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Merge pull request #14040 from hyperlogic/feature/acceleration-limit-filter

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Quality Improvements to Avatars driven by Vive Trackers
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Jeff Clinton 2018-10-25 08:51:59 -07:00 committed by GitHub
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24 changed files with 1487 additions and 90 deletions
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28
interface/resources/controllers/vive.json
View file

@ -51,32 +51,34 @@
{ "from": "Vive.RSCenter", "to": "Standard.RightPrimaryThumb" },
{ "from": "Vive.RightApplicationMenu", "to": "Standard.RightSecondaryThumb" },
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand"},
{ "from": "Vive.RightHand", "to": "Standard.RightHand"},
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand" },
{ "from": "Vive.RightHand", "to": "Standard.RightHand" },
{ "from": "Vive.Head", "to" : "Standard.Head" },
{
"from": "Vive.LeftFoot", "to" : "Standard.LeftFoot",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.3}]
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.15}]
},
{
"from": "Vive.RightFoot", "to" : "Standard.RightFoot",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.3}]
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.15}]
},
{
"from": "Vive.Hips", "to" : "Standard.Hips",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.3}]
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.15}]
},
{
"from": "Vive.Spine2", "to" : "Standard.Spine2",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.3}]
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.15}]
},
{
"from": "Vive.RightArm", "to" : "Standard.RightArm",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.15}]
},
{
"from": "Vive.LeftArm", "to" : "Standard.LeftArm",
"filters" : [{"type" : "exponentialSmoothing", "rotation" : 0.15, "translation": 0.15}]
},
{ "from": "Vive.Head", "to" : "Standard.Head"},
{ "from": "Vive.RightArm", "to" : "Standard.RightArm" },
{ "from": "Vive.LeftArm", "to" : "Standard.LeftArm" },
{ "from": "Vive.TrackedObject00", "to" : "Standard.TrackedObject00" },
{ "from": "Vive.TrackedObject01", "to" : "Standard.TrackedObject01" },

41
interface/resources/qml/hifi/tablet/OpenVrConfiguration.qml
View file

@ -822,11 +822,44 @@ Flickable {
}
}
Row {
id: outOfRangeDataStrategyRow
anchors.top: viveInDesktop.bottom
anchors.topMargin: 5
anchors.left: openVrConfiguration.left
anchors.leftMargin: leftMargin + 10
spacing: 15
RalewayRegular {
id: outOfRangeDataStrategyLabel
size: 12
text: "Out Of Range Data Strategy:"
color: hifi.colors.lightGrayText
topPadding: 5
}
HifiControls.ComboBox {
id: outOfRangeDataStrategyComboBox
height: 25
width: 100
editable: true
colorScheme: hifi.colorSchemes.dark
model: ["None", "Freeze", "Drop"]
label: ""
onCurrentIndexChanged: {
sendConfigurationSettings();
}
}
}
RalewayBold {
id: viveDesktopText
size: 10
size: 12
text: "Use " + stack.selectedPlugin + " devices in desktop mode"
color: hifi.colors.white
color: hifi.colors.lightGrayText
anchors {
left: viveInDesktop.right
@ -946,6 +979,7 @@ Flickable {
viveInDesktop.checked = desktopMode;
hmdInDesktop.checked = hmdDesktopPosition;
outOfRangeDataStrategyComboBox.currentIndex = outOfRangeDataStrategyComboBox.model.indexOf(settings.outOfRangeDataStrategy);
initializeButtonState();
updateCalibrationText();
@ -1107,7 +1141,8 @@ Flickable {
"armCircumference": armCircumference.realValue,
"shoulderWidth": shoulderWidth.realValue,
"desktopMode": viveInDesktop.checked,
"hmdDesktopTracking": hmdInDesktop.checked
"hmdDesktopTracking": hmdInDesktop.checked,
"outOfRangeDataStrategy": outOfRangeDataStrategyComboBox.model[outOfRangeDataStrategyComboBox.currentIndex]
}
return settingsObject;

40
interface/src/Application.cpp
View file

@ -5815,6 +5815,42 @@ void Application::update(float deltaTime) {
controller::Pose pose = userInputMapper->getPoseState(action);
myAvatar->setControllerPoseInSensorFrame(action, pose.transform(avatarToSensorMatrix));
}
static const std::vector<QString> trackedObjectStringLiterals = {
QStringLiteral("_TrackedObject00"), QStringLiteral("_TrackedObject01"), QStringLiteral("_TrackedObject02"), QStringLiteral("_TrackedObject03"),
QStringLiteral("_TrackedObject04"), QStringLiteral("_TrackedObject05"), QStringLiteral("_TrackedObject06"), QStringLiteral("_TrackedObject07"),
QStringLiteral("_TrackedObject08"), QStringLiteral("_TrackedObject09"), QStringLiteral("_TrackedObject10"), QStringLiteral("_TrackedObject11"),
QStringLiteral("_TrackedObject12"), QStringLiteral("_TrackedObject13"), QStringLiteral("_TrackedObject14"), QStringLiteral("_TrackedObject15")
};
// Controlled by the Developer > Avatar > Show Tracked Objects menu.
if (_showTrackedObjects) {
static const std::vector<controller::Action> trackedObjectActions = {
controller::Action::TRACKED_OBJECT_00, controller::Action::TRACKED_OBJECT_01, controller::Action::TRACKED_OBJECT_02, controller::Action::TRACKED_OBJECT_03,
controller::Action::TRACKED_OBJECT_04, controller::Action::TRACKED_OBJECT_05, controller::Action::TRACKED_OBJECT_06, controller::Action::TRACKED_OBJECT_07,
controller::Action::TRACKED_OBJECT_08, controller::Action::TRACKED_OBJECT_09, controller::Action::TRACKED_OBJECT_10, controller::Action::TRACKED_OBJECT_11,
controller::Action::TRACKED_OBJECT_12, controller::Action::TRACKED_OBJECT_13, controller::Action::TRACKED_OBJECT_14, controller::Action::TRACKED_OBJECT_15
};
int i = 0;
glm::vec4 BLUE(0.0f, 0.0f, 1.0f, 1.0f);
for (auto& action : trackedObjectActions) {
controller::Pose pose = userInputMapper->getPoseState(action);
if (pose.valid) {
glm::vec3 pos = transformPoint(myAvatarMatrix, pose.translation);
glm::quat rot = glmExtractRotation(myAvatarMatrix) * pose.rotation;
DebugDraw::getInstance().addMarker(trackedObjectStringLiterals[i], rot, pos, BLUE);
} else {
DebugDraw::getInstance().removeMarker(trackedObjectStringLiterals[i]);
}
i++;
}
} else if (_prevShowTrackedObjects) {
for (auto& key : trackedObjectStringLiterals) {
DebugDraw::getInstance().removeMarker(key);
}
}
_prevShowTrackedObjects = _showTrackedObjects;
}
updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
@ -8311,6 +8347,10 @@ void Application::setShowBulletConstraintLimits(bool value) {
_physicsEngine->setShowBulletConstraintLimits(value);
}
void Application::setShowTrackedObjects(bool value) {
_showTrackedObjects = value;
}
void Application::startHMDStandBySession() {
_autoSwitchDisplayModeSupportedHMDPlugin->startStandBySession();
}

5
interface/src/Application.h
View file

@ -498,6 +498,8 @@ private slots:
void setShowBulletConstraints(bool value);
void setShowBulletConstraintLimits(bool value);
void setShowTrackedObjects(bool value);
private:
void init();
bool handleKeyEventForFocusedEntityOrOverlay(QEvent* event);
@ -779,5 +781,8 @@ private:
std::atomic<bool> _pendingRenderEvent { true };
bool quitWhenFinished { false };
bool _showTrackedObjects { false };
bool _prevShowTrackedObjects { false };
};
#endif // hifi_Application_h

2
interface/src/Menu.cpp
View file

@ -626,6 +626,8 @@ Menu::Menu() {
avatar.get(), SLOT(updateMotionBehaviorFromMenu()),
UNSPECIFIED_POSITION, "Developer");
addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::ShowTrackedObjects, 0, false, qApp, SLOT(setShowTrackedObjects(bool)));
// Developer > Hands >>>
MenuWrapper* handOptionsMenu = developerMenu->addMenu("Hands");
addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::DisplayHandTargets, 0, false,

1
interface/src/Menu.h
View file

@ -183,6 +183,7 @@ namespace MenuOption {
const QString RunClientScriptTests = "Run Client Script Tests";
const QString RunTimingTests = "Run Timing Tests";
const QString ScriptedMotorControl = "Enable Scripted Motor Control";
const QString ShowTrackedObjects = "Show Tracked Objects";
const QString SendWrongDSConnectVersion = "Send wrong DS connect version";
const QString SendWrongProtocolVersion = "Send wrong protocol version";
const QString SetHomeLocation = "Set Home Location";

