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This commit is contained in:
Dante Ruiz 2017-06-13 00:29:45 +01:00
parent 89b0e31edc
commit f9f9aeac01
2 changed files with 55 additions and 61 deletions
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105
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -222,7 +222,7 @@ void ViveControllerManager::pluginUpdate(float deltaTime, const controller::Inpu
ViveControllerManager::InputDevice::InputDevice(vr::IVRSystem*& system) : controller::InputDevice("Vive"), _system(system) {
_configStringMap[Config::Auto] = QString("Auto");
_configStringMap[Config::None] = QString("None");
_configStringMap[Config::Feet] = QString("Feet");
_configStringMap[Config::FeetAndHips] = QString("FeetAndHips");
_configStringMap[Config::FeetHipsAndChest] = QString("FeetHipsAndChest");
@ -425,49 +425,17 @@ void ViveControllerManager::InputDevice::calibrateOrUncalibrate(const controller
void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibrationData& inputCalibration) {
qDebug() << "Puck Calibration: Starting...";
// convert the hmd head from sensor space to avatar space
glm::mat4 hmdSensorFlippedMat = inputCalibration.hmdSensorMat * Matrices::Y_180;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
glm::mat4 hmdAvatarMat = sensorToAvatarMat * hmdSensorFlippedMat;
// cancel the roll and pitch for the hmd head
glm::quat hmdRotation = cancelOutRollAndPitch(glmExtractRotation(hmdAvatarMat));
glm::vec3 hmdTranslation = extractTranslation(hmdAvatarMat);
glm::mat4 currentHmd = createMatFromQuatAndPos(hmdRotation, hmdTranslation);
// calculate the offset from the centerOfEye to defaultHeadMat
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::mat4 currentHead = currentHmd * defaultHeadOffset;
// calculate the defaultToRefrenceXform
glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
glm::mat4 defaultToReferenceMat = glm::mat4();
if (_headConfig == HeadConfig::HMD) {
defaultToReferenceMat = calculateDefaultToReferenceForHmd(inputCalibration);
} else if (_headConfig == HeadConfig::Puck) {
defaultToReferenceMat = calculateDefaultToReferenceForHeadPuck(inputCalibration);
}
int puckCount = (int)_validTrackedObjects.size();
qDebug() << "Puck Calibration: " << puckCount << " pucks found for calibration";
_config = _preferedConfig;
if (_config != Config::Auto && puckCount < MIN_PUCK_COUNT) {
qDebug() << "Puck Calibration: Failed: Could not meet the minimal # of pucks";
uncalibrate();
emitCalibrationStatus(false);
return;
} else if (_config == Config::Auto){
if (puckCount == MIN_PUCK_COUNT) {
_config = Config::Feet;
qDebug() << "Puck Calibration: Auto Config: " << configToString(_config) << " configuration";
} else if (puckCount == MIN_FEET_AND_HIPS) {
_config = Config::FeetAndHips;
qDebug() << "Puck Calibration: Auto Config: " << configToString(_config) << " configuration";
} else if (puckCount >= MIN_FEET_HIPS_CHEST) {
_config = Config::FeetHipsAndChest;
qDebug() << "Puck Calibration: Auto Config: " << configToString(_config) << " configuration";
} else {
qDebug() << "Puck Calibration: Auto Config Failed: Could not meet the minimal # of pucks";
uncalibrate();
emitCalibrationStatus(false);
return;
}
}
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
@ -487,21 +455,19 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
int secondShoulderIndex = 4;
calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex);
} else if (_config == Config::FeetHipsAndHead && puckCount == MIN_FEET_HIPS_HEAD) {
glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
glm::vec3 headXAxis = getReferenceHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getReferenceHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration, headXAxis, headPosition);
calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
glm::vec3 headXAxis = getReferenceHeadXAxis(defaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getReferenceHeadPosition(defaultToReferenceMat, inputCalibration.defaultHeadMat);
calibrateFeet(defaultToReferenceMat, inputCalibration, headXAxis, headPosition);
calibrateHips(defaultToReferenceMat, inputCalibration);
calibrateHead(defaultToReferenceMat, inputCalibration);
_overrideHead = true;
} else if (_config == Config::FeetHipsChestAndHead && puckCount == MIN_FEET_HIPS_CHEST_HEAD) {
glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
glm::vec3 headXAxis = getReferenceHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getReferenceHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration, headXAxis, headPosition);
calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
calibrateChest(headPuckDefaultToReferenceMat, inputCalibration);
calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
glm::vec3 headXAxis = getReferenceHeadXAxis(defaultToReferenceMat, inputCalibration.defaultHeadMat);
glm::vec3 headPosition = getReferenceHeadPosition(defaultToReferenceMat, inputCalibration.defaultHeadMat);
calibrateFeet(defaultToReferenceMat, inputCalibration, headXAxis, headPosition);
