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Code Issues 160 Packages Projects Releases Wiki Activity

Implemented human skeleton with legs

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Eiren Rain
2021-01-13 08:15:24 +03:00
parent 1781edc844
commit 9544fc5173
5 changed files with 117 additions and 17 deletions
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4
src/main/java/io/eiren/vr/processor/ComputedHumanPoseTrackerPosition.java
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@@ -3,6 +3,6 @@ package io.eiren.vr.processor;
public enum ComputedHumanPoseTrackerPosition {
WAIST,
LEFT_FOOT,
RIGHT_FOOT;
LEFT_ANKLE,
RIGHT_ANKLE;
}

22
src/main/java/io/eiren/vr/processor/HumanPoseProcessor.java
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@@ -1,8 +1,10 @@
package io.eiren.vr.processor;
import java.util.EnumMap;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import com.jme3.math.Quaternion;
import com.jme3.math.Vector3f;
@@ -19,15 +21,15 @@ public class HumanPoseProcessor {
private final VRServer server;
private final HMDTracker hmd;
private final List<ComputedHumanPoseTracker> computedTrackers = new FastList<>();
private final EnumMap<TrackerBodyPosition, AdjustedTracker> trackers = new EnumMap<>(TrackerBodyPosition.class);
private final Map<TrackerBodyPosition, AdjustedTracker> trackers = new EnumMap<>(TrackerBodyPosition.class);
private HumanSkeleton skeleton;
public HumanPoseProcessor(VRServer server, HMDTracker hmd) {
this.server = server;
this.hmd = hmd;
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.WAIST));
//computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_FOOT));
//computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_FOOT));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.LEFT_ANKLE));
computedTrackers.add(new ComputedHumanPoseTracker(ComputedHumanPoseTrackerPosition.RIGHT_ANKLE));
}
public List<? extends Tracker> getComputedTrackers() {
@@ -58,19 +60,23 @@ public class HumanPoseProcessor {
private void updateSekeltonModel() {
boolean hasWaist = false;
//boolean hasBothLegs = false;
boolean hasBothLegs = false;
//boolean hasChest = false;
if(trackers.get(TrackerBodyPosition.WAIST) != null)
hasWaist = true;
//if(trackers.get(TrackerBodyPosition.CHEST) != null)
// hasChest = true;
//if(trackers.get(TrackerBodyPosition.LEFT_FOOT) != null && trackers.get(TrackerBodyPosition.LEFT_LEG) != null
// && trackers.get(TrackerBodyPosition.RIGHT_FOOT) != null && trackers.get(TrackerBodyPosition.RIGHT_LEG) != null)
// hasBothLegs = true;
if(trackers.get(TrackerBodyPosition.LEFT_ANKLE) != null && trackers.get(TrackerBodyPosition.LEFT_LEG) != null
&& trackers.get(TrackerBodyPosition.RIGHT_ANKLE) != null && trackers.get(TrackerBodyPosition.RIGHT_LEG) != null)
hasBothLegs = true;
if(!hasWaist) {
skeleton = null; // Can't track anything without waist
} else if(hasBothLegs) {
if(skeleton instanceof HumanSekeletonWithLegs) {
return; // Proper skeleton applied
}
skeleton = new HumanSekeletonWithLegs(server, trackers, computedTrackers);
} else {
// TODO : Add legs and chest support
if(skeleton instanceof HumanSkeleonWithWaist) {
return; // Proper skeleton applied
}