43
interface/src/avatar/MySkeletonModel.cpp
View file

@ -36,6 +36,7 @@ Rig::CharacterControllerState convertCharacterControllerState(CharacterControlle
static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
glm::mat4 worldToSensorMat = glm::inverse(myAvatar->getSensorToWorldMatrix());
// check for pinned hips.
auto hipsIndex = myAvatar->getJointIndex("Hips");
if (myAvatar->isJointPinned(hipsIndex)) {
@ -199,49 +200,38 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
if (avatarHeadPose.isValid() && !(params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] & (uint8_t)Rig::ControllerFlags::Enabled)) {
bool isFlying = (myAvatar->getCharacterController()->getState() == CharacterController::State::Hover || myAvatar->getCharacterController()->computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS);
if (!_prevHipsValid) {
AnimPose hips = computeHipsInSensorFrame(myAvatar, isFlying);
_prevHips = hips;
}
AnimPose hips = computeHipsInSensorFrame(myAvatar, isFlying);
// timescale in seconds
const float TRANS_HORIZ_TIMESCALE = 0.15f;
const float TRANS_VERT_TIMESCALE = 0.01f; // We want the vertical component of the hips to follow quickly to prevent spine squash/stretch.
const float ROT_TIMESCALE = 0.15f;
const float FLY_IDLE_TRANSITION_TIMESCALE = 0.25f;
float transHorizAlpha, transVertAlpha, rotAlpha;
if (_flyIdleTimer < 0.0f) {
transHorizAlpha = glm::min(deltaTime / TRANS_HORIZ_TIMESCALE, 1.0f);
transVertAlpha = glm::min(deltaTime / TRANS_VERT_TIMESCALE, 1.0f);
rotAlpha = glm::min(deltaTime / ROT_TIMESCALE, 1.0f);
_smoothHipsHelper.setHorizontalTranslationTimescale(TRANS_HORIZ_TIMESCALE);
_smoothHipsHelper.setVerticalTranslationTimescale(TRANS_VERT_TIMESCALE);
_smoothHipsHelper.setRotationTimescale(ROT_TIMESCALE);
} else {
transHorizAlpha = glm::min(deltaTime / FLY_IDLE_TRANSITION_TIMESCALE, 1.0f);
transVertAlpha = glm::min(deltaTime / FLY_IDLE_TRANSITION_TIMESCALE, 1.0f);
rotAlpha = glm::min(deltaTime / FLY_IDLE_TRANSITION_TIMESCALE, 1.0f);
_smoothHipsHelper.setHorizontalTranslationTimescale(FLY_IDLE_TRANSITION_TIMESCALE);
_smoothHipsHelper.setVerticalTranslationTimescale(FLY_IDLE_TRANSITION_TIMESCALE);
_smoothHipsHelper.setRotationTimescale(FLY_IDLE_TRANSITION_TIMESCALE);
}
// smootly lerp hips, in sensorframe, with different coeff for horiz and vertical translation.
float hipsY = hips.trans().y;
hips.trans() = lerp(_prevHips.trans(), hips.trans(), transHorizAlpha);
hips.trans().y = lerp(_prevHips.trans().y, hipsY, transVertAlpha);
hips.rot() = safeLerp(_prevHips.rot(), hips.rot(), rotAlpha);
_prevHips = hips;
_prevHipsValid = true;
AnimPose sensorHips = computeHipsInSensorFrame(myAvatar, isFlying);
if (!_prevIsEstimatingHips) {
_smoothHipsHelper.teleport(sensorHips);
}
sensorHips = _smoothHipsHelper.update(sensorHips, deltaTime);
glm::mat4 invRigMat = glm::inverse(myAvatar->getTransform().getMatrix() * Matrices::Y_180);
AnimPose sensorToRigPose(invRigMat * myAvatar->getSensorToWorldMatrix());
params.primaryControllerPoses[Rig::PrimaryControllerType_Hips] = sensorToRigPose * hips;
params.primaryControllerPoses[Rig::PrimaryControllerType_Hips] = sensorToRigPose * sensorHips;
params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
// set spine2 if we have hand controllers
if (myAvatar->getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid() &&
myAvatar->getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() &&
!(params.primaryControllerFlags[Rig::PrimaryControllerType_Spine2] & (uint8_t)Rig::ControllerFlags::Enabled)) {
myAvatar->getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() &&
!(params.primaryControllerFlags[Rig::PrimaryControllerType_Spine2] & (uint8_t)Rig::ControllerFlags::Enabled)) {
AnimPose currentSpine2Pose;
AnimPose currentHeadPose;
@ -268,8 +258,9 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
}
}
_prevIsEstimatingHips = true;
} else {
_prevHipsValid = false;
_prevIsEstimatingHips = false;
}
params.isTalking = head->getTimeWithoutTalking() <= 1.5f;

6
interface/src/avatar/MySkeletonModel.h
View file

@ -10,6 +10,7 @@
#define hifi_MySkeletonModel_h
#include <avatars-renderer/SkeletonModel.h>
#include <AnimUtil.h>
#include "MyAvatar.h"
/// A skeleton loaded from a model.
@ -26,11 +27,12 @@ public:
private:
void updateFingers();
AnimPose _prevHips; // sensor frame
bool _prevHipsValid { false };
CriticallyDampedSpringPoseHelper _smoothHipsHelper; // sensor frame
bool _prevIsFlying { false };
float _flyIdleTimer { 0.0f };
float _prevIsEstimatingHips { false };
std::map<int, int> _jointRotationFrameOffsetMap;
};

22
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -24,7 +24,7 @@
#include "AnimUtil.h"
static const int MAX_TARGET_MARKERS = 30;
static const float JOINT_CHAIN_INTERP_TIME = 0.25f;
static const float JOINT_CHAIN_INTERP_TIME = 0.5f;
static void lookupJointInfo(const AnimInverseKinematics::JointChainInfo& jointChainInfo,
int indexA, int indexB,
@ -253,11 +253,25 @@ void AnimInverseKinematics::solve(const AnimContext& context, const std::vector<
if (numLoops == MAX_IK_LOOPS) {
for (size_t i = 0; i < _prevJointChainInfoVec.size(); i++) {
if (_prevJointChainInfoVec[i].timer > 0.0f) {
float alpha = (JOINT_CHAIN_INTERP_TIME - _prevJointChainInfoVec[i].timer) / JOINT_CHAIN_INTERP_TIME;
// ease in expo
alpha = 1.0f - powf(2.0f, -10.0f * alpha);
size_t chainSize = std::min(_prevJointChainInfoVec[i].jointInfoVec.size(), jointChainInfoVec[i].jointInfoVec.size());
for (size_t j = 0; j < chainSize; j++) {
jointChainInfoVec[i].jointInfoVec[j].rot = safeMix(_prevJointChainInfoVec[i].jointInfoVec[j].rot, jointChainInfoVec[i].jointInfoVec[j].rot, alpha);
jointChainInfoVec[i].jointInfoVec[j].trans = lerp(_prevJointChainInfoVec[i].jointInfoVec[j].trans, jointChainInfoVec[i].jointInfoVec[j].trans, alpha);
if (jointChainInfoVec[i].target.getType() != IKTarget::Type::Unknown) {
// if we are interping into an enabled target type, i.e. not off, lerp the rot and the trans.
for (size_t j = 0; j < chainSize; j++) {
jointChainInfoVec[i].jointInfoVec[j].rot = safeMix(_prevJointChainInfoVec[i].jointInfoVec[j].rot, jointChainInfoVec[i].jointInfoVec[j].rot, alpha);
jointChainInfoVec[i].jointInfoVec[j].trans = lerp(_prevJointChainInfoVec[i].jointInfoVec[j].trans, jointChainInfoVec[i].jointInfoVec[j].trans, alpha);
}
} else {
// if we are interping into a disabled target type, keep the rot & trans the same, but lerp the weight down to zero.
jointChainInfoVec[i].target.setType((int)_prevJointChainInfoVec[i].target.getType());
jointChainInfoVec[i].target.setWeight(_prevJointChainInfoVec[i].target.getWeight() * (1.0f - alpha));
jointChainInfoVec[i].jointInfoVec = _prevJointChainInfoVec[i].jointInfoVec;
}
}
}

7
libraries/animation/src/AnimTwoBoneIK.cpp
View file

@ -201,14 +201,17 @@ const AnimPoseVec& AnimTwoBoneIK::evaluate(const AnimVariantMap& animVars, const
if (_interpType != InterpType::None) {
_interpAlpha += _interpAlphaVel * dt;
// ease in expo
float easeInAlpha = 1.0f - powf(2.0f, -10.0f * _interpAlpha);
if (_interpAlpha < 1.0f) {
AnimChain interpChain;
if (_interpType == InterpType::SnapshotToUnderPoses) {
interpChain = underChain;
interpChain.blend(_snapshotChain, _interpAlpha);
interpChain.blend(_snapshotChain, easeInAlpha);
} else if (_interpType == InterpType::SnapshotToSolve) {
interpChain = ikChain;
interpChain.blend(_snapshotChain, _interpAlpha);
interpChain.blend(_snapshotChain, easeInAlpha);
}
// copy interpChain into _poses
interpChain.outputRelativePoses(_poses);

