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added a lock state so you can lock sit or stand state, also made the

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hand azimuth relative to the spine2 location in avatar space. This stops
the arms from behaving badly when the hands are in front of the chest
but behind the root position of the avatar
This commit is contained in:
amantley 2018-10-11 15:14:04 -07:00
parent 5faf26abd1
commit f73d974ad7
3 changed files with 75 additions and 48 deletions
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119
interface/src/avatar/MyAvatar.cpp
View file

@ -531,52 +531,57 @@ void MyAvatar::update(float deltaTime) {
glm::vec3 sensorHips = transformPoint(glm::inverse(getSensorToWorldMatrix()), worldHips);
// put update sit stand state counts here
if (getIsInSittingState()) {
if (newHeightReading.getTranslation().y > (STANDING_HEIGHT_MULTIPLE * _tippingPoint)) {
// if we recenter upwards then no longer in sitting state
_sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sitStandStateCount = 0;
_squatCount = 0;
if (newHeightReading.isValid()) {
_sumUserHeightSensorSpace = newHeightReading.getTranslation().y;
_tippingPoint = newHeightReading.getTranslation().y;
if (!_lockSitStandState) {
if (getIsInSittingState()) {
if (newHeightReading.getTranslation().y > (STANDING_HEIGHT_MULTIPLE * _tippingPoint)) {
// if we recenter upwards then no longer in sitting state
_sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sitStandStateCount = 0;
_squatCount = 0;
if (newHeightReading.isValid()) {
_sumUserHeightSensorSpace = newHeightReading.getTranslation().y;
_tippingPoint = newHeightReading.getTranslation().y;
}
_averageUserHeightCount = 1;
setResetMode(true);
setIsInSittingState(false);
setCenterOfGravityModelEnabled(true);
setSitStandStateChange(true);
}
_averageUserHeightCount = 1;
setResetMode(true);
setIsInSittingState(false);
setCenterOfGravityModelEnabled(true);
setSitStandStateChange(true);
qCDebug(interfaceapp) << "going to stand state";
} else {
_sitStandStateCount = 0;
// tipping point is average height when sitting.
_tippingPoint = averageSensorSpaceHeight;
}
} else {
_sitStandStateCount = 0;
// tipping point is average height when sitting.
_tippingPoint = averageSensorSpaceHeight;
}
} else {
// in the standing state
if ((newHeightReading.getTranslation().y < (SITTING_HEIGHT_MULTIPLE * _tippingPoint))) {// && (angleSpine2 > COSINE_TEN_DEGREES) && !(sensorHips.y > (0.4f * averageSensorSpaceHeight))) {
_sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sitStandStateCount = 0;
_squatCount = 0;
if (newHeightReading.isValid()) {
_sumUserHeightSensorSpace = newHeightReading.getTranslation().y;
_tippingPoint = newHeightReading.getTranslation().y;
}
_averageUserHeightCount = 1;
setResetMode(true);
setIsInSittingState(true);
setCenterOfGravityModelEnabled(false);
setSitStandStateChange(true);
}
} else {
// returnValue = (offset.y > CYLINDER_TOP) || (offset.y < CYLINDER_BOTTOM);
// use the mode height for the tipping point when we are standing.
_tippingPoint = getCurrentStandingHeight();
_sitStandStateCount = 0;
}
// in the standing state
if ((newHeightReading.getTranslation().y < (SITTING_HEIGHT_MULTIPLE * _tippingPoint))) {// && (angleSpine2 > COSINE_TEN_DEGREES) && !(sensorHips.y > (0.4f * averageSensorSpaceHeight))) {
_sitStandStateCount++;
if (_sitStandStateCount > SITTING_COUNT_THRESHOLD) {
_sitStandStateCount = 0;
_squatCount = 0;
if (newHeightReading.isValid()) {
_sumUserHeightSensorSpace = newHeightReading.getTranslation().y;
_tippingPoint = newHeightReading.getTranslation().y;
}
_averageUserHeightCount = 1;
setResetMode(true);
setIsInSittingState(true);
setCenterOfGravityModelEnabled(false);
setSitStandStateChange(true);
}
qCDebug(interfaceapp) << "going to sit state";
} else {
// returnValue = (offset.y > CYLINDER_TOP) || (offset.y < CYLINDER_BOTTOM);
// use the mode height for the tipping point when we are standing.
_tippingPoint = getCurrentStandingHeight();
_sitStandStateCount = 0;
}
}
}
@ -939,6 +944,15 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
// Find the vector halfway between the hip to hand azimuth vectors
// This midpoint hand azimuth is in Avatar space
