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Code Issues 163 Packages Projects Releases Wiki Activity

Get all trackers directly in setPoseFromFrame

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This commit is contained in:
ButterscotchVanilla
2021-09-17 19:18:24 -04:00
parent 4109d1c825
commit 6d103d4ff9
1 changed files with 69 additions and 39 deletions
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108
src/main/java/dev/slimevr/vr/autobone/SimpleSkeleton.java
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@@ -1,7 +1,6 @@
package dev.slimevr.vr.autobone;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import com.jme3.math.Quaternion;
@@ -13,6 +12,7 @@ import io.eiren.vr.processor.HumanSkeletonWithLegs;
import io.eiren.vr.processor.HumanSkeletonWithWaist;
import io.eiren.vr.processor.TrackerBodyPosition;
import io.eiren.vr.processor.TransformNode;
import io.eiren.vr.trackers.TrackerUtils;
import io.eiren.yaml.YamlFile;
public class SimpleSkeleton {
@@ -119,40 +119,84 @@ public class SimpleSkeleton {
this(configs, null);
}
public void setPoseFromFrame(TrackerFrame trackerFrame) {
if (trackerFrame == null) {
public void setPoseFromFrame(TrackerFrame[] frame) {
TrackerFrame hmd = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.HMD);
if (hmd != null)
{
if (hmd.hasData(TrackerFrameData.ROTATION))
{
hmdNode.localTransform.setRotation(hmd.rotation);
headNode.localTransform.setRotation(hmd.rotation);
}
if (hmd.hasData(TrackerFrameData.POSITION))
{
hmdNode.localTransform.setTranslation(hmd.position);
}
}
TrackerFrame chest = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.CHEST, TrackerBodyPosition.WAIST);
setRotation(chest, neckNode);
TrackerFrame waist = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.WAIST, TrackerBodyPosition.CHEST);
setRotation(waist, chestNode);
TrackerFrame leftLeg = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.LEFT_LEG);
TrackerFrame rightLeg = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.RIGHT_LEG);
averagePelvis(waist, leftLeg, rightLeg);
setRotation(leftLeg, leftHipNode);
setRotation(rightLeg, rightHipNode);
TrackerFrame leftAnkle = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.LEFT_ANKLE);
setRotation(leftAnkle, rightKneeNode);
TrackerFrame rightAnkle = TrackerUtils.findTrackerForBodyPosition(frame, TrackerBodyPosition.RIGHT_ANKLE);
setRotation(rightAnkle, leftKneeNode);
updatePose();
}
public void setRotation(TrackerFrame trackerFrame, TransformNode node) {
if (trackerFrame != null && trackerFrame.hasData(TrackerFrameData.ROTATION)) {
node.localTransform.setRotation(trackerFrame.rotation);
}
}
public void averagePelvis(TrackerFrame waist, TrackerFrame leftLeg, TrackerFrame rightLeg)
{
if ((leftLeg == null || rightLeg == null) || (!leftLeg.hasData(TrackerFrameData.ROTATION) || !rightLeg.hasData(TrackerFrameData.ROTATION)))
{
setRotation(waist, waistNode);
return;
}
// Set HMD position
if (trackerFrame.designation == TrackerBodyPosition.HMD && trackerFrame.hasData(TrackerFrameData.POSITION)) {
hmdNode.localTransform.setTranslation(trackerFrame.position);
}
if (waist == null || !waist.hasData(TrackerFrameData.ROTATION))
{
if ((leftLeg != null && rightLeg != null) && (leftLeg.hasData(TrackerFrameData.ROTATION) && rightLeg.hasData(TrackerFrameData.ROTATION)))
{
leftLeg.getRotation(rotBuf1);
rightLeg.getRotation(rotBuf2);
rotBuf1.nlerp(rotBuf2, 0.5f);
// Set joint rotations
if (trackerFrame.hasData(TrackerFrameData.ROTATION)) {
TransformNode node = getNode(trackerFrame.designation, true);
if (node != null) {
node.localTransform.setRotation(trackerFrame.rotation);
waistNode.localTransform.setRotation(rotBuf1);
}
}
}
public void setPoseFromFrame(List<TrackerFrame> frame) {
for (int i = 0; i < frame.size(); i++) {
TrackerFrame trackerFrame = frame.get(i);
setPoseFromFrame(trackerFrame);
return;
}
updatePose();
}
// Average the pelvis with the waist rotation
leftLeg.getRotation(rotBuf1);
rightLeg.getRotation(rotBuf2);
rotBuf1.nlerp(rotBuf2, 0.5f);
public void setPoseFromFrame(TrackerFrame[] frame) {
for (TrackerFrame trackerFrame : frame) {
setPoseFromFrame(trackerFrame);
}
waist.getRotation(rotBuf2);
rotBuf1.nlerp(rotBuf2, 0.3333333f);
updatePose();
waistNode.localTransform.setRotation(rotBuf1);
}
public void setSkeletonConfigs(Map<String, Float> configs) {
@@ -248,20 +292,6 @@ public class SimpleSkeleton {
}
public void updatePose() {
// Rotate neck with the HMD
headNode.localTransform.setRotation(hmdNode.localTransform.getRotation());
// Rotate hips with waist
// waistNode.localTransform.setRotation(chestNode.localTransform.getRotation());
// Average pelvis between two legs
leftHipNode.localTransform.getRotation(rotBuf1);
rightHipNode.localTransform.getRotation(rotBuf2);
rotBuf1.nlerp(rotBuf2, 0.5f);
chestNode.localTransform.getRotation(rotBuf2);
rotBuf1.nlerp(rotBuf2, 0.3333333f);
waistNode.localTransform.setRotation(rotBuf1);
hmdNode.update();
}