Also moved Rig::updateAnimations() now occurs after
Rig::updateFromHeadParameters() and Rig::updateFromHandParameters().
This should remove a frame of lag for head and hand IK targets.
Rig::updateFromEyeParameters() occurs after Rig::updateAnimations().
But now the eye JointStates are re-computed, this is the actual
fix for the local eye tracking issue.
While in the HMD, updates can occur with very small deltaTime values.
These this makes the position delta method of computing a velocity very
susceptible to noise and precision errors.
MyAvatar: refactored updateFromHMDSensorMatrix() a bit by splitting it into several methods, because
it was getting quite large and becoming hard to follow.
* beginStraighteningLean() - can be called when we would like to trigger a re-centering action.
* shouldBeginStraighteningLean() - contains some of the logic to decide if we should begin a re-centering action.
for now it encapulates the capsule check.
* processStraighteningLean() - performs the actual re-centering calculation.
New code was added to MyAvatar::updateFromHMDSensorMatrix() to trigger re-centering when the avatar speed rises
over a threshold.
Secondly the Rig::computeMotionAnimationState() state machine for animGraph added a state change hysteresis
of 100ms. This hysteresis should help smooth over two issues.
1) When the delta position is 0, because the physics timestep was not evaluated.
2) During re-centering due to desired motion, the avatar velocity can fluctuate causing undesired animation state fluctuation.
The calculation that determined where the body position relative to the HMD
was incorrect, one of the components was in the wrong coordinate frame.
Now use the skeleton's bind pose to compute the proper avatar offsets for the eyes, neck and hips.
Use these offsets to calculate where the hips should be given a specific hmd position and orientation.
Also, added a bug fix for Rig, which would cause a -1 index deference when an avatar was missing
certain named joints, such as, "LeftEye", "Neck" and "Head".
The main fix for this was to set the JointState animation priority to 3.0
The secondary fix was only noticed when we changed the animation priority
Basically, the debugRendering was using the JointStates after they were
manipulated by SkeletonModel to 'relax' them toward thier default pose for
IK purposes.
Because the current IK system doesn't quite handle what we need
for the head and neck IK, we do it procedurally in the rig, and
manually set both neck and head IK targets.
Restore the hmd conditional on setting head position. This had been removed when failing to pin it cause lean.
I believe that lean was being caused by coordinate system issues that are now addressed by the above and Andrew's big cleanup.
The hand state machine has the following features
* There's a idle to point animation, followed by a looping point hold state.
* There's a point to idle animation.
* The grab state is composed of a linear blend between an open and closed pose.
Additionally the C++ code will ramp on the left and right hand overlays,
This allows the fingers to be animated normally when the user is not actively
pointing or grabbing.
* Application: Forward trigger values to the MyAvatar's PalmData
* SkeletonModel: Pass PalmData to Rig via updateRigFromHandData() this is more explicit then
the Rig::inverseKinematics methods.
* AnimNodeLoader & AnimOverlay: add support for LeftHand and RightHand bone sets
* Rig::updateRigFromHandData() read the triggers and set stateMachine trigger vars
* avatar.json - udpated with new hand state machine with temporary animations
