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adding left and right arm

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This commit is contained in:
Dante Ruiz 2017-05-23 00:26:12 +01:00
parent 6ae2e6778e
commit d98e7d5bc6
9 changed files with 112 additions and 22 deletions
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6
interface/src/Application.cpp
View file

@ -4368,7 +4368,11 @@ void Application::update(float deltaTime) {
myAvatar->getSpine2CalibrationMat(),
myAvatar->getHipsCalibrationMat(),
myAvatar->getLeftFootCalibrationMat(),
myAvatar->getRightFootCalibrationMat()
myAvatar->getRightFootCalibrationMat(),
myAvatar->getRightArmCalibrationMat(),
myAvatar->getLeftArmCalibrationMat(),
myAvatar->getRightHandCalibrationMat(),
myAvatar->getLeftHandCalibrationMat()
};
InputPluginPointer keyboardMousePlugin;

56
interface/src/avatar/MyAvatar.cpp
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@ -90,6 +90,14 @@ const float MyAvatar::ZOOM_DEFAULT = 1.5f;
// static const glm::quat DEFAULT_AVATAR_MIDDLE_EYE_ROT { Quaternions::Y_180 };
static const glm::vec3 DEFAULT_AVATAR_MIDDLE_EYE_POS { 0.0f, 0.6f, 0.0f };
static const glm::vec3 DEFAULT_AVATAR_HEAD_POS { 0.0f, 0.53f, 0.0f };
static const glm::vec3 DEFAULT_AVATAR_RIGHTARM_POS { -0.134824f, 0.396348f, -0.0515777f };
static const glm::quat DEFAULT_AVATAR_RIGHTARM_ROT { -0.536241f, 0.536241f, -0.460918f, -0.460918f };
static const glm::vec3 DEFAULT_AVATAR_LEFTARM_POS { 0.134795f, 0.396349f, -0.0515881f };
static const glm::quat DEFAULT_AVATAR_LEFTARM_ROT { 0.536257f, 0.536258f, -0.460899f, 0.4609f };
static const glm::vec3 DEFAULT_AVATAR_RIGHTHAND_POS { -0.72768f, 0.396349f, -0.0515779f };
static const glm::quat DEFAULT_AVATAR_RIGHTHAND_ROT { 0.479184f, -0.520013f, 0.522537f, 0.476365f};
static const glm::vec3 DEFAULT_AVATAR_LEFTHAND_POS { 0.727588f, 0.39635f, -0.0515878f };
static const glm::quat DEFAULT_AVATAR_LEFTHAND_ROT { -0.479181f, -0.52001f, 0.52254f, -0.476369f };
static const glm::vec3 DEFAULT_AVATAR_NECK_POS { 0.0f, 0.445f, 0.025f };
static const glm::vec3 DEFAULT_AVATAR_SPINE2_POS { 0.0f, 0.32f, 0.02f };
static const glm::vec3 DEFAULT_AVATAR_HIPS_POS { 0.0f, 0.0f, 0.0f };
@ -2790,6 +2798,54 @@ glm::mat4 MyAvatar::getRightFootCalibrationMat() const {
}
}
glm::mat4 MyAvatar::getRightArmCalibrationMat() const {
int rightArmIndex = _rig->indexOfJoint("RightArm");
if (rightArmIndex >= 0) {
auto rightArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightArmIndex);
auto rightArmRot = getAbsoluteDefaultJointRotationInObjectFrame(rightArmIndex);
return createMatFromQuatAndPos(rightArmRot, rightArmPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTARM_ROT, DEFAULT_AVATAR_RIGHTARM_POS);
}
}
glm::mat4 MyAvatar::getLeftArmCalibrationMat() const {
int leftArmIndex = _rig->indexOfJoint("LeftArm");
auto skeleton = _rig->getAnimSkeleton();
if (leftArmIndex >= 0) {
auto leftArmPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftArmIndex);
auto leftArmRot = getAbsoluteDefaultJointRotationInObjectFrame(leftArmIndex);
return createMatFromQuatAndPos(leftArmRot, leftArmPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTARM_ROT, DEFAULT_AVATAR_RIGHTARM_POS);
}
}
glm::mat4 MyAvatar::getRightHandCalibrationMat() const {
int rightHandIndex = _rig->indexOfJoint("RightHand");
auto skeleton = _rig->getAnimSkeleton();
if (rightHandIndex >= 0) {
auto rightHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightHandIndex);
auto rightHandRot = getAbsoluteDefaultJointRotationInObjectFrame(rightHandIndex);
return createMatFromQuatAndPos(rightHandRot, rightHandPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTHAND_ROT, DEFAULT_AVATAR_RIGHTHAND_POS);
}
}
glm::mat4 MyAvatar::getLeftHandCalibrationMat() const {
int leftHandIndex = _rig->indexOfJoint("LeftHand");
auto skeleton = _rig->getAnimSkeleton();
if (leftHandIndex >= 0) {
auto leftHandPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftHandIndex);
auto leftHandRot = getAbsoluteDefaultJointRotationInObjectFrame(leftHandIndex);
return createMatFromQuatAndPos(leftHandRot, leftHandPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTHAND_ROT, DEFAULT_AVATAR_LEFTHAND_POS);
}
}
bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& orientation) {
auto hipsIndex = getJointIndex("Hips");
if (index != hipsIndex) {