90
libraries/animation/src/AnimUtil.h
View file

@ -38,4 +38,94 @@ AnimPose boneLookAt(const glm::vec3& target, const AnimPose& bone);
// and returns a bodyRot that is also z-forward and y-up
glm::quat computeBodyFacingFromHead(const glm::quat& headRot, const glm::vec3& up);
// Uses a approximation of a critically damped spring to smooth full AnimPoses.
// It provides seperate timescales for horizontal, vertical and rotation components.
// The timescale is roughly how much time it will take the spring will reach halfway toward it's target.
class CriticallyDampedSpringPoseHelper {
public:
CriticallyDampedSpringPoseHelper() : _prevPoseValid(false) {}
void setHorizontalTranslationTimescale(float timescale) {
_horizontalTranslationTimescale = timescale;
}
void setVerticalTranslationTimescale(float timescale) {
_verticalTranslationTimescale = timescale;
}
void setRotationTimescale(float timescale) {
_rotationTimescale = timescale;
}
AnimPose update(const AnimPose& pose, float deltaTime) {
if (!_prevPoseValid) {
_prevPose = pose;
_prevPoseValid = true;
}
const float horizontalTranslationAlpha = glm::min(deltaTime / _horizontalTranslationTimescale, 1.0f);
const float verticalTranslationAlpha = glm::min(deltaTime / _verticalTranslationTimescale, 1.0f);
const float rotationAlpha = glm::min(deltaTime / _rotationTimescale, 1.0f);
const float poseY = pose.trans().y;
AnimPose newPose = _prevPose;
newPose.trans() = lerp(_prevPose.trans(), pose.trans(), horizontalTranslationAlpha);
newPose.trans().y = lerp(_prevPose.trans().y, poseY, verticalTranslationAlpha);
newPose.rot() = safeLerp(_prevPose.rot(), pose.rot(), rotationAlpha);
_prevPose = newPose;
_prevPoseValid = true;
return newPose;
}
void teleport(const AnimPose& pose) {
_prevPoseValid = true;
_prevPose = pose;
}
protected:
AnimPose _prevPose;
float _horizontalTranslationTimescale { 0.15f };
float _verticalTranslationTimescale { 0.15f };
float _rotationTimescale { 0.15f };
bool _prevPoseValid;
};
class SnapshotBlendPoseHelper {
public:
SnapshotBlendPoseHelper() : _snapshotValid(false) {}
void setBlendDuration(float duration) {
_duration = duration;
}
void setSnapshot(const AnimPose& pose) {
_snapshotValid = true;
_snapshotPose = pose;
_timer = _duration;
}
AnimPose update(const AnimPose& targetPose, float deltaTime) {
_timer -= deltaTime;
if (_timer > 0.0f) {
float alpha = (_duration - _timer) / _duration;
// ease in expo
alpha = 1.0f - powf(2.0f, -10.0f * alpha);
AnimPose newPose = targetPose;
newPose.blend(_snapshotPose, alpha);
return newPose;
} else {
return targetPose;
}
}
protected:
AnimPose _snapshotPose;
float _duration { 1.0f };
float _timer { 0.0f };
bool _snapshotValid { false };
};
#endif

26
libraries/animation/src/Rig.cpp
View file

@ -1675,6 +1675,7 @@ glm::vec3 Rig::calculateKneePoleVector(int footJointIndex, int kneeIndex, int up
void Rig::updateFromControllerParameters(const ControllerParameters& params, float dt) {
if (!_animSkeleton || !_animNode) {
_previousControllerParameters = params;
return;
}
@ -1685,7 +1686,9 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
bool leftHandEnabled = params.primaryControllerFlags[PrimaryControllerType_LeftHand] & (uint8_t)ControllerFlags::Enabled;
bool rightHandEnabled = params.primaryControllerFlags[PrimaryControllerType_RightHand] & (uint8_t)ControllerFlags::Enabled;
bool hipsEnabled = params.primaryControllerFlags[PrimaryControllerType_Hips] & (uint8_t)ControllerFlags::Enabled;
bool prevHipsEnabled = _previousControllerParameters.primaryControllerFlags[PrimaryControllerType_Hips] & (uint8_t)ControllerFlags::Enabled;
bool hipsEstimated = params.primaryControllerFlags[PrimaryControllerType_Hips] & (uint8_t)ControllerFlags::Estimated;
bool prevHipsEstimated = _previousControllerParameters.primaryControllerFlags[PrimaryControllerType_Hips] & (uint8_t)ControllerFlags::Estimated;
bool leftFootEnabled = params.primaryControllerFlags[PrimaryControllerType_LeftFoot] & (uint8_t)ControllerFlags::Enabled;
bool rightFootEnabled = params.primaryControllerFlags[PrimaryControllerType_RightFoot] & (uint8_t)ControllerFlags::Enabled;
bool spine2Enabled = params.primaryControllerFlags[PrimaryControllerType_Spine2] & (uint8_t)ControllerFlags::Enabled;
@ -1724,9 +1727,26 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
}
if (hipsEnabled) {
// Apply a bit of smoothing when the hips toggle between estimated and non-estimated poses.
// This should help smooth out problems with the vive tracker when the sensor is occluded.
if (prevHipsEnabled && hipsEstimated != prevHipsEstimated) {
// blend from a snapshot of the previous hips.
const float HIPS_BLEND_DURATION = 0.5f;
_hipsBlendHelper.setBlendDuration(HIPS_BLEND_DURATION);
_hipsBlendHelper.setSnapshot(_previousControllerParameters.primaryControllerPoses[PrimaryControllerType_Hips]);
} else if (!prevHipsEnabled) {
// we have no sensible value to blend from.
const float HIPS_BLEND_DURATION = 0.0f;
_hipsBlendHelper.setBlendDuration(HIPS_BLEND_DURATION);
_hipsBlendHelper.setSnapshot(params.primaryControllerPoses[PrimaryControllerType_Hips]);
}
AnimPose hips = _hipsBlendHelper.update(params.primaryControllerPoses[PrimaryControllerType_Hips], dt);
_animVars.set("hipsType", (int)IKTarget::Type::RotationAndPosition);
_animVars.set("hipsPosition", params.primaryControllerPoses[PrimaryControllerType_Hips].trans());
_animVars.set("hipsRotation", params.primaryControllerPoses[PrimaryControllerType_Hips].rot());
_animVars.set("hipsPosition", hips.trans());
_animVars.set("hipsRotation", hips.rot());
} else {
_animVars.set("hipsType", (int)IKTarget::Type::Unknown);
}
@ -1766,6 +1786,8 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
}
}
}
_previousControllerParameters = params;
}
void Rig::initAnimGraph(const QUrl& url) {

4
libraries/animation/src/Rig.h
View file

@ -24,6 +24,7 @@
#include "AnimNode.h"
#include "AnimNodeLoader.h"
#include "SimpleMovingAverage.h"
#include "AnimUtil.h"
class Rig;
class AnimInverseKinematics;
@ -414,6 +415,9 @@ protected:
AnimContext _lastContext;
AnimVariantMap _lastAnimVars;
SnapshotBlendPoseHelper _hipsBlendHelper;
ControllerParameters _previousControllerParameters;
};
#endif /* defined(__hifi__Rig__) */

2
libraries/controllers/src/controllers/impl/Filter.cpp
View file

@ -31,6 +31,7 @@
#include "filters/RotateFilter.h"
#include "filters/LowVelocityFilter.h"
#include "filters/ExponentialSmoothingFilter.h"
#include "filters/AccelerationLimiterFilter.h"
using namespace controller;
@ -51,6 +52,7 @@ REGISTER_FILTER_CLASS_INSTANCE(PostTransformFilter, "postTransform")
REGISTER_FILTER_CLASS_INSTANCE(RotateFilter, "rotate")
REGISTER_FILTER_CLASS_INSTANCE(LowVelocityFilter, "lowVelocity")
REGISTER_FILTER_CLASS_INSTANCE(ExponentialSmoothingFilter, "exponentialSmoothing")
REGISTER_FILTER_CLASS_INSTANCE(AccelerationLimiterFilter, "accelerationLimiter")
const QString JSON_FILTER_TYPE = QStringLiteral("type");
const QString JSON_FILTER_PARAMS = QStringLiteral("params");

192
libraries/controllers/src/controllers/impl/filters/AccelerationLimiterFilter.cpp Normal file
View file