92
src/main/java/io/eiren/vr/processor/HumanSekeletonWithLegs.java Normal file
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@@ -0,0 +1,92 @@
package io.eiren.vr.processor;
import java.util.List;
import java.util.Map;
import io.eiren.vr.VRServer;
import io.eiren.vr.trackers.Tracker;
public class HumanSekeletonWithLegs extends HumanSkeleonWithWaist {
protected final Tracker leftLegTracker;
protected final Tracker leftAnkleTracker;
protected final ComputedHumanPoseTracker computedLeftAnkleTracker;
protected final Tracker rightLegTracker;
protected final Tracker rightAnkleTracker;
protected final ComputedHumanPoseTracker computedRightAnkleTracker;
protected final TransformNode leftLegNode = new TransformNode();
protected final TransformNode leftKneeNode = new TransformNode();
protected final TransformNode leftAnkleNode = new TransformNode();
protected final TransformNode rightLegNode = new TransformNode();
protected final TransformNode rightKneeNode = new TransformNode();
protected final TransformNode rightAnkleNode = new TransformNode();
protected float hipsWidth = 0.3f;
protected float kneeLength = 0.5f;
protected float ankleLength = 0.4f;
public HumanSekeletonWithLegs(VRServer server, Map<TrackerBodyPosition, ? extends Tracker> trackers, List<ComputedHumanPoseTracker> computedTrackers) {
super(server, trackers.get(TrackerBodyPosition.WAIST), computedTrackers);
this.leftLegTracker = trackers.get(TrackerBodyPosition.LEFT_LEG);
this.leftAnkleTracker = trackers.get(TrackerBodyPosition.LEFT_ANKLE);
this.rightLegTracker = trackers.get(TrackerBodyPosition.RIGHT_LEG);
this.rightAnkleTracker = trackers.get(TrackerBodyPosition.RIGHT_ANKLE);
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)
lat = t;
if(t.skeletonPosition == ComputedHumanPoseTrackerPosition.RIGHT_ANKLE)
rat = t;
}
computedLeftAnkleTracker = lat;
computedRightAnkleTracker = rat;
waistNode.attachChild(leftLegNode);
leftLegNode.localTransform.setTranslation(-hipsWidth / 2, 0, 0);
waistNode.attachChild(rightLegNode);
rightLegNode.localTransform.setTranslation(hipsWidth / 2, 0, 0);
leftLegNode.attachChild(leftKneeNode);
leftKneeNode.localTransform.setTranslation(0, -kneeLength, 0);
rightLegNode.attachChild(rightKneeNode);
rightKneeNode.localTransform.setTranslation(0, -kneeLength, 0);
leftKneeNode.attachChild(leftAnkleNode);
leftAnkleNode.localTransform.setTranslation(0, -ankleLength, 0);
rightKneeNode.attachChild(rightAnkleNode);
rightAnkleNode.localTransform.setTranslation(0, -ankleLength, 0);
}
@Override
public void updateLocalTransforms() {
super.updateLocalTransforms();
leftLegTracker.getRotation(qBuf);
leftLegNode.localTransform.setRotation(qBuf);
rightLegTracker.getRotation(qBuf);
rightLegNode.localTransform.setRotation(qBuf);
leftAnkleTracker.getRotation(qBuf);
leftKneeNode.localTransform.setRotation(qBuf);
rightAnkleTracker.getRotation(qBuf);
rightKneeNode.localTransform.setRotation(qBuf);
}
@Override
protected void updateComputedTrackers() {
super.updateComputedTrackers();
computedLeftAnkleTracker.position.set(leftAnkleNode.worldTransform.getTranslation());
computedLeftAnkleTracker.rotation.set(leftAnkleNode.worldTransform.getRotation());
computedRightAnkleTracker.position.set(rightAnkleNode.worldTransform.getTranslation());
computedRightAnkleTracker.rotation.set(rightAnkleNode.worldTransform.getRotation());
}
}

12
src/main/java/io/eiren/vr/processor/HumanSkeleonWithWaist.java
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@@ -41,6 +41,12 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
@Override
public void updatePose() {
updateLocalTransforms();
hmdNode.update();
updateComputedTrackers();
}
protected void updateLocalTransforms() {
wasitTracker.getRotation(qBuf);
if(waistSwingMultiplier != 1.0) {
// TODO : Adjust waist swing if swing multiplier != 0
@@ -49,13 +55,9 @@ public class HumanSkeleonWithWaist extends HumanSkeleton {
hmdTracker.getPosition(vBuf);
hmdNode.localTransform.setTranslation(vBuf);
hmdNode.localTransform.setRotation(qBuf);
hmdNode.update();
updateTrackers();
}
protected void updateTrackers() {
protected void updateComputedTrackers() {
computedWaistTracker.position.set(waistNode.worldTransform.getTranslation());
computedWaistTracker.rotation.set(waistNode.worldTransform.getRotation());
}

4
src/main/java/io/eiren/vr/processor/TrackerBodyPosition.java
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@@ -11,8 +11,8 @@ public enum TrackerBodyPosition {
WAIST(Quaternion.IDENTITY, "body:waist"),
LEFT_LEG(Quaternion.IDENTITY, "body:left_leg"),
RIGHT_LEG(Quaternion.IDENTITY, "body:right_leg"),
LEFT_FOOT(Quaternion.IDENTITY, "body:left_foot"),
RIGHT_FOOT(Quaternion.IDENTITY, "body:right_foot"),
LEFT_ANKLE(Quaternion.IDENTITY, "body:left_ankle"),
RIGHT_ANKLE(Quaternion.IDENTITY, "body:right_ankle"),
;
public final Quaternion baseRotation;