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added a check for whether the head to shoulder azimuth is greater than 100 degrees. If so unflip the chest azimuth

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This commit is contained in:
Angus Antley 2018-08-29 20:44:21 +01:00
parent ee33f5dc97
commit f7d0cdda02
1 changed files with 17 additions and 4 deletions
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21
interface/src/avatar/MyAvatar.cpp
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@ -819,12 +819,13 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
// Find the vector halfway between the hip to hand azimuth vectors // Find the vector halfway between the hip to hand azimuth vectors
// This midpoint hand azimuth is in Avatar space // This midpoint hand azimuth is in Avatar space
glm::vec2 MyAvatar::computeHandAzimuth() const { glm::vec2 MyAvatar::computeHandAzimuth() const {
auto leftHandPoseAvatarSpace = getLeftHandPose(); controller::Pose leftHandPoseAvatarSpace = getLeftHandPose();
auto rightHandPoseAvatarSpace = getRightHandPose(); controller::Pose rightHandPoseAvatarSpace = getRightHandPose();
controller::Pose headPoseAvatarSpace = getControllerPoseInAvatarFrame(controller::Action::HEAD);
const float HALFWAY = 0.50f; const float HALFWAY = 0.50f;
glm::vec2 latestHipToHandController = _hipToHandController; glm::vec2 latestHipToHandController = _hipToHandController;
if (leftHandPoseAvatarSpace.isValid() && rightHandPoseAvatarSpace.isValid()) { if (leftHandPoseAvatarSpace.isValid() && rightHandPoseAvatarSpace.isValid() && headPoseAvatarSpace.isValid()) {
// we need the old azimuth reading to prevent flipping the facing direction 180 // 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. // in the case where the hands go from being slightly less than 180 apart to slightly more than 180 apart.
glm::vec2 oldAzimuthReading = _hipToHandController; glm::vec2 oldAzimuthReading = _hipToHandController;
@ -833,11 +834,23 @@ glm::vec2 MyAvatar::computeHandAzimuth() const {
} else { } else {
latestHipToHandController = glm::vec2(0.0f, -1.0f); latestHipToHandController = glm::vec2(0.0f, -1.0f);
} }
glm::vec3 headLookAtAvatarSpace = transformVectorFast(headPoseAvatarSpace.getMatrix(), glm::vec3(0.0f, 0.0f, 1.0f));
glm::vec2 headAzimuthAvatarSpace = glm::vec2(headLookAtAvatarSpace.x, headLookAtAvatarSpace.z);
if (glm::length(headAzimuthAvatarSpace) > 0.0f) {
headAzimuthAvatarSpace = glm::normalize(headAzimuthAvatarSpace);
} else {
headAzimuthAvatarSpace = -latestHipToHandController;
}
// check the angular distance from forward and back // check the angular distance from forward and back
float cosForwardAngle = glm::dot(latestHipToHandController, oldAzimuthReading); float cosForwardAngle = glm::dot(latestHipToHandController, oldAzimuthReading);
float cosHeadShoulder = glm::dot(-latestHipToHandController, headAzimuthAvatarSpace);
// if we are now closer to the 180 flip of the previous chest forward // if we are now closer to the 180 flip of the previous chest forward
// then we negate our computed latestHipToHandController to keep the chest from flipping. // then we negate our computed latestHipToHandController to keep the chest from flipping.
if (cosForwardAngle < 0.0f) { // also check the head to shoulder azimuth difference if we negate.
// don't negate the chest azimuth if this is greater than 100 degrees.
if ((cosForwardAngle < 0.0f) && !(cosHeadShoulder < -0.2f)) {
latestHipToHandController = -latestHipToHandController; latestHipToHandController = -latestHipToHandController;
} }
} }