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Bug fix for deriveBodyFromHMDSensor calculations

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The calculation that determined where the body position relative to the HMD
was incorrect, one of the components was in the wrong coordinate frame.

Now use the skeleton's bind pose to compute the proper avatar offsets for the eyes, neck and hips.
Use these offsets to calculate where the hips should be given a specific hmd position and orientation.

Also, added a bug fix for Rig, which would cause a -1 index deference when an avatar was missing
certain named joints, such as, "LeftEye", "Neck" and "Head".
This commit is contained in:
Anthony J. Thibault 2015-09-30 16:28:33 -07:00
parent 1f1eb00c63
commit d993d39718
2 changed files with 68 additions and 11 deletions
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62
interface/src/avatar/MyAvatar.cpp
View file

@ -271,6 +271,25 @@ glm::mat4 MyAvatar::getSensorToWorldMatrix() const {
return _sensorToWorldMatrix;
}
// returns true if pos is OUTSIDE of the vertical capsule
// where the middle cylinder length is defined by capsuleLen and the radius by capsuleRad.
static bool capsuleCheck(const glm::vec3& pos, float capsuleLen, float capsuleRad) {
const float halfCapsuleLen = capsuleLen / 2.0f;
if (fabs(pos.y) <= halfCapsuleLen) {
// cylinder check for middle capsule
glm::vec2 horizPos(pos.x, pos.z);
return glm::length(horizPos) > capsuleRad;
} else if (pos.y > halfCapsuleLen) {
glm::vec3 center(0.0f, halfCapsuleLen, 0.0f);
return glm::length(center - pos) > capsuleRad;
} else if (pos.y < halfCapsuleLen) {
glm::vec3 center(0.0f, -halfCapsuleLen, 0.0f);
return glm::length(center - pos) > capsuleRad;
} else {
return false;
}
}
// Pass a recent sample of the HMD to the avatar.
// This can also update the avatar's position to follow the HMD
// as it moves through the world.
@ -289,11 +308,14 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
_hmdSensorOrientation = glm::quat_cast(hmdSensorMatrix);
const float STRAIGHTING_LEAN_DURATION = 0.5f; // seconds
const float STRAIGHTING_LEAN_THRESHOLD = 0.2f; // meters
// define a vertical capsule
const float STRAIGHTING_LEAN_CAPSULE_RADIUS = 0.2f; // meters
const float STRAIGHTING_LEAN_CAPSULE_LENGTH = 0.05f; // length of the cylinder part of the capsule in meters.
auto newBodySensorMatrix = deriveBodyFromHMDSensor();
glm::vec3 diff = extractTranslation(newBodySensorMatrix) - extractTranslation(_bodySensorMatrix);
if (!_straightingLean && glm::length(diff) > STRAIGHTING_LEAN_THRESHOLD) {
if (!_straightingLean && capsuleCheck(diff, STRAIGHTING_LEAN_CAPSULE_LENGTH, STRAIGHTING_LEAN_CAPSULE_RADIUS)) {
// begin homing toward derived body position.
_straightingLean = true;
@ -1854,13 +1876,39 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
const glm::quat hmdOrientation = getHMDSensorOrientation();
const glm::quat hmdOrientationYawOnly = cancelOutRollAndPitch(hmdOrientation);
// In sensor space, figure out where the avatar body should be,
// by applying offsets from the avatar's neck & head joints.
vec3 localEyes = _skeletonModel.getDefaultEyeModelPosition();
vec3 localNeck(0.0f, 0.48f, 0.0f); // start with some kind of guess if the skeletonModel is not loaded yet.
_skeletonModel.getLocalNeckPosition(localNeck);
const glm::vec3 DEFAULT_RIGHT_EYE_POS(-0.3f, 1.6f, 0.0f);
const glm::vec3 DEFAULT_LEFT_EYE_POS(0.3f, 1.6f, 0.0f);
const glm::vec3 DEFAULT_NECK_POS(0.0f, 1.5f, 0.0f);
const glm::vec3 DEFAULT_HIPS_POS(0.0f, 1.0f, 0.0f);
vec3 localEyes, localNeck;
if (!_debugDrawSkeleton) {
const glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
localEyes = rotY180 * (((DEFAULT_RIGHT_EYE_POS + DEFAULT_LEFT_EYE_POS) / 2.0f) - DEFAULT_HIPS_POS);
localNeck = rotY180 * (DEFAULT_NECK_POS - DEFAULT_HIPS_POS);
} else {
// TODO: At the moment MyAvatar does not have access to the rig, which has the skeleton, which has the bind poses.
// for now use the _debugDrawSkeleton, which is initialized with the same FBX model as the rig.
// TODO: cache these indices.
int rightEyeIndex = _debugDrawSkeleton->nameToJointIndex("RightEye");
int leftEyeIndex = _debugDrawSkeleton->nameToJointIndex("LeftEye");
int neckIndex = _debugDrawSkeleton->nameToJointIndex("Neck");
int hipsIndex = _debugDrawSkeleton->nameToJointIndex("Hips");
glm::vec3 absRightEyePos = rightEyeIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(rightEyeIndex).trans : DEFAULT_RIGHT_EYE_POS;
glm::vec3 absLeftEyePos = leftEyeIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(leftEyeIndex).trans : DEFAULT_LEFT_EYE_POS;
glm::vec3 absNeckPos = neckIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(neckIndex).trans : DEFAULT_NECK_POS;
glm::vec3 absHipsPos = neckIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(hipsIndex).trans : DEFAULT_HIPS_POS;
const glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
localEyes = rotY180 * (((absRightEyePos + absLeftEyePos) / 2.0f) - absHipsPos);
localNeck = rotY180 * (absNeckPos - absHipsPos);
}
// apply simplistic head/neck model
// figure out where the avatar body should be by applying offsets from the avatar's neck & head joints.
// eyeToNeck offset is relative full HMD orientation.
// while neckToRoot offset is only relative to HMDs yaw.
glm::vec3 eyeToNeck = hmdOrientation * (localNeck - localEyes);

