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remove option to drive from transmitter

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This commit is contained in:
Stephen Birarda 2014-02-24 15:11:02 -08:00
parent 4a4001a049
commit f20808b47f
8 changed files with 3 additions and 327 deletions
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5
interface/src/Application.cpp
View file

@ -2926,9 +2926,6 @@ void Application::displaySide(Camera& whichCamera, bool selfAvatarOnly) {
}
}
// render transmitter pick ray, if non-empty
_myAvatar->renderTransmitterPickRay();
// give external parties a change to hook in
emit renderingInWorldInterface();
@ -2994,8 +2991,6 @@ void Application::displayOverlay() {
_myAvatar->renderHeadMouse();
}
_myAvatar->renderTransmitterLevels(_glWidget->width(), _glWidget->height());
// Display stats and log text onscreen
glLineWidth(1.0f);
glPointSize(1.0f);

6
interface/src/DatagramProcessor.cpp
View file

@ -43,12 +43,6 @@ void DatagramProcessor::processDatagrams() {
if (nodeList->packetVersionAndHashMatch(incomingPacket)) {
// only process this packet if we have a match on the packet version
switch (packetTypeForPacket(incomingPacket)) {
case PacketTypeTransmitterData:
// V2 = IOS transmitter app
application->getAvatar()->getTransmitter().processIncomingData(reinterpret_cast<unsigned char*>(incomingPacket.data()),
incomingPacket.size());
break;
case PacketTypeMixedAudio:
QMetaObject::invokeMethod(&application->_audio, "addReceivedAudioToBuffer", Qt::QueuedConnection,
Q_ARG(QByteArray, incomingPacket));

3
interface/src/Menu.cpp
View file

@ -135,9 +135,6 @@ Menu::Menu() :
addActionToQMenuAndActionHash(fileMenu, MenuOption::SettingsImport, 0, this, SLOT(importSettings()));
addActionToQMenuAndActionHash(fileMenu, MenuOption::SettingsExport, 0, this, SLOT(exportSettings()));
addDisabledActionAndSeparator(fileMenu, "Devices");
addCheckableActionToQMenuAndActionHash(fileMenu, MenuOption::TransmitterDrive, 0, true);
addActionToQMenuAndActionHash(fileMenu,
MenuOption::Quit,
Qt::CTRL | Qt::Key_Q,

