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This commit is contained in:
Seth Alves 2017-05-31 14:01:09 -07:00
parent 7a47250aa7
commit e37387f45c
5 changed files with 18 additions and 17 deletions
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2
interface/src/Application.cpp
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@ -3992,7 +3992,7 @@ void Application::updateMyAvatarLookAtPosition() {
// I am not looking at anyone else, so just look forward // I am not looking at anyone else, so just look forward
if (isHMD) { if (isHMD) {
glm::mat4 worldHMDMat = myAvatar->getSensorToWorldMatrix() * glm::mat4 worldHMDMat = myAvatar->getSensorToWorldMatrix() *
(glm::mat4)myAvatar->getHeadControllerPoseInSensorFrame(); (glm::mat4)myAvatar->getHeadControllerPoseInSensorFrame() * Matrices::Y_180;
lookAtSpot = transformPoint(worldHMDMat, glm::vec3(0.0f, 0.0f, -TREE_SCALE)); lookAtSpot = transformPoint(worldHMDMat, glm::vec3(0.0f, 0.0f, -TREE_SCALE));
} else { } else {
lookAtSpot = myAvatar->getHead()->getEyePosition() + lookAtSpot = myAvatar->getHead()->getEyePosition() +

18
interface/src/avatar/MyAvatar.cpp
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@ -2328,9 +2328,9 @@ glm::quat MyAvatar::getWorldBodyOrientation() const {
glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const { glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
// HMD is in sensor space. // HMD is in sensor space.
const glm::vec3 hmdPosition = getHeadControllerPoseInSensorFrame(); const glm::vec3 headPosition = getHeadControllerPoseInSensorFrame();
const glm::quat hmdOrientation = getHeadControllerPoseInSensorFrame(); const glm::quat headOrientation = (glm::quat)getHeadControllerPoseInSensorFrame() * Quaternions::Y_180;
const glm::quat hmdOrientationYawOnly = cancelOutRollAndPitch(hmdOrientation); const glm::quat headOrientationYawOnly = cancelOutRollAndPitch(headOrientation);
const Rig& rig = _skeletonModel->getRig(); const Rig& rig = _skeletonModel->getRig();
int rightEyeIndex = rig.indexOfJoint("RightEye"); int rightEyeIndex = rig.indexOfJoint("RightEye");
@ -2353,12 +2353,12 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
// eyeToNeck offset is relative full HMD orientation. // eyeToNeck offset is relative full HMD orientation.
// while neckToRoot offset is only relative to HMDs yaw. // while neckToRoot offset is only relative to HMDs yaw.
// Y_180 is necessary because rig is z forward and hmdOrientation is -z forward // Y_180 is necessary because rig is z forward and headOrientation is -z forward
glm::vec3 eyeToNeck = hmdOrientation * Quaternions::Y_180 * (localNeck - localEyes); glm::vec3 eyeToNeck = headOrientation * Quaternions::Y_180 * (localNeck - localEyes);
glm::vec3 neckToRoot = hmdOrientationYawOnly * Quaternions::Y_180 * -localNeck; glm::vec3 neckToRoot = headOrientationYawOnly * Quaternions::Y_180 * -localNeck;
glm::vec3 bodyPos = hmdPosition + eyeToNeck + neckToRoot; glm::vec3 bodyPos = headPosition + eyeToNeck + neckToRoot;
return createMatFromQuatAndPos(hmdOrientationYawOnly, bodyPos); return createMatFromQuatAndPos(headOrientationYawOnly, bodyPos);
} }
glm::vec3 MyAvatar::getPositionForAudio() { glm::vec3 MyAvatar::getPositionForAudio() {
@ -2474,7 +2474,7 @@ bool MyAvatar::FollowHelper::shouldActivateRotation(const MyAvatar& myAvatar, co
} else { } else {
const float FOLLOW_ROTATION_THRESHOLD = cosf(PI / 6.0f); // 30 degrees const float FOLLOW_ROTATION_THRESHOLD = cosf(PI / 6.0f); // 30 degrees
glm::vec2 bodyFacing = getFacingDir2D(currentBodyMatrix); glm::vec2 bodyFacing = getFacingDir2D(currentBodyMatrix);
return glm::dot(myAvatar.getHeadControllerFacingMovingAverage(), bodyFacing) < FOLLOW_ROTATION_THRESHOLD; return glm::dot(myAvatar.getHeadControllerFacingMovingAverage() * -1.0f, bodyFacing) < FOLLOW_ROTATION_THRESHOLD;
} }
} }

