Merge pull request #7012 from sethalves/adjust-palm-position

base palm position on finger joint rather than an offset from hand joint

examples/controllers/handControllerGrab.js

@@ -69,13 +69,14 @@ var PICK_MAX_DISTANCE = 500; // max length of pick-ray
 // near grabbing
 //
 
-var GRAB_RADIUS = 0.03; // if the ray misses but an object is this close, it will still be selected
+var GRAB_RADIUS = 0.06; // if the ray misses but an object is this close, it will still be selected
 var NEAR_GRABBING_ACTION_TIMEFRAME = 0.05; // how quickly objects move to their new position
 var NEAR_GRABBING_VELOCITY_SMOOTH_RATIO = 1.0; // adjust time-averaging of held object's velocity.  1.0 to disable.
 var NEAR_PICK_MAX_DISTANCE = 0.3; // max length of pick-ray for close grabbing to be selected
 var RELEASE_VELOCITY_MULTIPLIER = 1.5; // affects throwing things
 var PICK_BACKOFF_DISTANCE = 0.2; // helps when hand is intersecting the grabble object
 var NEAR_GRABBING_KINEMATIC = true; // force objects to be kinematic when near-grabbed
+var SHOW_GRAB_SPHERE = false; // draw a green sphere to show the grab search position and size
 
 //
 // equip
@@ -256,6 +257,7 @@ function MyController(hand) {
     //for visualizations
     this.overlayLine = null;
     this.particleBeamObject = null;
+    this.grabSphere = null;
 
     //for lights
     this.spotlight = null;
@@ -336,6 +338,7 @@ function MyController(hand) {
     }
 
     this.setState = function(newState) {
+        this.grabSphereOff();
         if (WANT_DEBUG || WANT_DEBUG_STATE) {
             print("STATE (" + this.hand + "): " + stateToName(this.state) + " --> " +
                   stateToName(newState) + ", hand: " + this.hand);
@@ -416,6 +419,37 @@ function MyController(hand) {
         }
     }
 
+    this.grabSphereOn = function() {
+        var color = {red: 0, green: 255, blue: 0};
+        if (this.grabSphere === null) {
+            var sphereProperties = {
+                position: this.getHandPosition(),
+                size: GRAB_RADIUS*2,
+                color: color,
+                alpha: 0.1,
+                solid: true,
+                visible: true
+            }
+            this.grabSphere = Overlays.addOverlay("sphere", sphereProperties);
+        } else {
+            Overlays.editOverlay(this.grabSphere, {
+                position: this.getHandPosition(),
+                size: GRAB_RADIUS*2,
+                color: color,
+                alpha: 0.1,
+                solid: true,
+                visible: true
+            });
+        }
+    }
+
+    this.grabSphereOff = function() {
+        if (this.grabSphere !== null) {
+            Overlays.deleteOverlay(this.grabSphere);
+            this.grabSphere = null;
+        }
+    };
+
     this.overlayLineOn = function(closePoint, farPoint, color) {
         if (this.overlayLine === null) {
             var lineProperties = {
@@ -644,7 +678,6 @@ function MyController(hand) {
             this.searchSphereDistance = DEFAULT_SEARCH_SPHERE_DISTANCE;
             this.intersectionDistance = 0.0;
         }
-
     };
 
     this.particleBeamOff = function() {
@@ -749,6 +782,11 @@ function MyController(hand) {
 
         // the trigger is being pressed, so do a ray test to see what we are hitting
         var handPosition = this.getHandPosition();
+
+        if (SHOW_GRAB_SPHERE) {
+            this.grabSphereOn();
+        }
+
         var controllerHandInput = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand;
         var currentHandRotation = Controller.getPoseValue(controllerHandInput).rotation;
         var handDeltaRotation = Quat.multiply(currentHandRotation, Quat.inverse(this.startingHandRotation));