calibrateHips(defaultToReferenceMat, inputCalibration);
calibrateChest(defaultToReferenceMat, inputCalibration);
calibrateHead(defaultToReferenceMat, inputCalibration);
_overrideHead = true;
} else {
qDebug() << "Puck Calibration: " << configToString(_config) << " Config Failed: Could not meet the minimal # of pucks";
@ -515,7 +481,7 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
}
void ViveControllerManager::InputDevice::uncalibrate() {
_config = Config::Auto;
_config = Config::None;
_pucksOffset.clear();
_jointToPuckMap.clear();
_calibrated = false;
@ -597,8 +563,29 @@ void ViveControllerManager::InputDevice::handleHandController(float deltaTime, u
}
}
}
glm::mat4 ViveControllerManager::InputDevice::calculateDefaultToReferenceForHmd(const controller::InputCalibrationData& inputCalibration) {
// convert the hmd head from sensor space to avatar space
glm::mat4 hmdSensorFlippedMat = inputCalibration.hmdSensorMat * Matrices::Y_180;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
glm::mat4 hmdAvatarMat = sensorToAvatarMat * hmdSensorFlippedMat;
glm::mat4 ViveControllerManager::InputDevice::recalculateDefaultToReferenceForHeadPuck(const controller::InputCalibrationData& inputCalibration) {
// cancel the roll and pitch for the hmd head
glm::quat hmdRotation = cancelOutRollAndPitch(glmExtractRotation(hmdAvatarMat));
glm::vec3 hmdTranslation = extractTranslation(hmdAvatarMat);
glm::mat4 currentHmd = createMatFromQuatAndPos(hmdRotation, hmdTranslation);
// calculate the offset from the centerOfEye to defaultHeadMat
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::mat4 currentHead = currentHmd * defaultHeadOffset;
// calculate the defaultToRefrenceXform
glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
return defaultToReferenceMat;
}
glm::mat4 ViveControllerManager::InputDevice::calculateDefaultToReferenceForHeadPuck(const controller::InputCalibrationData& inputCalibration) {
glm::mat4 avatarToSensorMat = glm::inverse(inputCalibration.sensorToWorldMat) * inputCalibration.avatarMat;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
size_t headPuckIndex = _validTrackedObjects.size() - 1;
@ -847,6 +834,10 @@ void ViveControllerManager::InputDevice::calibrateHips(glm::mat4& defaultToRefer
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
}
void ViveControllerManager::InputDevice::calibrateHands(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, int firstHandIndex, int secondHandIndex) {
}
void ViveControllerManager::InputDevice::calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
@ -889,7 +880,7 @@ void ViveControllerManager::InputDevice::loadSettings() {
Settings settings;
settings.beginGroup("PUCK_CONFIG");
{
_preferedConfig = (Config)settings.value("configuration", QVariant((int)Config::Auto)).toInt();
_preferedConfig = (Config)settings.value("configuration", QVariant((int)Config::None)).toInt();
}
settings.endGroup();
}
@ -908,8 +899,8 @@ QString ViveControllerManager::InputDevice::configToString(Config config) {
}
void ViveControllerManager::InputDevice::setConfigFromString(const QString& value) {
if (value == "Auto") {
_preferedConfig = Config::Auto;
if (value == "None") {
_preferedConfig = Config::None;
} else if (value == "Feet") {
_preferedConfig = Config::Feet;
} else if (value == "FeetAndHips") {

11
plugins/openvr/src/ViveControllerManager.h
View file

@ -78,7 +78,8 @@ private:
void configureCalibrationSettings(const QJsonObject configurationSettings);
QJsonObject configurationSettings();
controller::Pose addOffsetToPuckPose(int joint) const;
glm::mat4 recalculateDefaultToReferenceForHeadPuck(const controller::InputCalibrationData& inputCalibration);
glm::mat4 calculateDefaultToReferenceForHeadPuck(const controller::InputCalibrationData& inputCalibration);
glm::mat4 calculateDefaultToReferenceForHmd(const controller::InputCalibrationData& inputCalibration);
void updateCalibratedLimbs();
bool checkForCalibrationEvent();
void handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand);
@ -102,6 +103,8 @@ private:
void calibrateShoulders(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
int firstShoulderIndex, int secondShoulderIndex);
void calibrateHands(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration,
int firstHandIndex, int secondHandIndex);
void calibrateHead(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
void calibrateFromHandController(const controller::InputCalibrationData& inputCalibrationData);
void calibrateFromUI(const controller::InputCalibrationData& inputCalibrationData);
@ -133,7 +136,7 @@ private:
glm::vec2 _stick { 0.0f, 0.0f };
};
enum class Config {
Auto,
None,
Feet,
FeetAndHips,
FeetHipsAndChest,
@ -152,8 +155,8 @@ private:
Pucks
};
Config _config { Config::Auto };
Config _preferedConfig { Config::Auto };
Config _config { Config::None };
Config _preferedConfig { Config::None };
HeadConfig _headConfig { HeadConfig::HMD };
HandConfig _handConfig { HandConfig::HandController };
FilteredStick _filteredLeftStick;