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got hand working

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This commit is contained in:
Dante Ruiz 2017-06-15 00:26:53 +01:00
parent aa23986618
commit ff422153b1
1 changed files with 25 additions and 24 deletions
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49
plugins/openvr/src/ViveControllerManager.cpp
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@ -878,67 +878,68 @@ void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToRefer
}
void ViveControllerManager::InputDevice::calibrateLeftHand(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& handPair) {
glm::mat4 avatarToSensorMat = glm::inverse(inputCalibration.sensorToWorldMat) * inputCalibration.avatarMat;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
controller::Pose& handPose = handPair.second;
glm::mat4 handPoseAvatarMat = createMatFromQuatAndPos(handPose.getRotation(), handPose.getTranslation());
glm::vec3 handPoseTranslation = extractTranslation(handPoseAvatarMat);
glm::vec3 handPoseZAxis = glmExtractRotation(handPoseAvatarMat) * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 avatarHandYAxis = glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 avatarHandYAxis = transformVectorFast(glm::inverse(handPoseAvatarMat), glm::vec3(1.0f, 0.0f, 0.0f));
const float EPSILON = 1.0e-4f;
if (fabsf(fabsf(glm::dot(glm::normalize(avatarHandYAxis), glm::normalize(handPoseZAxis))) - 1.0f) < EPSILON) {
handPoseZAxis = glm::vec3(0.0f, 0.0f, 1.0f);
}
glm::vec3 yPrime = avatarHandYAxis;
glm::vec3 zPrime = handPoseZAxis;
glm::vec3 xPrime = glm::normalize(glm::cross(avatarHandYAxis, handPoseZAxis));
glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, yPrime));
glm::vec3 yPrime = glm::normalize(glm::cross(zPrime, xPrime));
glm::mat4 newHandMat = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f),
glm::vec4(zPrime, 0.0f), glm::vec4(handPoseTranslation, 1.0f));
glm::mat4 handPoseOffset = glm::mat4(glm::vec4(1.0f, 0.0f, 0.0f, 0.0f), glm::vec4(0.0f, 1.0f, 0.0f, 0.0f),
glm::vec4(0.0f, 0.0f, 1.0f, 0.0f), glm::vec4(0.0f, 0.0f, 0.0f, 1.0f));
glm::mat4 finalHandMat = newHandMat * handPoseOffset;
controller::Pose finalPose(extractTranslation(finalHandMat), glmExtractRotation(finalHandMat));
glm::vec3 translationOffset = glm::vec3(0.0f, -0.0508f, 0.0254f);
glm::quat initialRotation = glmExtractRotation(handPoseAvatarMat);
glm::quat finalRotation = glmExtractRotation(newHandMat);
glm::quat rotationOffset = glm::inverse(initialRotation) * finalRotation;
glm::mat4 offset = createMatFromQuatAndPos(rotationOffset, translationOffset);
_jointToPuckMap[controller::LEFT_HAND] = handPair.first;
_pucksOffset[handPair.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftHand, finalPose);
_pucksOffset[handPair.first] = offset;
}
void ViveControllerManager::InputDevice::calibrateRightHand(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, PuckPosePair& handPair) {
glm::mat4 avatarToSensorMat = glm::inverse(inputCalibration.sensorToWorldMat) * inputCalibration.avatarMat;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
controller::Pose& handPose = handPair.second;
glm::mat4 handPoseAvatarMat = createMatFromQuatAndPos(handPose.getRotation(), handPose.getTranslation());
glm::vec3 handPoseTranslation = extractTranslation(handPoseAvatarMat);
glm::vec3 handPoseZAxis = glmExtractRotation(handPoseAvatarMat) * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 avatarHandYAxis = glm::vec3(-1.0f, 0.0f, 0.0f);
glm::vec3 avatarHandYAxis = transformVectorFast(glm::inverse(handPoseAvatarMat), glm::vec3(1.0f, 0.0f, 0.0f));
const float EPSILON = 1.0e-4f;
if (fabsf(fabsf(glm::dot(glm::normalize(avatarHandYAxis), glm::normalize(handPoseZAxis))) - 1.0f) < EPSILON) {
handPoseZAxis = glm::vec3(0.0f, 0.0f, 1.0f);
}
glm::vec3 yPrime = avatarHandYAxis;
glm::vec3 zPrime = handPoseZAxis;
glm::vec3 xPrime = glm::normalize(glm::cross(avatarHandYAxis, handPoseZAxis));
glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, yPrime));
glm::vec3 yPrime = glm::normalize(glm::cross(zPrime, xPrime));
glm::mat4 newHandMat = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f),
glm::vec4(zPrime, 0.0f), glm::vec4(handPoseTranslation, 1.0f));
glm::mat4 handPoseOffset = glm::mat4(glm::vec4(1.0f, 0.0f, 0.0f, 0.0f), glm::vec4(0.0f, 1.0f, 0.0f, 0.0f),
glm::vec4(0.0f, 0.0f, 1.0f, 0.0f), glm::vec4(0.0f, 0.0508f, 0.0f, 1.0f));
glm::mat4 finalHandMat = newHandMat * handPoseOffset;
controller::Pose finalPose(extractTranslation(finalHandMat), glmExtractRotation(finalHandMat));
glm::vec3 translationOffset = glm::vec3(0.0f, -0.0508f, 0.0254f);
glm::quat initialRotation = glmExtractRotation(handPoseAvatarMat);
glm::quat finalRotation = glmExtractRotation(newHandMat);
glm::quat rotationOffset = glm::inverse(initialRotation) * finalRotation;
glm::mat4 offset = createMatFromQuatAndPos(rotationOffset, translationOffset);
_jointToPuckMap[controller::RIGHT_HAND] = handPair.first;
_pucksOffset[handPair.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightHand, finalPose);
_pucksOffset[handPair.first] = offset;
}