bool AvatarActionHold::getAvatarRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation) {
MyAvatar* myAvatar = DependencyManager::get<AvatarManager>()->getMyAvatar();
MyCharacterController* controller = myAvatar ? myAvatar->getCharacterController() : nullptr;
if (!controller) {
qDebug() << "AvatarActionHold::getAvatarRigidBodyLocation failed to get character controller";
return false;
}
controller->getRigidBodyLocation(avatarRigidBodyPosition, avatarRigidBodyRotation);
return true;
}
// Called within Model::simulate call, below.
void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
const FBXGeometry& geometry = getFBXGeometry();
Head* head = _owningAvatar->getHead();
if (_owningAvatar->isMyAvatar()) {
MyAvatar* myAvatar = static_cast<MyAvatar*>(_owningAvatar);
Rig::HeadParameters headParams;
headParams.enableLean = qApp->isHMDMode();
headParams.leanSideways = head->getFinalLeanSideways();
headParams.leanForward = head->getFinalLeanForward();
headParams.torsoTwist = head->getTorsoTwist();
if (qApp->isHMDMode()) {
headParams.isInHMD = true;
// get HMD position from sensor space into world space, and back into rig space
glm::mat4 worldHMDMat = myAvatar->getSensorToWorldMatrix() * myAvatar->getHMDSensorMatrix();
glm::mat4 rigToWorld = createMatFromQuatAndPos(getRotation(), getTranslation());
glm::mat4 worldToRig = glm::inverse(rigToWorld);
glm::mat4 rigHMDMat = worldToRig * worldHMDMat;
headParams.rigHeadPosition = extractTranslation(rigHMDMat);
headParams.rigHeadOrientation = extractRotation(rigHMDMat);
headParams.worldHeadOrientation = extractRotation(worldHMDMat);
} else {
headParams.isInHMD = false;
// We don't have a valid localHeadPosition.
headParams.rigHeadOrientation = Quaternions::Y_180 * head->getFinalOrientationInLocalFrame();
headParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
}
headParams.leanJointIndex = geometry.leanJointIndex;
headParams.neckJointIndex = geometry.neckJointIndex;
headParams.isTalking = head->getTimeWithoutTalking() <= 1.5f;
_rig->updateFromHeadParameters(headParams, deltaTime);
Rig::HandParameters handParams;
auto leftPose = myAvatar->getLeftHandControllerPoseInAvatarFrame();
if (leftPose.isValid()) {
handParams.isLeftEnabled = true;
handParams.leftPosition = Quaternions::Y_180 * leftPose.getTranslation();
handParams.leftOrientation = Quaternions::Y_180 * leftPose.getRotation();
} else {
handParams.isLeftEnabled = false;
}
auto rightPose = myAvatar->getRightHandControllerPoseInAvatarFrame();
if (rightPose.isValid()) {
handParams.isRightEnabled = true;
handParams.rightPosition = Quaternions::Y_180 * rightPose.getTranslation();
handParams.rightOrientation = Quaternions::Y_180 * rightPose.getRotation();
} else {
handParams.isRightEnabled = false;
}
handParams.bodyCapsuleRadius = myAvatar->getCharacterController()->getCapsuleRadius();
handParams.bodyCapsuleHalfHeight = myAvatar->getCharacterController()->getCapsuleHalfHeight();
handParams.bodyCapsuleLocalOffset = myAvatar->getCharacterController()->getCapsuleLocalOffset();
_rig->updateFromHandParameters(handParams, deltaTime);
Rig::CharacterControllerState ccState = convertCharacterControllerState(myAvatar->getCharacterController()->getState());
auto velocity = myAvatar->getLocalVelocity();
auto position = myAvatar->getLocalPosition();
auto orientation = myAvatar->getLocalOrientation();
_rig->computeMotionAnimationState(deltaTime, position, velocity, orientation, ccState);
// evaluate AnimGraph animation and update jointStates.
Model::updateRig(deltaTime, parentTransform);
Rig::EyeParameters eyeParams;
eyeParams.worldHeadOrientation = headParams.worldHeadOrientation;
eyeParams.eyeLookAt = head->getLookAtPosition();
eyeParams.eyeSaccade = head->getSaccade();
eyeParams.modelRotation = getRotation();
eyeParams.modelTranslation = getTranslation();
eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
_rig->updateFromEyeParameters(eyeParams);
} else {
Model::updateRig(deltaTime, parentTransform);
// This is a little more work than we really want.
//
// Other avatars joint, including their eyes, should already be set just like any other joints
// from the wire data. But when looking at me, we want the eyes to use the corrected lookAt.
//
// Thus this should really only be ... else if (_owningAvatar->getHead()->isLookingAtMe()) {...
// However, in the !isLookingAtMe case, the eyes aren't rotating the way they should right now.
// We will revisit that as priorities allow, and particularly after the new rig/animation/joints.
// If the head is not positioned, updateEyeJoints won't get the math right
glm::quat headOrientation;
_rig->getJointRotation(geometry.headJointIndex, headOrientation);
glm::vec3 eulers = safeEulerAngles(headOrientation);
head->setBasePitch(glm::degrees(-eulers.x));
head->setBaseYaw(glm::degrees(eulers.y));
head->setBaseRoll(glm::degrees(-eulers.z));
Rig::EyeParameters eyeParams;
eyeParams.worldHeadOrientation = head->getFinalOrientationInWorldFrame();
eyeParams.eyeLookAt = head->getCorrectedLookAtPosition();
eyeParams.eyeSaccade = glm::vec3();
eyeParams.modelRotation = getRotation();
eyeParams.modelTranslation = getTranslation();
eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
_rig->updateFromEyeParameters(eyeParams);
}
}