@ -0,0 +1,192 @@
//
// Created by Anthony Thibault 2018/11/09
// Copyright 2018 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "AccelerationLimiterFilter.h"
#include <QtCore/QJsonObject>
#include <QtCore/QJsonArray>
#include "../../UserInputMapper.h"
#include "../../Input.h"
#include <DependencyManager.h>
#include <QDebug>
#include <StreamUtils.h>
static const QString JSON_ROTATION_ACCELERATION_LIMIT = QStringLiteral("rotationAccelerationLimit");
static const QString JSON_TRANSLATION_ACCELERATION_LIMIT = QStringLiteral("translationAccelerationLimit");
static const QString JSON_TRANSLATION_SNAP_THRESHOLD = QStringLiteral("translationSnapThreshold");
static const QString JSON_ROTATION_SNAP_THRESHOLD = QStringLiteral("rotationSnapThreshold");
static glm::vec3 angularVelFromDeltaRot(const glm::quat& deltaQ, float dt) {
// Measure the angular velocity of a delta rotation quaternion by using quaternion logarithm.
// The logarithm of a unit quternion returns the axis of rotation with a length of one half the angle of rotation in the imaginary part.
// The real part will be 0. Then we multiply it by 2 / dt. turning it into the angular velocity, (except for the extra w = 0 part).
glm::quat omegaQ((2.0f / dt) * glm::log(deltaQ));
return glm::vec3(omegaQ.x, omegaQ.y, omegaQ.z);
}
static glm::quat deltaRotFromAngularVel(const glm::vec3& omega, float dt) {
// Convert angular velocity into a delta quaternion by using quaternion exponent.
// The exponent of quaternion will return a delta rotation around the axis of the imaginary part, by twice the angle as determined by the length of that imaginary part.
// It is the inverse of the logarithm step in angularVelFromDeltaRot
glm::quat omegaQ(0.0f, omega.x, omega.y, omega.z);
return glm::exp((dt / 2.0f) * omegaQ);
}
static glm::vec3 filterTranslation(const glm::vec3& x0, const glm::vec3& x1, const glm::vec3& x2, const glm::vec3& x3,
float dt, float accLimit, float snapThreshold) {
// measure the linear velocities of this step and the previoius step
glm::vec3 v1 = (x3 - x1) / (2.0f * dt);
glm::vec3 v0 = (x2 - x0) / (2.0f * dt);
// compute the acceleration
const glm::vec3 a = (v1 - v0) / dt;
// clamp the acceleration if it is over the limit
float aLen = glm::length(a);
// pick limit based on if we are moving faster then our target
float distToTarget = glm::length(x3 - x2);
if (aLen > accLimit && distToTarget > snapThreshold) {
// Solve for a new `v1`, such that `a` does not exceed `aLimit`
// This combines two steps:
// 1) Computing a limited accelration in the direction of `a`, but with a magnitute of `aLimit`:
// `newA = a * (aLimit / aLen)`
// 2) Computing new `v1`
// `v1 = newA * dt + v0`
// We combine the scalars from step 1 and step 2 into a single term to avoid having to do multiple scalar-vec3 multiplies.
v1 = a * ((accLimit * dt) / aLen) + v0;
// apply limited v1 to compute filtered x3
return v1 * dt + x2;
} else {
// did not exceed limit, no filtering necesary
return x3;
}
}
static glm::quat filterRotation(const glm::quat& q0In, const glm::quat& q1In, const glm::quat& q2In, const glm::quat& q3In,
float dt, float accLimit, float snapThreshold) {
// ensure quaternions have the same polarity
glm::quat q0 = q0In;
glm::quat q1 = glm::dot(q0In, q1In) < 0.0f ? -q1In : q1In;
glm::quat q2 = glm::dot(q1In, q2In) < 0.0f ? -q2In : q2In;
glm::quat q3 = glm::dot(q2In, q3In) < 0.0f ? -q3In : q3In;
// measure the angular velocities of this step and the previous step
glm::vec3 w1 = angularVelFromDeltaRot(q3 * glm::inverse(q1), 2.0f * dt);
glm::vec3 w0 = angularVelFromDeltaRot(q2 * glm::inverse(q0), 2.0f * dt);
const glm::vec3 a = (w1 - w0) / dt;
float aLen = glm::length(a);
// clamp the acceleration if it is over the limit
float angleToTarget = glm::angle(q3 * glm::inverse(q2));
if (aLen > accLimit && angleToTarget > snapThreshold) {
// solve for a new w1, such that a does not exceed the accLimit
w1 = a * ((accLimit * dt) / aLen) + w0;
// apply limited w1 to compute filtered q3
return deltaRotFromAngularVel(w1, dt) * q2;
} else {
// did not exceed limit, no filtering necesary
return q3;
}
}
namespace controller {
Pose AccelerationLimiterFilter::apply(Pose value) const {
if (value.isValid()) {
// to perform filtering in sensor space, we need to compute the transformations.
auto userInputMapper = DependencyManager::get<UserInputMapper>();
const InputCalibrationData calibrationData = userInputMapper->getInputCalibrationData();
glm::mat4 sensorToAvatarMat = glm::inverse(calibrationData.avatarMat) * calibrationData.sensorToWorldMat;
glm::mat4 avatarToSensorMat = glm::inverse(calibrationData.sensorToWorldMat) * calibrationData.avatarMat;
// transform pose into sensor space.
Pose sensorValue = value.transform(avatarToSensorMat);
if (_prevValid) {
const float DELTA_TIME = 0.01111111f;
glm::vec3 unfilteredTranslation = sensorValue.translation;
sensorValue.translation = filterTranslation(_prevPos[0], _prevPos[1], _prevPos[2], sensorValue.translation,
DELTA_TIME, _translationAccelerationLimit, _translationSnapThreshold);
glm::quat unfilteredRot = sensorValue.rotation;
sensorValue.rotation = filterRotation(_prevRot[0], _prevRot[1], _prevRot[2], sensorValue.rotation,
DELTA_TIME, _rotationAccelerationLimit, _rotationSnapThreshold);
// remember previous values.
_prevPos[0] = _prevPos[1];
_prevPos[1] = _prevPos[2];
_prevPos[2] = sensorValue.translation;
_prevRot[0] = _prevRot[1];
_prevRot[1] = _prevRot[2];
_prevRot[2] = sensorValue.rotation;
_unfilteredPrevPos[0] = _unfilteredPrevPos[1];
_unfilteredPrevPos[1] = _unfilteredPrevPos[2];
_unfilteredPrevPos[2] = unfilteredTranslation;
_unfilteredPrevRot[0] = _unfilteredPrevRot[1];
_unfilteredPrevRot[1] = _unfilteredPrevRot[2];
_unfilteredPrevRot[2] = unfilteredRot;
// transform back into avatar space
return sensorValue.transform(sensorToAvatarMat);
} else {
// initialize previous values with the current sample.
_prevPos[0] = sensorValue.translation;
_prevPos[1] = sensorValue.translation;
_prevPos[2] = sensorValue.translation;
_prevRot[0] = sensorValue.rotation;
_prevRot[1] = sensorValue.rotation;
_prevRot[2] = sensorValue.rotation;
_unfilteredPrevPos[0] = sensorValue.translation;
_unfilteredPrevPos[1] = sensorValue.translation;
_unfilteredPrevPos[2] = sensorValue.translation;
_unfilteredPrevRot[0] = sensorValue.rotation;
_unfilteredPrevRot[1] = sensorValue.rotation;
_unfilteredPrevRot[2] = sensorValue.rotation;
_prevValid = true;
// no previous value to smooth with, so return value unchanged
return value;
}
} else {
// mark previous poses as invalid.
_prevValid = false;
// return invalid value unchanged
return value;
}
}
bool AccelerationLimiterFilter::parseParameters(const QJsonValue& parameters) {
if (parameters.isObject()) {
auto obj = parameters.toObject();
if (obj.contains(JSON_ROTATION_ACCELERATION_LIMIT) && obj.contains(JSON_TRANSLATION_ACCELERATION_LIMIT) &&
obj.contains(JSON_ROTATION_SNAP_THRESHOLD) && obj.contains(JSON_TRANSLATION_SNAP_THRESHOLD)) {
_rotationAccelerationLimit = (float)obj[JSON_ROTATION_ACCELERATION_LIMIT].toDouble();
_translationAccelerationLimit = (float)obj[JSON_TRANSLATION_ACCELERATION_LIMIT].toDouble();
_rotationSnapThreshold = (float)obj[JSON_ROTATION_SNAP_THRESHOLD].toDouble();
_translationSnapThreshold = (float)obj[JSON_TRANSLATION_SNAP_THRESHOLD].toDouble();
return true;
}
}
return false;
}
}

41
libraries/controllers/src/controllers/impl/filters/AccelerationLimiterFilter.h Normal file
View file

@ -0,0 +1,41 @@
//
// Created by Anthony Thibault 2018/11/09
// Copyright 2018 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_Controllers_Filters_Acceleration_Limiter_h
#define hifi_Controllers_Filters_Acceleration_Limiter_h
#include "../Filter.h"
namespace controller {
class AccelerationLimiterFilter : public Filter {
REGISTER_FILTER_CLASS(AccelerationLimiterFilter);
public:
AccelerationLimiterFilter() {}
float apply(float value) const override { return value; }
Pose apply(Pose value) const override;
bool parseParameters(const QJsonValue& parameters) override;
private:
float _rotationAccelerationLimit { FLT_MAX };
float _translationAccelerationLimit { FLT_MAX };
float _rotationSnapThreshold { 0.0f };
float _translationSnapThreshold { 0.0f };
mutable glm::vec3 _prevPos[3]; // sensor space
mutable glm::quat _prevRot[3]; // sensor space
mutable glm::vec3 _unfilteredPrevPos[3]; // sensor space
mutable glm::quat _unfilteredPrevRot[3]; // sensor space
mutable bool _prevValid { false };
};
}
#endif

2
libraries/controllers/src/controllers/impl/filters/ExponentialSmoothingFilter.cpp
View file

@ -35,7 +35,7 @@ namespace controller {
if (_prevSensorValue.isValid()) {
// exponential smoothing filter
sensorValue.translation = _translationConstant * sensorValue.getTranslation() + (1.0f - _translationConstant) * _prevSensorValue.getTranslation();
sensorValue.rotation = safeMix(sensorValue.getRotation(), _prevSensorValue.getRotation(), _rotationConstant);
sensorValue.rotation = safeMix(sensorValue.getRotation(), _prevSensorValue.getRotation(), (1.0f - _rotationConstant));
// remember previous sensor space value.
_prevSensorValue = sensorValue;

