void PrioVR::update(float deltaTime) {
#ifdef HAVE_PRIOVR
if (!_skeletalDevice) {
return;
}
PerformanceTimer perfTimer("PrioVR");
unsigned int timestamp;
yei_getLastStreamDataAll(_skeletalDevice, (char*)_jointRotations.data(),
_jointRotations.size() * sizeof(glm::quat), ×tamp);
// convert to our expected coordinate system, average with last rotations to smooth
for (int i = 0; i < _jointRotations.size(); i++) {
_jointRotations[i].y *= -1.0f;
_jointRotations[i].z *= -1.0f;
glm::quat lastRotation = _lastJointRotations.at(i);
_lastJointRotations[i] = _jointRotations.at(i);
_jointRotations[i] = safeMix(lastRotation, _jointRotations.at(i), 0.5f);
}
// convert the joysticks into palm data
setPalm(deltaTime, LEFT_HAND_INDEX);
setPalm(deltaTime, RIGHT_HAND_INDEX);
#endif
}
void JointState::restoreRotation(float fraction, float priority) {
assert(_fbxJoint != NULL);
if (priority == _animationPriority || _animationPriority == 0.0f) {
_rotationInParentFrame = safeMix(_rotationInParentFrame, _fbxJoint->rotation, fraction);
_animationPriority = 0.0f;
}
}
// use iterative forces to keep the camera at the desired position and angle
void Camera::updateFollowMode(float deltaTime) {
if (_linearModeShift < 1.0f) {
_linearModeShift += deltaTime / _modeShiftPeriod;
if (_needsToInitialize || _linearModeShift > 1.0f) {
_linearModeShift = 1.0f;
_modeShift = 1.0f;
_upShift = _newUpShift;
_distance = _newDistance;
_tightness = _newTightness;
} else {
_modeShift = ONE_HALF - ONE_HALF * cosf(_linearModeShift * PI );
_upShift = _previousUpShift * (1.0f - _modeShift) + _newUpShift * _modeShift;
_distance = _previousDistance * (1.0f - _modeShift) + _newDistance * _modeShift;
_tightness = _previousTightness * (1.0f - _modeShift) + _newTightness * _modeShift;
}
}
// derive t from tightness
float t = _tightness * _modeShift * deltaTime;
if (t > 1.0f) {
t = 1.0f;
}
// handle keepLookingAt
if (_isKeepLookingAt) {
lookAt(_lookingAt);
}
// Update position and rotation, setting directly if tightness is 0.0
if (_needsToInitialize || (_tightness == 0.0f)) {
_rotation = _targetRotation;
_idealPosition = _targetPosition + _scale * (_rotation * glm::vec3(0.0f, _upShift, _distance));
_position = _idealPosition;
_needsToInitialize = false;
} else {
// pull rotation towards ideal
_rotation = safeMix(_rotation, _targetRotation, t);
_idealPosition = _targetPosition + _scale * (_rotation * glm::vec3(0.0f, _upShift, _distance));
_position += (_idealPosition - _position) * t;
}
}
void Player::play() {
computeCurrentFrame();
if (_currentFrame < 0 || (_currentFrame >= _recording->getFrameNumber() - 2)) { // -2 because of interpolation
if (_loop) {
loopRecording();
} else {
stopPlaying();
}
return;
}
const RecordingContext* context = &_recording->getContext();
if (_playFromCurrentPosition) {
context = &_currentContext;
}
const RecordingFrame& currentFrame = _recording->getFrame(_currentFrame);
const RecordingFrame& nextFrame = _recording->getFrame(_currentFrame + 1);
glm::vec3 translation = glm::mix(currentFrame.getTranslation(),
nextFrame.getTranslation(),
_frameInterpolationFactor);
_avatar->setPosition(context->position + context->orientation * translation);
glm::quat rotation = safeMix(currentFrame.getRotation(),
nextFrame.getRotation(),
_frameInterpolationFactor);
_avatar->setOrientation(context->orientation * rotation);
float scale = glm::mix(currentFrame.getScale(),
nextFrame.getScale(),
_frameInterpolationFactor);
_avatar->setTargetScale(context->scale * scale);
QVector<glm::quat> jointRotations(currentFrame.getJointRotations().size());
for (int i = 0; i < currentFrame.getJointRotations().size(); ++i) {
jointRotations[i] = safeMix(currentFrame.getJointRotations()[i],
nextFrame.getJointRotations()[i],
_frameInterpolationFactor);
}
_avatar->setJointRotations(jointRotations);
HeadData* head = const_cast<HeadData*>(_avatar->getHeadData());
if (head) {
// Make sure fake face tracker connection doesn't get turned off
_avatar->setForceFaceTrackerConnected(true);
QVector<float> blendCoef(currentFrame.getBlendshapeCoefficients().size());
for (int i = 0; i < currentFrame.getBlendshapeCoefficients().size(); ++i) {
blendCoef[i] = glm::mix(currentFrame.getBlendshapeCoefficients()[i],
nextFrame.getBlendshapeCoefficients()[i],
_frameInterpolationFactor);
}
head->setBlendshapeCoefficients(blendCoef);
float leanSideways = glm::mix(currentFrame.getLeanSideways(),
nextFrame.getLeanSideways(),
_frameInterpolationFactor);
head->setLeanSideways(leanSideways);
float leanForward = glm::mix(currentFrame.getLeanForward(),
nextFrame.getLeanForward(),
_frameInterpolationFactor);
head->setLeanForward(leanForward);
glm::quat headRotation = safeMix(currentFrame.getHeadRotation(),
nextFrame.getHeadRotation(),
_frameInterpolationFactor);
glm::vec3 eulers = glm::degrees(safeEulerAngles(headRotation));
head->setFinalPitch(eulers.x);
head->setFinalYaw(eulers.y);
head->setFinalRoll(eulers.z);
glm::vec3 lookAt = glm::mix(currentFrame.getLookAtPosition(),
nextFrame.getLookAtPosition(),
_frameInterpolationFactor);
head->setLookAtPosition(context->position + context->orientation * lookAt);
} else {
qCDebug(avatars) << "WARNING: Player couldn't find head data.";
