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Store sixense data in meters not millimeters

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This commit is contained in:
Andrew Meadows 2014-05-12 11:39:21 -07:00
parent 49dedb72c9
commit efb3edf400
3 changed files with 16 additions and 12 deletions
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22
interface/src/devices/SixenseManager.cpp
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@ -22,9 +22,9 @@ const int CALIBRATION_STATE_Z = 3;
const int CALIBRATION_STATE_COMPLETE = 4; const int CALIBRATION_STATE_COMPLETE = 4;
// default (expected) location of neck in sixense space // default (expected) location of neck in sixense space
const float NECK_X = 250.f; // millimeters const float NECK_X = 0.25f; // meters
const float NECK_Y = 300.f; // millimeters const float NECK_Y = 0.3f; // meters
const float NECK_Z = 300.f; // millimeters const float NECK_Z = 0.3f; // meters
#endif #endif
SixenseManager::SixenseManager() { SixenseManager::SixenseManager() {
@ -107,7 +107,10 @@ void SixenseManager::update(float deltaTime) {
palm->setTrigger(data->trigger); palm->setTrigger(data->trigger);
palm->setJoystick(data->joystick_x, data->joystick_y); palm->setJoystick(data->joystick_x, data->joystick_y);
// NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.
glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]); glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
position *= METERS_PER_MILLIMETER;
// Transform the measured position into body frame. // Transform the measured position into body frame.
glm::vec3 neck = _neckBase; glm::vec3 neck = _neckBase;
// Zeroing y component of the "neck" effectively raises the measured position a little bit. // Zeroing y component of the "neck" effectively raises the measured position a little bit.
@ -122,7 +125,7 @@ void SixenseManager::update(float deltaTime) {
// Compute current velocity from position change // Compute current velocity from position change
glm::vec3 rawVelocity; glm::vec3 rawVelocity;
if (deltaTime > 0.f) { if (deltaTime > 0.f) {
rawVelocity = (position - palm->getRawPosition()) * (METERS_PER_MILLIMETER / deltaTime); rawVelocity = (position - palm->getRawPosition()) / deltaTime;
} else { } else {
rawVelocity = glm::vec3(0.0f); rawVelocity = glm::vec3(0.0f);
} }
@ -138,12 +141,12 @@ void SixenseManager::update(float deltaTime) {
} }
// Store the one fingertip in the palm structure so we can track velocity // Store the one fingertip in the palm structure so we can track velocity
const float FINGER_LENGTH = 300.0f; // meters const float FINGER_LENGTH = 0.3f; // meters
const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH); const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR; const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
glm::vec3 oldTipPosition = palm->getTipRawPosition(); glm::vec3 oldTipPosition = palm->getTipRawPosition();
if (deltaTime > 0.f) { if (deltaTime > 0.f) {
palm->setTipVelocity((newTipPosition - oldTipPosition) * (METERS_PER_MILLIMETER / deltaTime)); palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
} else { } else {
palm->setTipVelocity(glm::vec3(0.f)); palm->setTipVelocity(glm::vec3(0.f));
} }
@ -173,8 +176,8 @@ void SixenseManager::update(float deltaTime) {
// (4) move arms a bit forward (Z) // (4) move arms a bit forward (Z)
// (5) release BUTTON_FWD on both hands // (5) release BUTTON_FWD on both hands
const float MINIMUM_ARM_REACH = 300.f; // millimeters const float MINIMUM_ARM_REACH = 0.3f; // meters
const float MAXIMUM_NOISE_LEVEL = 50.f; // millimeters const float MAXIMUM_NOISE_LEVEL = 0.05f; // meters
const quint64 LOCK_DURATION = USECS_PER_SECOND / 4; // time for lock to be acquired const quint64 LOCK_DURATION = USECS_PER_SECOND / 4; // time for lock to be acquired
void SixenseManager::updateCalibration(const sixenseControllerData* controllers) { void SixenseManager::updateCalibration(const sixenseControllerData* controllers) {
@ -214,10 +217,13 @@ void SixenseManager::updateCalibration(const sixenseControllerData* controllers)
return; return;
} }
// NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.
const float* pos = dataLeft->pos; const float* pos = dataLeft->pos;
glm::vec3 positionLeft(pos[0], pos[1], pos[2]); glm::vec3 positionLeft(pos[0], pos[1], pos[2]);
positionLeft *= METERS_PER_MILLIMETER;
pos = dataRight->pos; pos = dataRight->pos;
glm::vec3 positionRight(pos[0], pos[1], pos[2]); glm::vec3 positionRight(pos[0], pos[1], pos[2]);
positionRight *= METERS_PER_MILLIMETER;
if (_calibrationState == CALIBRATION_STATE_IDLE) { if (_calibrationState == CALIBRATION_STATE_IDLE) {
float reach = glm::distance(positionLeft, positionRight); float reach = glm::distance(positionLeft, positionRight);

2
libraries/avatars/src/HandData.cpp
View file

@ -27,7 +27,7 @@ HandData::HandData(AvatarData* owningAvatar) :
} }
glm::vec3 HandData::worldToLocalVector(const glm::vec3& worldVector) const { glm::vec3 HandData::worldToLocalVector(const glm::vec3& worldVector) const {
return glm::inverse(getBaseOrientation()) * worldVector / LEAP_UNIT_SCALE; return glm::inverse(getBaseOrientation()) * worldVector;
} }
PalmData& HandData::addNewPalm() { PalmData& HandData::addNewPalm() {

4
libraries/avatars/src/HandData.h
View file

@ -30,8 +30,6 @@ const int NUM_FINGERS = NUM_HANDS * NUM_FINGERS_PER_HAND;
const int LEAPID_INVALID = -1; const int LEAPID_INVALID = -1;
const int SIXENSEID_INVALID = -1; const int SIXENSEID_INVALID = -1;
const float LEAP_UNIT_SCALE = 0.001f; ///< convert mm to meters
const int SIXENSE_CONTROLLER_ID_LEFT_HAND = 0; const int SIXENSE_CONTROLLER_ID_LEFT_HAND = 0;
const int SIXENSE_CONTROLLER_ID_RIGHT_HAND = 1; const int SIXENSE_CONTROLLER_ID_RIGHT_HAND = 1;
@ -42,7 +40,7 @@ public:
// position conversion // position conversion
glm::vec3 localToWorldPosition(const glm::vec3& localPosition) { glm::vec3 localToWorldPosition(const glm::vec3& localPosition) {
return getBasePosition() + getBaseOrientation() * localPosition * LEAP_UNIT_SCALE; return getBasePosition() + getBaseOrientation() * localPosition;
} }
glm::vec3 localToWorldDirection(const glm::vec3& localVector) { glm::vec3 localToWorldDirection(const glm::vec3& localVector) {