85
interface/src/avatar/MyAvatar.cpp
View file

@ -89,7 +89,6 @@ void MyAvatar::reset() {
setVelocity(glm::vec3(0,0,0));
setThrust(glm::vec3(0,0,0));
_transmitter.resetLevels();
}
void MyAvatar::setMoveTarget(const glm::vec3 moveTarget) {
@ -97,32 +96,7 @@ void MyAvatar::setMoveTarget(const glm::vec3 moveTarget) {
_moveTargetStepCounter = 0;
}
void MyAvatar::updateTransmitter(float deltaTime) {
// no transmitter drive implies transmitter pick
if (!Menu::getInstance()->isOptionChecked(MenuOption::TransmitterDrive) && _transmitter.isConnected()) {
_transmitterPickStart = getChestPosition();
glm::vec3 direction = getOrientation() * glm::quat(glm::radians(_transmitter.getEstimatedRotation())) * IDENTITY_FRONT;
// check against voxels, avatars
const float MAX_PICK_DISTANCE = 100.0f;
float minDistance = MAX_PICK_DISTANCE;
VoxelDetail detail;
float distance;
BoxFace face;
VoxelSystem* voxels = Application::getInstance()->getVoxels();
if (voxels->findRayIntersection(_transmitterPickStart, direction, detail, distance, face)) {
minDistance = min(minDistance, distance);
}
_transmitterPickEnd = _transmitterPickStart + direction * minDistance;
} else {
_transmitterPickStart = _transmitterPickEnd = glm::vec3();
}
}
void MyAvatar::update(float deltaTime) {
updateTransmitter(deltaTime);
updateFromGyros(deltaTime);
// Update head mouse from faceshift if active
@ -574,35 +548,6 @@ void MyAvatar::renderHeadMouse() const {
*/
}
void MyAvatar::renderTransmitterPickRay() const {
if (_transmitterPickStart != _transmitterPickEnd) {
Glower glower;
const float TRANSMITTER_PICK_COLOR[] = { 1.0f, 1.0f, 0.0f };
glColor3fv(TRANSMITTER_PICK_COLOR);
glLineWidth(3.0f);
glBegin(GL_LINES);
glVertex3f(_transmitterPickStart.x, _transmitterPickStart.y, _transmitterPickStart.z);
glVertex3f(_transmitterPickEnd.x, _transmitterPickEnd.y, _transmitterPickEnd.z);
glEnd();
glLineWidth(1.0f);
glPushMatrix();
glTranslatef(_transmitterPickEnd.x, _transmitterPickEnd.y, _transmitterPickEnd.z);
const float PICK_END_RADIUS = 0.025f;
glutSolidSphere(PICK_END_RADIUS, 8, 8);
glPopMatrix();
}
}
void MyAvatar::renderTransmitterLevels(int width, int height) const {
// Show hand transmitter data if detected
if (_transmitter.isConnected()) {
_transmitter.renderLevels(width, height);
}
}
void MyAvatar::saveData(QSettings* settings) {
settings->beginGroup("Avatar");
@ -784,36 +729,6 @@ void MyAvatar::updateThrust(float deltaTime) {
_shouldJump = false;
}
// Add thrusts from Transmitter
if (Menu::getInstance()->isOptionChecked(MenuOption::TransmitterDrive) && _transmitter.isConnected()) {
_transmitter.checkForLostTransmitter();
glm::vec3 rotation = _transmitter.getEstimatedRotation();
const float TRANSMITTER_MIN_RATE = 1.f;
const float TRANSMITTER_MIN_YAW_RATE = 4.f;
const float TRANSMITTER_LATERAL_FORCE_SCALE = 5.f;
const float TRANSMITTER_FWD_FORCE_SCALE = 25.f;
const float TRANSMITTER_UP_FORCE_SCALE = 100.f;
const float TRANSMITTER_YAW_SCALE = 10.0f;
const float TRANSMITTER_LIFT_SCALE = 3.f;
const float TOUCH_POSITION_RANGE_HALF = 32767.f;
if (fabs(rotation.z) > TRANSMITTER_MIN_RATE) {
_thrust += rotation.z * TRANSMITTER_LATERAL_FORCE_SCALE * deltaTime * right;
}
if (fabs(rotation.x) > TRANSMITTER_MIN_RATE) {
_thrust += -rotation.x * TRANSMITTER_FWD_FORCE_SCALE * deltaTime * front;
}
if (fabs(rotation.y) > TRANSMITTER_MIN_YAW_RATE) {
_bodyYawDelta += rotation.y * TRANSMITTER_YAW_SCALE * deltaTime;
}
if (_transmitter.getTouchState()->state == 'D') {
_thrust += TRANSMITTER_UP_FORCE_SCALE *
(float)(_transmitter.getTouchState()->y - TOUCH_POSITION_RANGE_HALF) / TOUCH_POSITION_RANGE_HALF *
TRANSMITTER_LIFT_SCALE *
deltaTime *
up;
}
}
// Update speed brake status
const float MIN_SPEED_BRAKE_VELOCITY = _scale * 0.4f;
if ((glm::length(_thrust) == 0.0f) && _isThrustOn && (glm::length(_velocity) > MIN_SPEED_BRAKE_VELOCITY)) {

10
interface/src/avatar/MyAvatar.h
View file

@ -11,8 +11,6 @@
#include <QSettings>
#include <devices/Transmitter.h>
#include "Avatar.h"
enum AvatarHandState
@ -35,13 +33,10 @@ public:
void update(float deltaTime);
void simulate(float deltaTime);
void updateFromGyros(float deltaTime);
void updateTransmitter(float deltaTime);
void render(bool forceRenderHead);
void renderDebugBodyPoints();
void renderHeadMouse() const;
void renderTransmitterPickRay() const;
void renderTransmitterLevels(int width, int height) const;
// setters
void setMousePressed(bool mousePressed) { _mousePressed = mousePressed; }
@ -60,7 +55,6 @@ public:
float getAbsoluteHeadYaw() const;
const glm::vec3& getMouseRayOrigin() const { return _mouseRayOrigin; }
const glm::vec3& getMouseRayDirection() const { return _mouseRayDirection; }
Transmitter& getTransmitter() { return _transmitter; }
glm::vec3 getGravity() const { return _gravity; }
glm::vec3 getUprightHeadPosition() const;
@ -118,10 +112,6 @@ private:
int _moveTargetStepCounter;
QWeakPointer<AvatarData> _lookAtTargetAvatar;
Transmitter _transmitter; // Gets UDP data from transmitter app used to animate the avatar
glm::vec3 _transmitterPickStart;
glm::vec3 _transmitterPickEnd;
bool _billboardValid;
// private methods

