Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 18:23:54 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

Merge pull request #13692 from amantley/leanBackSittingFix

Browse source 
Fix For Unnatural Hips Behaviour When Sitting In HMD
This commit is contained in:
John Conklin II 2018-07-27 12:30:31 -07:00 committed by GitHub
commit d4cbbfe4c1
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
3 changed files with 19 additions and 8 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

19
interface/src/avatar/MyAvatar.cpp
View file

@ -3083,7 +3083,7 @@ 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;
@ -3101,7 +3101,8 @@ glm::vec3 MyAvatar::computeCounterBalance() const {
JointMass cgLeftHandMass(QString("LeftHand"), DEFAULT_AVATAR_LEFTHAND_MASS, glm::vec3(0.0f, 0.0f, 0.0f));
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 tposeHips = DEFAULT_AVATAR_HIPS_POS;
glm::vec3 tposeRightFoot = DEFAULT_AVATAR_RIGHTFOOT_POS;
if (_skeletonModel->getRig().indexOfJoint(cgHeadMass.name) != -1) {
cgHeadMass.position = getAbsoluteJointTranslationInObjectFrame(_skeletonModel->getRig().indexOfJoint(cgHeadMass.name));
@ -3120,6 +3121,9 @@ 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);
@ -3140,9 +3144,12 @@ glm::vec3 MyAvatar::computeCounterBalance() const {
glm::vec3 counterBalancedCg = (1.0f / DEFAULT_AVATAR_HIPS_MASS) * counterBalancedForHead;
// find the height of the hips
const float UPPER_LEG_FRACTION = 0.3333f;
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 = tposeHips.y - tposeRightFoot.y;
float sitSquatThreshold = tposeHips.y - (UPPER_LEG_FRACTION * hipFootDefault);
float hipHeight = 0.0f;
if (headHipDefault > headMinusHipXz) {
hipHeight = sqrtf((headHipDefault * headHipDefault) - (headMinusHipXz * headMinusHipXz));
@ -3154,6 +3161,10 @@ 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);
}
return counterBalancedCg;
}
@ -3203,7 +3214,7 @@ 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);
@ -3221,7 +3232,7 @@ 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

@ -1043,12 +1043,12 @@ 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

4
libraries/shared/src/AvatarConstants.h
View file

@ -23,10 +23,10 @@ const float DEFAULT_AVATAR_EYE_HEIGHT = DEFAULT_AVATAR_HEIGHT - DEFAULT_AVATAR_E
const float DEFAULT_AVATAR_SUPPORT_BASE_LEFT = -0.25f;
const float DEFAULT_AVATAR_SUPPORT_BASE_RIGHT = 0.25f;
const float DEFAULT_AVATAR_SUPPORT_BASE_FRONT = -0.20f;
const float DEFAULT_AVATAR_SUPPORT_BASE_BACK = 0.10f;
const float DEFAULT_AVATAR_SUPPORT_BASE_BACK = 0.12f;
const float DEFAULT_AVATAR_LATERAL_STEPPING_THRESHOLD = 0.10f;
const float DEFAULT_AVATAR_ANTERIOR_STEPPING_THRESHOLD = 0.04f;
const float DEFAULT_AVATAR_POSTERIOR_STEPPING_THRESHOLD = 0.07f;
const float DEFAULT_AVATAR_POSTERIOR_STEPPING_THRESHOLD = 0.05f;
const float DEFAULT_AVATAR_HEAD_ANGULAR_VELOCITY_STEPPING_THRESHOLD = 0.3f;
const float DEFAULT_AVATAR_MODE_HEIGHT_STEPPING_THRESHOLD = -0.02f;
const float DEFAULT_HANDS_VELOCITY_DIRECTION_STEPPING_THRESHOLD = 0.4f;