From dbdd4160ccd8ece91427f48550c2e4d2aa745e02 Mon Sep 17 00:00:00 2001 From: Philip Rosedale Date: Thu, 9 May 2013 13:29:09 -0700 Subject: [PATCH 1/3] Added acceleration reading, gravity baseline, and line displays to invensense --- interface/src/SerialInterface.cpp | 74 ++++++++++++++++++++++--------- interface/src/SerialInterface.h | 4 +- 2 files changed, 55 insertions(+), 23 deletions(-) diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp index 83dd981e05..2b21f5062a 100644 --- a/interface/src/SerialInterface.cpp +++ b/interface/src/SerialInterface.cpp @@ -29,7 +29,7 @@ int serialBufferPos = 0; const int ZERO_OFFSET = 2048; const short NO_READ_MAXIMUM_MSECS = 3000; const short SAMPLES_TO_DISCARD = 100; // Throw out the first few samples -const int GRAVITY_SAMPLES = 200; // Use the first samples to compute gravity vector +const int GRAVITY_SAMPLES = 60; // Use the first samples to compute gravity vector const bool USING_INVENSENSE_MPU9150 = 1; @@ -139,34 +139,36 @@ void SerialInterface::resetTrailingAverages() { // Render the serial interface channel values onscreen as vertical lines void SerialInterface::renderLevels(int width, int height) { int i; - int disp_x = 10; + int displayX = 10; const int GAP = 16; char val[40]; if (!USING_INVENSENSE_MPU9150) { + // Legacy - Maple ADC gyros for(i = 0; i < NUM_CHANNELS; i++) { // Actual value glLineWidth(2.0); glColor4f(1, 1, 1, 1); glBegin(GL_LINES); - glVertex2f(disp_x, height * 0.95); - glVertex2f(disp_x, height * (0.25 + 0.75f * getValue(i) / 4096)); + glVertex2f(displayX, height * 0.95); + glVertex2f(displayX, height * (0.25 + 0.75f * getValue(i) / 4096)); glColor4f(1, 0, 0, 1); - glVertex2f(disp_x - 3, height * (0.25 + 0.75f * getValue(i) / 4096)); - glVertex2f(disp_x, height * (0.25 + 0.75f * getValue(i) / 4096)); + glVertex2f(displayX - 3, height * (0.25 + 0.75f * getValue(i) / 4096)); + glVertex2f(displayX, height * (0.25 + 0.75f * getValue(i) / 4096)); glEnd(); // Trailing Average value glBegin(GL_LINES); glColor4f(1, 1, 1, 1); - glVertex2f(disp_x, height * (0.25 + 0.75f * getTrailingValue(i) / 4096)); - glVertex2f(disp_x + 4, height * (0.25 + 0.75f * getTrailingValue(i) / 4096)); + glVertex2f(displayX, height * (0.25 + 0.75f * getTrailingValue(i) / 4096)); + glVertex2f(displayX + 4, height * (0.25 + 0.75f * getTrailingValue(i) / 4096)); glEnd(); sprintf(val, "%d", getValue(i)); - drawtext(disp_x - GAP / 2, (height * 0.95) + 2, 0.08, 90, 1.0, 0, val, 0, 1, 0); + drawtext(displayX - GAP / 2, (height * 0.95) + 2, 0.08, 90, 1.0, 0, val, 0, 1, 0); - disp_x += GAP; + displayX += GAP; } } else { + // For invensense gyros, render as horizontal bars const int LEVEL_CORNER_X = 10; const int LEVEL_CORNER_Y = 200; @@ -177,18 +179,37 @@ void SerialInterface::renderLevels(int width, int height) { drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 15, 0.10, 0, 1.0, 1, val, 0, 1, 0); sprintf(val, "Roll %4.1f", _lastRollRate); drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 30, 0.10, 0, 1.0, 1, val, 0, 1, 0); + sprintf(val, "X %4.3f", _lastAccelX); + drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 45, 0.10, 0, 1.0, 1, val, 0, 1, 0); + sprintf(val, "Y %4.3f", _lastAccelY); + drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 60, 0.10, 0, 1.0, 1, val, 