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

@ -488,6 +488,10 @@ public:
glm::mat4 getHipsCalibrationMat() const;
glm::mat4 getLeftFootCalibrationMat() const;
glm::mat4 getRightFootCalibrationMat() const;
glm::mat4 getRightArmCalibrationMat() const;
glm::mat4 getLeftArmCalibrationMat() const;
glm::mat4 getLeftHandCalibrationMat() const;
glm::mat4 getRightHandCalibrationMat() const;
void addHoldAction(AvatarActionHold* holdAction); // thread-safe
void removeHoldAction(AvatarActionHold* holdAction); // thread-safe

2
libraries/controllers/src/controllers/Actions.cpp
View file

@ -51,6 +51,8 @@ namespace controller {
makePosePair(Action::LEFT_HAND, "LeftHand"),
makePosePair(Action::RIGHT_HAND, "RightHand"),
makePosePair(Action::RIGHT_ARM, "RightArm"),
makePosePair(Action::LEFT_ARM, "LeftArm"),
makePosePair(Action::LEFT_FOOT, "LeftFoot"),
makePosePair(Action::RIGHT_FOOT, "RightFoot"),
makePosePair(Action::HIPS, "Hips"),

2
libraries/controllers/src/controllers/Actions.h
View file

@ -42,6 +42,8 @@ enum class Action {
LEFT_HAND = NUM_COMBINED_AXES,
RIGHT_HAND,
LEFT_ARM,
RIGHT_ARM,
LEFT_FOOT,
RIGHT_FOOT,
HIPS,

6
libraries/controllers/src/controllers/Input.h
View file

@ -24,7 +24,11 @@ struct InputCalibrationData {
glm::mat4 defaultSpine2; // default pose for spine2 joint in avatar space
glm::mat4 defaultHips; // default pose for hips joint in avatar space
glm::mat4 defaultLeftFoot; // default pose for leftFoot joint in avatar space
glm::mat4 defaultRightFoot; // default pose for leftFoot joint in avatar space
glm::mat4 defaultRightFoot; // default pose for rightFoot joint in avatar space
glm::mat4 defaultRigtArm; // default pose for rightArm joint in avatar space
glm::mat4 defaultLeftArm; // default pose for leftArm joint in avatar space
glm::mat4 defaultRightHand; // default pose for rightHand joint in avatar space
glm::mat4 defaultLeftHand; // default pose for leftHand joint in avatar space
};
enum class ChannelType {

