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Code Issues 159 Packages Projects Releases Wiki Activity

Added support for feet trackers

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Eiren Rain
2021-05-27 21:30:58 +03:00
parent dc873f86fa
commit 5ad133656b
6 changed files with 43 additions and 19 deletions
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1
src/main/java/io/eiren/gui/SkeletonConfig.java
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@@ -90,6 +90,7 @@ public class SkeletonConfig extends EJBag {
private void change(String joint, float diff) {
float current = server.humanPoseProcessor.getSkeletonConfig(joint);
server.humanPoseProcessor.setSkeletonConfig(joint, current + diff);
server.saveConfig();
labels.get(joint).setText(StringUtils.prettyNumber(current + diff, 2));
}

6
src/main/java/io/eiren/vr/VRServer.java
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@@ -144,7 +144,7 @@ public class VRServer extends Thread {
trackersServer.start();
driverBridge.start();
while(true) {
final long start = System.currentTimeMillis();
//final long start = System.currentTimeMillis();
do {
Runnable task = tasks.poll();
if(task == null)
@@ -158,9 +158,9 @@ public class VRServer extends Thread {
humanPoseProcessor.update();
final long time = System.currentTimeMillis() - start;
//final long time = System.currentTimeMillis() - start;
try {
Thread.sleep(Math.max(1, 10L - time)); // 100Hz
Thread.sleep(1); // 1000Hz
} catch(InterruptedException e) {
}
}

4
src/main/java/io/eiren/vr/processor/ComputedHumanPoseTrackerPosition.java
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@@ -4,6 +4,6 @@ public enum ComputedHumanPoseTrackerPosition {
WAIST,
CHEST,
LEFT_ANKLE,
RIGHT_ANKLE;
LEFT_FOOT,
RIGHT_FOOT;
}

4
src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
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@@ -32,8 +32,8 @@ public class HumanPoseProcessor {
this.server = server;
this.hmd = hmd;
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.WAIST));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_ANKLE));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_ANKLE));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT));
}
@VRServerThread

45
src/main/java/io/eiren/vr/processor/HumanSekeletonWithLegs.java
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@@ -19,17 +19,21 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
protected final Tracker leftLegTracker;
protected final Tracker leftAnkleTracker;
protected final ComputedHumanPoseTracker computedLeftAnkleTracker;
protected final Tracker leftFootTracker;
protected final ComputedHumanPoseTracker computedLeftFootTracker;
protected final Tracker rightLegTracker;
protected final Tracker rightAnkleTracker;
protected final ComputedHumanPoseTracker computedRightAnkleTracker;
protected final Tracker rightFootTracker;
protected final ComputedHumanPoseTracker computedRightFootTracker;
protected final TransformNode leftHipNode = new TransformNode("Left-Hip", false);
protected final TransformNode leftKneeNode = new TransformNode("Left-Knee", false);
protected final TransformNode leftAnkleNode = new TransformNode("Left-Ankle", false);
protected final TransformNode leftFootNode = new TransformNode("Left-Foot", false);
protected final TransformNode rightHipNode = new TransformNode("Right-Hip", false);
protected final TransformNode rightKneeNode = new TransformNode("Right-Knee", false);
protected final TransformNode rightAnkleNode = new TransformNode("Right-Ankle", false);
protected final TransformNode rightFootNode = new TransformNode("Right-Foot", false);
/**
* Distance between centers of both hips
@@ -53,19 +57,21 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
super(server, waistTracker, chestTracker, computedTrackers);
this.leftLegTracker = trackers.get(TrackerBodyPosition.LEFT_LEG);
this.leftAnkleTracker = trackers.get(TrackerBodyPosition.LEFT_ANKLE);
this.leftFootTracker = trackers.get(TrackerBodyPosition.LEFT_FOOT);
this.rightLegTracker = trackers.get(TrackerBodyPosition.RIGHT_LEG);
this.rightAnkleTracker = trackers.get(TrackerBodyPosition.RIGHT_ANKLE);
this.rightFootTracker = trackers.get(TrackerBodyPosition.RIGHT_FOOT);
ComputedHumanPoseTracker lat = null;
ComputedHumanPoseTracker rat = null;
for(int i = 0; i < computedTrackers.size(); ++i) {
ComputedHumanPoseTracker t = computedTrackers.get(i);
if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.LEFT_ANKLE)
if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.LEFT_FOOT)
lat = t;
if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.RIGHT_ANKLE)
if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.RIGHT_FOOT)
rat = t;
}
computedLeftAnkleTracker = lat;
computedRightAnkleTracker = rat;
computedLeftFootTracker = lat;
computedRightFootTracker = rat;
lat.setStatus(TrackerStatus.OK);
rat.setStatus(TrackerStatus.OK);
hipsWidth = server.config.getFloat("body.hipsWidth", hipsWidth);
@@ -89,6 +95,9 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
rightKneeNode.attachChild(rightAnkleNode);
rightAnkleNode.localTransform.setTranslation(0, -ankleLength, 0);
leftAnkleNode.attachChild(leftFootNode);
rightAnkleNode.attachChild(rightFootNode);
configMap.put("Hips width", hipsWidth);
configMap.put("Hip length", hipsLength);
@@ -132,7 +141,13 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
leftHipNode.localTransform.setRotation(hipBuf);
leftKneeNode.localTransform.setRotation(kneeBuf);
leftAnkleNode.localTransform.setRotation(kneeBuf);
leftFootNode.localTransform.setRotation(kneeBuf);
if(leftFootTracker != null) {
leftFootTracker.getRotation(kneeBuf);
leftFootNode.localTransform.setRotation(kneeBuf);
}
// Right Leg
rightLegTracker.getRotation(hipBuf);
rightAnkleTracker.getRotation(kneeBuf);
@@ -142,6 +157,12 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
rightHipNode.localTransform.setRotation(hipBuf);
rightKneeNode.localTransform.setRotation(kneeBuf);
rightAnkleNode.localTransform.setRotation(kneeBuf);
rightFootNode.localTransform.setRotation(kneeBuf);
if(rightFootTracker != null) {
rightFootTracker.getRotation(kneeBuf);
rightFootNode.localTransform.setRotation(kneeBuf);
}
// TODO Calculate waist node as some function between waist and hip rotations
}
@@ -179,12 +200,12 @@ public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
protected void updateComputedTrackers() {
super.updateComputedTrackers();
computedLeftAnkleTracker.position.set(leftAnkleNode.worldTransform.getTranslation());
computedLeftAnkleTracker.rotation.set(leftAnkleNode.worldTransform.getRotation());
computedLeftAnkleTracker.dataTick();
computedLeftFootTracker.position.set(leftFootNode.worldTransform.getTranslation());
computedLeftFootTracker.rotation.set(leftFootNode.worldTransform.getRotation());
computedLeftFootTracker.dataTick();
computedRightAnkleTracker.position.set(rightAnkleNode.worldTransform.getTranslation());
computedRightAnkleTracker.rotation.set(rightAnkleNode.worldTransform.getRotation());
computedRightAnkleTracker.dataTick();
computedRightFootTracker.position.set(rightFootNode.worldTransform.getTranslation());
computedRightFootTracker.rotation.set(rightFootNode.worldTransform.getRotation());
computedRightFootTracker.dataTick();
}
}

2
src/main/java/io/eiren/vr/processor/TrackerBodyPosition.java
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@@ -13,6 +13,8 @@ public enum TrackerBodyPosition {
RIGHT_LEG(Quaternion.IDENTITY, "body:right_leg"),
LEFT_ANKLE(Quaternion.IDENTITY, "body:left_ankle"),
RIGHT_ANKLE(Quaternion.IDENTITY, "body:right_ankle"),
LEFT_FOOT(Quaternion.IDENTITY, "body:left_foot"),
RIGHT_FOOT(Quaternion.IDENTITY, "body:right_foot"),
;
public final Quaternion baseRotation;