}
_options.position = _avatar->getPosition();
_options.orientation = _avatar->getOrientation();
_injector->setOptions(_options);
}
void DdeFaceTracker::decodePacket(const QByteArray& buffer) {
_lastReceiveTimestamp = usecTimestampNow();
if (buffer.size() > MIN_PACKET_SIZE) {
bool isFiltering = Menu::getInstance()->isOptionChecked(MenuOption::VelocityFilter);
Packet packet;
int bytesToCopy = glm::min((int)sizeof(packet), buffer.size());
memset(&packet.name, '\n', MAX_NAME_SIZE + 1);
memcpy(&packet, buffer.data(), bytesToCopy);
glm::vec3 translation;
memcpy(&translation, packet.translation, sizeof(packet.translation));
glm::quat rotation;
memcpy(&rotation, &packet.rotation, sizeof(packet.rotation));
if (_reset || (_lastMessageReceived == 0)) {
memcpy(&_referenceTranslation, &translation, sizeof(glm::vec3));
memcpy(&_referenceRotation, &rotation, sizeof(glm::quat));
_reset = false;
}
// Compute relative translation
float LEAN_DAMPING_FACTOR = 75.0f;
translation -= _referenceTranslation;
translation /= LEAN_DAMPING_FACTOR;
translation.x *= -1;
if (isFiltering) {
glm::vec3 linearVelocity = (translation - _lastHeadTranslation) / _averageMessageTime;
const float LINEAR_VELOCITY_FILTER_STRENGTH = 0.3f;
float velocityFilter = glm::clamp(1.0f - glm::length(linearVelocity) *
LINEAR_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredHeadTranslation = velocityFilter * _filteredHeadTranslation + (1.0f - velocityFilter) * translation;
_lastHeadTranslation = translation;
_headTranslation = _filteredHeadTranslation;
} else {
_headTranslation = translation;
}
// Compute relative rotation
rotation = glm::inverse(_referenceRotation) * rotation;
if (isFiltering) {
glm::quat r = rotation * glm::inverse(_headRotation);
float theta = 2 * acos(r.w);
glm::vec3 angularVelocity;
if (theta > EPSILON) {
float rMag = glm::length(glm::vec3(r.x, r.y, r.z));
angularVelocity = theta / _averageMessageTime * glm::vec3(r.x, r.y, r.z) / rMag;
} else {
angularVelocity = glm::vec3(0, 0, 0);
}
const float ANGULAR_VELOCITY_FILTER_STRENGTH = 0.3f;
_headRotation = safeMix(_headRotation, rotation, glm::clamp(glm::length(angularVelocity) *
ANGULAR_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f));
} else {
_headRotation = rotation;
}
// Translate DDE coefficients to Faceshift compatible coefficients
for (int i = 0; i < NUM_EXPRESSIONS; i++) {
_coefficients[DDE_TO_FACESHIFT_MAPPING[i]] = packet.expressions[i];
}
// Calibration
if (_isCalibrating) {
addCalibrationDatum();
}
for (int i = 0; i < NUM_FACESHIFT_BLENDSHAPES; i++) {
_coefficients[i] -= _coefficientAverages[i];
}
// Use BrowsU_C to control both brows' up and down
float browUp = _coefficients[_browUpCenterIndex];
if (isFiltering) {
const float BROW_VELOCITY_FILTER_STRENGTH = 0.5f;
float velocity = fabs(browUp - _lastBrowUp) / _averageMessageTime;
float velocityFilter = glm::clamp(velocity * BROW_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredBrowUp = velocityFilter * browUp + (1.0f - velocityFilter) * _filteredBrowUp;
_lastBrowUp = browUp;
browUp = _filteredBrowUp;
_coefficients[_browUpCenterIndex] = browUp;
}
_coefficients[_browUpLeftIndex] = browUp;
_coefficients[_browUpRightIndex] = browUp;
_coefficients[_browDownLeftIndex] = -browUp;
_coefficients[_browDownRightIndex] = -browUp;
// Offset jaw open coefficient
static const float JAW_OPEN_THRESHOLD = 0.1f;
_coefficients[_jawOpenIndex] = _coefficients[_jawOpenIndex] - JAW_OPEN_THRESHOLD;
// Offset smile coefficients
static const float SMILE_THRESHOLD = 0.5f;
_coefficients[_mouthSmileLeftIndex] = _coefficients[_mouthSmileLeftIndex] - SMILE_THRESHOLD;
_coefficients[_mouthSmileRightIndex] = _coefficients[_mouthSmileRightIndex] - SMILE_THRESHOLD;
// Velocity filter EyeBlink values
const float DDE_EYEBLINK_SCALE = 3.0f;
float eyeBlinks[] = { DDE_EYEBLINK_SCALE * _coefficients[_leftBlinkIndex], DDE_EYEBLINK_SCALE * _coefficients[_rightBlinkIndex] };
if (isFiltering) {
const float BLINK_VELOCITY_FILTER_STRENGTH = 0.3f;
for (int i = 0; i < 2; i++) {
float velocity = fabs(eyeBlinks[i] - _lastEyeBlinks[i]) / _averageMessageTime;
float velocityFilter = glm::clamp(velocity * BLINK_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredEyeBlinks[i] = velocityFilter * eyeBlinks[i] + (1.0f - velocityFilter) * _filteredEyeBlinks[i];
_lastEyeBlinks[i] = eyeBlinks[i];
}
}
// Finesse EyeBlink values
float eyeCoefficients[2];
if (Menu::getInstance()->isOptionChecked(MenuOption::BinaryEyelidControl)) {
if (_eyeStates[0] == EYE_UNCONTROLLED) {
_eyeStates[0] = EYE_OPEN;
_eyeStates[1] = EYE_OPEN;
}
for (int i = 0; i < 2; i++) {
// Scale EyeBlink values so that they can be used to control both EyeBlink and EyeOpen
// -ve values control EyeOpen; +ve values control EyeBlink
static const float EYE_CONTROL_THRESHOLD = 0.5f; // Resting eye value
eyeCoefficients[i] = (_filteredEyeBlinks[i] - EYE_CONTROL_THRESHOLD) / (1.0f - EYE_CONTROL_THRESHOLD);
// Change to closing or opening states
const float EYE_CONTROL_HYSTERISIS = 0.25f;
float eyeClosingThreshold = getEyeClosingThreshold();
float eyeOpeningThreshold = eyeClosingThreshold - EYE_CONTROL_HYSTERISIS;