2
libraries/controllers/src/controllers/StandardController.cpp
View file

@ -104,6 +104,8 @@ Input::NamedVector StandardController::getAvailableInputs() const {
makePair(RIGHT_HAND, "RightHand"),
makePair(LEFT_FOOT, "LeftFoot"),
makePair(RIGHT_FOOT, "RightFoot"),
makePair(RIGHT_ARM, "RightArm"),
makePair(LEFT_ARM, "LeftArm"),
makePair(HIPS, "Hips"),
makePair(SPINE2, "Spine2"),
makePair(HEAD, "Head"),

43
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -49,6 +49,9 @@ static const char* RENDER_CONTROLLERS = "Render Hand Controllers";
static const int MIN_PUCK_COUNT = 2;
static const int MIN_FEET_AND_HIPS = 3;
static const int MIN_FEET_HIPS_CHEST = 4;
static const int MIN_FEET_HIPS_SHOULDERS = 5;
static const int MIN_FEET_HIPS_CHEST_AND_HANDS = 6;
static const int MIN_FEET_HIPS_SHOULDERS_AND_HANDS = 7;
static const int FIRST_FOOT = 0;
static const int SECOND_FOOT = 1;
static const int HIP = 2;
@ -330,26 +333,23 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
controller::Pose& firstFootPose = firstFoot.second;
controller::Pose& secondFootPose = secondFoot.second;
if (firstFootPose.translation.x < secondFootPose.translation.x) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
} else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
}
if (_config == Config::Feet) {
// done
auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
controller::Pose& firstFootPose = firstFoot.second;
controller::Pose& secondFootPose = secondFoot.second;
if (firstFootPose.translation.x < secondFootPose.translation.x) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
} else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
}
} else if (_config == Config::FeetAndHips && puckCount >= MIN_FEET_AND_HIPS) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
@ -358,6 +358,7 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
} else if (_config == Config::FeetHipsAndShoulders && puckCount >= MIN_FEET_HIPS_SHOULDERS){
} else {
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
uncalibrate();
@ -379,6 +380,8 @@ void ViveControllerManager::InputDevice::updateCalibratedLimbs() {
_poseStateMap[controller::RIGHT_FOOT] = addOffsetToPuckPose(controller::RIGHT_FOOT);
_poseStateMap[controller::HIPS] = addOffsetToPuckPose(controller::HIPS);
_poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2);
_poseStateMap[controller::RIGHT_ARM] = addOffsetToPuckPose(controller::RIGHT_ARM);
_poseStateMap[controller::LEFT_ARM] = addOffsetToPuckPose(controller::LEFT_ARM);
}
controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joint) const {
@ -707,6 +710,8 @@ controller::Input::NamedVector ViveControllerManager::InputDevice::getAvailableI
makePair(HIPS, "Hips"),
makePair(SPINE2, "Spine2"),
makePair(HEAD, "Head"),
makePair(LEFT_ARM, "LeftArm"),
makePair(RIGHT_ARM, "RightArm"),
// 16 tracked poses
makePair(TRACKED_OBJECT_00, "TrackedObject00"),

13
plugins/openvr/src/ViveControllerManager.h
View file

@ -102,7 +102,17 @@ private:
float _timer { 0.0f };
glm::vec2 _stick { 0.0f, 0.0f };
};
enum class Config { Feet, FeetAndHips, FeetHipsAndChest, Auto };
enum class Config {
Auto,
Feet,
Hands,
Shoulders,
FeetAndHips,
FeetHipsAndChest,
FeetHipsAndShoulders,
FeetHipsChestAndHands,
FeetHipsShouldersAndHands
};
Config _config { Config::Auto };
Config _preferedConfig { Config::Auto };
FilteredStick _filteredLeftStick;
@ -128,6 +138,7 @@ private:
bool _triggersPressedHandled { false };
bool _calibrated { false };
bool _timeTilCalibrationSet { false };
bool overrideHands { false };
mutable std::recursive_mutex _lock;
QString configToString(Config config);