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Add default pose matrices to InputCalibrationData structure

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This commit is contained in:
Anthony J. Thibault 2017-04-26 11:55:24 -07:00
parent 1b9e609447
commit ef43ff4b99
4 changed files with 116 additions and 12 deletions
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8
interface/src/Application.cpp
View file

@ -4347,7 +4347,13 @@ void Application::update(float deltaTime) {
controller::InputCalibrationData calibrationData = {
myAvatar->getSensorToWorldMatrix(),
createMatFromQuatAndPos(myAvatar->getOrientation(), myAvatar->getPosition()),
myAvatar->getHMDSensorMatrix()
myAvatar->getHMDSensorMatrix(),
myAvatar->getCenterEyeCalibrationMat(),
myAvatar->getHeadCalibrationMat(),
myAvatar->getSpine2CalibrationMat(),
myAvatar->getHipsCalibrationMat(),
myAvatar->getLeftFootCalibrationMat(),
myAvatar->getRightFootCalibrationMat()
};
InputPluginPointer keyboardMousePlugin;

100
interface/src/avatar/MyAvatar.cpp
View file

@ -83,6 +83,22 @@ const float MyAvatar::ZOOM_MIN = 0.5f;
const float MyAvatar::ZOOM_MAX = 25.0f;
const float MyAvatar::ZOOM_DEFAULT = 1.5f;
// 2 meter tall dude (in avatar coordinates)
static const glm::vec3 DEFAULT_AVATAR_MIDDLE_EYE_POS { 0.0f, 0.9f, 0.0f };
static const glm::quat DEFAULT_AVATAR_MIDDLE_EYE_ROT { Quaternions::Y_180 };
static const glm::vec3 DEFAULT_AVATAR_HEAD_POS { 0.0f, 0.8f, 0.0f };
static const glm::quat DEFAULT_AVATAR_HEAD_ROT { Quaternions::Y_180 };
static const glm::vec3 DEFAULT_AVATAR_NECK_POS { 0.0f, 0.7f, 0.0f };
static const glm::quat DEFAULT_AVATAR_NECK_ROT { Quaternions::Y_180 };
static const glm::vec3 DEFAULT_AVATAR_SPINE2_POS { 0.0f, 0.5f, 0.0f };
static const glm::quat DEFAULT_AVATAR_SPINE2_ROT { Quaternions::Y_180};
static const glm::vec3 DEFAULT_AVATAR_HIPS_POS { 0.0f, 0.05f, 0.0f };
static const glm::quat DEFAULT_AVATAR_HIPS_ROT { Quaternions::Y_180 };
static const glm::vec3 DEFAULT_AVATAR_LEFTFOOT_POS { -0.1f, -0.9f, 0.0f }; // AJT: TODO: WRONG FIX ME
static const glm::quat DEFAULT_AVATAR_LEFTFOOT_ROT { Quaternions::IDENTITY }; // AJT: TODO: WRONG FIX ME
static const glm::vec3 DEFAULT_AVATAR_RIGHTFOOT_POS { 0.1f, -0.9f, 0.0f }; // AJT: TODO: WRONG FIX ME
static const glm::quat DEFAULT_AVATAR_RIGHTFOOT_ROT { Quaternions::IDENTITY }; // AJT: TODO: WRONG FIX ME
MyAvatar::MyAvatar(RigPointer rig) :
Avatar(rig),
_wasPushing(false),
@ -2283,22 +2299,17 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
const glm::quat hmdOrientation = getHMDSensorOrientation();
const glm::quat hmdOrientationYawOnly = cancelOutRollAndPitch(hmdOrientation);
// 2 meter tall dude (in rig coordinates)
const glm::vec3 DEFAULT_RIG_MIDDLE_EYE_POS(0.0f, 0.9f, 0.0f);
const glm::vec3 DEFAULT_RIG_NECK_POS(0.0f, 0.70f, 0.0f);
const glm::vec3 DEFAULT_RIG_HIPS_POS(0.0f, 0.05f, 0.0f);
int rightEyeIndex = _rig->indexOfJoint("RightEye");
int leftEyeIndex = _rig->indexOfJoint("LeftEye");
int neckIndex = _rig->indexOfJoint("Neck");
int hipsIndex = _rig->indexOfJoint("Hips");
glm::vec3 rigMiddleEyePos = DEFAULT_RIG_MIDDLE_EYE_POS;
glm::vec3 rigMiddleEyePos = DEFAULT_AVATAR_MIDDLE_EYE_POS;
if (leftEyeIndex >= 0 && rightEyeIndex >= 0) {
rigMiddleEyePos = (_rig->getAbsoluteDefaultPose(leftEyeIndex).trans() + _rig->getAbsoluteDefaultPose(rightEyeIndex).trans()) / 2.0f;
}
glm::vec3 rigNeckPos = neckIndex != -1 ? _rig->getAbsoluteDefaultPose(neckIndex).trans() : DEFAULT_RIG_NECK_POS;
glm::vec3 rigHipsPos = hipsIndex != -1 ? _rig->getAbsoluteDefaultPose(hipsIndex).trans() : DEFAULT_RIG_HIPS_POS;
glm::vec3 rigNeckPos = neckIndex != -1 ? _rig->getAbsoluteDefaultPose(neckIndex).trans() : DEFAULT_AVATAR_NECK_POS;
glm::vec3 rigHipsPos = hipsIndex != -1 ? _rig->getAbsoluteDefaultPose(hipsIndex).trans() : DEFAULT_AVATAR_HIPS_POS;