167
interface/src/devices/Transmitter.cpp
View file

@ -1,167 +0,0 @@
//
// Transmitter.cpp
// hifi
//
// Created by Philip Rosedale on 5/20/13.
// Copyright (c) 2013 HighFidelity, Inc. All rights reserved.
//
#ifdef WIN32
#define WANT_TIMEVAL
#include <Systime.h>
#endif
#include <cstring>
#include <glm/glm.hpp>
#include <PacketHeaders.h>
#include "InterfaceConfig.h"
#include "Transmitter.h"
#include "Util.h"
const float DELTA_TIME = 1.f / 60.f;
const float DECAY_RATE = 0.15f;
Transmitter::Transmitter() :
_isConnected(false),
_lastRotationRate(0,0,0),
_lastAcceleration(0,0,0),
_estimatedRotation(0,0,0),
_lastReceivedPacket(NULL)
{
}
Transmitter::~Transmitter() {
if (_lastReceivedPacket) {
delete _lastReceivedPacket;
}
}
void Transmitter::checkForLostTransmitter() {
// If we are in motion, check for loss of transmitter packets
if (glm::length(_estimatedRotation) > 0.f) {
timeval now;
gettimeofday(&now, NULL);
const int TIME_TO_ASSUME_LOST_MSECS = 2000;
int msecsSinceLast = diffclock(_lastReceivedPacket, &now);
if (msecsSinceLast > TIME_TO_ASSUME_LOST_MSECS) {
resetLevels();
qDebug("Transmitter signal lost.");
}
}
}
void Transmitter::resetLevels() {
_lastRotationRate *= 0.f;
_estimatedRotation *= 0.f;
}
void Transmitter::processIncomingData(unsigned char* packetData, int numBytes) {
// Packet's first byte is 'T'
int numBytesPacketHeader = numBytesForPacketHeader(reinterpret_cast<const char*>(packetData));
const int ROTATION_MARKER_SIZE = 1; // 'R' = Rotation (clockwise about x,y,z)
const int ACCELERATION_MARKER_SIZE = 1; // 'A' = Acceleration (x,y,z)
if (!_lastReceivedPacket) {
_lastReceivedPacket = new timeval;
}
gettimeofday(_lastReceivedPacket, NULL);
if (numBytes == numBytesPacketHeader + ROTATION_MARKER_SIZE + ACCELERATION_MARKER_SIZE
+ sizeof(_lastRotationRate) + sizeof(_lastAcceleration)
+ sizeof(_touchState.x) + sizeof(_touchState.y) + sizeof(_touchState.state)) {
unsigned char* packetDataPosition = packetData + numBytesPacketHeader + ROTATION_MARKER_SIZE;
memcpy(&_lastRotationRate, packetDataPosition, sizeof(_lastRotationRate));
packetDataPosition += sizeof(_lastRotationRate) + ACCELERATION_MARKER_SIZE;
memcpy(&_lastAcceleration, packetDataPosition, sizeof(_lastAcceleration));
packetDataPosition += sizeof(_lastAcceleration);
memcpy(&_touchState.state, packetDataPosition, sizeof(_touchState.state));
packetDataPosition += sizeof(_touchState.state);
memcpy(&_touchState.x, packetDataPosition, sizeof(_touchState.x));
packetDataPosition += sizeof(_touchState.x);
memcpy(&_touchState.y, packetDataPosition, sizeof(_touchState.y));
packetDataPosition += sizeof(_touchState.y);
// Update estimated absolute position from rotation rates
_estimatedRotation += _lastRotationRate * DELTA_TIME;
// Sensor Fusion! Slowly adjust estimated rotation to be relative to gravity (average acceleration)
const float GRAVITY_FOLLOW_RATE = 1.f;
float rollAngle = angleBetween(glm::vec3(_lastAcceleration.x, _lastAcceleration.y, 0.f), glm::vec3(0,-1,0)) *
((_lastAcceleration.x < 0.f) ? -1.f : 1.f);
float pitchAngle = angleBetween(glm::vec3(0.f, _lastAcceleration.y, _lastAcceleration.z), glm::vec3(0,-1,0)) *
((_lastAcceleration.z < 0.f) ? 1.f : -1.f);
_estimatedRotation.x = (1.f - GRAVITY_FOLLOW_RATE * DELTA_TIME) * _estimatedRotation.x +
GRAVITY_FOLLOW_RATE * DELTA_TIME * pitchAngle;
_estimatedRotation.z = (1.f - GRAVITY_FOLLOW_RATE * DELTA_TIME) * _estimatedRotation.z +
GRAVITY_FOLLOW_RATE * DELTA_TIME * rollAngle;
// Can't apply gravity fusion to Yaw, so decay estimated yaw to zero,
// presuming that the average yaw direction is toward screen
_estimatedRotation.y *= (1.f - DECAY_RATE * DELTA_TIME);
if (!_isConnected) {
qDebug("Transmitter Connected.");
_isConnected = true;
_estimatedRotation *= 0.0;
}
} else {
qDebug("Transmitter packet read error, %d bytes.", numBytes);
}
}
void Transmitter::renderLevels(int width, int height) const {
char val[50];
const int LEVEL_CORNER_X = 10;
const int LEVEL_CORNER_Y = 400;
// Draw the numeric degree/sec values from the gyros
sprintf(val, "Pitch Rate %4.1f", _lastRotationRate.x);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y, 0.10f, 0, 1.0f, 1, val, 0, 1, 0);
sprintf(val, "Yaw Rate %4.1f", _lastRotationRate.y);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 15, 0.10f, 0, 1.0f, 1, val, 0, 1, 0);
sprintf(val, "Roll Rate %4.1f", _lastRotationRate.z);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 30, 0.10f, 0, 1.0f, 1, val, 0, 1, 0);
sprintf(val, "Pitch %4.3f", _estimatedRotation.x);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 45, 0.10f, 0, 1.0f, 1, val, 0, 1, 0);
sprintf(val, "Yaw %4.3f", _estimatedRotation.y);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 60, 0.10f, 0, 1.0f, 1, val, 0, 1, 0);
sprintf(val, "Roll %4.3f", _estimatedRotation.z);
drawtext(LEVEL_CORNER_X, LEVEL_CORNER_Y + 75, 0.10f, 0, 1.0f, 1, val, 0, 1, 0);
// Draw the levels as horizontal lines
const int LEVEL_CENTER = 150;
const float ACCEL_VIEW_SCALING = 1.f;
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
glBegin(GL_LINES);
// Gyro rates
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRotationRate.x, LEVEL_CORNER_Y - 3);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRotationRate.y, LEVEL_CORNER_Y + 12);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 27);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + _lastRotationRate.z, LEVEL_CORNER_Y + 27);
// Acceleration
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 42);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)(_estimatedRotation.x * ACCEL_VIEW_SCALING),
LEVEL_CORNER_Y + 42);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 57);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)(_estimatedRotation.y * ACCEL_VIEW_SCALING),
LEVEL_CORNER_Y + 57);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 72);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER + (int)(_estimatedRotation.z * ACCEL_VIEW_SCALING),
LEVEL_CORNER_Y + 72);
glEnd();
// Draw green vertical centerline
glColor4f(0, 1, 0, 0.5);
glBegin(GL_LINES);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y - 6);
glVertex2f(LEVEL_CORNER_X + LEVEL_CENTER, LEVEL_CORNER_Y + 30);
glEnd();
}