95
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -129,6 +129,28 @@ static glm::mat4 calculateResetMat() {
return glm::mat4();
}
static QString outOfRangeDataStrategyToString(ViveControllerManager::OutOfRangeDataStrategy strategy) {
switch (strategy) {
default:
case ViveControllerManager::OutOfRangeDataStrategy::None:
return "None";
case ViveControllerManager::OutOfRangeDataStrategy::Freeze:
return "Freeze";
case ViveControllerManager::OutOfRangeDataStrategy::Drop:
return "Drop";
}
}
static ViveControllerManager::OutOfRangeDataStrategy stringToOutOfRangeDataStrategy(const QString& string) {
if (string == "Drop") {
return ViveControllerManager::OutOfRangeDataStrategy::Drop;
} else if (string == "Freeze") {
return ViveControllerManager::OutOfRangeDataStrategy::Freeze;
} else {
return ViveControllerManager::OutOfRangeDataStrategy::None;
}
}
bool ViveControllerManager::isDesktopMode() {
if (_container) {
return !_container->getActiveDisplayPlugin()->isHmd();
@ -288,8 +310,10 @@ void ViveControllerManager::loadSettings() {
if (_inputDevice) {
const double DEFAULT_ARM_CIRCUMFERENCE = 0.33;
const double DEFAULT_SHOULDER_WIDTH = 0.48;
const QString DEFAULT_OUT_OF_RANGE_STRATEGY = "Drop";
_inputDevice->_armCircumference = settings.value("armCircumference", QVariant(DEFAULT_ARM_CIRCUMFERENCE)).toDouble();
_inputDevice->_shoulderWidth = settings.value("shoulderWidth", QVariant(DEFAULT_SHOULDER_WIDTH)).toDouble();
_inputDevice->_outOfRangeDataStrategy = stringToOutOfRangeDataStrategy(settings.value("outOfRangeDataStrategy", QVariant(DEFAULT_OUT_OF_RANGE_STRATEGY)).toString());
}
}
settings.endGroup();
@ -303,6 +327,7 @@ void ViveControllerManager::saveSettings() const {
if (_inputDevice) {
settings.setValue(QString("armCircumference"), _inputDevice->_armCircumference);
settings.setValue(QString("shoulderWidth"), _inputDevice->_shoulderWidth);
settings.setValue(QString("outOfRangeDataStrategy"), outOfRangeDataStrategyToString(_inputDevice->_outOfRangeDataStrategy));
}
}
settings.endGroup();
@ -446,6 +471,8 @@ void ViveControllerManager::InputDevice::configureCalibrationSettings(const QJso
hmdDesktopTracking = iter.value().toBool();
} else if (iter.key() == "desktopMode") {
hmdDesktopMode = iter.value().toBool();
} else if (iter.key() == "outOfRangeDataStrategy") {
_outOfRangeDataStrategy = stringToOutOfRangeDataStrategy(iter.value().toString());
}
iter++;
}
@ -468,6 +495,7 @@ QJsonObject ViveControllerManager::InputDevice::configurationSettings() {
configurationSettings["puckCount"] = (int)_validTrackedObjects.size();
configurationSettings["armCircumference"] = (double)_armCircumference * M_TO_CM;
configurationSettings["shoulderWidth"] = (double)_shoulderWidth * M_TO_CM;
configurationSettings["outOfRangeDataStrategy"] = outOfRangeDataStrategyToString(_outOfRangeDataStrategy);
return configurationSettings;
}
@ -484,6 +512,10 @@ void ViveControllerManager::InputDevice::emitCalibrationStatus() {
emit inputConfiguration->calibrationStatus(status);
}
static controller::Pose buildPose(const glm::mat4& mat, const glm::vec3& linearVelocity, const glm::vec3& angularVelocity) {
return controller::Pose(extractTranslation(mat), glmExtractRotation(mat), linearVelocity, angularVelocity);
}
void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData) {
uint32_t poseIndex = controller::TRACKED_OBJECT_00 + deviceIndex;
printDeviceTrackingResultChange(deviceIndex);
@ -492,35 +524,48 @@ void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceInde
_nextSimPoseData.vrPoses[deviceIndex].bPoseIsValid &&
poseIndex <= controller::TRACKED_OBJECT_15) {
mat4& mat = mat4();
vec3 linearVelocity = vec3();
vec3 angularVelocity = vec3();
// check if the device is tracking out of range, then process the correct pose depending on the result.
if (_nextSimPoseData.vrPoses[deviceIndex].eTrackingResult != vr::TrackingResult_Running_OutOfRange) {
mat = _nextSimPoseData.poses[deviceIndex];
linearVelocity = _nextSimPoseData.linearVelocities[deviceIndex];
angularVelocity = _nextSimPoseData.angularVelocities[deviceIndex];
} else {
mat = _lastSimPoseData.poses[deviceIndex];
linearVelocity = _lastSimPoseData.linearVelocities[deviceIndex];
angularVelocity = _lastSimPoseData.angularVelocities[deviceIndex];
// make sure that we do not overwrite the pose in the _lastSimPose with incorrect data.
_nextSimPoseData.poses[deviceIndex] = _lastSimPoseData.poses[deviceIndex];
_nextSimPoseData.linearVelocities[deviceIndex] = _lastSimPoseData.linearVelocities[deviceIndex];
_nextSimPoseData.angularVelocities[deviceIndex] = _lastSimPoseData.angularVelocities[deviceIndex];
controller::Pose pose;
switch (_outOfRangeDataStrategy) {
case OutOfRangeDataStrategy::Drop:
default:
// Drop - Mark all non Running_OK results as invald
if (_nextSimPoseData.vrPoses[deviceIndex].eTrackingResult == vr::TrackingResult_Running_OK) {
pose = buildPose(_nextSimPoseData.poses[deviceIndex], _nextSimPoseData.linearVelocities[deviceIndex], _nextSimPoseData.angularVelocities[deviceIndex]);
} else {
pose.valid = false;
}
break;
case OutOfRangeDataStrategy::None:
// None - Ignore eTrackingResult all together
pose = buildPose(_nextSimPoseData.poses[deviceIndex], _nextSimPoseData.linearVelocities[deviceIndex], _nextSimPoseData.angularVelocities[deviceIndex]);
break;
case OutOfRangeDataStrategy::Freeze:
// Freeze - Dont invalide non Running_OK poses, instead just return the last good pose.
if (_nextSimPoseData.vrPoses[deviceIndex].eTrackingResult == vr::TrackingResult_Running_OK) {
pose = buildPose(_nextSimPoseData.poses[deviceIndex], _nextSimPoseData.linearVelocities[deviceIndex], _nextSimPoseData.angularVelocities[deviceIndex]);
} else {
pose = buildPose(_lastSimPoseData.poses[deviceIndex], _lastSimPoseData.linearVelocities[deviceIndex], _lastSimPoseData.angularVelocities[deviceIndex]);
// make sure that we do not overwrite the pose in the _lastSimPose with incorrect data.
_nextSimPoseData.poses[deviceIndex] = _lastSimPoseData.poses[deviceIndex];
_nextSimPoseData.linearVelocities[deviceIndex] = _lastSimPoseData.linearVelocities[deviceIndex];
_nextSimPoseData.angularVelocities[deviceIndex] = _lastSimPoseData.angularVelocities[deviceIndex];
}
break;
}
controller::Pose pose(extractTranslation(mat), glmExtractRotation(mat), linearVelocity, angularVelocity);
if (pose.valid) {
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
_poseStateMap[poseIndex] = pose.transform(controllerToAvatar);
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
_poseStateMap[poseIndex] = pose.transform(controllerToAvatar);
// but _validTrackedObjects remain in sensor frame
_validTrackedObjects.push_back(std::make_pair(poseIndex, pose));
_trackedControllers++;
// but _validTrackedObjects remain in sensor frame
_validTrackedObjects.push_back(std::make_pair(poseIndex, pose));
_trackedControllers++;
} else {
// insert invalid pose into state map
_poseStateMap[poseIndex] = pose;
}
} else {
controller::Pose invalidPose;
_poseStateMap[poseIndex] = invalidPose;

8
plugins/openvr/src/ViveControllerManager.h
View file

@ -60,11 +60,18 @@ public:
virtual void saveSettings() const override;
virtual void loadSettings() override;
enum class OutOfRangeDataStrategy {
None,
Freeze,
Drop
};
private:
class InputDevice : public controller::InputDevice {
public:
InputDevice(vr::IVRSystem*& system);
bool isHeadControllerMounted() const { return _overrideHead; }
private:
// Device functions
controller::Input::NamedVector getAvailableInputs() const override;
@ -162,6 +169,7 @@ private:
FilteredStick _filteredLeftStick;
FilteredStick _filteredRightStick;
std::string _headsetName {""};
OutOfRangeDataStrategy _outOfRangeDataStrategy { OutOfRangeDataStrategy::Drop };
std::vector<PuckPosePair> _validTrackedObjects;
std::map<uint32_t, glm::mat4> _pucksPostOffset;