0, 1, 0); + sprintf(val, "Z %4.3f", _lastAccelZ); + drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 75, 0.10, 0, 1.0, 1, val, 0, 1, 0); // Draw the levels as horizontal lines const int LEVEL_CENTER = 150; + const float ACCEL_VIEW_SCALING = 50.f; glLineWidth(2.0); glColor4f(1, 1, 1, 1); glBegin(GL_LINES); + // Gyro rates glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 3); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastYawRate, LEVEL_CORNER_Y - 3); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 12); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastPitchRate, LEVEL_CORNER_Y + 12); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 27); glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRollRate, LEVEL_CORNER_Y + 27); + // Acceleration + glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 42); + glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)((_lastAccelX - _gravity.x)* ACCEL_VIEW_SCALING), + LEVEL_CORNER_Y + 42); + glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 57); + glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)((_lastAccelY - _gravity.y) * ACCEL_VIEW_SCALING), + LEVEL_CORNER_Y + 57); + glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 72); + glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)((_lastAccelZ - _gravity.z) * ACCEL_VIEW_SCALING), + LEVEL_CORNER_Y + 72); + glEnd(); // Draw green vertical centerline glColor4f(0, 1, 0, 0.5); @@ -237,15 +258,15 @@ void SerialInterface::readData() { int accelXRate, accelYRate, accelZRate; - convertHexToInt(sensorBuffer + 6, accelXRate); + convertHexToInt(sensorBuffer + 6, accelZRate); convertHexToInt(sensorBuffer + 10, accelYRate); - convertHexToInt(sensorBuffer + 14, accelZRate); + convertHexToInt(sensorBuffer + 14, accelXRate); - const float LSB_TO_METERS_PER_SECOND = 1.f / 16384.f; + const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * 9.80665f; - _lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND; - _lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND; - _lastAccelZ = ((float) accelZRate) * LSB_TO_METERS_PER_SECOND; + _lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND2; + _lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND2; + _lastAccelZ = ((float) -accelZRate) * LSB_TO_METERS_PER_SECOND2; int rollRate, yawRate, pitchRate; @@ -262,6 +283,18 @@ void SerialInterface::readData() { _lastYawRate = ((float) yawRate) * LSB_TO_DEGREES_PER_SECOND; _lastPitchRate = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND + PITCH_BIAS; + // Accumulate an initial reading for gravity + // Use a set of initial samples to compute gravity + if (totalSamples < GRAVITY_SAMPLES) { + _gravity.x += _lastAccelX; + _gravity.y += _lastAccelY; + _gravity.z += _lastAccelZ; + } + if (totalSamples == GRAVITY_SAMPLES) { + _gravity /= (float) totalSamples; + printLog("Gravity: %f\n", glm::length(_gravity)); + } + totalSamples++; } else { // This array sets the rate of trailing averaging for each channel: @@ -300,7 +333,7 @@ void SerialInterface::readData() { } } - + /* // Use a set of initial samples to compute gravity if (totalSamples < GRAVITY_SAMPLES) { gravity.x += lastMeasured[ACCEL_X]; @@ -311,7 +344,7 @@ void SerialInterface::readData() { gravity = glm::normalize(gravity); printLog("gravity: %f,%f,%f\n", gravity.x, gravity.y, gravity.z); } - + */ totalSamples++; serialBufferPos = 0; } @@ -336,12 +369,11 @@ void SerialInterface::resetSerial() { #ifdef __APPLE__ active = false; totalSamples = 0; + _gravity = glm::vec3(0, 0, 0); gettimeofday(&lastGoodRead, NULL); - if (!USING_INVENSENSE_MPU9150) { - gravity = glm::vec3(0, -1, 0); - + if (!USING_INVENSENSE_MPU9150) { // Clear the measured and average channel data for (int i = 0; i < NUM_CHANNELS; i++) { lastMeasured[i] = 0; diff --git a/interface/src/SerialInterface.h b/interface/src/SerialInterface.h index 5fd6ea3d00..0de8de7ff0 100644 --- a/interface/src/SerialInterface.h +++ b/interface/src/SerialInterface.h @@ -60,7 +60,7 @@ public: void resetTrailingAverages(); void renderLevels(int width, int height); bool active; - glm::vec3 getGravity() {return gravity;}; + glm::vec3 getGravity() {return _gravity;}; private: void initializePort(char* portname, int baud); @@ -73,7 +73,7 @@ private: int LED; int totalSamples; timeval lastGoodRead; - glm::vec3 gravity; + glm::vec3 _gravity; float _lastAccelX; float _lastAccelY; float _lastAccelZ; From dd33cedf8dcbeb1d462c6a002bf38d6367f5e23d Mon Sep 17 00:00:00 2001 From: Philip Rosedale Date: Thu, 9 May 2013 14:01:22 -0700 Subject: [PATCH 2/3] Removed old serial code for Maple ADC --- interface/src/Avatar.cpp | 26 +++---- interface/src/SerialInterface.cpp | 116 ++---------------------------- interface/src/SerialInterface.h | 17 ++--- interface/src/main.cpp | 22 ++---- 4 files changed, 23 insertions(+), 158 deletions(-) diff --git a/interface/src/Avatar.cpp b/interface/src/Avatar.cpp index 6583af5484..dd181b63e5 100644 --- a/interface/src/Avatar.cpp +++ b/interface/src/Avatar.cpp @@ -269,16 +269,10 @@ void Avatar::updateHeadFromGyros(float frametime, SerialInterface* serialInterfa float measuredRollRate = 0.0f; float measuredYawRate = 0.0f; - if (serialInterface->active && USING_INVENSENSE_MPU9150) { - measuredPitchRate = serialInterface->getLastPitchRate(); - measuredYawRate = serialInterface->getLastYawRate(); - measuredRollRate = serialInterface->getLastRollRate(); - } else { - measuredPitchRate = serialInterface->getRelativeValue(HEAD_PITCH_RATE); - measuredYawRate = serialInterface->getRelativeValue(HEAD_YAW_RATE); - measuredRollRate = serialInterface->getRelativeValue(HEAD_ROLL_RATE); - } - + measuredPitchRate = serialInterface->getLastPitchRate(); + measuredYawRate = serialInterface->getLastYawRate(); + measuredRollRate = serialInterface->getLastRollRate(); + // Update avatar head position based on measured gyro rates const float MAX_PITCH = 45; const float MIN_PITCH = -45; @@ -521,14 +515,12 @@ void Avatar::updateHead(float deltaTime) { } // For invensense gyro, decay only slightly when roughly centered - if (USING_INVENSENSE_MPU9150) { - const float RETURN_RANGE = 5.0; - const float RETURN_STRENGTH = 1.0; - if (fabs(_headPitch) < RETURN_RANGE) { _headPitch *= (1.0f - RETURN_STRENGTH * deltaTime); } - if (fabs(_headYaw) < RETURN_RANGE) { _headYaw *= (1.0f - RETURN_STRENGTH * deltaTime); } - if (fabs(_headRoll) < RETURN_RANGE) { _headRoll *= (1.0f - RETURN_STRENGTH * deltaTime); } + const float RETURN_RANGE = 15.0; + const float RETURN_STRENGTH = 2.0; + if (fabs(_headPitch) < RETURN_RANGE) { _headPitch *= (1.0f - RETURN_STRENGTH * deltaTime); } + if (fabs(_headYaw) < RETURN_RANGE) { _headYaw *= (1.0f - RETURN_STRENGTH * deltaTime); } + if (fabs(_headRoll) < RETURN_RANGE) { _headRoll *= (1.0f - RETURN_STRENGTH * deltaTime); } - } if (_head.noise) { // Move toward new target diff --git a/interface/src/SerialInterface.cpp b/interface/src/SerialInterface.cpp index 2b21f5062a..7aea1a46d9 100644 --- a/interface/src/SerialInterface.cpp +++ b/interface/src/SerialInterface.cpp @@ -131,43 +131,10 @@ void SerialInterface::initializePort(char* portname, int baud) { #endif } -// Reset Trailing averages to the current measurement -void SerialInterface::resetTrailingAverages() { - for (int i = 1; i < NUM_CHANNELS; i++) trailingAverage[i] = lastMeasured[i]; -} - // Render the serial interface channel values onscreen as vertical lines void SerialInterface::renderLevels(int width, int height) { - int i; - int displayX = 10; - const int GAP = 16; char val[40]; - if (!USING_INVENSENSE_MPU9150) { - // Legacy - Maple ADC gyros - for(i = 0; i < NUM_CHANNELS; i++) { - // Actual value - glLineWidth(2.0); - glColor4f(1, 1, 1, 1); - glBegin(GL_LINES); - glVertex2f(displayX, height * 0.95); - glVertex2f(displayX, height * (0.25 + 0.75f * getValue(i) / 4096)); - glColor4f(1, 0, 0, 1); - glVertex2f(displayX - 3, height * (0.25 + 0.75f * getValue(i) / 4096)); - glVertex2f(displayX, height * (0.25 + 0.75f * getValue(i) / 4096)); - glEnd(); - // Trailing Average value - glBegin(GL_LINES); - glColor4f(1, 1, 1, 1); - glVertex2f(displayX, height * (0.25 + 0.75f * getTrailingValue(i) / 4096)); - glVertex2f(displayX + 4, height * (0.25 + 0.75f * getTrailingValue(i) / 4096)); - glEnd(); - - sprintf(val, "%d", getValue(i)); - drawtext(displayX - GAP / 2, (height * 0.95) + 2, 0.08, 90, 1.0, 0, val, 0, 1, 0); - - displayX += GAP; - } - } else { + if (USING_INVENSENSE_MPU9150) { // For invensense gyros, render as horizontal bars const int LEVEL_CORNER_X = 10; const int LEVEL_CORNER_Y = 200; @@ -218,18 +185,6 @@ void SerialInterface::renderLevels(int width, int height) { glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 30); glEnd(); } - - // Display Serial latency block - if (LED) { - glColor3f(1,0,0); - glBegin(GL_QUADS); { - glVertex2f(width - 100, height - 100); - glVertex2f(width, height - 100); - glVertex2f(width, height); - glVertex2f(width - 100, height); - } - glEnd(); - } } void convertHexToInt(unsigned char* sourceBuffer, int& destinationInt) { @@ -263,6 +218,8 @@ void SerialInterface::readData() { convertHexToInt(sensorBuffer + 14, accelXRate); const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * 9.80665f; + // From MPU-9150 register map, with setting on + // highest resolution = +/- 2G _lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND2; _lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND2; @@ -296,60 +253,7 @@ void SerialInterface::readData() { } totalSamples++; - } else { - // This array sets the rate of trailing averaging for each channel: - // If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average - const float AVG_RATE[] = {0.002, 0.002, 0.002, 0.002, 0.002, 0.002}; - char bufchar[1]; - - while (read(_serialDescriptor, &bufchar, 1) > 0) { - serialBuffer[serialBufferPos] = bufchar[0]; - serialBufferPos++; - // Have we