if ((_eyeStates[i] == EYE_OPEN || _eyeStates[i] == EYE_OPENING) && eyeCoefficients[i] > eyeClosingThreshold) {
_eyeStates[i] = EYE_CLOSING;
} else if ((_eyeStates[i] == EYE_CLOSED || _eyeStates[i] == EYE_CLOSING)
&& eyeCoefficients[i] < eyeOpeningThreshold) {
_eyeStates[i] = EYE_OPENING;
}
const float EYELID_MOVEMENT_RATE = 10.0f; // units/second
const float EYE_OPEN_SCALE = 0.2f;
if (_eyeStates[i] == EYE_CLOSING) {
// Close eyelid until it's fully closed
float closingValue = _lastEyeCoefficients[i] + EYELID_MOVEMENT_RATE * _averageMessageTime;
if (closingValue >= 1.0) {
_eyeStates[i] = EYE_CLOSED;
eyeCoefficients[i] = 1.0;
} else {
eyeCoefficients[i] = closingValue;
}
} else if (_eyeStates[i] == EYE_OPENING) {
// Open eyelid until it meets the current adjusted value
float openingValue = _lastEyeCoefficients[i] - EYELID_MOVEMENT_RATE * _averageMessageTime;
if (openingValue < eyeCoefficients[i] * EYE_OPEN_SCALE) {
_eyeStates[i] = EYE_OPEN;
eyeCoefficients[i] = eyeCoefficients[i] * EYE_OPEN_SCALE;
} else {
eyeCoefficients[i] = openingValue;
}
} else if (_eyeStates[i] == EYE_OPEN) {
// Reduce eyelid movement
eyeCoefficients[i] = eyeCoefficients[i] * EYE_OPEN_SCALE;
} else if (_eyeStates[i] == EYE_CLOSED) {
// Keep eyelid fully closed
eyeCoefficients[i] = 1.0;
}
}
if (_eyeStates[0] == EYE_OPEN && _eyeStates[1] == EYE_OPEN) {
// Couple eyelids
eyeCoefficients[0] = eyeCoefficients[1] = (eyeCoefficients[0] + eyeCoefficients[0]) / 2.0f;
}
_lastEyeCoefficients[0] = eyeCoefficients[0];
_lastEyeCoefficients[1] = eyeCoefficients[1];
} else {
_eyeStates[0] = EYE_UNCONTROLLED;
_eyeStates[1] = EYE_UNCONTROLLED;
eyeCoefficients[0] = _filteredEyeBlinks[0];
eyeCoefficients[1] = _filteredEyeBlinks[1];
}
// Use EyeBlink values to control both EyeBlink and EyeOpen
if (eyeCoefficients[0] > 0) {
_coefficients[_leftBlinkIndex] = eyeCoefficients[0];
_coefficients[_leftEyeOpenIndex] = 0.0f;
} else {
_coefficients[_leftBlinkIndex] = 0.0f;
_coefficients[_leftEyeOpenIndex] = -eyeCoefficients[0];
}
if (eyeCoefficients[1] > 0) {
_coefficients[_rightBlinkIndex] = eyeCoefficients[1];
_coefficients[_rightEyeOpenIndex] = 0.0f;
} else {
_coefficients[_rightBlinkIndex] = 0.0f;
_coefficients[_rightEyeOpenIndex] = -eyeCoefficients[1];
}
// Scale all coefficients
for (int i = 0; i < NUM_EXPRESSIONS; i++) {
_blendshapeCoefficients[i]
= glm::clamp(DDE_COEFFICIENT_SCALES[i] * _coefficients[i], 0.0f, 1.0f);
}
// Calculate average frame time
const float FRAME_AVERAGING_FACTOR = 0.99f;
quint64 usecsNow = usecTimestampNow();
if (_lastMessageReceived != 0) {
_averageMessageTime = FRAME_AVERAGING_FACTOR * _averageMessageTime
+ (1.0f - FRAME_AVERAGING_FACTOR) * (float)(usecsNow - _lastMessageReceived) / 1000000.0f;
}
_lastMessageReceived = usecsNow;
FaceTracker::countFrame();
} else {
qCWarning(interfaceapp) << "DDE Face Tracker: Decode error";
}
if (_isCalibrating && _calibrationCount > CALIBRATION_SAMPLES) {
finishCalibration();
}
}
void SixenseManager::update(float deltaTime) {
#ifdef HAVE_SIXENSE
// if the controllers haven't been moved in a while, disable
const unsigned int MOVEMENT_DISABLE_SECONDS = 3;
if (usecTimestampNow() - _lastMovement > (MOVEMENT_DISABLE_SECONDS * USECS_PER_SECOND)) {
Hand* hand = Application::getInstance()->getAvatar()->getHand();
for (std::vector<PalmData>::iterator it = hand->getPalms().begin(); it != hand->getPalms().end(); it++) {
it->setActive(false);
}
_lastMovement = usecTimestampNow();
}
if (sixenseGetNumActiveControllers() == 0) {
_hydrasConnected = false;
return;
}
PerformanceTimer perfTimer("sixense");
if (!_hydrasConnected) {
_hydrasConnected = true;
UserActivityLogger::getInstance().connectedDevice("spatial_controller", "hydra");
}
MyAvatar* avatar = Application::getInstance()->getAvatar();
Hand* hand = avatar->getHand();
int maxControllers = sixenseGetMaxControllers();
// we only support two controllers
sixenseControllerData controllers[2];
int numActiveControllers = 0;
for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) {
if (!sixenseIsControllerEnabled(i)) {
continue;
}
sixenseControllerData* data = controllers + numActiveControllers;
++numActiveControllers;
sixenseGetNewestData(i, data);
// Set palm position and normal based on Hydra position/orientation
// Either find a palm matching the sixense controller, or make a new one
PalmData* palm;
bool foundHand = false;
for (size_t j = 0; j < hand->getNumPalms(); j++) {
if (hand->getPalms()[j].getSixenseID() == data->controller_index) {
palm = &(hand->getPalms()[j]);
foundHand = true;
}
}
if (!foundHand) {
PalmData newPalm(hand);
hand->getPalms().push_back(newPalm);
palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
palm->setSixenseID(data->controller_index);
qDebug("Found new Sixense controller, ID %i", data->controller_index);
}
palm->setActive(true);
// Read controller buttons and joystick into the hand
palm->setControllerButtons(data->buttons);
palm->setTrigger(data->trigger);
palm->setJoystick(data->joystick_x, data->joystick_y);
// Emulate the mouse so we can use scripts
if (Menu::getInstance()->isOptionChecked(MenuOption::SixenseMouseInput)) {
emulateMouse(palm, numActiveControllers - 1);
}
// NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.
glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
position *= METERS_PER_MILLIMETER;
// Transform the measured position into body frame.
glm::vec3 neck = _neckBase;
// Zeroing y component of the "neck" effectively raises the measured position a little bit.
neck.y = 0.f;
position = _orbRotation * (position - neck);
// Rotation of Palm
glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]);
rotation = glm::angleAxis(PI, glm::vec3(0.f, 1.f, 0.f)) * _orbRotation * rotation;
// Compute current velocity from position change
glm::vec3 rawVelocity;
if (deltaTime > 0.f) {
rawVelocity = (position - palm->getRawPosition()) / deltaTime;
} else {
rawVelocity = glm::vec3(0.0f);
}
palm->setRawVelocity(rawVelocity); // meters/sec
// adjustment for hydra controllers fit into hands
float sign = (i == 0) ? -1.0f : 1.0f;
rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f));
if (_lowVelocityFilter) {
// Use a velocity sensitive filter to damp small motions and preserve large ones with
// no latency.
float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);
position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter);
rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter);
palm->setRawPosition(position);
palm->setRawRotation(rotation);
} else {
palm->setRawPosition(position);
palm->setRawRotation(rotation);
}
// use the velocity to determine whether there's any movement (if the hand isn't new)
const float MOVEMENT_DISTANCE_THRESHOLD = 0.003f;
_amountMoved += rawVelocity * deltaTime;
if (glm::length(_amountMoved) > MOVEMENT_DISTANCE_THRESHOLD && foundHand) {
_lastMovement = usecTimestampNow();
_amountMoved = glm::vec3(0.0f);
}
// Store the one fingertip in the palm structure so we can track velocity
const float FINGER_LENGTH = 0.3f; // meters
const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
glm::vec3 oldTipPosition = palm->getTipRawPosition();
if (deltaTime > 0.f) {
palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
} else {
palm->setTipVelocity(glm::vec3(0.f));
}
palm->setTipPosition(newTipPosition);
}
if (numActiveControllers == 2) {
updateCalibration(controllers);
}
#endif // HAVE_SIXENSE
}
void SixenseManager::update(float deltaTime) {
#ifdef HAVE_SIXENSE
Hand* hand = DependencyManager::get<AvatarManager>()->getMyAvatar()->getHand();
if (_isInitialized && _isEnabled) {
#ifdef __APPLE__
SixenseBaseFunction sixenseGetNumActiveControllers =
(SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetNumActiveControllers");
#endif
if (sixenseGetNumActiveControllers() == 0) {
_hydrasConnected = false;
return;
}
PerformanceTimer perfTimer("sixense");
if (!_hydrasConnected) {
_hydrasConnected = true;
UserActivityLogger::getInstance().connectedDevice("spatial_controller", "hydra");
}
#ifdef __APPLE__
SixenseBaseFunction sixenseGetMaxControllers =
(SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetMaxControllers");
#endif
int maxControllers = sixenseGetMaxControllers();
// we only support two controllers
sixenseControllerData controllers[2];
#ifdef __APPLE__
SixenseTakeIntFunction sixenseIsControllerEnabled =
(SixenseTakeIntFunction) _sixenseLibrary->resolve("sixenseIsControllerEnabled");
SixenseTakeIntAndSixenseControllerData sixenseGetNewestData =
(SixenseTakeIntAndSixenseControllerData) _sixenseLibrary->resolve("sixenseGetNewestData");
#endif
int numControllersAtBase = 0;
int numActiveControllers = 0;
for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) {
if (!sixenseIsControllerEnabled(i)) {
continue;
}
sixenseControllerData* data = controllers + numActiveControllers;
++numActiveControllers;
sixenseGetNewestData(i, data);
// Set palm position and normal based on Hydra position/orientation
// Either find a palm matching the sixense controller, or make a new one
PalmData* palm;
bool foundHand = false;
for (size_t j = 0; j < hand->getNumPalms(); j++) {
if (hand->getPalms()[j].getSixenseID() == data->controller_index) {
palm = &(hand->getPalms()[j]);
foundHand = true;
}
}
if (!foundHand) {
PalmData newPalm(hand);
hand->getPalms().push_back(newPalm);
palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
palm->setSixenseID(data->controller_index);
qCDebug(interfaceapp, "Found new Sixense controller, ID %i", data->controller_index);
}
// Disable the hands (and return to default pose) if both controllers are at base station
if (foundHand) {
palm->setActive(!_controllersAtBase);
} else {
palm->setActive(false); // if this isn't a Sixsense ID palm, always make it inactive
}
// Read controller buttons and joystick into the hand
palm->setControllerButtons(data->buttons);
palm->setTrigger(data->trigger);
palm->setJoystick(data->joystick_x, data->joystick_y);
// Emulate the mouse so we can use scripts
if (Menu::getInstance()->isOptionChecked(MenuOption::SixenseMouseInput) && !_controllersAtBase) {
emulateMouse(palm, numActiveControllers - 1);
}
// NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.
glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
position *= METERS_PER_MILLIMETER;
// Check to see if this hand/controller is on the base
const float CONTROLLER_AT_BASE_DISTANCE = 0.075f;
if (glm::length(position) < CONTROLLER_AT_BASE_DISTANCE) {
numControllersAtBase++;
}
// Transform the measured position into body frame.
glm::vec3 neck = _neckBase;
// Zeroing y component of the "neck" effectively raises the measured position a little bit.
neck.y = 0.0f;
position = _orbRotation * (position - neck);
// Rotation of Palm
glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]);
rotation = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)) * _orbRotation * rotation;
// Compute current velocity from position change
glm::vec3 rawVelocity;
if (deltaTime > 0.0f) {
rawVelocity = (position - palm->getRawPosition()) / deltaTime;
} else {
rawVelocity = glm::vec3(0.0f);
}
palm->setRawVelocity(rawVelocity); // meters/sec
// adjustment for hydra controllers fit into hands
float sign = (i == 0) ? -1.0f : 1.0f;
rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f));
// Angular Velocity of Palm
glm::quat deltaRotation = rotation * glm::inverse(palm->getRawRotation());
glm::vec3 angularVelocity(0.0f);
float rotationAngle = glm::angle(deltaRotation);
if ((rotationAngle > EPSILON) && (deltaTime > 0.0f)) {
angularVelocity = glm::normalize(glm::axis(deltaRotation));
angularVelocity *= (rotationAngle / deltaTime);
palm->setRawAngularVelocity(angularVelocity);
} else {
palm->setRawAngularVelocity(glm::vec3(0.0f));
}
if (_lowVelocityFilter) {
// Use a velocity sensitive filter to damp small motions and preserve large ones with
// no latency.
