Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-19 12:23:24 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

MyAvatar: fix jitter in hands when moving

Browse source 
Store hand controller positions within the avatar in sensor space, not world space.
Before IK the sensorToWorld matrix is updated to reflect the world space motion of the
character controller during physics.  This ensures the IK hand targets move properly with the character.
This commit is contained in:
Anthony J. Thibault 2016-03-22 19:19:52 -07:00
parent 3e71316589
commit df187499ff
3 changed files with 30 additions and 18 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

10
interface/src/Application.cpp
View file

@ -3228,7 +3228,9 @@ void Application::update(float deltaTime) {
controller::Pose leftHandPose = userInputMapper->getPoseState(controller::Action::LEFT_HAND);
controller::Pose rightHandPose = userInputMapper->getPoseState(controller::Action::RIGHT_HAND);
auto myAvatarMatrix = createMatFromQuatAndPos(myAvatar->getOrientation(), myAvatar->getPosition());
myAvatar->setHandControllerPosesInWorldFrame(leftHandPose.transform(myAvatarMatrix), rightHandPose.transform(myAvatarMatrix));
auto worldToSensorMatrix = glm::inverse(myAvatar->getSensorToWorldMatrix());
auto avatarToSensorMatrix = worldToSensorMatrix * myAvatarMatrix;
myAvatar->setHandControllerPosesInSensorFrame(leftHandPose.transform(avatarToSensorMatrix), rightHandPose.transform(avatarToSensorMatrix));
updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
updateDialogs(deltaTime); // update various stats dialogs if present
@ -3315,6 +3317,9 @@ void Application::update(float deltaTime) {
qApp->updateMyAvatarLookAtPosition();
// update sensorToWorldMatrix for camera and hand controllers
myAvatar->updateSensorToWorldMatrix();
avatarManager->updateMyAvatar(deltaTime);
}
@ -3374,9 +3379,6 @@ void Application::update(float deltaTime) {
QMetaObject::invokeMethod(DependencyManager::get<AudioClient>().data(), "sendDownstreamAudioStatsPacket", Qt::QueuedConnection);
}
}
// update sensorToWorldMatrix for rendering camera.
myAvatar->updateSensorToWorldMatrix();
}

28
interface/src/avatar/MyAvatar.cpp
View file

@ -418,7 +418,7 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
_hmdSensorFacing = getFacingDir2D(_hmdSensorOrientation);
}
// best called at end of main loop, just before rendering.
// best called at end of main loop, after physics.
// update sensor to world matrix from current body position and hmd sensor.
// This is so the correct camera can be used for rendering.
void MyAvatar::updateSensorToWorldMatrix() {
@ -1087,24 +1087,32 @@ static controller::Pose applyLowVelocityFilter(const controller::Pose& oldPose,
return finalPose;
}
void MyAvatar::setHandControllerPosesInWorldFrame(const controller::Pose& left, const controller::Pose& right) {
void MyAvatar::setHandControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right) {
if (controller::InputDevice::getLowVelocityFilter()) {
auto oldLeftPose = getLeftHandControllerPoseInWorldFrame();
auto oldRightPose = getRightHandControllerPoseInWorldFrame();
_leftHandControllerPoseInWorldFrameCache.set(applyLowVelocityFilter(oldLeftPose, left));
_rightHandControllerPoseInWorldFrameCache.set(applyLowVelocityFilter(oldRightPose, right));
auto oldLeftPose = getLeftHandControllerPoseInSensorFrame();
auto oldRightPose = getRightHandControllerPoseInSensorFrame();
_leftHandControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldLeftPose, left));
_rightHandControllerPoseInSensorFrameCache.set(applyLowVelocityFilter(oldRightPose, right));
} else {
_leftHandControllerPoseInWorldFrameCache.set(left);
_rightHandControllerPoseInWorldFrameCache.set(right);
_leftHandControllerPoseInSensorFrameCache.set(left);
_rightHandControllerPoseInSensorFrameCache.set(right);
}
}
controller::Pose MyAvatar::getLeftHandControllerPoseInSensorFrame() const {
return _leftHandControllerPoseInSensorFrameCache.get();
}
controller::Pose MyAvatar::getRightHandControllerPoseInSensorFrame() const {
return _rightHandControllerPoseInSensorFrameCache.get();
}
controller::Pose MyAvatar::getLeftHandControllerPoseInWorldFrame() const {
return _leftHandControllerPoseInWorldFrameCache.get();
return _leftHandControllerPoseInSensorFrameCache.get().transform(getSensorToWorldMatrix());
}
controller::Pose MyAvatar::getRightHandControllerPoseInWorldFrame() const {
return _rightHandControllerPoseInWorldFrameCache.get();
return _rightHandControllerPoseInSensorFrameCache.get().transform(getSensorToWorldMatrix());
}
controller::Pose MyAvatar::getLeftHandControllerPoseInAvatarFrame() const {

10
interface/src/avatar/MyAvatar.h
View file

@ -247,7 +247,9 @@ public:
virtual void rebuildCollisionShape() override;
void setHandControllerPosesInWorldFrame(const controller::Pose& left, const controller::Pose& right);
void setHandControllerPosesInSensorFrame(const controller::Pose& left, const controller::Pose& right);
controller::Pose getLeftHandControllerPoseInSensorFrame() const;
controller::Pose getRightHandControllerPoseInSensorFrame() const;
controller::Pose getLeftHandControllerPoseInWorldFrame() const;
controller::Pose getRightHandControllerPoseInWorldFrame() const;
controller::Pose getLeftHandControllerPoseInAvatarFrame() const;
@ -451,9 +453,9 @@ private:
bool _hoverReferenceCameraFacingIsCaptured { false };
glm::vec3 _hoverReferenceCameraFacing { 0.0f, 0.0f, -1.0f }; // hmd sensor space
// These are stored in WORLD frame
ThreadSafeValueCache<controller::Pose> _leftHandControllerPoseInWorldFrameCache { controller::Pose() };
ThreadSafeValueCache<controller::Pose> _rightHandControllerPoseInWorldFrameCache { controller::Pose() };
// These are stored in SENSOR frame
ThreadSafeValueCache<controller::Pose> _leftHandControllerPoseInSensorFrameCache { controller::Pose() };
ThreadSafeValueCache<controller::Pose> _rightHandControllerPoseInSensorFrameCache { controller::Pose() };
float AVATAR_MOVEMENT_ENERGY_CONSTANT { 0.001f };
float AUDIO_ENERGY_CONSTANT { 0.000001f };