222
scripts/developer/accelerationFilterApp.js Normal file
View file

@ -0,0 +1,222 @@
var LEFT_HAND_INDEX = 0;
var RIGHT_HAND_INDEX = 1;
var LEFT_FOOT_INDEX = 2;
var RIGHT_FOOT_INDEX = 3;
var HIPS_INDEX = 4;
var SPINE2_INDEX = 5;
var mappingJson = {
name: "com.highfidelity.testing.accelerationTest",
channels: [
{
from: "Standard.LeftHand",
to: "Actions.LeftHand",
filters: [
{
type: "accelerationLimiter",
rotationAccelerationLimit: 2000.0,
translationAccelerationLimit: 100.0,
}
]
},
{
from: "Standard.RightHand",
to: "Actions.RightHand",
filters: [
{
type: "accelerationLimiter",
rotationAccelerationLimit: 2000.0,
translationAccelerationLimit: 100.0,
}
]
},
{
from: "Standard.LeftFoot",
to: "Actions.LeftFoot",
filters: [
{
type: "accelerationLimiter",
rotationAccelerationLimit: 2000.0,
translationAccelerationLimit: 100.0,
}
]
},
{
from: "Standard.RightFoot",
to: "Actions.RightFoot",
filters: [
{
type: "accelerationLimiter",
rotationAccelerationLimit: 2000.0,
translationAccelerationLimit: 100.0,
}
]
},
{
from: "Standard.Hips",
to: "Actions.Hips",
filters: [
{
type: "accelerationLimiter",
rotationAccelerationLimit: 2000.0,
translationAccelerationLimit: 100.0,
}
]
},
{
from: "Standard.Spine2",
to: "Actions.Spine2",
filters: [
{
type: "accelerationLimiter",
rotationAccelerationLimit: 2000.0,
translationAccelerationLimit: 100.0,
}
]
}
]
};
//
// tablet app boiler plate
//
var TABLET_BUTTON_NAME = "ACCFILT";
var HTML_URL = "https://s3.amazonaws.com/hifi-public/tony/html/accelerationFilterApp.html?2";
var tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");
var tabletButton = tablet.addButton({
text: TABLET_BUTTON_NAME,
icon: "https://s3.amazonaws.com/hifi-public/tony/icons/tpose-i.svg",
activeIcon: "https://s3.amazonaws.com/hifi-public/tony/icons/tpose-a.svg"
});
tabletButton.clicked.connect(function () {
if (shown) {
tablet.gotoHomeScreen();
} else {
tablet.gotoWebScreen(HTML_URL);
}
});
var shown = false;
function onScreenChanged(type, url) {
if (type === "Web" && url === HTML_URL) {
tabletButton.editProperties({isActive: true});
if (!shown) {
// hook up to event bridge
tablet.webEventReceived.connect(onWebEventReceived);
shownChanged(true);
}
shown = true;
} else {
tabletButton.editProperties({isActive: false});
if (shown) {
// disconnect from event bridge
tablet.webEventReceived.disconnect(onWebEventReceived);
shownChanged(false);
}
shown = false;
}
}
function getTranslationAccelerationLimit(i) {
return mappingJson.channels[i].filters[0].translationAccelerationLimit;
}
function setTranslationAccelerationLimit(i, value) {
mappingJson.channels[i].filters[0].translationAccelerationLimit = value;
mappingChanged();
}
function getRotationAccelerationLimit(i) {
return mappingJson.channels[i].filters[0].rotationAccelerationLimit;
}
function setRotationAccelerationLimit(i, value) {
mappingJson.channels[i].filters[0].rotationAccelerationLimit = value; mappingChanged();
}
function onWebEventReceived(msg) {
if (msg.name === "init-complete") {
var values = [
{name: "left-hand-translation-acceleration-limit", val: getTranslationAccelerationLimit(LEFT_HAND_INDEX), checked: false},
{name: "left-hand-rotation-acceleration-limit", val: getRotationAccelerationLimit(LEFT_HAND_INDEX), checked: false},
{name: "right-hand-translation-acceleration-limit", val: getTranslationAccelerationLimit(RIGHT_HAND_INDEX), checked: false},
{name: "right-hand-rotation-acceleration-limit", val: getRotationAccelerationLimit(RIGHT_HAND_INDEX), checked: false},
{name: "left-foot-translation-acceleration-limit", val: getTranslationAccelerationLimit(LEFT_FOOT_INDEX), checked: false},
{name: "left-foot-rotation-acceleration-limit", val: getRotationAccelerationLimit(LEFT_FOOT_INDEX), checked: false},
{name: "right-foot-translation-acceleration-limit", val: getTranslationAccelerationLimit(RIGHT_FOOT_INDEX), checked: false},
{name: "right-foot-rotation-acceleration-limit", val: getRotationAccelerationLimit(RIGHT_FOOT_INDEX), checked: false},
{name: "hips-translation-acceleration-limit", val: getTranslationAccelerationLimit(HIPS_INDEX), checked: false},
{name: "hips-rotation-acceleration-limit", val: getRotationAccelerationLimit(HIPS_INDEX), checked: false},
{name: "spine2-translation-acceleration-limit", val: getTranslationAccelerationLimit(SPINE2_INDEX), checked: false},
{name: "spine2-rotation-acceleration-limit", val: getRotationAccelerationLimit(SPINE2_INDEX), checked: false}
];
tablet.emitScriptEvent(JSON.stringify(values));
} else if (msg.name === "left-hand-translation-acceleration-limit") {
setTranslationAccelerationLimit(LEFT_HAND_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "left-hand-rotation-acceleration-limit") {
setRotationAccelerationLimit(LEFT_HAND_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "right-hand-translation-acceleration-limit") {
setTranslationAccelerationLimit(RIGHT_HAND_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "right-hand-rotation-acceleration-limit") {
setRotationAccelerationLimit(RIGHT_HAND_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "left-foot-translation-acceleration-limit") {
setTranslationAccelerationLimit(LEFT_FOOT_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "left-foot-rotation-acceleration-limit") {
setRotationAccelerationLimit(LEFT_FOOT_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "right-foot-translation-acceleration-limit") {
setTranslationAccelerationLimit(RIGHT_FOOT_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "right-foot-rotation-acceleration-limit") {
setRotationAccelerationLimit(RIGHT_FOOT_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "hips-translation-acceleration-limit") {
setTranslationAccelerationLimit(HIPS_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "hips-rotation-acceleration-limit") {
setRotationAccelerationLimit(HIPS_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "spine2-translation-acceleration-limit") {
setTranslationAccelerationLimit(SPINE2_INDEX, parseInt(msg.val, 10));
} else if (msg.name === "spine2-rotation-acceleration-limit") {
setRotationAccelerationLimit(SPINE2_INDEX, parseInt(msg.val, 10));
}
}
tablet.screenChanged.connect(onScreenChanged);
function shutdownTabletApp() {
tablet.removeButton(tabletButton);
if (shown) {
tablet.webEventReceived.disconnect(onWebEventReceived);
tablet.gotoHomeScreen();
}
tablet.screenChanged.disconnect(onScreenChanged);
}
//
// end tablet app boiler plate
//
var mapping;
function mappingChanged() {
if (mapping) {
mapping.disable();
}
mapping = Controller.parseMapping(JSON.stringify(mappingJson));
mapping.enable();
}
function shownChanged(newShown) {
if (newShown) {
mappingChanged();
} else {
mapping.disable();
}
}
mappingChanged();
Script.scriptEnding.connect(function() {
if (mapping) {
mapping.disable();
}
tablet.removeButton(tabletButton);
});

240
scripts/developer/exponentialFilterApp.js Normal file
View file

@ -0,0 +1,240 @@
var LEFT_HAND_INDEX = 0;
var RIGHT_HAND_INDEX = 1;
var LEFT_FOOT_INDEX = 2;
var RIGHT_FOOT_INDEX = 3;
var HIPS_INDEX = 4;
var SPINE2_INDEX = 5;
var HAND_SMOOTHING_TRANSLATION = 0.3;
var HAND_SMOOTHING_ROTATION = 0.15;
var FOOT_SMOOTHING_TRANSLATION = 0.3;
var FOOT_SMOOTHING_ROTATION = 0.15;
var TORSO_SMOOTHING_TRANSLATION = 0.3;
var TORSO_SMOOTHING_ROTATION = 0.16;
var mappingJson = {
name: "com.highfidelity.testing.exponentialFilterApp",
channels: [
{
from: "Standard.LeftHand",
to: "Actions.LeftHand",
filters: [
{
type: "exponentialSmoothing",
translation: HAND_SMOOTHING_TRANSLATION,
rotation: HAND_SMOOTHING_ROTATION
}
]
},
{
from: "Standard.RightHand",
to: "Actions.RightHand",
filters: [
{
type: "exponentialSmoothing",
translation: HAND_SMOOTHING_TRANSLATION,
rotation: HAND_SMOOTHING_ROTATION
}
]
},
{
from: "Standard.LeftFoot",
to: "Actions.LeftFoot",
filters: [
{
type: "exponentialSmoothing",
translation: FOOT_SMOOTHING_TRANSLATION,
rotation: FOOT_SMOOTHING_ROTATION
}
]
},
{
from: "Standard.RightFoot",
to: "Actions.RightFoot",
filters: [
{
type: "exponentialSmoothing",
translation: FOOT_SMOOTHING_TRANSLATION,
rotation: FOOT_SMOOTHING_ROTATION
}
]
},
{
from: "Standard.Hips",
to: "Actions.Hips",
filters: [
{
type: "exponentialSmoothing",
translation: TORSO_SMOOTHING_TRANSLATION,
rotation: TORSO_SMOOTHING_ROTATION
}
]
},
{
from: "Standard.Spine2",
to: "Actions.Spine2",
filters: [
{
type: "exponentialSmoothing",
translation: TORSO_SMOOTHING_TRANSLATION,
rotation: TORSO_SMOOTHING_ROTATION
}
]
}
]
};
//
// tablet app boiler plate
//
var TABLET_BUTTON_NAME = "EXPFILT";
var HTML_URL = "https://s3.amazonaws.com/hifi-public/tony/html/exponentialFilterApp.html?7";
var tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");
var tabletButton = tablet.addButton({
text: TABLET_BUTTON_NAME,
icon: "https://s3.amazonaws.com/hifi-public/tony/icons/tpose-i.svg",
activeIcon: "https://s3.amazonaws.com/hifi-public/tony/icons/tpose-a.svg"
});
tabletButton.clicked.connect(function () {
if (shown) {
tablet.gotoHomeScreen();
} else {
tablet.gotoWebScreen(HTML_URL);
}
});
var shown = false;
function onScreenChanged(type, url) {
if (type === "Web" && url === HTML_URL) {
tabletButton.editProperties({isActive: true});
if (!shown) {
// hook up to event bridge
tablet.webEventReceived.connect(onWebEventReceived);
shownChanged(true);
}
shown = true;
} else {
tabletButton.editProperties({isActive: false});
if (shown) {
// disconnect from event bridge
tablet.webEventReceived.disconnect(onWebEventReceived);
shownChanged(false);
}
shown = false;
}
}
function getTranslation(i) {
return mappingJson.channels[i].filters[0].translation;
}
function setTranslation(i, value) {
mappingJson.channels[i].filters[0].translation = value;
mappingChanged();
}
function getRotation(i) {
return mappingJson.channels[i].filters[0].rotation;
}
function setRotation(i, value) {
mappingJson.channels[i].filters[0].rotation = value; mappingChanged();
}
function onWebEventReceived(msg) {
if (msg.name === "init-complete") {
var values = [
{name: "enable-filtering", val: filterEnabled ? "on" : "off", checked: false},
{name: "left-hand-translation", val: getTranslation(LEFT_HAND_INDEX), checked: false},
{name: "left-hand-rotation", val: getRotation(LEFT_HAND_INDEX), checked: false},
{name: "right-hand-translation", val: getTranslation(RIGHT_HAND_INDEX), checked: false},
{name: "right-hand-rotation", val: getRotation(RIGHT_HAND_INDEX), checked: false},
{name: "left-foot-translation", val: getTranslation(LEFT_FOOT_INDEX), checked: false},
{name: "left-foot-rotation", val: getRotation(LEFT_FOOT_INDEX), checked: false},
{name: "right-foot-translation", val: getTranslation(RIGHT_FOOT_INDEX), checked: false},
{name: "right-foot-rotation", val: getRotation(RIGHT_FOOT_INDEX), checked: false},
{name: "hips-translation", val: getTranslation(HIPS_INDEX), checked: false},
{name: "hips-rotation", val: getRotation(HIPS_INDEX), checked: false},
{name: "spine2-translation", val: getTranslation(SPINE2_INDEX), checked: false},
{name: "spine2-rotation", val: getRotation(SPINE2_INDEX), checked: false}
];
tablet.emitScriptEvent(JSON.stringify(values));
} else if (msg.name === "enable-filtering") {
if (msg.val === "on") {
filterEnabled = true;
} else if (msg.val === "off") {
filterEnabled = false;
}
mappingChanged();
} else if (msg.name === "left-hand-translation") {
setTranslation(LEFT_HAND_INDEX, Number(msg.val));
} else if (msg.name === "left-hand-rotation") {
setRotation(LEFT_HAND_INDEX, Number(msg.val));
} else if (msg.name === "right-hand-translation") {
setTranslation(RIGHT_HAND_INDEX, Number(msg.val));
} else if (msg.name === "right-hand-rotation") {
setRotation(RIGHT_HAND_INDEX, Number(msg.val));
} else if (msg.name === "left-foot-translation") {
setTranslation(LEFT_FOOT_INDEX, Number(msg.val));
} else if (msg.name === "left-foot-rotation") {
setRotation(LEFT_FOOT_INDEX, Number(msg.val));
} else if (msg.name === "right-foot-translation") {
setTranslation(RIGHT_FOOT_INDEX, Number(msg.val));
} else if (msg.name === "right-foot-rotation") {
setRotation(RIGHT_FOOT_INDEX, Number(msg.val));
} else if (msg.name === "hips-translation") {
setTranslation(HIPS_INDEX, Number(msg.val));
} else if (msg.name === "hips-rotation") {
setRotation(HIPS_INDEX, Number(msg.val));
} else if (msg.name === "spine2-translation") {
setTranslation(SPINE2_INDEX, Number(msg.val));
} else if (msg.name === "spine2-rotation") {
setRotation(SPINE2_INDEX, Number(msg.val));
}
}
tablet.screenChanged.connect(onScreenChanged);
function shutdownTabletApp() {
tablet.removeButton(tabletButton);
if (shown) {
tablet.webEventReceived.disconnect(onWebEventReceived);
tablet.gotoHomeScreen();
}
tablet.screenChanged.disconnect(onScreenChanged);
}
//
// end tablet app boiler plate
//
var filterEnabled = true;
var mapping;
function mappingChanged() {
if (mapping) {
mapping.disable();
}
if (filterEnabled) {
mapping = Controller.parseMapping(JSON.stringify(mappingJson));
mapping.enable();
}
}
function shownChanged(newShown) {
if (newShown) {
mappingChanged();
} else {
mapping.disable();
}
}
mappingChanged();
Script.scriptEnding.connect(function() {
if (mapping) {
mapping.disable();
}
tablet.removeButton(tabletButton);
});