17
libraries/animation/src/Rig.cpp
View file

@ -1026,12 +1026,21 @@ static void computeHeadNeckAnimVars(AnimSkeleton::ConstPointer skeleton, const A
const glm::quat hmdOrientation = hmdPose.rot * rotY180; // rotY180 will make z forward not -z
// TODO: cache jointIndices
int rightEyeIndex = skeleton->nameToJointIndex("RightEye");
int leftEyeIndex = skeleton->nameToJointIndex("LeftEye");
int headIndex = skeleton->nameToJointIndex("Head");
int neckIndex = skeleton->nameToJointIndex("Neck");
const glm::vec3 DEFAULT_RIGHT_EYE_POS(-0.3f, 1.6f, 0.0f);
const glm::vec3 DEFAULT_LEFT_EYE_POS(0.3f, 1.6f, 0.0f);
const glm::vec3 DEFAULT_HEAD_POS(0.0f, 1.55f, 0.0f);
const glm::vec3 DEFAULT_NECK_POS(0.0f, 1.5f, 0.0f);
// Use absolute bindPose positions just in case the relBindPose have rotations we don't expect.
glm::vec3 absRightEyePos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("RightEye")).trans;
glm::vec3 absLeftEyePos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("LeftEye")).trans;
glm::vec3 absHeadPos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Head")).trans;
glm::vec3 absNeckPos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Neck")).trans;
glm::vec3 absRightEyePos = rightEyeIndex != -1 ? skeleton->getAbsoluteBindPose(rightEyeIndex).trans : DEFAULT_RIGHT_EYE_POS;
glm::vec3 absLeftEyePos = leftEyeIndex != -1 ? skeleton->getAbsoluteBindPose(leftEyeIndex).trans : DEFAULT_LEFT_EYE_POS;
glm::vec3 absHeadPos = headIndex != -1 ? skeleton->getAbsoluteBindPose(headIndex).trans : DEFAULT_HEAD_POS;
glm::vec3 absNeckPos = neckIndex != -1 ? skeleton->getAbsoluteBindPose(neckIndex).trans : DEFAULT_NECK_POS;
glm::vec3 absCenterEyePos = (absRightEyePos + absLeftEyePos) / 2.0f;
glm::vec3 eyeOffset = absCenterEyePos - absHeadPos;