float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);
position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter);
rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter);
palm->setRawPosition(position);
palm->setRawRotation(rotation);
} else {
palm->setRawPosition(position);
palm->setRawRotation(rotation);
}
// Store the one fingertip in the palm structure so we can track velocity
const float FINGER_LENGTH = 0.3f; // meters
const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
glm::vec3 oldTipPosition = palm->getTipRawPosition();
if (deltaTime > 0.0f) {
palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
} else {
palm->setTipVelocity(glm::vec3(0.0f));
}
palm->setTipPosition(newTipPosition);
}
if (numActiveControllers == 2) {
updateCalibration(controllers);
}
_controllersAtBase = (numControllersAtBase == 2);
}
#endif // HAVE_SIXENSE
}
void Player::play() {
computeCurrentFrame();
if (_currentFrame < 0 || (_currentFrame >= _recording->getFrameNumber() - 2)) { // -2 because of interpolation
if (_loop) {
loopRecording();
} else {
stopPlaying();
}
return;
}
const RecordingContext* context = &_recording->getContext();
if (_playFromCurrentPosition) {
context = &_currentContext;
}
const RecordingFrame& currentFrame = _recording->getFrame(_currentFrame);
const RecordingFrame& nextFrame = _recording->getFrame(_currentFrame + 1);
glm::vec3 translation = glm::mix(currentFrame.getTranslation(),
nextFrame.getTranslation(),
_frameInterpolationFactor);
_avatar->setPosition(context->position + context->orientation * translation);
glm::quat rotation = safeMix(currentFrame.getRotation(),
nextFrame.getRotation(),
_frameInterpolationFactor);
_avatar->setOrientation(context->orientation * rotation);
float scale = glm::mix(currentFrame.getScale(),
nextFrame.getScale(),
_frameInterpolationFactor);
_avatar->setTargetScale(context->scale * scale);
// Joint array playback
// FIXME: THis is still using a deprecated path to assign the joint orientation since setting the full RawJointData array doesn't
// work for Avatar. We need to fix this working with the animation team
const auto& prevJointArray = currentFrame.getJointArray();
const auto& nextJointArray = currentFrame.getJointArray();
QVector<JointData> jointArray(prevJointArray.size());
QVector<glm::quat> jointRotations(prevJointArray.size()); // FIXME: remove once the setRawJointData is fixed
QVector<glm::vec3> jointTranslations(prevJointArray.size()); // FIXME: remove once the setRawJointData is fixed
for (int i = 0; i < jointArray.size(); i++) {
const auto& prevJoint = prevJointArray[i];
const auto& nextJoint = nextJointArray[i];
auto& joint = jointArray[i];
// Rotation
joint.rotationSet = prevJoint.rotationSet || nextJoint.rotationSet;
if (joint.rotationSet) {
joint.rotation = safeMix(prevJoint.rotation, nextJoint.rotation, _frameInterpolationFactor);
jointRotations[i] = joint.rotation; // FIXME: remove once the setRawJointData is fixed
}
joint.translationSet = prevJoint.translationSet || nextJoint.translationSet;
if (joint.translationSet) {
joint.translation = glm::mix(prevJoint.translation, nextJoint.translation, _frameInterpolationFactor);
jointTranslations[i] = joint.translation; // FIXME: remove once the setRawJointData is fixed
}
}
// _avatar->setRawJointData(jointArray); // FIXME: Enable once the setRawJointData is fixed
_avatar->setJointRotations(jointRotations); // FIXME: remove once the setRawJointData is fixed
// _avatar->setJointTranslations(jointTranslations); // FIXME: remove once the setRawJointData is fixed
HeadData* head = const_cast<HeadData*>(_avatar->getHeadData());
if (head) {
// Make sure fake face tracker connection doesn't get turned off
_avatar->setForceFaceTrackerConnected(true);
QVector<float> blendCoef(currentFrame.getBlendshapeCoefficients().size());
for (int i = 0; i < currentFrame.getBlendshapeCoefficients().size(); ++i) {
blendCoef[i] = glm::mix(currentFrame.getBlendshapeCoefficients()[i],
nextFrame.getBlendshapeCoefficients()[i],
_frameInterpolationFactor);
}
head->setBlendshapeCoefficients(blendCoef);
float leanSideways = glm::mix(currentFrame.getLeanSideways(),
nextFrame.getLeanSideways(),
_frameInterpolationFactor);
head->setLeanSideways(leanSideways);
float leanForward = glm::mix(currentFrame.getLeanForward(),
nextFrame.getLeanForward(),
_frameInterpolationFactor);
head->setLeanForward(leanForward);
glm::quat headRotation = safeMix(currentFrame.getHeadRotation(),
nextFrame.getHeadRotation(),
_frameInterpolationFactor);
glm::vec3 eulers = glm::degrees(safeEulerAngles(headRotation));
head->setFinalPitch(eulers.x);
head->setFinalYaw(eulers.y);
head->setFinalRoll(eulers.z);
glm::vec3 lookAt = glm::mix(currentFrame.getLookAtPosition(),
nextFrame.getLookAtPosition(),
_frameInterpolationFactor);
head->setLookAtPosition(context->position + context->orientation * lookAt);
} else {
qCDebug(avatars) << "WARNING: Player couldn't find head data.";
}
_options.position = _avatar->getPosition();
_options.orientation = _avatar->getOrientation();
_injector->setOptions(_options);
}
const glm::quat FaceTracker::getHeadRotation() const {
return safeMix(glm::quat(), _headRotation, getFadeCoefficient());
}
void SerialInterface::readData(float deltaTime) {
#ifndef _WIN32
int initialSamples = totalSamples;
if (USING_INVENSENSE_MPU9150) {
// ask the invensense for raw gyro data
short accelData[3];
if (mpu_get_accel_reg(accelData, 0)) {
close(_serialDescriptor);
qDebug("Disconnected SerialUSB.\n");
_active = false;
return; // disconnected
}
const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * GRAVITY_EARTH;
// From MPU-9150 register map, with setting on
// highest resolution = +/- 2G
_lastAcceleration = glm::vec3(-accelData[2], -accelData[1], -accelData[0]) * LSB_TO_METERS_PER_SECOND2;
short gyroData[3];
mpu_get_gyro_reg(gyroData, 0);
// Convert the integer rates to floats
const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.