18
scripts/developer/tests/viveTrackedObjects.js → scripts/developer/tests/drawTrackedObjects.js
View file

@ -21,16 +21,14 @@ function shutdown() {
var BLUE = {x: 0, y: 0, z: 1, w: 1};
function update(dt) {
if (Controller.Hardware.Vive) {
TRACKED_OBJECT_POSES.forEach(function (key) {
var pose = Controller.getPoseValue(Controller.Standard[key]);
if (pose.valid) {
DebugDraw.addMyAvatarMarker(key, pose.rotation, pose.translation, BLUE);
} else {
DebugDraw.removeMyAvatarMarker(key);
}
});
}
TRACKED_OBJECT_POSES.forEach(function (key) {
var pose = Controller.getPoseValue(Controller.Standard[key]);
if (pose.valid) {
DebugDraw.addMyAvatarMarker(key, pose.rotation, pose.translation, BLUE);
} else {
DebugDraw.removeMyAvatarMarker(key);
}
});
}
init();

438
scripts/developer/tests/filtered-puck-attach.js Normal file
View file

@ -0,0 +1,438 @@
//
// Created by Anthony J. Thibault on 2017/06/20
// Modified by Robbie Uvanni to support multiple pucks and easier placement of pucks on entities, on 2017/08/01
// Copyright 2017 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
// When this script is running, a new app button, named "PUCKTACH", will be added to the toolbar/tablet.
// Click this app to bring up the puck attachment panel.
//
/* eslint indent: ["error", 4, { "outerIIFEBody": 0 }] */
/* global Xform */
Script.include("/~/system/libraries/Xform.js");
(function() { // BEGIN LOCAL_SCOPE
var TABLET_BUTTON_NAME = "PUCKATTACH";
var TABLET_APP_URL = "https://s3.amazonaws.com/hifi-public/tony/html/filtered-puck-attach.html?2";
var NUM_TRACKED_OBJECTS = 16;
var tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");
var tabletButton = tablet.addButton({
text: TABLET_BUTTON_NAME,
icon: "https://s3.amazonaws.com/hifi-public/tony/icons/puck-i.svg",
activeIcon: "https://s3.amazonaws.com/hifi-public/tony/icons/puck-a.svg"
});
var shown = false;
function onScreenChanged(type, url) {
if (type === "Web" && url === TABLET_APP_URL) {
tabletButton.editProperties({isActive: true});
if (!shown) {
// hook up to event bridge
tablet.webEventReceived.connect(onWebEventReceived);
shownChanged(true);
}
shown = true;
} else {
tabletButton.editProperties({isActive: false});
if (shown) {
// disconnect from event bridge
tablet.webEventReceived.disconnect(onWebEventReceived);
shownChanged(false);
}
shown = false;
}
}
tablet.screenChanged.connect(onScreenChanged);
function pad(num, size) {
var tempString = "000000000" + num;
return tempString.substr(tempString.length - size);
}
function indexToTrackedObjectName(index) {
return "TrackedObject" + pad(index, 2);
}
function getAvailableTrackedObjects() {
var available = [];
var i;
for (i = 0; i < NUM_TRACKED_OBJECTS; i++) {
var key = indexToTrackedObjectName(i);
var pose = Controller.getPoseValue(Controller.Standard[key]);
if (pose && pose.valid) {
available.push(i);
}
}
return available;
}
function sendAvailableTrackedObjects() {
tablet.emitScriptEvent(JSON.stringify({
pucks: getAvailableTrackedObjects(),
selectedPuck: ((lastPuck === undefined) ? -1 : lastPuck.name)
}));
}
function getRelativePosition(origin, rotation, offset) {
var relativeOffset = Vec3.multiplyQbyV(rotation, offset);
var worldPosition = Vec3.sum(origin, relativeOffset);
return worldPosition;
}
function getPropertyForEntity(entityID, propertyName) {
return Entities.getEntityProperties(entityID, [propertyName])[propertyName];
}
function entityExists(entityID) {
return Object.keys(Entities.getEntityProperties(entityID)).length > 0;
}
var VIVE_PUCK_MODEL = "https://s3.amazonaws.com/hifi-public/tony/vive_tracker_puck_y180z180.obj";
var VIVE_PUCK_DIMENSIONS = { x: 0.0945, y: 0.0921, z: 0.0423 }; // 1/1000th scale of model
var VIVE_PUCK_SEARCH_DISTANCE = 1.5; // metres
var VIVE_PUCK_SPAWN_DISTANCE = 0.5; // metres
var VIVE_PUCK_TRACKED_OBJECT_MAX_DISTANCE = 10.0; // metres
var VIVE_PUCK_NAME = "Tracked Puck";
var trackedPucks = { };
var lastPuck;
var DEFAULT_ROTATION_SMOOTHING_CONSTANT = 1.0; // no smoothing
var DEFAULT_TRANSLATION_SMOOTHING_CONSTANT = 1.0; // no smoothing
var DEFAULT_TRANSLATION_ACCELERATION_LIMIT = 1000; // only extreme accelerations are smoothed
var DEFAULT_ROTATION_ACCELERATION_LIMIT = 10000; // only extreme accelerations are smoothed
var DEFAULT_TRANSLATION_SNAP_THRESHOLD = 0; // no snapping
var DEFAULT_ROTATION_SNAP_THRESHOLD = 0; // no snapping
function buildMappingJson() {
var obj = {name: "com.highfidelity.testing.filteredPuckAttach", channels: []};
var i;
for (i = 0; i < NUM_TRACKED_OBJECTS; i++) {
obj.channels.push({
from: "Vive." + indexToTrackedObjectName(i),
to: "Standard." + indexToTrackedObjectName(i),
filters: [
{
type: "accelerationLimiter",
translationAccelerationLimit: DEFAULT_TRANSLATION_ACCELERATION_LIMIT,
rotationAccelerationLimit: DEFAULT_ROTATION_ACCELERATION_LIMIT,
translationSnapThreshold: DEFAULT_TRANSLATION_SNAP_THRESHOLD,
rotationSnapThreshold: DEFAULT_ROTATION_SNAP_THRESHOLD,
},
{
type: "exponentialSmoothing",
translation: DEFAULT_TRANSLATION_SMOOTHING_CONSTANT,
rotation: DEFAULT_ROTATION_SMOOTHING_CONSTANT
}
]
});
}
return obj;
}
var mappingJson = buildMappingJson();
var mapping;
function mappingChanged() {
if (mapping) {
mapping.disable();
}
mapping = Controller.parseMapping(JSON.stringify(mappingJson));
mapping.enable();
}
function shownChanged(newShown) {
if (newShown) {
mappingChanged();
} else {
mapping.disable();
}
}
function setTranslationAccelerationLimit(value) {
var i;
for (i = 0; i < NUM_TRACKED_OBJECTS; i++) {
mappingJson.channels[i].filters[0].translationAccelerationLimit = value;
}
mappingChanged();
}
function setTranslationSnapThreshold(value) {
// convert from mm
var MM_PER_M = 1000;
var meters = value / MM_PER_M;
var i;
for (i = 0; i < NUM_TRACKED_OBJECTS; i++) {
mappingJson.channels[i].filters[0].translationSnapThreshold = meters;
}
mappingChanged();
}
function setRotationAccelerationLimit(value) {
var i;
for (i = 0; i < NUM_TRACKED_OBJECTS; i++) {
mappingJson.channels[i].filters[0].rotationAccelerationLimit = value;
}
mappingChanged();
}
function setRotationSnapThreshold(value) {
// convert from degrees
var PI_IN_DEGREES = 180;
var radians = value * (Math.pi / PI_IN_DEGREES);
var i;
for (i = 0; i < NUM_TRACKED_OBJECTS; i++) {
mappingJson.channels[i].filters[0].translationSnapThreshold = radians;
}
mappingChanged();
}
function setTranslationSmoothingConstant(value) {
var i;
for (i = 0; i < NUM_TRACKED_OBJECTS; i++) {
mappingJson.channels[i].filters[1].translation = value;
}
mappingChanged();
}
function setRotationSmoothingConstant(value) {
var i;
for (i = 0; i < NUM_TRACKED_OBJECTS; i++) {
mappingJson.channels[i].filters[1].rotation = value;
}
mappingChanged();
}
function createPuck(puck) {
// create a puck entity and add it to our list of pucks
var action = indexToTrackedObjectName(puck.puckno);
