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input/controller routing thru skeleton model and rig.

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This commit is contained in:
Anthony J. Thibault 2017-04-25 15:04:47 -07:00
parent 23592f4a53
commit dc19f37726
5 changed files with 49 additions and 16 deletions
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39
interface/src/avatar/SkeletonModel.cpp
View file

@ -108,8 +108,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
Rig::HeadParameters headParams;
if (qApp->isHMDMode()) {
headParams.isInHMD = true;
// get HMD position from sensor space into world space, and back into rig space
glm::mat4 worldHMDMat = myAvatar->getSensorToWorldMatrix() * myAvatar->getHMDSensorMatrix();
glm::mat4 rigToWorld = createMatFromQuatAndPos(getRotation(), getTranslation());
@ -119,18 +117,39 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
headParams.rigHeadPosition = extractTranslation(rigHMDMat);
headParams.rigHeadOrientation = extractRotation(rigHMDMat);
headParams.worldHeadOrientation = extractRotation(worldHMDMat);
headParams.headEnabled = true;
} else {
auto avatarHeadPose = myAvatar->getHeadControllerPoseInAvatarFrame();
if (avatarHeadPose.isValid()) {
glm::mat4 rigHeadMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarHeadPose.getRotation(), avatarHeadPose.getTranslation());
headParams.rigHeadPosition = extractTranslation(rigHeadMat);
headParams.rigHeadOrientation = glmExtractRotation(rigHeadMat);
headParams.worldHeadOrientation = myAvatar->getHeadControllerPoseInWorldFrame().getTranslation();
headParams.headEnabled = true;
} else {
// even though full head IK is disabled, the rig still needs the head orientation to rotate the head up and down in desktop mode.
headParams.rigHeadOrientation = Quaternions::Y_180 * head->getFinalOrientationInLocalFrame();
headParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
headParams.headEnabled = false;
}
}
// TODO: if hips target sensor is valid.
// Copy it into headParams.hipsMatrix, and set headParams.hipsEnabled to true.
headParams.hipsEnabled = false;
auto avatarHipsPose = myAvatar->getHipsControllerPoseInAvatarFrame();
if (avatarHipsPose.isValid()) {
glm::mat4 rigHipsMat = Matrices::Y_180 * createMatFromQuatAndPos(avatarHipsPose.getRotation(), avatarHipsPose.getTranslation());
headParams.hipsMatrix = rigHipsMat;
headParams.hipsEnabled = true;
} else {
headParams.hipsEnabled = false;
headParams.isInHMD = false;
}
// We don't have a valid localHeadPosition.
headParams.rigHeadOrientation = Quaternions::Y_180 * head->getFinalOrientationInLocalFrame();
headParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
auto avatarSpine2Pose = myAvatar->getSpine2ControllerPoseInAvatarFrame();
if (avatarSpine2Pose.isValid()) {
glm::mat4 rigSpine2Mat = Matrices::Y_180 * createMatFromQuatAndPos(avatarSpine2Pose.getRotation(), avatarSpine2Pose.getTranslation());
headParams.spine2Matrix = rigSpine2Mat;
headParams.spine2Enabled = true;
} else {
headParams.spine2Enabled = false;
}
headParams.neckJointIndex = geometry.neckJointIndex;

2
libraries/animation/src/Rig.cpp
View file

@ -1082,7 +1082,7 @@ void Rig::computeHeadNeckAnimVars(const AnimPose& hmdPose, glm::vec3& headPositi
void Rig::updateNeckJoint(int index, const HeadParameters& params) {
if (_animSkeleton && index >= 0 && index < _animSkeleton->getNumJoints()) {
glm::quat yFlip180 = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
if (params.isInHMD) {
if (params.headEnabled) {
glm::vec3 headPos, neckPos;
glm::quat headRot, neckRot;

12
libraries/animation/src/Rig.h
View file

@ -42,12 +42,14 @@ public:
};
struct HeadParameters {
glm::quat worldHeadOrientation = glm::quat(); // world space (-z forward)
glm::quat rigHeadOrientation = glm::quat(); // rig space (-z forward)
glm::vec3 rigHeadPosition = glm::vec3(); // rig space
glm::mat4 hipsMatrix = glm::mat4(); // rig space
glm::mat4 hipsMatrix = glm::mat4(); // rig space
glm::mat4 spine2Matrix = glm::mat4(); // rig space
glm::quat worldHeadOrientation = glm::quat(); // world space (-z forward)
glm::quat rigHeadOrientation = glm::quat(); // rig space (-z forward)
glm::vec3 rigHeadPosition = glm::vec3(); // rig space
bool hipsEnabled = false;
bool isInHMD = false;
bool headEnabled = false;
bool spine2Enabled = false;
int neckJointIndex = -1;
bool isTalking = false;
};

5
libraries/shared/src/GLMHelpers.cpp
View file

@ -38,6 +38,11 @@ const quat Quaternions::X_180{ 0.0f, 1.0f, 0.0f, 0.0f };
const quat Quaternions::Y_180{ 0.0f, 0.0f, 1.0f, 0.0f };
const quat Quaternions::Z_180{ 0.0f, 0.0f, 0.0f, 1.0f };
const mat4 Matrices::IDENTITY { glm::mat4() };
const mat4 Matrices::X_180 { createMatFromQuatAndPos(Quaternions::X_180, Vectors::ZERO) };
const mat4 Matrices::Y_180 { createMatFromQuatAndPos(Quaternions::Y_180, Vectors::ZERO) };
const mat4 Matrices::Z_180 { createMatFromQuatAndPos(Quaternions::Z_180, Vectors::ZERO) };
// Safe version of glm::mix; based on the code in Nick Bobick's article,
// http://www.gamasutra.com/features/19980703/quaternions_01.htm (via Clyde,
// https://github.com/threerings/clyde/blob/master/src/main/java/com/threerings/math/Quaternion.java)

7
libraries/shared/src/GLMHelpers.h
View file

@ -54,6 +54,13 @@ const glm::vec3 IDENTITY_FORWARD = glm::vec3( 0.0f, 0.0f,-1.0f);
glm::quat safeMix(const glm::quat& q1, const glm::quat& q2, float alpha);
class Matrices {
public:
static const mat4 IDENTITY;
static const mat4 X_180;
static const mat4 Y_180;
static const mat4 Z_180;
};
class Quaternions {
public: