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Introduce 'View ratchetting', cleanup/improve vestibular motion (#510)

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* vestibular motion cleanup

* Fix environment jumping when autoturn is enabled

* Restrict vestibular motion to forward movement

* Revert "vestibular motion cleanup"

This reverts commit 3d6b293ad2d6a0df41756c67f7e80c4b2be8b6fd.

* Experimental: dynamic redirection. very subtle effect

* formatting...

* swap centidegrees for millidegrees

* Experimental: introduce view ratchetting

* more cleanup

* Revert "Experimental: dynamic redirection. very subtle effect"

This reverts commit d6c8e5cdedf1b11013f25340c2e9be64ec1359b8.

* vestibular motion cleanup

* view ratchetting settings

* cleanup and formatting

* Resolve drift, improve accuracy of vestibular motion/autoturn

* updated UI first pass

* UI first pass

* Hide Unset Errors After encountering one

* fix synch issue add ratchet box

* moved view ratchet ui to own file

* minor format changes to fit

* fixed REALLY 3% minimum

* fixed vestib motion default

Co-authored-by: ykeara <ykeara1@gmail.com>
This commit is contained in:
Chelsea Jaggi
2020-09-08 14:19:50 -07:00
committed by GitHub
co-authored by ykeara
parent 4fb026958e
commit 12344a86bc
13 changed files with 305 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/tabcontrollers/RotationTabController.cpp
+152 -46
View File
@@ -94,7 +94,6 @@ void RotationTabController::eventLoopTick(
{
m_isHMDActive = true;
}
// TODO: this doesn't need to run if both are off
if ( poseHmd.bPoseIsValid && poseHmd.bDeviceIsConnected
&& poseHmd.eTrackingResult == vr::TrackingResult_Running_OK )
{
@@ -116,6 +115,12 @@ void RotationTabController::eventLoopTick(
doVestibularMotion( poseHmd, chaperoneDistances );
}
if ( RotationTabController::viewRatchettingEnabled() )
{
doViewRatchetting( poseHmd, chaperoneDistances );
}
m_autoTurnLastHmdUpdate = poseHmd.mDeviceToAbsoluteTracking;
m_autoTurnChaperoneDistancesLast = std::move( chaperoneDistances );
}
}
@@ -144,6 +149,85 @@ void RotationTabController::eventLoopTick(
}
}
void RotationTabController::doViewRatchetting(
const vr::TrackedDevicePose_t& poseHmd,
const std::vector<utils::ChaperoneQuadData>& chaperoneDistances )
{
if ( m_isHMDActive && poseHmd.bPoseIsValid && poseHmd.bDeviceIsConnected
&& poseHmd.eTrackingResult == vr::TrackingResult_Running_OK
&& !chaperoneDistances.empty() )
{
if ( chaperoneDistances.size()
!= m_autoTurnChaperoneDistancesLast.size() )
{
m_autoTurnChaperoneDistancesLast = chaperoneDistances;
m_autoTurnLastHmdUpdate = poseHmd.mDeviceToAbsoluteTracking;
}
// Find the (index of the) nearest wall
size_t nearestWallIdx = 0;
for ( size_t i = 0; i < chaperoneDistances.size(); i++ )
{
if ( chaperoneDistances[i].distance
< chaperoneDistances[nearestWallIdx].distance )
{
nearestWallIdx = i;
}
}
const auto& nearestWall = chaperoneDistances[nearestWallIdx];
// Convert pose matrix to quaternion
auto hmdQuaternion
= quaternion::fromHmdMatrix34( poseHmd.mDeviceToAbsoluteTracking );
// Get HMD raw yaw
double hmdYaw = quaternion::getYaw( hmdQuaternion );
// Get angle between HMD position and nearest point on
