Merge pull request #263 from PhilipRosedale/master

Removed old maple serial code (we are now using Invensense), added acceleration and gravity

interface/src/Avatar.cpp

@@ -266,20 +266,14 @@ 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;
     
-    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);
-    }
    
     //  Update avatar head position based on measured gyro rates
     const float MAX_PITCH = 45;
@@ -289,13 +283,34 @@ void Avatar::updateHeadFromGyros(float frametime, SerialInterface* serialInterfa
     const float MAX_ROLL = 50;
     const float MIN_ROLL = -50;
     
-    addHeadPitch(measuredPitchRate * frametime);
+    addHeadPitch(measuredPitchRate * deltaTime);
-    addHeadYaw(measuredYawRate * frametime);
+    addHeadYaw(measuredYawRate * deltaTime);
-    addHeadRoll(measuredRollRate * frametime);
+    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 {
@@ -329,6 +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();
 	
@@ -517,13 +534,11 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
 
 void Avatar::updateHead(float deltaTime) {
 
-    // hold on to this - used for testing....
+    // Get head position data from network for other people
-    /*
+    if (!_isMine) {
-    static float test = 0.0f;
+        _head.leanSideways = getHeadLeanSideways();
-    test += deltaTime;
+        _head.leanForward = getHeadLeanForward(); 
-    _head.leanForward  = 0.02 * sin( test * 0.2f );
+    }
-    _head.leanSideways = 0.02 * sin( test * 0.3f );
-    */
     
     //apply the head lean values to the springy position...
     if (fabs(_head.leanSideways + _head.leanForward) > 0.0f) {
@@ -551,7 +566,7 @@ 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);
@@ -559,13 +574,12 @@ void Avatar::updateHead(float deltaTime) {
     }
     
     //  For invensense gyro, decay only slightly when roughly centered
-    if (USING_INVENSENSE_MPU9150) {
+    if (_isMine) {
-        const float RETURN_RANGE = 5.0;
+        const float RETURN_RANGE = 15.0;
-        const float RETURN_STRENGTH = 1.0;
+        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) {

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;
 
@@ -131,42 +131,11 @@ 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 disp_x = 10;
-    const int GAP = 16;
     char val[40];
-    if (!USING_INVENSENSE_MPU9150) {
+    if (USING_INVENSENSE_MPU9150) {
-        for(i = 0; i < NUM_CHANNELS; i++) {
+        //  For invensense gyros, render as horizontal bars
-            //  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));
-            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));
-            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));
-            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);
-            
-            disp_x += GAP;
-        }
-    } else {
         const int LEVEL_CORNER_X = 10;
         const int LEVEL_CORNER_Y = 200;
         
@@ -177,18 +146,37 @@ 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);
@@ -197,18 +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) {
@@ -237,15 +213,17 @@ 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;
+                                                                //  From MPU-9150 register map, with setting on
+                                                                //  highest resolution = +/- 2G
         
-        _lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND;
+        _lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND2;
-        _lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND;
+        _lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND2;
-        _lastAccelZ = ((float) accelZRate) * LSB_TO_METERS_PER_SECOND;
+        _lastAccelZ = ((float) -accelZRate) * LSB_TO_METERS_PER_SECOND2;
         
         int rollRate, yawRate, pitchRate;
         
@@ -262,60 +240,19 @@ void SerialInterface::readData() {
         _lastYawRate = ((float) yawRate) * LSB_TO_DEGREES_PER_SECOND;
         _lastPitchRate = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND + PITCH_BIAS;
         
-        totalSamples++;
+        //  Accumulate an initial reading for gravity
-    } 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.x += _lastAccelX;
-                    gravity.y += lastMeasured[ACCEL_Y];
+            _gravity.y += _lastAccelY;
-                    gravity.z += lastMeasured[ACCEL_Z];
+            _gravity.z += _lastAccelZ;
         }
         if (totalSamples == GRAVITY_SAMPLES) {
-                    gravity = glm::normalize(gravity);
+            _gravity /= (float) totalSamples;
-                    printLog("gravity: %f,%f,%f\n", gravity.x, gravity.y, gravity.z);
+            printLog("Gravity: %f\n", glm::length(_gravity));
         }
 
         totalSamples++;
-                serialBufferPos = 0;
-            }
-        }
     } 
     
     if (initialSamples == totalSamples) {        
@@ -336,23 +273,10 @@ 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);
-        
-        //  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
 }
 

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:
@@ -50,30 +50,20 @@ public:
     float getLastYawRate() const { return _lastYawRate; }
     float getLastPitchRate() const { return _lastPitchRate; }
     float getLastRollRate() const { return _lastRollRate; }
+    glm::vec3 getLastAcceleration() { return glm::vec3(_lastAccelX, _lastAccelY, _lastAccelZ); };
+    glm::vec3 getGravity() {return _gravity;};
     
-    int getLED() {return LED;};
-    int getNumSamples() {return samplesAveraged;};
-    int getValue(int num) {return lastMeasured[num];};
-    int getRelativeValue(int num) {return static_cast<int>(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;};
     
 private:
     void initializePort(char* portname, int baud);
     void resetSerial();
 
     int _serialDescriptor;
-    int lastMeasured[NUM_CHANNELS];
-    float trailingAverage[NUM_CHANNELS];
-    int samplesAveraged;
-    int LED;
     int totalSamples;
     timeval lastGoodRead;
-    glm::vec3 gravity;
+    glm::vec3 _gravity;
     float _lastAccelX;
     float _lastAccelY;
     float _lastAccelZ;

interface/src/main.cpp

@@ -364,10 +364,6 @@ void reset_sensors() {
     headMouseY = HEIGHT/2;
     
     myAvatar.reset();
-    
-    if (serialPort.active) {
-        serialPort.resetTrailingAverages();
-    }
 }
 
 //
@@ -379,14 +375,8 @@ void updateAvatar(float deltaTime) {
     myAvatar.updateHeadFromGyros(deltaTime, &serialPort, &gravity);
 
     //  Grab latest readings from the gyros
-    float measuredYawRate, measuredPitchRate;
+    float measuredPitchRate = serialPort.getLastPitchRate();
-    if (USING_INVENSENSE_MPU9150) {
+    float measuredYawRate = serialPort.getLastYawRate();
-        measuredPitchRate = serialPort.getLastPitchRate();
-        measuredYawRate = serialPort.getLastYawRate();
-    } else {
-        measuredPitchRate = serialPort.getRelativeValue(HEAD_PITCH_RATE);
-        measuredYawRate = serialPort.getRelativeValue(HEAD_YAW_RATE);
-    }
     
     //  Update gyro-based mouse (X,Y on screen)
     const float MIN_MOUSE_RATE = 30.0;
@@ -1775,7 +1765,7 @@ void idle(void) {
         }
         
         //  Read serial port interface devices
-        if (serialPort.active && USING_INVENSENSE_MPU9150) {
+        if (serialPort.active) {
             serialPort.readData();
         }
         
@@ -1809,10 +1799,6 @@ void idle(void) {
         lastTimeIdle = check;
     }
     
-    //  Read serial data 
-    if (serialPort.active && !USING_INVENSENSE_MPU9150) {
-        serialPort.readData();
-    }
 }
 
 void reshape(int width, int height) {

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),
@@ -84,6 +86,12 @@ int AvatarData::getBroadcastData(unsigned char* destinationBuffer) {
     destinationBuffer += packFloatAngleToTwoByte(destinationBuffer, _headPitch);
     destinationBuffer += packFloatAngleToTwoByte(destinationBuffer, _headRoll);
     
+    // 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;

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; };
@@ -105,6 +111,9 @@ protected:
     float _headPitch;
     float _headRoll;
     
+    float _headLeanSideways;
+    float _headLeanForward;
+
     //  Audio loudness (used to drive facial animation)
     float _audioLoudness;