50
interface/src/devices/Transmitter.h
View file

@ -1,50 +0,0 @@
//
// Transmitter.h
// hifi
//
// Created by Philip Rosedale on 5/20/13.
// Copyright (c) 2013 HighFidelity, Inc. All rights reserved.
//
#ifndef __hifi__Transmitter__
#define __hifi__Transmitter__
#include <iostream>
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
#include <cstring>
#include "world.h"
#include <stdint.h>
struct TouchState {
uint16_t x, y;
char state;
};
class Transmitter
{
public:
Transmitter();
~Transmitter();
void render();
void checkForLostTransmitter();
void resetLevels();
void renderLevels(int width, int height) const;
bool isConnected() const { return _isConnected; };
const glm::vec3 getLastRotationRate() const { return _lastRotationRate; };
const glm::vec3 getLastAcceleration() const { return _lastRotationRate; };
const glm::vec3 getEstimatedRotation() const { return _estimatedRotation; };
const TouchState* getTouchState() const { return &_touchState; };
void processIncomingData(unsigned char* packetData, int numBytes);
private:
bool _isConnected;
glm::vec3 _lastRotationRate;
glm::vec3 _lastAcceleration;
glm::vec3 _estimatedRotation;
TouchState _touchState;
timeval* _lastReceivedPacket;
};
#endif /* defined(__hifi__Transmitter__) */

4
libraries/shared/src/PacketHeaders.h
View file

@ -17,6 +17,8 @@
#include "UUID.h"
// NOTE: if adding a new packet type, you can replace one marked usable or add at the end
enum PacketType {
PacketTypeUnknown,
PacketTypeStunResponse,
@ -30,7 +32,7 @@ enum PacketType {
PacketTypeMicrophoneAudioNoEcho,
PacketTypeMicrophoneAudioWithEcho,
PacketTypeBulkAvatarData,
PacketTypeTransmitterData,
PacketTypeTransmitterData, // usable
PacketTypeEnvironmentData,
PacketTypeDomainListRequest,
PacketTypeRequestAssignment,