Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-22 19:53:29 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

experimental HMD hips tracking

Browse source
This commit is contained in:
U-GAPOS\andrew 2015-10-10 19:23:21 -07:00 committed by Andrew Meadows
parent 35d2a5b5ea
commit f01847de14
6 changed files with 53 additions and 17 deletions
interface
resources/meshes/defaultAvatar_full
avatar-animation.json
src/avatar
MyAvatar.cpp
libraries/animation/src
AnimInverseKinematics.cppIKTarget.cppIKTarget.hRig.cpp

12
interface/resources/meshes/defaultAvatar_full/avatar-animation.json
View file

@ -16,12 +16,14 @@
{
"jointName": "RightHand",
"positionVar": "rightHandPosition",
"rotationVar": "rightHandRotation"
"rotationVar": "rightHandRotation",
"typeVar": "rightHandType"
},
{
"jointName": "LeftHand",
"positionVar": "leftHandPosition",
"rotationVar": "leftHandRotation"
"rotationVar": "leftHandRotation",
"typeVar": "leftHandType"
},
{
"jointName": "RightFoot",
@ -39,13 +41,13 @@
"jointName": "Neck",
"positionVar": "neckPosition",
"rotationVar": "neckRotation",
"typeVar": "headAndNeckType"
"typeVar": "neckType"
},
{
"jointName": "Head",
"positionVar": "headPosition",
"rotationVar": "headRotation",
"typeVar": "headAndNeckType"
"typeVar": "headType"
}
]
},
@ -63,7 +65,7 @@
"id": "spineLean",
"type": "manipulator",
"data": {
"alpha": 1.0,
"alpha": 0.0,
"joints": [
{ "var": "lean", "jointName": "Spine" }
]

4
interface/src/avatar/MyAvatar.cpp
View file

@ -337,16 +337,18 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
const float STRAIGHTENING_LEAN_DURATION = 0.5f; // seconds
// define a vertical capsule
static float adebug = 1.0f; // adebug
const float STRAIGHTENING_LEAN_CAPSULE_RADIUS = 0.2f; // meters
const float STRAIGHTENING_LEAN_CAPSULE_LENGTH = 0.05f; // length of the cylinder part of the capsule in meters.
auto newBodySensorMatrix = deriveBodyFromHMDSensor();
glm::vec3 diff = extractTranslation(newBodySensorMatrix) - extractTranslation(_bodySensorMatrix);
if (!_straighteningLean && (capsuleCheck(diff, STRAIGHTENING_LEAN_CAPSULE_LENGTH, STRAIGHTENING_LEAN_CAPSULE_RADIUS) || hmdIsAtRest)) {
if (!_straighteningLean && (capsuleCheck(diff, adebug * STRAIGHTENING_LEAN_CAPSULE_LENGTH, adebug * STRAIGHTENING_LEAN_CAPSULE_RADIUS) || hmdIsAtRest)) {
// begin homing toward derived body position.
_straighteningLean = true;
_straighteningLeanAlpha = 0.0f;
adebug = 1000.0f; // adebug
} else if (_straighteningLean) {