// wall
double hmdPositionToWallYaw = static_cast<double>(
std::atan2( nearestWall.nearestPoint.v[0]
- poseHmd.mDeviceToAbsoluteTracking.m[0][3],
nearestWall.nearestPoint.v[2]
- poseHmd.mDeviceToAbsoluteTracking.m[2][3] ) );
// Get angle between HMD and wall
double hmdToWallYaw
= reduceAngle<>( hmdYaw - hmdPositionToWallYaw, -M_PI, M_PI );
do
{
// if we change walls, ignore
if ( nearestWallIdx != m_ratchettingLastWall )
{
break;
}
// Facing away from the wall is 0, |facing towards the wall| is M_PI
// Ignore turning towards the wall (e.g. change in magnitude is
// greater than 0)
if ( std::abs( hmdToWallYaw )
- std::abs( m_ratchettingLastHmdRotation )
> 0.0 )
{
break;
}
// Magnify that change
double delta_degrees
= reduceAngle<>(
hmdToWallYaw - m_ratchettingLastHmdRotation, -M_PI, M_PI )
* viewRatchettingPercent();
parent->m_moveCenterTabController.setRotation(
parent->m_moveCenterTabController.rotation()
+ static_cast<int>( delta_degrees * k_radiansToCentidegrees ) );
} while ( false );
m_ratchettingLastHmdRotation = hmdToWallYaw;
m_ratchettingLastWall = nearestWallIdx;
}
}
void RotationTabController::doVestibularMotion(
const vr::TrackedDevicePose_t& poseHmd,
const std::vector<utils::ChaperoneQuadData>& chaperoneDistances )
@@ -158,37 +242,20 @@ void RotationTabController::doVestibularMotion(
m_autoTurnChaperoneDistancesLast = chaperoneDistances;
m_autoTurnLastHmdUpdate = poseHmd.mDeviceToAbsoluteTracking;
}
// Find the nearest wall we're moving TOWARDS and rotate
// away from it Rotate dist/(2*pi*r) where r is
// Rotate dist/(2*pi*r) where r is
// m_autoTurnVestibularMotionRadius, as if we had walked
// however many inches along a circle and the world was
// turning to compensate
do
{
// find nearest wall we're moving towards
auto nearestWall = chaperoneDistances.end();
auto itrLast = m_autoTurnChaperoneDistancesLast.begin();
for ( auto itr = chaperoneDistances.begin();
itr != chaperoneDistances.end();
itr++ )
{
itrLast++;
// if ( itr->distance > itrLast->distance )
//{
// continue;
//}
if ( nearestWall == chaperoneDistances.end()
|| itr->distance < nearestWall->distance )
{
nearestWall = itr;
}
}
if ( nearestWall == chaperoneDistances.end() )
{
break;
}
// Find the nearest wall
const auto& nearestWall
= std::min_element( chaperoneDistances.begin(),
chaperoneDistances.end(),
[]( const auto& quadA, const auto& quadB ) {
return quadA.distance < quadB.distance;
} );
// Convert pose matrix to quaternion
auto hmdQuaternion = quaternion::fromHmdMatrix34(
@@ -210,6 +277,19 @@ void RotationTabController::doVestibularMotion(
= reduceAngle<>( hmdYaw - hmdPositionToWallYaw, -M_PI, M_PI );
bool turnLeft = hmdToWallYaw > 0.0;
// Only turn if moving forward
double hmdMovementDirection = static_cast<double>(
std::atan2( m_autoTurnLastHmdUpdate.m[0][3]
- poseHmd.mDeviceToAbsoluteTracking.m[0][3],
m_autoTurnLastHmdUpdate.m[2][3]
- poseHmd.mDeviceToAbsoluteTracking.m[2][3] ) );
if ( std::abs( hmdYaw - hmdMovementDirection )
* k_radiansToCentidegrees
>= 7000 )
{
break;
}
// Get the distance between previous and current
// position
double distanceChange = static_cast<double>(