glm::vec3 localEyes = (rigMiddleEyePos - rigHipsPos);
glm::vec3 localNeck = (rigNeckPos - rigHipsPos);
@ -2662,6 +2673,79 @@ glm::vec3 MyAvatar::getAbsoluteJointTranslationInObjectFrame(int index) const {
}
}
glm::mat4 MyAvatar::getCenterEyeCalibrationMat() const {
// TODO: as an optimization cache this computation, then invalidate the cache when the avatar model is changed.
int rightEyeIndex = _rig->indexOfJoint("RightEye");
int leftEyeIndex = _rig->indexOfJoint("LeftEye");
if (rightEyeIndex >= 0 && leftEyeIndex >= 0) {
auto centerEyePos = (getAbsoluteDefaultJointTranslationInObjectFrame(rightEyeIndex) + getAbsoluteDefaultJointTranslationInObjectFrame(leftEyeIndex)) * 0.5f;
auto centerEyeRot = Quaternions::Y_180;
return createMatFromQuatAndPos(centerEyeRot, centerEyePos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_MIDDLE_EYE_POS, DEFAULT_AVATAR_MIDDLE_EYE_POS);
}
}
glm::mat4 MyAvatar::getHeadCalibrationMat() const {
// TODO: as an optimization cache this computation, then invalidate the cache when the avatar model is changed.
int headIndex = _rig->indexOfJoint("Head");
if (headIndex >= 0) {
auto headPos = getAbsoluteDefaultJointTranslationInObjectFrame(headIndex);
auto headRot = getAbsoluteDefaultJointRotationInObjectFrame(headIndex);
return createMatFromQuatAndPos(headRot, headPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_HEAD_POS, DEFAULT_AVATAR_HEAD_POS);
}
}
glm::mat4 MyAvatar::getSpine2CalibrationMat() const {
// TODO: as an optimization cache this computation, then invalidate the cache when the avatar model is changed.
int spine2Index = _rig->indexOfJoint("Spine2");
if (spine2Index >= 0) {
auto spine2Pos = getAbsoluteDefaultJointTranslationInObjectFrame(spine2Index);
auto spine2Rot = getAbsoluteDefaultJointRotationInObjectFrame(spine2Index);
return createMatFromQuatAndPos(spine2Rot, spine2Pos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_SPINE2_POS, DEFAULT_AVATAR_SPINE2_POS);
}
}
glm::mat4 MyAvatar::getHipsCalibrationMat() const {
// TODO: as an optimization cache this computation, then invalidate the cache when the avatar model is changed.
int hipsIndex = _rig->indexOfJoint("Hips");
if (hipsIndex >= 0) {
auto hipsPos = getAbsoluteDefaultJointTranslationInObjectFrame(hipsIndex);
auto hipsRot = getAbsoluteDefaultJointRotationInObjectFrame(hipsIndex);
return createMatFromQuatAndPos(hipsRot, hipsPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_HIPS_POS, DEFAULT_AVATAR_HIPS_POS);
}
}
glm::mat4 MyAvatar::getLeftFootCalibrationMat() const {
// TODO: as an optimization cache this computation, then invalidate the cache when the avatar model is changed.
int leftFootIndex = _rig->indexOfJoint("LeftFoot");
if (leftFootIndex >= 0) {
auto leftFootPos = getAbsoluteDefaultJointTranslationInObjectFrame(leftFootIndex);
auto leftFootRot = getAbsoluteDefaultJointRotationInObjectFrame(leftFootIndex);
return createMatFromQuatAndPos(leftFootRot, leftFootPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_LEFTFOOT_POS, DEFAULT_AVATAR_LEFTFOOT_POS);
}
}
glm::mat4 MyAvatar::getRightFootCalibrationMat() const {
// TODO: as an optimization cache this computation, then invalidate the cache when the avatar model is changed.
int rightFootIndex = _rig->indexOfJoint("RightFoot");
if (rightFootIndex >= 0) {
auto rightFootPos = getAbsoluteDefaultJointTranslationInObjectFrame(rightFootIndex);
auto rightFootRot = getAbsoluteDefaultJointRotationInObjectFrame(rightFootIndex);
return createMatFromQuatAndPos(rightFootRot, rightFootPos);
} else {
return createMatFromQuatAndPos(DEFAULT_AVATAR_RIGHTFOOT_POS, DEFAULT_AVATAR_RIGHTFOOT_POS);
}
}
bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& orientation) {
auto hipsIndex = getJointIndex("Hips");
if (index != hipsIndex) {