reached end of a line of input? - if ((bufchar[0] == '\n') || (serialBufferPos >= MAX_BUFFER)) { - std::string serialLine(serialBuffer, serialBufferPos-1); - //printLog("%s\n", serialLine.c_str()); - int spot; - //int channel = 0; - std::string val; - for (int i = 0; i < NUM_CHANNELS + 2; i++) { - spot = serialLine.find_first_of(" ", 0); - if (spot != std::string::npos) { - val = serialLine.substr(0,spot); - //printLog("%s\n", val.c_str()); - if (i < NUM_CHANNELS) lastMeasured[i] = atoi(val.c_str()); - else samplesAveraged = atoi(val.c_str()); - } else LED = atoi(serialLine.c_str()); - serialLine = serialLine.substr(spot+1, serialLine.length() - spot - 1); - } - - // Update Trailing Averages - for (int i = 0; i < NUM_CHANNELS; i++) { - if (totalSamples > SAMPLES_TO_DISCARD) { - trailingAverage[i] = (1.f - AVG_RATE[i])*trailingAverage[i] + - AVG_RATE[i]*(float)lastMeasured[i]; - } else { - trailingAverage[i] = (float)lastMeasured[i]; - } - - } - /* - // Use a set of initial samples to compute gravity - if (totalSamples < GRAVITY_SAMPLES) { - gravity.x += lastMeasured[ACCEL_X]; - gravity.y += lastMeasured[ACCEL_Y]; - gravity.z += lastMeasured[ACCEL_Z]; - } - if (totalSamples == GRAVITY_SAMPLES) { - gravity = glm::normalize(gravity); - printLog("gravity: %f,%f,%f\n", gravity.x, gravity.y, gravity.z); - } - */ - totalSamples++; - serialBufferPos = 0; - } - } - } + } if (initialSamples == totalSamples) { timeval now; @@ -373,18 +277,6 @@ void SerialInterface::resetSerial() { gettimeofday(&lastGoodRead, NULL); - if (!USING_INVENSENSE_MPU9150) { - // Clear the measured and average channel data - for (int i = 0; i < NUM_CHANNELS; i++) { - lastMeasured[i] = 0; - trailingAverage[i] = 0.0; - } - // Clear serial input buffer - for (int i = 1; i < MAX_BUFFER; i++) { - serialBuffer[i] = ' '; - } - } - #endif } diff --git a/interface/src/SerialInterface.h b/interface/src/SerialInterface.h index 0de8de7ff0..2858d2aee7 100644 --- a/interface/src/SerialInterface.h +++ b/interface/src/SerialInterface.h @@ -32,7 +32,7 @@ #define HEAD_YAW_RATE 0 #define HEAD_ROLL_RATE 2 -extern const bool USING_INVENSENSE_MPU9150; +//const bool USING_INVENSENSE_MPU9150; class SerialInterface { public: @@ -51,13 +51,12 @@ public: float getLastPitchRate() const { return _lastPitchRate; } float getLastRollRate() const { return _lastRollRate; } - int getLED() {return LED;}; - int getNumSamples() {return samplesAveraged;}; - int getValue(int num) {return lastMeasured[num];}; - int getRelativeValue(int num) {return static_cast(lastMeasured[num] - trailingAverage[num]);}; - float getTrailingValue(int num) {return trailingAverage[num];}; + //int getLED() {return LED;}; + //int getNumSamples() {return samplesAveraged;}; + //int getValue(int num) {return lastMeasured[num];}; + //int getRelativeValue(int num) {return static_cast(lastMeasured[num] - trailingAverage[num]);}; + //float getTrailingValue(int num) {return trailingAverage[num];}; - void resetTrailingAverages(); void renderLevels(int width, int height); bool active; glm::vec3 getGravity() {return _gravity;}; @@ -67,10 +66,6 @@ private: void resetSerial(); int _serialDescriptor; - int lastMeasured[NUM_CHANNELS]; - float trailingAverage[NUM_CHANNELS]; - int samplesAveraged; - int LED; int totalSamples; timeval