3
interface/src/avatar/MySkeletonModel.cpp
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@ -59,7 +59,8 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
} else { } else {
if (qApp->isHMDMode()) { if (qApp->isHMDMode()) {
// get HMD position from sensor space into world space, and back into rig space // get HMD position from sensor space into world space, and back into rig space
glm::mat4 worldHMDMat = myAvatar->getHeadControllerPoseInWorldFrame(); // glm::mat4 worldHMDMat = myAvatar->getHeadControllerPoseInWorldFrame();
glm::mat4 worldHMDMat = myAvatar->getSensorToWorldMatrix() * myAvatar->getHMDSensorMatrix();
glm::mat4 rigToWorld = createMatFromQuatAndPos(getRotation(), getTranslation()); glm::mat4 rigToWorld = createMatFromQuatAndPos(getRotation(), getTranslation());
glm::mat4 worldToRig = glm::inverse(rigToWorld); glm::mat4 worldToRig = glm::inverse(rigToWorld);
glm::mat4 rigHMDMat = worldToRig * worldHMDMat; glm::mat4 rigHMDMat = worldToRig * worldHMDMat;

3
interface/src/scripting/HMDScriptingInterface.cpp
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@ -122,7 +122,8 @@ bool HMDScriptingInterface::getHUDLookAtPosition3D(glm::vec3& result) const {
glm::mat4 HMDScriptingInterface::getWorldHMDMatrix() const { glm::mat4 HMDScriptingInterface::getWorldHMDMatrix() const {
auto myAvatar = DependencyManager::get<AvatarManager>()->getMyAvatar(); auto myAvatar = DependencyManager::get<AvatarManager>()->getMyAvatar();
return myAvatar->getSensorToWorldMatrix() * (glm::mat4)myAvatar->getHeadControllerPoseInSensorFrame(); // return myAvatar->getSensorToWorldMatrix() * (glm::mat4)myAvatar->getHeadControllerPoseInSensorFrame();
return myAvatar->getSensorToWorldMatrix() * myAvatar->getHMDSensorMatrix();
} }
glm::vec3 HMDScriptingInterface::getPosition() const { glm::vec3 HMDScriptingInterface::getPosition() const {

9
plugins/oculus/src/OculusControllerManager.cpp
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@ -19,6 +19,8 @@
#include <PerfStat.h> #include <PerfStat.h>
#include <PathUtils.h> #include <PathUtils.h>
#include <NumericalConstants.h>
#include <StreamUtils.h>
#include <OVR_CAPI.h> #include <OVR_CAPI.h>
@ -313,19 +315,16 @@ void OculusControllerManager::TouchDevice::handleHeadPose(float deltaTime,
auto poseId = controller::HEAD; auto poseId = controller::HEAD;
auto& pose = _poseStateMap[poseId]; auto& pose = _poseStateMap[poseId];
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
pose.translation = toGlm(headPose.ThePose.Position); pose.translation = toGlm(headPose.ThePose.Position);
pose.rotation = toGlm(headPose.ThePose.Orientation); pose.rotation = toGlm(headPose.ThePose.Orientation) * yFlip;
pose.angularVelocity = toGlm(headPose.AngularVelocity); pose.angularVelocity = toGlm(headPose.AngularVelocity);
pose.velocity = toGlm(headPose.LinearVelocity); pose.velocity = toGlm(headPose.LinearVelocity);
pose.valid = true; pose.valid = true;
qDebug() << "handleHeadPose" << pose.translation.x << pose.translation.y << pose.translation.z;
// transform into avatar frame // transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat; glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
pose = pose.transform(controllerToAvatar); pose = pose.transform(controllerToAvatar);
qDebug() << "handleHeadPose after" << pose.translation.x << pose.translation.y << pose.translation.z;
} }
void OculusControllerManager::TouchDevice::handleRotationForUntrackedHand(const controller::InputCalibrationData& inputCalibrationData, void OculusControllerManager::TouchDevice::handleRotationForUntrackedHand(const controller::InputCalibrationData& inputCalibrationData,