8
interface/src/avatar/MyAvatar.h
View file

@ -473,6 +473,14 @@ public:
virtual glm::quat getAbsoluteJointRotationInObjectFrame(int index) const override;
virtual glm::vec3 getAbsoluteJointTranslationInObjectFrame(int index) const override;
// all calibration matrices are in absolute avatar space.
glm::mat4 getCenterEyeCalibrationMat() const;
glm::mat4 getHeadCalibrationMat() const;
glm::mat4 getSpine2CalibrationMat() const;
glm::mat4 getHipsCalibrationMat() const;
glm::mat4 getLeftFootCalibrationMat() const;
glm::mat4 getRightFootCalibrationMat() const;
void addHoldAction(AvatarActionHold* holdAction); // thread-safe
void removeHoldAction(AvatarActionHold* holdAction); // thread-safe
void updateHoldActions(const AnimPose& prePhysicsPose, const AnimPose& postUpdatePose);

12
libraries/controllers/src/controllers/Input.h
View file

@ -16,9 +16,15 @@
namespace controller {
struct InputCalibrationData {
glm::mat4 sensorToWorldMat;
glm::mat4 avatarMat;
glm::mat4 hmdSensorMat;
glm::mat4 sensorToWorldMat; // sensor to world
glm::mat4 avatarMat; // avatar to world
glm::mat4 hmdSensorMat; // hmd pos and orientation in sensor space
glm::mat4 defaultCenterEyeMat; // default pose for the center of the eyes in avatar space.
glm::mat4 defaultHeadMat; // default pose for head joint in avatar space
glm::mat4 defaultSpine2; // default pose for spine2 joint in avatar space
glm::mat4 defaultHips; // default pose for hips joint in avatar space
glm::mat4 defaultLeftFoot; // default pose for leftFoot joint in avatar space
glm::mat4 defaultRightFoot; // default pose for leftFoot joint in avatar space
};
enum class ChannelType {