40
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -98,8 +98,14 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
target.setType(animVars.lookup(targetVar.typeVar, (int)IKTarget::Type::RotationAndPosition));
if (target.getType() != IKTarget::Type::Unknown) {
AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
target.setPose(animVars.lookup(targetVar.rotationVar, defaultPose.rot),
animVars.lookup(targetVar.positionVar, defaultPose.trans));
glm::quat rotation = animVars.lookup(targetVar.rotationVar, defaultPose.rot);
glm::vec3 translation = animVars.lookup(targetVar.positionVar, defaultPose.trans);
if (target.getType() == IKTarget::Type::HipsRelativeRotationAndPosition) {
translation += _hipsOffset;
// HACK to test whether lifting idle hands will release the shoulders
translation.y += 0.10f;
}
target.setPose(rotation, translation);
target.setIndex(targetVar.jointIndex);
targets.push_back(target);
if (targetVar.jointIndex > _maxTargetIndex) {
@ -125,6 +131,10 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
}
}
}
static int adebug = 0; ++adebug; bool verbose = (0 == (adebug % 100));
if (verbose) {
std::cout << "adebug num targets = " << targets.size() << std::endl; // adebug
}
}
void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets) {
@ -175,7 +185,8 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
glm::vec3 leverArm = tipPosition - jointPosition;
glm::quat deltaRotation;
if (targetType == IKTarget::Type::RotationAndPosition) {
if (targetType == IKTarget::Type::RotationAndPosition ||
targetType == IKTarget::Type::HipsRelativeRotationAndPosition) {
// compute the swing that would get get tip closer
glm::vec3 targetLine = target.getTranslation() - jointPosition;
glm::vec3 axis = glm::cross(leverArm, targetLine);
@ -365,23 +376,28 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
solveWithCyclicCoordinateDescent(targets);
// compute the new target hips offset (for next frame)
// by looking for discrepancies between where a targeted endEffector is
// and where it wants to be (after IK solutions are done)
glm::vec3 hmdHipsOffset(100.0f);
glm::vec3 newHipsOffset = Vectors::ZERO;
for (auto& target: targets) {
int targetIndex = target.getIndex();
if (targetIndex == _headIndex && _headIndex != -1) {
// special handling for headTarget
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans;
glm::vec3 over = under;
if (target.getType() == IKTarget::Type::RotationOnly) {
over = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
over = target.getTranslation();
// we want to shift the hips to bring the underpose closer
// to where the head happens to be (overpose)
glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans;
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (actual - under);
} else if (target.getType() == IKTarget::Type::HmdHead) {
// we want to shift the hips to bring the head to its designated position
glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans;
hmdHipsOffset = _hipsOffset + target.getTranslation() - actual;
}
const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (over - under);
} else if (target.getType() == IKTarget::Type::RotationAndPosition) {
glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans;
glm::vec3 targetPosition = target.getTranslation();
@ -392,6 +408,10 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
// smooth transitions by relaxing _hipsOffset toward the new value
const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.15f;
_hipsOffset += (newHipsOffset - _hipsOffset) * (dt / HIPS_OFFSET_SLAVE_TIMESCALE);
//_hipsOffset *= 0.0f; // adebug
if (glm::length2(hmdHipsOffset) < 100.0f) {
_hipsOffset = hmdHipsOffset;
}
}
}
return _relativePoses;

3
libraries/animation/src/IKTarget.cpp
View file

@ -25,6 +25,9 @@ void IKTarget::setType(int type) {
case (int)Type::HmdHead:
_type = Type::HmdHead;
break;
case (int)Type::HipsRelativeRotationAndPosition:
_type = Type::HipsRelativeRotationAndPosition;
break;
default:
_type = Type::Unknown;
}

1
libraries/animation/src/IKTarget.h
View file

@ -18,6 +18,7 @@ public:
RotationAndPosition,
RotationOnly,
HmdHead,
HipsRelativeRotationAndPosition,
Unknown,
};

10
libraries/animation/src/Rig.cpp
View file

@ -1058,9 +1058,11 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
_animVars.set("headPosition", headPos);
_animVars.set("headRotation", headRot);
_animVars.set("headAndNeckType", (int)IKTarget::Type::RotationAndPosition);
_animVars.set("headType", (int)IKTarget::Type::HmdHead);
_animVars.set("neckPosition", neckPos);
_animVars.set("neckRotation", neckRot);
//_animVars.set("neckType", (int)IKTarget::Type::RotationOnly);
_animVars.set("neckType", (int)IKTarget::Type::Unknown); // 'Unknown' disables the target
} else {
@ -1072,8 +1074,10 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
_animVars.unset("headPosition");
_animVars.set("headRotation", realLocalHeadOrientation);
_animVars.set("headAndNeckType", (int)IKTarget::Type::RotationOnly);
_animVars.set("headType", (int)IKTarget::Type::RotationOnly);
_animVars.unset("neckPosition");
_animVars.unset("neckRotation");
_animVars.set("neckType", (int)IKTarget::Type::RotationOnly);
}
} else if (!_enableAnimGraph) {
@ -1131,16 +1135,20 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
if (params.isLeftEnabled) {
_animVars.set("leftHandPosition", rootBindPose.trans + rootBindPose.rot * yFlipHACK * params.leftPosition);
_animVars.set("leftHandRotation", rootBindPose.rot * yFlipHACK * params.leftOrientation);
_animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
} else {
_animVars.unset("leftHandPosition");
_animVars.unset("leftHandRotation");
_animVars.set("leftHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
}
if (params.isRightEnabled) {
_animVars.set("rightHandPosition", rootBindPose.trans + rootBindPose.rot * yFlipHACK * params.rightPosition);
_animVars.set("rightHandRotation", rootBindPose.rot * yFlipHACK * params.rightOrientation);
_animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
} else {
_animVars.unset("rightHandPosition");
_animVars.unset("rightHandRotation");
_animVars.set("rightHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
}
// set leftHand grab vars