lastGoodRead; glm::vec3 _gravity; diff --git a/interface/src/main.cpp b/interface/src/main.cpp index 957c418b16..654f9143f8 100644 --- a/interface/src/main.cpp +++ b/interface/src/main.cpp @@ -365,10 +365,6 @@ void reset_sensors() { headMouseY = HEIGHT/2; myAvatar.reset(); - - if (serialPort.active) { - serialPort.resetTrailingAverages(); - } } // @@ -380,15 +376,9 @@ void updateAvatar(float deltaTime) { myAvatar.updateHeadFromGyros(deltaTime, &serialPort, &gravity); // Grab latest readings from the gyros - float measuredYawRate, measuredPitchRate; - if (USING_INVENSENSE_MPU9150) { - measuredPitchRate = serialPort.getLastPitchRate(); - measuredYawRate = serialPort.getLastYawRate(); - } else { - measuredPitchRate = serialPort.getRelativeValue(HEAD_PITCH_RATE); - measuredYawRate = serialPort.getRelativeValue(HEAD_YAW_RATE); - } - + float measuredPitchRate = serialPort.getLastPitchRate(); + float measuredYawRate = serialPort.getLastYawRate(); + // Update gyro-based mouse (X,Y on screen) const float MIN_MOUSE_RATE = 30.0; const float MOUSE_SENSITIVITY = 0.1f; @@ -1714,7 +1704,7 @@ void idle(void) { } // Read serial port interface devices - if (serialPort.active && USING_INVENSENSE_MPU9150) { + if (serialPort.active) { serialPort.readData(); } @@ -1748,10 +1738,6 @@ void idle(void) { lastTimeIdle = check; } - // Read serial data - if (serialPort.active && !USING_INVENSENSE_MPU9150) { - serialPort.readData(); - } } void reshape(int width, int height) { From c0a54eca14bccae400df3f9ad2502bad6659f87c Mon Sep 17 00:00:00 2001 From: Philip Rosedale Date: Thu, 9 May 2013 15:03:19 -0700 Subject: [PATCH 3/3] Added head lean to broadcast data packets, lean now being set from invensense accelerometers. --- interface/src/Avatar.cpp | 60 +++++++++++++++++++--------- interface/src/SerialInterface.h | 9 +---- libraries/avatars/src/AvatarData.cpp | 16 +++++++- libraries/avatars/src/AvatarData.h | 9 +++++ 4 files changed, 67 insertions(+), 27 deletions(-) diff --git a/interface/src/Avatar.cpp b/interface/src/Avatar.cpp index cc7df02659..7eaedabad1 100644 --- a/interface/src/Avatar.cpp +++ b/interface/src/Avatar.cpp @@ -266,7 +266,7 @@ void Avatar::reset() { // Update avatar head rotation with sensor data -void Avatar::updateHeadFromGyros(float frametime, SerialInterface* serialInterface, glm::vec3* gravity) { +void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterface, glm::vec3* gravity) { float measuredPitchRate = 0.0f; float measuredRollRate = 0.0f; float measuredYawRate = 0.0f; @@ -283,13 +283,34 @@ void Avatar::updateHeadFromGyros(float frametime, SerialInterface* serialInterfa const float MAX_ROLL = 50; const float MIN_ROLL = -50; - addHeadPitch(measuredPitchRate * frametime); - addHeadYaw(measuredYawRate * frametime); - addHeadRoll(measuredRollRate * frametime); + addHeadPitch(measuredPitchRate * deltaTime); + addHeadYaw(measuredYawRate * deltaTime); + addHeadRoll(measuredRollRate * deltaTime); setHeadPitch(glm::clamp(getHeadPitch(), MIN_PITCH, MAX_PITCH)); setHeadYaw(glm::clamp(getHeadYaw(), MIN_YAW, MAX_YAW)); setHeadRoll(glm::clamp(getHeadRoll(), MIN_ROLL, MAX_ROLL)); + + // Update head lean distance based on accelerometer data + const float LEAN_SENSITIVITY = 0.15; + const float LEAN_MAX = 0.45; + const float LEAN_AVERAGING = 10.0; + glm::vec3 headRotationRates(getHeadPitch(), getHeadYaw(), getHeadRoll()); + float headRateMax = 50.f; + + + glm::vec3 leaning = (serialInterface->getLastAcceleration() - serialInterface->getGravity()) + * LEAN_SENSITIVITY + * (1.f - fminf(glm::length(headRotationRates), headRateMax) / headRateMax); + leaning.y = 0.f; + if (glm::length(leaning) < LEAN_MAX) { + _head.leanForward = _head.leanForward * (1.f - LEAN_AVERAGING * deltaTime) + + (LEAN_AVERAGING * deltaTime) * leaning.z * LEAN_SENSITIVITY; + _head.leanSideways = _head.leanSideways * (1.f - LEAN_AVERAGING * deltaTime) + + (LEAN_AVERAGING * deltaTime) * leaning.x * LEAN_SENSITIVITY; + } + setHeadLeanSideways(_head.leanSideways); + setHeadLeanForward(_head.leanForward); } float Avatar::getAbsoluteHeadYaw() const { @@ -323,6 +344,8 @@ void Avatar::simulate(float deltaTime) { // update balls if (_balls) { _balls->simulate(deltaTime); } + // if other avatar, update head position from network data + // update avatar skeleton updateSkeleton(); @@ -515,14 +538,12 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) { void Avatar::updateHead(float deltaTime) { - // hold on to this - used for testing.... - /* - static float test = 0.0f; - test += deltaTime; - _head.leanForward = 0.02 * sin( test * 0.2f ); - _head.leanSideways = 0.02 * sin( test * 0.3f ); - */ - + // Get head position data from network for other people + if (!_isMine) { + _head.leanSideways = getHeadLeanSideways(); + _head.leanForward = getHeadLeanForward(); + } + //apply the head lean values to the springy position... if (fabs(_head.leanSideways + _head.leanForward) > 0.0f) { glm::vec3 headLean = @@ -549,7 +570,7 @@ void Avatar::updateHead(float deltaTime) { } // Decay head back to center if turned on - if (_returnHeadToCenter) { + if (_isMine && _returnHeadToCenter) { // Decay back toward center _headPitch *= (1.0f - DECAY * _head.returnSpringScale * 2 * deltaTime); _headYaw *= (1.0f - DECAY * _head.returnSpringScale * 2 * deltaTime); @@ -557,13 +578,14 @@ void Avatar::updateHead(float deltaTime) { } // For invensense gyro, decay only slightly when roughly centered - const float RETURN_RANGE = 15.0; - const float RETURN_STRENGTH = 2.0; - if (fabs(_headPitch) < RETURN_RANGE) { _headPitch *= (1.0f - RETURN_STRENGTH * deltaTime); } - if (fabs(_headYaw) < RETURN_RANGE) { _headYaw *= (1.0f - RETURN_STRENGTH * deltaTime); } - if (fabs(_headRoll) < RETURN_RANGE) { _headRoll *= (1.0f - RETURN_STRENGTH * deltaTime); } + if (_isMine) { + const float RETURN_RANGE = 15.0; + const float RETURN_STRENGTH = 2.0; + if (fabs(_headPitch) < RETURN_RANGE) { _headPitch *= (1.0f - RETURN_STRENGTH * deltaTime); } + if (fabs(_headYaw) < RETURN_RANGE) { _headYaw *= (1.0f - RETURN_STRENGTH * deltaTime); } + if (fabs(_headRoll) < RETURN_RANGE) { _headRoll *= (1.0f - RETURN_STRENGTH * deltaTime); } + } - if (_head.noise) { // Move toward new target _headPitch += (_head.pitchTarget - _headPitch) * 10 * deltaTime; // (1.f - DECAY*deltaTime)*Pitch + ; diff --git a/interface/src/SerialInterface.h b/interface/src/SerialInterface.h index 2858d2aee7..8569129520 100644 --- a/interface/src/SerialInterface.h +++ b/interface/src/SerialInterface.h @@ -50,16 +50,11 @@ public: float getLastYawRate() const { return _lastYawRate; } float