glm::vec3 rotationRates;
rotationRates[0] = ((float) -gyroData[2]) * LSB_TO_DEGREES_PER_SECOND;
rotationRates[1] = ((float) -gyroData[1]) * LSB_TO_DEGREES_PER_SECOND;
rotationRates[2] = ((float) -gyroData[0]) * LSB_TO_DEGREES_PER_SECOND;
short compassData[3];
mpu_get_compass_reg(compassData, 0);
// Convert integer values to floats, update extents
_lastCompass = glm::vec3(compassData[2], -compassData[0], -compassData[1]);
// update and subtract the long term average
_averageRotationRates = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageRotationRates +
1.f/(float)LONG_TERM_RATE_SAMPLES * rotationRates;
rotationRates -= _averageRotationRates;
// compute the angular acceleration
glm::vec3 angularAcceleration = (deltaTime < EPSILON) ? glm::vec3() : (rotationRates - _lastRotationRates) / deltaTime;
_lastRotationRates = rotationRates;
// Update raw rotation estimates
glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
glm::quat(glm::radians(deltaTime * _lastRotationRates));
// Update acceleration estimate: first, subtract gravity as rotated into current frame
_estimatedAcceleration = (totalSamples < GRAVITY_SAMPLES) ? glm::vec3() :
_lastAcceleration - glm::inverse(estimatedRotation) * _gravity;
// update and subtract the long term average
_averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +
1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration;
_estimatedAcceleration -= _averageAcceleration;
// Consider updating our angular velocity/acceleration to linear acceleration mapping
if (glm::length(_estimatedAcceleration) > EPSILON &&
(glm::length(_lastRotationRates) > EPSILON || glm::length(angularAcceleration) > EPSILON)) {
// compute predicted linear acceleration, find error between actual and predicted
glm::vec3 predictedAcceleration = _angularVelocityToLinearAccel * _lastRotationRates +
_angularAccelToLinearAccel * angularAcceleration;
glm::vec3 error = _estimatedAcceleration - predictedAcceleration;
// the "error" is actually what we want: the linear acceleration minus rotational influences
_estimatedAcceleration = error;
// adjust according to error in each dimension, in proportion to input magnitudes
for (int i = 0; i < 3; i++) {
if (fabsf(error[i]) < EPSILON) {
continue;
}
const float LEARNING_RATE = 0.001f;
float rateSum = fabsf(_lastRotationRates.x) + fabsf(_lastRotationRates.y) + fabsf(_lastRotationRates.z);
if (rateSum > EPSILON) {
for (int j = 0; j < 3; j++) {
float proportion = LEARNING_RATE * fabsf(_lastRotationRates[j]) / rateSum;
if (proportion > EPSILON) {
_angularVelocityToLinearAccel[j][i] += error[i] * proportion / _lastRotationRates[j];
}
}
}
float accelSum = fabsf(angularAcceleration.x) + fabsf(angularAcceleration.y) + fabsf(angularAcceleration.z);
if (accelSum > EPSILON) {
for (int j = 0; j < 3; j++) {
float proportion = LEARNING_RATE * fabsf(angularAcceleration[j]) / accelSum;
if (proportion > EPSILON) {
_angularAccelToLinearAccel[j][i] += error[i] * proportion / angularAcceleration[j];
}
}
}
}
}
// rotate estimated acceleration into global rotation frame
_estimatedAcceleration = estimatedRotation * _estimatedAcceleration;
// Update estimated position and velocity
float const DECAY_VELOCITY = 0.975f;
float const DECAY_POSITION = 0.975f;
_estimatedVelocity += deltaTime * _estimatedAcceleration;
_estimatedPosition += deltaTime * _estimatedVelocity;
_estimatedVelocity *= DECAY_VELOCITY;
// Attempt to fuse gyro position with webcam position
Webcam* webcam = Application::getInstance()->getWebcam();
if (webcam->isActive()) {
const float WEBCAM_POSITION_FUSION = 0.5f;
_estimatedPosition = glm::mix(_estimatedPosition, webcam->getEstimatedPosition(), WEBCAM_POSITION_FUSION);
} else {
_estimatedPosition *= DECAY_POSITION;
}
// Accumulate a set of initial baseline readings for setting gravity
if (totalSamples == 0) {
_gravity = _lastAcceleration;
}
else {
if (totalSamples < GRAVITY_SAMPLES) {
_gravity = glm::mix(_gravity, _lastAcceleration, 1.0f / GRAVITY_SAMPLES);
// North samples start later, because the initial compass readings are screwy
int northSample = totalSamples - (GRAVITY_SAMPLES - NORTH_SAMPLES);
if (northSample == 0) {
_north = _lastCompass;
} else if (northSample > 0) {
_north = glm::mix(_north, _lastCompass, 1.0f / NORTH_SAMPLES);
}
} else {
// Use gravity reading to do sensor fusion on the pitch and roll estimation
estimatedRotation = safeMix(estimatedRotation,
rotationBetween(estimatedRotation * _lastAcceleration, _gravity) * estimatedRotation,
1.0f / ACCELERATION_SENSOR_FUSION_SAMPLES);
// Update the compass extents
_compassMinima = glm::min(_compassMinima, _lastCompass);
_compassMaxima = glm::max(_compassMaxima, _lastCompass);
// Same deal with the compass heading
estimatedRotation = safeMix(estimatedRotation,
rotationBetween(estimatedRotation * recenterCompass(_lastCompass),
recenterCompass(_north)) * estimatedRotation,
1.0f / COMPASS_SENSOR_FUSION_SAMPLES);
}
}
_estimatedRotation = safeEulerAngles(estimatedRotation);
totalSamples++;
}
if (initialSamples == totalSamples) {
timeval now;
gettimeofday(&now, NULL);
if (diffclock(&lastGoodRead, &now) > NO_READ_MAXIMUM_MSECS) {
qDebug("No data - Shutting down SerialInterface.\n");
resetSerial();
}
} else {
gettimeofday(&lastGoodRead, NULL);
}
#endif
}
void DdeFaceTracker::decodePacket(const QByteArray& buffer) {
if(buffer.size() > MIN_PACKET_SIZE) {
bool isFiltering = Menu::getInstance()->isOptionChecked(MenuOption::VelocityFilter);
Packet packet;
int bytesToCopy = glm::min((int)sizeof(packet), buffer.size());
memset(&packet.name, '\n', MAX_NAME_SIZE + 1);
memcpy(&packet, buffer.data(), bytesToCopy);
glm::vec3 translation;