@@ -229,20 +309,16 @@ void RotationTabController::doVestibularMotion(
}
double rotationAmount = arcLength * ( turnLeft ? 1 : -1 );
int newRotationAngle = reduceAngle<>(
parent->m_moveCenterTabController.rotation()
+ static_cast<int>( rotationAmount
* k_radiansToCentidegrees ),
0,
36000 );
double newRotationAngleDeg
= std::fmod( parent->m_moveCenterTabController.rotation()
+ ( rotationAmount * k_radiansToCentidegrees )
+ m_autoTurnRoundingError,
360000.0 );
int newRotationAngleInt = static_cast<int>( newRotationAngleDeg );
m_autoTurnRoundingError = newRotationAngleDeg - newRotationAngleInt;
parent->m_moveCenterTabController.setRotation(
newRotationAngleInt );
parent->m_moveCenterTabController.setRotation( newRotationAngle );
} while ( false );
m_autoTurnLastHmdUpdate = poseHmd.mDeviceToAbsoluteTracking;
}
}
@@ -272,7 +348,6 @@ void RotationTabController::doAutoTurn(
== AutoTurnModes::LINEAR_SMOOTH_TURN
&& m_autoTurnLinearSmoothTurnRemaining != 0 )
{
// TODO: implement angular acceleration max?
double deltaSeconds
= FrameRates::toDoubleSeconds( m_estimatedFrameRate );
auto miniDeltaAngle = static_cast<int>(
@@ -284,11 +359,11 @@ void RotationTabController::doAutoTurn(
{
miniDeltaAngle = m_autoTurnLinearSmoothTurnRemaining;
}
int newRotationAngleDeg = reduceAngle<>(
static_cast<int>( parent->m_moveCenterTabController.rotation()
+ miniDeltaAngle ),
0,
36000 );
int newRotationAngleDeg
= reduceAngle<>( parent->m_moveCenterTabController.rotation()
+ static_cast<int>( miniDeltaAngle ),
0,
36000 );
parent->m_moveCenterTabController.setRotation(
newRotationAngleDeg );
@@ -428,9 +503,8 @@ void RotationTabController::doAutoTurn(
{
case AutoTurnModes::SNAP:
parent->m_moveCenterTabController.setRotation(
static_cast<int>(
parent->m_moveCenterTabController.rotation()
+ delta_degrees ) );
parent->m_moveCenterTabController.rotation()
+ static_cast<int>( delta_degrees ) );
break;
case AutoTurnModes::LINEAR_SMOOTH_TURN:
m_autoTurnLinearSmoothTurnRemaining
@@ -577,6 +651,18 @@ double RotationTabController::vestibularMotionRadius() const
settings::DoubleSetting::ROTATION_autoturnVestibularMotionRadius );
}
bool RotationTabController::viewRatchettingEnabled() const
{
return settings::getSetting(
settings::BoolSetting::ROTATION_autoturnViewRatchettingEnabled );
}
double RotationTabController::viewRatchettingPercent() const
{
return settings::getSetting(
settings::DoubleSetting::ROTATION_autoturnViewRatchettingPercent );
}
// Setters
void RotationTabController::setAutoTurnEnabled( bool value, bool notify )
@@ -711,5 +797,25 @@ void RotationTabController::setVestibularMotionRadius( double value,
emit vestibularMotionRadiusChanged( value );
}
}
void RotationTabController::setViewRatchettingEnabled( bool value, bool notify )
{
settings::setSetting(
settings::BoolSetting::ROTATION_autoturnViewRatchettingEnabled, value );
if ( notify )
{
emit viewRatchettingEnabledChanged( value );
}
}
void RotationTabController::setViewRatchettingPercent( double value,
bool notify )
{
settings::setSetting(
settings::DoubleSetting::ROTATION_autoturnViewRatchettingPercent,
value );
if ( notify )
{
emit viewRatchettingPercentChanged( value );
}
}
} // namespace advsettings