition);
glm::quat jointOrientation = joints[i].orientation;
jointOrientation = glm::quat(jointOrientation.w, -jointOrientation.x, -jointOrientation.z, -jointOrientation.y);
rot = controllerToAvatarRotation * hmdSensorOrientation * jointOrientation;
} else {
pos = controllerToAvatarRotation * (joints[i].position - leapMotionOffset);
const glm::quat ZERO_HAND_ORIENTATION = glm::quat(glm::vec3(PI_OVER_TWO, PI, 0.0f));
rot = controllerToAvatarRotation * joints[i].orientation * ZERO_HAND_ORIENTATION;
}
glm::vec3 linearVelocity, angularVelocity; glm::vec3 linearVelocity, angularVelocity;
if (i < prevJoints.size()) { if (i < prevJoints.size()) {
@ -325,11 +348,9 @@ void LeapMotionPlugin::InputDevice::clearState() {
} }
void LeapMotionPlugin::applySensorLocation() { void LeapMotionPlugin::applySensorLocation() {
if (_sensorLocation == SENSOR_ON_HMD) { bool isLeapOnHMD = _sensorLocation == SENSOR_ON_HMD;
_controller.setPolicyFlags(Leap::Controller::POLICY_OPTIMIZE_HMD); _controller.setPolicyFlags(isLeapOnHMD ? Leap::Controller::POLICY_OPTIMIZE_HMD : Leap::Controller::POLICY_DEFAULT);
} else { _inputDevice->setIsLeapOnHMD(isLeapOnHMD);
_controller.setPolicyFlags(Leap::Controller::POLICY_DEFAULT);
}
} }
void LeapMotionPlugin::applyDesktopHeightOffset() { void LeapMotionPlugin::applyDesktopHeightOffset() {
@ -344,8 +365,7 @@ glm::quat LeapBasisToQuat(float sideSign, const Leap::Matrix& basis) {
glm::vec3 yAxis = glm::vec3(basis.yBasis.x, basis.yBasis.y, basis.yBasis.z); glm::vec3 yAxis = glm::vec3(basis.yBasis.x, basis.yBasis.y, basis.yBasis.z);
glm::vec3 zAxis = glm::vec3(basis.zBasis.x, basis.zBasis.y, basis.zBasis.z); glm::vec3 zAxis = glm::vec3(basis.zBasis.x, basis.zBasis.y, basis.zBasis.z);
glm::quat orientation = (glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis))); glm::quat orientation = (glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis)));
const glm::quat ZERO_HAND_ORIENTATION = glm::quat(glm::vec3(PI_OVER_TWO, PI, 0.0f)); return orientation;
return orientation * ZERO_HAND_ORIENTATION;
} }
glm::vec3 LeapVectorToVec3(const Leap::Vector& vec) { glm::vec3 LeapVectorToVec3(const Leap::Vector& vec) {

2
plugins/hifiLeapMotion/src/LeapMotionPlugin.h
View file

@ -75,9 +75,11 @@ protected:
void clearState(); void clearState();
void setDektopHeightOffset(float desktopHeightOffset) { _desktopHeightOffset = desktopHeightOffset; }; void setDektopHeightOffset(float desktopHeightOffset) { _desktopHeightOffset = desktopHeightOffset; };
void setIsLeapOnHMD(bool isLeapOnHMD) { _isLeapOnHMD = isLeapOnHMD; };
private: private:
float _desktopHeightOffset { 0.0f }; float _desktopHeightOffset { 0.0f };
bool _isLeapOnHMD { false };
}; };
std::shared_ptr<InputDevice> _inputDevice { std::make_shared<InputDevice>() }; std::shared_ptr<InputDevice> _inputDevice { std::make_shared<InputDevice>() };