interface/src/avatar/Avatar.cpp

@@ -1132,8 +1132,12 @@ glm::quat Avatar::getRightPalmRotation() const {
 glm::vec3 Avatar::getUncachedLeftPalmPosition() const {
     assert(QThread::currentThread() == thread());  // main thread access only
     glm::quat leftPalmRotation;
-    getSkeletonModel().getJointRotationInWorldFrame(getSkeletonModel().getLeftHandJointIndex(), leftPalmRotation);
     glm::vec3 leftPalmPosition;
+    if (_skeletonModel.getLeftGrabPosition(leftPalmPosition)) {
+        return leftPalmPosition;
+    }
+    // avatar didn't have a LeftHandMiddle1 joint, fall back on this:
+    getSkeletonModel().getJointRotationInWorldFrame(getSkeletonModel().getLeftHandJointIndex(), leftPalmRotation);
     getSkeletonModel().getLeftHandPosition(leftPalmPosition);
     leftPalmPosition += HAND_TO_PALM_OFFSET * glm::inverse(leftPalmRotation);
     return leftPalmPosition;
@@ -1149,8 +1153,12 @@ glm::quat Avatar::getUncachedLeftPalmRotation() const {
 glm::vec3 Avatar::getUncachedRightPalmPosition() const {
     assert(QThread::currentThread() == thread());  // main thread access only
     glm::quat rightPalmRotation;
-    getSkeletonModel().getJointRotationInWorldFrame(getSkeletonModel().getRightHandJointIndex(), rightPalmRotation);
     glm::vec3 rightPalmPosition;
+    if (_skeletonModel.getRightGrabPosition(rightPalmPosition)) {
+        return rightPalmPosition;
+    }
+    // avatar didn't have a RightHandMiddle1 joint, fall back on this:
+    getSkeletonModel().getJointRotationInWorldFrame(getSkeletonModel().getRightHandJointIndex(), rightPalmRotation);
     getSkeletonModel().getRightHandPosition(rightPalmPosition);
     rightPalmPosition += HAND_TO_PALM_OFFSET * glm::inverse(rightPalmRotation);
     return rightPalmPosition;

interface/src/avatar/SkeletonModel.cpp

@@ -235,6 +235,56 @@ void SkeletonModel::applyPalmData(int jointIndex, const PalmData& palm) {
     }
 }
 
+bool SkeletonModel::getLeftGrabPosition(glm::vec3& position) const {
+    int knuckleIndex = _rig->indexOfJoint("LeftHandMiddle1");
+    int handIndex = _rig->indexOfJoint("LeftHand");
+    if (knuckleIndex >= 0 && handIndex >= 0) {
+        glm::quat handRotation;
+        glm::vec3 knucklePosition;
+        glm::vec3 handPosition;
+        if (!getJointPositionInWorldFrame(knuckleIndex, knucklePosition)) {
+            return false;
+        }
+        if (!getJointPositionInWorldFrame(handIndex, handPosition)) {
+            return false;
+        }
+        if (!getJointRotationInWorldFrame(handIndex, handRotation)) {
+            return false;
+        }
+        float halfPalmLength = glm::distance(knucklePosition, handPosition) * 0.5f;
+        // z azis is standardized to be out of the palm.  move from the knuckle-joint away from the palm
+        // by 1/2 the palm length.
+        position = knucklePosition + handRotation * (glm::vec3(0.0f, 0.0f, 1.0f) * halfPalmLength);
+        return true;
+    }
+    return false;
+}
+
+bool SkeletonModel::getRightGrabPosition(glm::vec3& position) const {
+    int knuckleIndex = _rig->indexOfJoint("RightHandMiddle1");
+    int handIndex = _rig->indexOfJoint("RightHand");
+    if (knuckleIndex >= 0 && handIndex >= 0) {
+        glm::quat handRotation;
+        glm::vec3 knucklePosition;
+        glm::vec3 handPosition;
+        if (!getJointPositionInWorldFrame(knuckleIndex, knucklePosition)) {
+            return false;
+        }
+        if (!getJointPositionInWorldFrame(handIndex, handPosition)) {
+            return false;
+        }
+        if (!getJointRotationInWorldFrame(handIndex, handRotation)) {
+            return false;
+        }
+        float halfPalmLength = glm::distance(knucklePosition, handPosition) * 0.5f;
+        // z azis is standardized to be out of the palm.  move from the knuckle-joint away from the palm
+        // by 1/2 the palm length.
+        position = knucklePosition + handRotation * (glm::vec3(0.0f, 0.0f, 1.0f) * halfPalmLength);
+        return true;
+    }
+    return false;
+}
+
 bool SkeletonModel::getLeftHandPosition(glm::vec3& position) const {
     return getJointPositionInWorldFrame(getLeftHandJointIndex(), position);
 }

interface/src/avatar/SkeletonModel.h

@@ -39,6 +39,9 @@ public:
     /// Returns the index of the right hand joint, or -1 if not found.
     int getRightHandJointIndex() const { return isActive() ? _geometry->getFBXGeometry().rightHandJointIndex : -1; }
 
+    bool getLeftGrabPosition(glm::vec3& position) const;
+    bool getRightGrabPosition(glm::vec3& position) const;
+
     /// Retrieve the position of the left hand
     /// \return true whether or not the position was found
     bool getLeftHandPosition(glm::vec3& position) const;