var pose = Controller.getPoseValue(Controller.Standard[action]);
if (pose && pose.valid) {
var spawnOffset = Vec3.multiply(Vec3.FRONT, VIVE_PUCK_SPAWN_DISTANCE);
var spawnPosition = getRelativePosition(MyAvatar.position, MyAvatar.orientation, spawnOffset);
// should be an overlay
var puckEntityProperties = {
name: "Tracked Puck",
type: "Model",
modelURL: VIVE_PUCK_MODEL,
dimensions: VIVE_PUCK_DIMENSIONS,
position: spawnPosition,
userData: '{ "grabbableKey": { "grabbable": true, "kinematic": false } }'
};
var puckEntityID = Entities.addEntity(puckEntityProperties);
// if we've already created this puck, destroy it
if (trackedPucks.hasOwnProperty(puck.puckno)) {
destroyPuck(puck.puckno);
}
// if we had an unfinalized puck, destroy it
if (lastPuck !== undefined) {
destroyPuck(lastPuck.name);
}
// create our new unfinalized puck
trackedPucks[puck.puckno] = {
puckEntityID: puckEntityID,
trackedEntityID: ""
};
lastPuck = trackedPucks[puck.puckno];
lastPuck.name = Number(puck.puckno);
}
}
function finalizePuck(puckName) {
// find nearest entity and change its parent to the puck
if (!trackedPucks.hasOwnProperty(puckName)) {
print('2');
return;
}
if (lastPuck === undefined) {
print('3');
return;
}
if (lastPuck.name !== Number(puckName)) {
print('1');
return;
}
var puckPosition = getPropertyForEntity(lastPuck.puckEntityID, "position");
var foundEntities = Entities.findEntities(puckPosition, VIVE_PUCK_SEARCH_DISTANCE);
var foundEntity;
var leastDistance = Number.MAX_VALUE;
for (var i = 0; i < foundEntities.length; i++) {
var entity = foundEntities[i];
if (getPropertyForEntity(entity, "name") !== VIVE_PUCK_NAME) {
var entityPosition = getPropertyForEntity(entity, "position");
var d = Vec3.distance(entityPosition, puckPosition);
if (d < leastDistance) {
leastDistance = d;
foundEntity = entity;
}
}
}
if (foundEntity) {
lastPuck.trackedEntityID = foundEntity;
// remember the userdata and collisionless flag for the tracked entity since
// we're about to remove it and make it ungrabbable and collisionless
lastPuck.trackedEntityUserData = getPropertyForEntity(foundEntity, "userData");
lastPuck.trackedEntityCollisionFlag = getPropertyForEntity(foundEntity, "collisionless");
// update properties of the tracked entity
Entities.editEntity(lastPuck.trackedEntityID, {
"parentID": lastPuck.puckEntityID,
"userData": '{ "grabbableKey": { "grabbable": false } }',
"collisionless": 1
});
// remove reference to puck since it is now calibrated and finalized
lastPuck = undefined;
}
}
function updatePucks() {
// for each puck, update its position and orientation
for (var puckName in trackedPucks) {
if (!trackedPucks.hasOwnProperty(puckName)) {
continue;
}
var action = indexToTrackedObjectName(puckName);
var pose = Controller.getPoseValue(Controller.Standard[action]);
if (pose && pose.valid) {
var puck = trackedPucks[puckName];
if (puck.trackedEntityID) {
if (entityExists(puck.trackedEntityID)) {
var avatarXform = new Xform(MyAvatar.orientation, MyAvatar.position);
var puckXform = new Xform(pose.rotation, pose.translation);
var finalXform = Xform.mul(avatarXform, puckXform);
var d = Vec3.distance(MyAvatar.position, finalXform.pos);
if (d > VIVE_PUCK_TRACKED_OBJECT_MAX_DISTANCE) {
print('tried to move tracked object too far away: ' + d);
return;
}
Entities.editEntity(puck.puckEntityID, {
position: finalXform.pos,
rotation: finalXform.rot
});
// in case someone grabbed both entities and destroyed the
// child/parent relationship
Entities.editEntity(puck.trackedEntityID, {
parentID: puck.puckEntityID
});
} else {
destroyPuck(puckName);
}
}
}
}
}
function destroyPuck(puckName) {
// unparent entity and delete its parent
if (!trackedPucks.hasOwnProperty(puckName)) {
return;
}
var puck = trackedPucks[puckName];
var puckEntityID = puck.puckEntityID;
var trackedEntityID = puck.trackedEntityID;
// remove the puck as a parent entity and restore the tracked entities
// former userdata and collision flag
Entities.editEntity(trackedEntityID, {
"parentID": "{00000000-0000-0000-0000-000000000000}",
"userData": puck.trackedEntityUserData,
"collisionless": puck.trackedEntityCollisionFlag
});
delete trackedPucks[puckName];
// in some cases, the entity deletion may occur before the parent change
// has been processed, resulting in both the puck and the tracked entity
// to be deleted so we wait 100ms before deleting the puck, assuming
// that the parent change has occured
var DELETE_TIMEOUT = 100; // ms
Script.setTimeout(function() {
// delete the puck
Entities.deleteEntity(puckEntityID);
}, DELETE_TIMEOUT);
}
function destroyPucks() {
// remove all pucks and unparent entities
for (var puckName in trackedPucks) {
if (trackedPucks.hasOwnProperty(puckName)) {
destroyPuck(puckName);
}
}
}
function onWebEventReceived(msg) {
var obj = {};
try {
obj = JSON.parse(msg);
} catch (err) {
return;
}
switch (obj.cmd) {
case "ready":
sendAvailableTrackedObjects();
break;
case "create":
createPuck(obj);
break;
case "finalize":
finalizePuck(obj.puckno);
break;
case "destroy":
destroyPuck(obj.puckno);
break;
case "translation-acceleration-limit":
setTranslationAccelerationLimit(Number(obj.val));
break;
case "translation-snap-threshold":
setTranslationSnapThreshold(Number(obj.val));
break;
case "rotation-acceleration-limit":
setRotationAccelerationLimit(Number(obj.val));
break;
case "rotation-snap-threshold":
setRotationSnapThreshold(Number(obj.val));
break;
case "translation-smoothing-constant":
setTranslationSmoothingConstant(Number(obj.val));
break;
case "rotation-smoothing-constant":
setRotationSmoothingConstant(Number(obj.val));
break;
}
}
Script.update.connect(updatePucks);
Script.scriptEnding.connect(function () {
tablet.removeButton(tabletButton);
destroyPucks();
if (shown) {
tablet.webEventReceived.disconnect(onWebEventReceived);
tablet.gotoHomeScreen();
}
tablet.screenChanged.disconnect(onScreenChanged);
if (mapping) {
mapping.disable();
}
});
tabletButton.clicked.connect(function () {
if (shown) {
tablet.gotoHomeScreen();
} else {
tablet.gotoWebScreen(TABLET_APP_URL);
}
});
}()); // END LOCAL_SCOPE

4
scripts/developer/tests/puck-attach.js
View file

@ -85,7 +85,7 @@ function entityExists(entityID) {
return Object.keys(Entities.getEntityProperties(entityID)).length > 0;
}
var VIVE_PUCK_MODEL = "http://content.highfidelity.com/seefo/production/puck-attach/vive_tracker_puck.obj";
var VIVE_PUCK_MODEL = "https://s3.amazonaws.com/hifi-public/tony/vive_tracker_puck_y180z180.obj";
var VIVE_PUCK_DIMENSIONS = { x: 0.0945, y: 0.0921, z: 0.0423 }; // 1/1000th scale of model
var VIVE_PUCK_SEARCH_DISTANCE = 1.5; // metres
var VIVE_PUCK_SPAWN_DISTANCE = 0.5; // metres
@ -304,4 +304,4 @@ tabletButton.clicked.connect(function () {
tablet.gotoWebScreen(TABLET_APP_URL);
}
});
}()); // END LOCAL_SCOPE
}()); // END LOCAL_SCOPE