glm::vec2 MyAvatar::computeHandAzimuth() const {
int spine2Index = _skeletonModel->getRig().indexOfJoint("Spine2");
glm::vec3 azimuthOrigin(0.0f,0.0f,0.0f);
if (!(spine2Index < 0)) {
// use the spine for the azimuth origin.
azimuthOrigin = getAbsoluteJointTranslationInObjectFrame(spine2Index);
} else {
// use the avatar root as the azimuth origin.
}
controller::Pose leftHandPoseAvatarSpace = getLeftHandPose();
controller::Pose rightHandPoseAvatarSpace = getRightHandPose();
controller::Pose headPoseAvatarSpace = getControllerPoseInAvatarFrame(controller::Action::HEAD);
@ -946,11 +960,13 @@ glm::vec2 MyAvatar::computeHandAzimuth() const {
glm::vec2 latestHipToHandController = _hipToHandController;
if (leftHandPoseAvatarSpace.isValid() && rightHandPoseAvatarSpace.isValid() && headPoseAvatarSpace.isValid()) {
glm::vec3 rightHandOffset = rightHandPoseAvatarSpace.translation - azimuthOrigin;
glm::vec3 leftHandOffset = leftHandPoseAvatarSpace.translation - azimuthOrigin;
// we need the old azimuth reading to prevent flipping the facing direction 180
// in the case where the hands go from being slightly less than 180 apart to slightly more than 180 apart.
glm::vec2 oldAzimuthReading = _hipToHandController;
if ((glm::length(glm::vec2(rightHandPoseAvatarSpace.translation.x, rightHandPoseAvatarSpace.translation.z)) > 0.0f) && (glm::length(glm::vec2(leftHandPoseAvatarSpace.translation.x, leftHandPoseAvatarSpace.translation.z)) > 0.0f)) {
latestHipToHandController = lerp(glm::normalize(glm::vec2(rightHandPoseAvatarSpace.translation.x, rightHandPoseAvatarSpace.translation.z)), glm::normalize(glm::vec2(leftHandPoseAvatarSpace.translation.x, leftHandPoseAvatarSpace.translation.z)), HALFWAY);
if ((glm::length(glm::vec2(rightHandOffset.x, rightHandOffset.z)) > 0.0f) && (glm::length(glm::vec2(leftHandOffset.x, leftHandOffset.z)) > 0.0f)) {
latestHipToHandController = lerp(glm::normalize(glm::vec2(rightHandOffset.x, rightHandOffset.z)), glm::normalize(glm::vec2(leftHandOffset.x, leftHandOffset.z)), HALFWAY);
} else {
latestHipToHandController = glm::vec2(0.0f, -1.0f);
}
@ -4134,21 +4150,29 @@ bool MyAvatar::FollowHelper::shouldActivateVertical(MyAvatar& myAvatar, const gl
const int SQUATTY_COUNT_THRESHOLD = 600;
glm::vec3 offset = extractTranslation(desiredBodyMatrix) - extractTranslation(currentBodyMatrix);
bool returnValue = false;
returnValue = (offset.y > CYLINDER_TOP);// || (offset.y < CYLINDER_BOTTOM);
if (myAvatar.getSitStandStateChange()) {
qCDebug(interfaceapp) << "sit state change";
returnValue = true;
}
if (myAvatar.getIsInSittingState()) {
if (offset.y < SITTING_BOTTOM) {
// we recenter when sitting.
qCDebug(interfaceapp) << "lean back sitting ";
returnValue = true;
}
} else {
// in the standing state
returnValue = (offset.y > CYLINDER_TOP) || (offset.y < CYLINDER_BOTTOM);
if (myAvatar._squatCount > SQUATTY_COUNT_THRESHOLD) {
myAvatar._squatCount = 0;
returnValue = true;
qCDebug(interfaceapp) << "squatting ";
// returnValue = true;
}
if (returnValue == true) {
qCDebug(interfaceapp) << "above or below capsule in standing";
}
}
return returnValue;
@ -4182,7 +4206,7 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
}
}
}
if (_velocityCount > 60) {
if (!isActive(Vertical) && (shouldActivateVertical(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
activate(Vertical);
@ -4192,6 +4216,7 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
_velocityCount++;
}
}
} else {
if (!isActive(Rotation) && getForceActivateRotation()) {

1
interface/src/avatar/MyAvatar.h
View file

@ -1824,6 +1824,7 @@ private:
float _sumUserHeightSensorSpace{ DEFAULT_AVATAR_HEIGHT };
int _averageUserHeightCount{ 1 };
bool _sitStandStateChange{ false };
bool _lockSitStandState { true };
// max unscaled forward movement speed
ThreadSafeValueCache<float> _walkSpeed { DEFAULT_AVATAR_MAX_WALKING_SPEED };

3
interface/src/avatar/MySkeletonModel.cpp
View file

@ -239,7 +239,8 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
// set spine2 if we have hand controllers
if (myAvatar->getHMDLeanRecenterEnabled() && myAvatar->getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid() &&
// myAvatar->getHMDLeanRecenterEnabled() &&
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)) {