memcpy(&translation, packet.translation, sizeof(packet.translation));
glm::quat rotation;
memcpy(&rotation, &packet.rotation, sizeof(packet.rotation));
if (_reset || (_lastReceiveTimestamp == 0)) {
memcpy(&_referenceTranslation, &translation, sizeof(glm::vec3));
memcpy(&_referenceRotation, &rotation, sizeof(glm::quat));
_reset = false;
}
// Compute relative translation
float LEAN_DAMPING_FACTOR = 75.0f;
translation -= _referenceTranslation;
translation /= LEAN_DAMPING_FACTOR;
translation.x *= -1;
if (isFiltering) {
glm::vec3 linearVelocity = (translation - _lastHeadTranslation) / _averageMessageTime;
const float LINEAR_VELOCITY_FILTER_STRENGTH = 0.3f;
float velocityFilter = glm::clamp(1.0f - glm::length(linearVelocity) *
LINEAR_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredHeadTranslation = velocityFilter * _filteredHeadTranslation + (1.0f - velocityFilter) * translation;
_lastHeadTranslation = translation;
_headTranslation = _filteredHeadTranslation;
} else {
_headTranslation = translation;
}
// Compute relative rotation
rotation = glm::inverse(_referenceRotation) * rotation;
if (isFiltering) {
glm::quat r = rotation * glm::inverse(_headRotation);
float theta = 2 * acos(r.w);
glm::vec3 angularVelocity;
if (theta > EPSILON) {
float rMag = glm::length(glm::vec3(r.x, r.y, r.z));
angularVelocity = theta / _averageMessageTime * glm::vec3(r.x, r.y, r.z) / rMag;
} else {
angularVelocity = glm::vec3(0, 0, 0);
}
const float ANGULAR_VELOCITY_FILTER_STRENGTH = 0.3f;
_headRotation = safeMix(_headRotation, rotation, glm::clamp(glm::length(angularVelocity) *
ANGULAR_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f));
} else {
_headRotation = rotation;
}
// Translate DDE coefficients to Faceshift compatible coefficients
for (int i = 0; i < NUM_EXPRESSIONS; i += 1) {
_coefficients[DDE_TO_FACESHIFT_MAPPING[i]] = packet.expressions[i];
}
// Use EyeBlink values to control both EyeBlink and EyeOpen
static const float RELAXED_EYE_VALUE = 0.1f;
float leftEye = _coefficients[_leftBlinkIndex];
float rightEye = _coefficients[_rightBlinkIndex];
if (isFiltering) {
const float BLINK_VELOCITY_FILTER_STRENGTH = 0.3f;
float velocity = fabs(leftEye - _lastLeftEyeBlink) / _averageMessageTime;
float velocityFilter = glm::clamp(velocity * BLINK_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredLeftEyeBlink = velocityFilter * leftEye + (1.0f - velocityFilter) * _filteredLeftEyeBlink;
_lastLeftEyeBlink = leftEye;
leftEye = _filteredLeftEyeBlink;
velocity = fabs(rightEye - _lastRightEyeBlink) / _averageMessageTime;
velocityFilter = glm::clamp(velocity * BLINK_VELOCITY_FILTER_STRENGTH, 0.0f, 1.0f);
_filteredRightEyeBlink = velocityFilter * rightEye + (1.0f - velocityFilter) * _filteredRightEyeBlink;
_lastRightEyeBlink = rightEye;
rightEye = _filteredRightEyeBlink;
}
if (leftEye > RELAXED_EYE_VALUE) {
_coefficients[_leftBlinkIndex] = leftEye - RELAXED_EYE_VALUE;
_coefficients[_leftEyeOpenIndex] = 0.0f;
} else {
_coefficients[_leftBlinkIndex] = 0.0f;
_coefficients[_leftEyeOpenIndex] = RELAXED_EYE_VALUE - leftEye;
}
if (rightEye > RELAXED_EYE_VALUE) {
_coefficients[_rightBlinkIndex] = rightEye - RELAXED_EYE_VALUE;
_coefficients[_rightEyeOpenIndex] = 0.0f;
} else {
_coefficients[_rightBlinkIndex] = 0.0f;
_coefficients[_rightEyeOpenIndex] = RELAXED_EYE_VALUE - rightEye;
}
// Use BrowsU_C to control both brows' up and down
_coefficients[_browDownLeftIndex] = -_coefficients[_browUpCenterIndex];
_coefficients[_browDownRightIndex] = -_coefficients[_browUpCenterIndex];
_coefficients[_browUpLeftIndex] = _coefficients[_browUpCenterIndex];
_coefficients[_browUpRightIndex] = _coefficients[_browUpCenterIndex];
// Offset jaw open coefficient
static const float JAW_OPEN_THRESHOLD = 0.16f;
_coefficients[_jawOpenIndex] = _coefficients[_jawOpenIndex] - JAW_OPEN_THRESHOLD;
// Offset smile coefficients
static const float SMILE_THRESHOLD = 0.18f;
_coefficients[_mouthSmileLeftIndex] = _coefficients[_mouthSmileLeftIndex] - SMILE_THRESHOLD;
_coefficients[_mouthSmileRightIndex] = _coefficients[_mouthSmileRightIndex] - SMILE_THRESHOLD;
// Scale all coefficients
for (int i = 0; i < NUM_EXPRESSIONS; i += 1) {
_blendshapeCoefficients[i]
= glm::clamp(DDE_COEFFICIENT_SCALES[i] * _coefficients[i], 0.0f, 1.0f);
}
// Calculate average frame time
const float FRAME_AVERAGING_FACTOR = 0.99f;
quint64 usecsNow = usecTimestampNow();
if (_lastMessageReceived != 0) {
_averageMessageTime = FRAME_AVERAGING_FACTOR * _averageMessageTime
+ (1.0f - FRAME_AVERAGING_FACTOR) * (float)(usecsNow - _lastMessageReceived) / 1000000.0f;
}
_lastMessageReceived = usecsNow;
FaceTracker::countFrame();
} else {
qCWarning(interfaceapp) << "DDE Face Tracker: Decode error";
}
_lastReceiveTimestamp = usecTimestampNow();
}
void SerialInterface::readData(float deltaTime) {
#ifdef __APPLE__
int initialSamples = totalSamples;
if (USING_INVENSENSE_MPU9150) {
unsigned char sensorBuffer[36];
// ask the invensense for raw gyro data
write(_serialDescriptor, "RD683B0E\n", 9);
read(_serialDescriptor, sensorBuffer, 36);
int accelXRate, accelYRate, accelZRate;
convertHexToInt(sensorBuffer + 6, accelZRate);
convertHexToInt(sensorBuffer + 10, accelYRate);
convertHexToInt(sensorBuffer + 14, accelXRate);
const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * GRAVITY_EARTH;
// From MPU-9150 register map, with setting on
// highest resolution = +/- 2G
_lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2;
int rollRate, yawRate, pitchRate;
convertHexToInt(sensorBuffer + 22, rollRate);
convertHexToInt(sensorBuffer + 26, yawRate);
convertHexToInt(sensorBuffer + 30, pitchRate);
// Convert the integer rates to floats
const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.