getLastPitchRate() const { return _lastPitchRate; } float getLastRollRate() const { return _lastRollRate; } - - //int getLED() {return LED;}; - //int getNumSamples() {return samplesAveraged;}; - //int getValue(int num) {return lastMeasured[num];}; - //int getRelativeValue(int num) {return static_cast(lastMeasured[num] - trailingAverage[num]);}; - //float getTrailingValue(int num) {return trailingAverage[num];}; + glm::vec3 getLastAcceleration() { return glm::vec3(_lastAccelX, _lastAccelY, _lastAccelZ); }; + glm::vec3 getGravity() {return _gravity;}; void renderLevels(int width, int height); bool active; - glm::vec3 getGravity() {return _gravity;}; private: void initializePort(char* portname, int baud); diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp index 3b8e06e81e..8279851458 100644 --- a/libraries/avatars/src/AvatarData.cpp +++ b/libraries/avatars/src/AvatarData.cpp @@ -42,6 +42,8 @@ AvatarData::AvatarData() : _headYaw(0), _headPitch(0), _headRoll(0), + _headLeanSideways(0), + _headLeanForward(0), _handState(0), _cameraPosition(0,0,0), _cameraDirection(0,0,0), @@ -84,7 +86,13 @@ int AvatarData::getBroadcastData(unsigned char* destinationBuffer) { destinationBuffer += packFloatAngleToTwoByte(destinationBuffer, _headPitch); destinationBuffer += packFloatAngleToTwoByte(destinationBuffer, _headRoll); - // Hand Position + // Head lean X,Z (head lateral and fwd/back motion relative to torso) + memcpy(destinationBuffer, &_headLeanSideways, sizeof(float)); + destinationBuffer += sizeof(float); + memcpy(destinationBuffer, &_headLeanForward, sizeof(float)); + destinationBuffer += sizeof(float); + + // Hand Position memcpy(destinationBuffer, &_handPosition, sizeof(float) * 3); destinationBuffer += sizeof(float) * 3; @@ -150,6 +158,12 @@ int AvatarData::parseData(unsigned char* sourceBuffer, int numBytes) { sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t *)sourceBuffer, &_headPitch); sourceBuffer += unpackFloatAngleFromTwoByte((uint16_t *)sourceBuffer, &_headRoll); + // Head position relative to pelvis + memcpy(&_headLeanSideways, sourceBuffer, sizeof(float)); + sourceBuffer += sizeof(float); + memcpy(&_headLeanForward, sourceBuffer, sizeof(float)); + sourceBuffer += sizeof(float); + // Hand Position memcpy(&_handPosition, sourceBuffer, sizeof(float) * 3); sourceBuffer += sizeof(float) * 3; diff --git a/libraries/avatars/src/AvatarData.h b/libraries/avatars/src/AvatarData.h index 88d5c1ac1f..9ce2bb2c77 100644 --- a/libraries/avatars/src/AvatarData.h +++ b/libraries/avatars/src/AvatarData.h @@ -55,6 +55,12 @@ public: void addHeadYaw(float y){_headYaw -= y; } void addHeadRoll(float r){_headRoll += r; } + // Head vector deflection from pelvix in X,Z + void setHeadLeanSideways(float s) {_headLeanSideways = s; }; + float getHeadLeanSideways() const { return _headLeanSideways; }; + void setHeadLeanForward(float f) {_headLeanForward = f; }; + float getHeadLeanForward() const { return _headLeanForward; }; + // Hand State void setHandState(char s) { _handState = s; }; char getHandState() const {return _handState; }; @@ -104,6 +110,9 @@ protected: float _headYaw; float _headPitch; float _headRoll; + + float _headLeanSideways; + float _headLeanForward; // Audio loudness (used to drive facial animation) float _audioLoudness;