C++ PalmData::getRawPosition方法代码示例

void SixenseManager::update(float deltaTime) {
#ifdef HAVE_SIXENSE
    if (sixenseGetNumActiveControllers() == 0) {
        return;
    }
    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);
            printf("Found new Sixense controller, ID %i\n", 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);

        glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
        // 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;
        const glm::vec3 PALM_VECTOR(0.0f, -1.0f, 0.0f);
        glm::vec3 newNormal = rotation * PALM_VECTOR;
        palm->setRawNormal(newNormal);
        palm->setRawRotation(rotation);
        
        //  Compute current velocity from position change
        glm::vec3 rawVelocity = (position - palm->getRawPosition()) / deltaTime / 1000.f;
        palm->setRawVelocity(rawVelocity);   //  meters/sec
        palm->setRawPosition(position);
        
        // use the velocity to determine whether there's any movement (if the hand isn't new)
        const float MOVEMENT_SPEED_THRESHOLD = 0.05f;
        if (glm::length(rawVelocity) > MOVEMENT_SPEED_THRESHOLD && foundHand) {
            _lastMovement = usecTimestampNow();
        }
        
        // initialize the "finger" based on the direction
        FingerData finger(palm, hand);
        finger.setActive(true);
        finger.setRawRootPosition(position);
        const float FINGER_LENGTH = 300.0f;   //  Millimeters
        const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
        const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
        finger.setRawTipPosition(position + rotation * FINGER_VECTOR);
        
        // Store the one fingertip in the palm structure so we can track velocity
        glm::vec3 oldTipPosition = palm->getTipRawPosition();
        palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime / 1000.f);
        palm->setTipPosition(newTipPosition);
        
        // three fingers indicates to the skeleton that we have enough data to determine direction
        palm->getFingers().clear();
        palm->getFingers().push_back(finger);
        palm->getFingers().push_back(finger);
        palm->getFingers().push_back(finger);
    }

    if (numActiveControllers == 2) {
        updateCalibration(controllers);
    }

    // if the controllers haven't been moved in a while, disable
//.........这里部分代码省略.........

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
//.........这里部分代码省略.........

static void setPalm(float deltaTime, int index) {
    MyAvatar* avatar = Application::getInstance()->getAvatar();
    Hand* hand = avatar->getHand();
    PalmData* palm;
    bool foundHand = false;
    for (size_t j = 0; j < hand->getNumPalms(); j++) {
        if (hand->getPalms()[j].getSixenseID() == 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(index);
    }
    
    palm->setActive(true);
    
    // Read controller buttons and joystick into the hand
    const QString PRIO_JOYSTICK_NAME = "PrioVR";
    Joystick* prioJoystick = JoystickScriptingInterface::getInstance().joystickWithName(PRIO_JOYSTICK_NAME);
    if (prioJoystick) {
        const QVector<float> axes = prioJoystick->getAxes();
        const QVector<bool> buttons = prioJoystick->getButtons();
        
        if (axes.size() >= 4 && buttons.size() >= 4) {
            if (index == LEFT_HAND_INDEX) {
                palm->setControllerButtons(buttons[1] ? BUTTON_FWD : 0);
                palm->setTrigger(buttons[0] ? 1.0f : 0.0f);
                palm->setJoystick(axes[0], -axes[1]);
                
            } else {
                palm->setControllerButtons(buttons[3] ? BUTTON_FWD : 0);
                palm->setTrigger(buttons[2] ? 1.0f : 0.0f);
                palm->setJoystick(axes[2], -axes[3]);
            }
        }
    }
    
    // NOTE: this math is done in the worl-frame with unecessary complexity.
    // TODO: transfom this to stay in the model-frame.
    glm::vec3 position;
    glm::quat rotation;
    SkeletonModel* skeletonModel = &Application::getInstance()->getAvatar()->getSkeletonModel();
    int jointIndex;
    glm::quat inverseRotation = glm::inverse(Application::getInstance()->getAvatar()->getOrientation());
    if (index == LEFT_HAND_INDEX) {
        jointIndex = skeletonModel->getLeftHandJointIndex();
        skeletonModel->getJointRotationInWorldFrame(jointIndex, rotation);      
        rotation = inverseRotation * rotation * glm::quat(glm::vec3(0.0f, PI_OVER_TWO, 0.0f));
        
    } else {
        jointIndex = skeletonModel->getRightHandJointIndex();
        skeletonModel->getJointRotationInWorldFrame(jointIndex, rotation);
        rotation = inverseRotation * rotation * glm::quat(glm::vec3(0.0f, -PI_OVER_TWO, 0.0f));
    }
    skeletonModel->getJointPositionInWorldFrame(jointIndex, position);
    position = inverseRotation * (position - skeletonModel->getTranslation());
    
    palm->setRawRotation(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);
    palm->setRawPosition(position);
    
    // 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);
}

//.........这里部分代码省略.........
                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
}