glm::vec3 rotationRates;
rotationRates[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND;
rotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND;
rotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND;
// update and subtract the long term average
_averageRotationRates = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageRotationRates +
1.f/(float)LONG_TERM_RATE_SAMPLES * rotationRates;
rotationRates -= _averageRotationRates;
// compute the angular acceleration
glm::vec3 angularAcceleration = (deltaTime < EPSILON) ? glm::vec3() : (rotationRates - _lastRotationRates) / deltaTime;
_lastRotationRates = rotationRates;
// Update raw rotation estimates
glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
glm::quat(glm::radians(deltaTime * _lastRotationRates));
// Update acceleration estimate: first, subtract gravity as rotated into current frame
_estimatedAcceleration = (totalSamples < GRAVITY_SAMPLES) ? glm::vec3() :
_lastAcceleration - glm::inverse(estimatedRotation) * _gravity;
// update and subtract the long term average
_averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +
1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration;
_estimatedAcceleration -= _averageAcceleration;
// Consider updating our angular velocity/acceleration to linear acceleration mapping
if (glm::length(_estimatedAcceleration) > EPSILON &&
(glm::length(_lastRotationRates) > EPSILON || glm::length(angularAcceleration) > EPSILON)) {
// compute predicted linear acceleration, find error between actual and predicted
glm::vec3 predictedAcceleration = _angularVelocityToLinearAccel * _lastRotationRates +
_angularAccelToLinearAccel * angularAcceleration;
glm::vec3 error = _estimatedAcceleration - predictedAcceleration;
// the "error" is actually what we want: the linear acceleration minus rotational influences
_estimatedAcceleration = error;
// adjust according to error in each dimension, in proportion to input magnitudes
for (int i = 0; i < 3; i++) {
if (fabsf(error[i]) < EPSILON) {
continue;
}
const float LEARNING_RATE = 0.001f;
float rateSum = fabsf(_lastRotationRates.x) + fabsf(_lastRotationRates.y) + fabsf(_lastRotationRates.z);
if (rateSum > EPSILON) {
for (int j = 0; j < 3; j++) {
float proportion = LEARNING_RATE * fabsf(_lastRotationRates[j]) / rateSum;
if (proportion > EPSILON) {
_angularVelocityToLinearAccel[j][i] += error[i] * proportion / _lastRotationRates[j];
}
}
}
float accelSum = fabsf(angularAcceleration.x) + fabsf(angularAcceleration.y) + fabsf(angularAcceleration.z);
if (accelSum > EPSILON) {
for (int j = 0; j < 3; j++) {
float proportion = LEARNING_RATE * fabsf(angularAcceleration[j]) / accelSum;
if (proportion > EPSILON) {
_angularAccelToLinearAccel[j][i] += error[i] * proportion / angularAcceleration[j];
}
}
}
}
}
// rotate estimated acceleration into global rotation frame
_estimatedAcceleration = estimatedRotation * _estimatedAcceleration;
// Update estimated position and velocity
float const DECAY_VELOCITY = 0.975f;
float const DECAY_POSITION = 0.975f;
_estimatedVelocity += deltaTime * _estimatedAcceleration;
_estimatedPosition += deltaTime * _estimatedVelocity;
_estimatedVelocity *= DECAY_VELOCITY;
// Attempt to fuse gyro position with webcam position
Webcam* webcam = Application::getInstance()->getWebcam();
if (webcam->isActive()) {
const float WEBCAM_POSITION_FUSION = 0.5f;
_estimatedPosition = glm::mix(_estimatedPosition, webcam->getEstimatedPosition(), WEBCAM_POSITION_FUSION);
} else {
_estimatedPosition *= DECAY_POSITION;
}
// Accumulate a set of initial baseline readings for setting gravity
if (totalSamples == 0) {
_gravity = _lastAcceleration;
}
else {
if (totalSamples < GRAVITY_SAMPLES) {
_gravity = (1.f - 1.f/(float)GRAVITY_SAMPLES) * _gravity +
1.f/(float)GRAVITY_SAMPLES * _lastAcceleration;
} else {
// Use gravity reading to do sensor fusion on the pitch and roll estimation
estimatedRotation = safeMix(estimatedRotation,
rotationBetween(estimatedRotation * _lastAcceleration, _gravity) * estimatedRotation,
1.0f / SENSOR_FUSION_SAMPLES);
// Without a compass heading, always decay estimated Yaw slightly
const float YAW_DECAY = 0.999f;
glm::vec3 forward = estimatedRotation * glm::vec3(0.0f, 0.0f, -1.0f);
estimatedRotation = safeMix(glm::angleAxis(glm::degrees(atan2f(forward.x, -forward.z)),
glm::vec3(0.0f, 1.0f, 0.0f)) * estimatedRotation, estimatedRotation, YAW_DECAY);
}
}
_estimatedRotation = safeEulerAngles(estimatedRotation);
totalSamples++;
}
if (initialSamples == totalSamples) {
timeval now;
gettimeofday(&now, NULL);
if (diffclock(&lastGoodRead, &now) > NO_READ_MAXIMUM_MSECS) {
printLog("No data - Shutting down SerialInterface.\n");
resetSerial();
}
} else {
gettimeofday(&lastGoodRead, NULL);
}
#endif
}
glm::quat Quat::mix(const glm::quat& q1, const glm::quat& q2, float alpha) {
return safeMix(q1, q2, alpha);
}
