Precise Rotation (#482)
* temporarily disabled adjust chaperone * added experimental check to prevent rotation drift * adjusted ss to 2 digits precision * updated rotation model to be based on relative position and not drift * fixed force precision error with supersampling * added Error for turning too fast * removed error impossible to execute * fixed and cleaned up some potential failure points * added inversion check * re-worded warning * added adjustchaperone2 defaulted to off to replace adjust chaperone * moved adjust chaperone to settings removed from offsets tab * moved adjust chaperone to settings removed from offsets tab * enabled clipping for settings page no longer scrolls outside of its area * updated strings for release
This commit is contained in:
ykeara
@@ -457,12 +457,12 @@ void MoveCenterTabController::setFrictionPercent( int value, bool notify )
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bool MoveCenterTabController::adjustChaperone() const
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{
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return settings::getSetting(
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settings::BoolSetting::PLAYSPACE_adjustChaperone );
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settings::BoolSetting::PLAYSPACE_adjustChaperone2 );
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}
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void MoveCenterTabController::setAdjustChaperone( bool value, bool notify )
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{
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settings::setSetting( settings::BoolSetting::PLAYSPACE_adjustChaperone,
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settings::setSetting( settings::BoolSetting::PLAYSPACE_adjustChaperone2,
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value );
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if ( notify )
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@@ -1178,6 +1178,8 @@ double MoveCenterTabController::getHmdYawTotal()
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void MoveCenterTabController::resetHmdYawTotal()
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{
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m_hmdYawTotal = 0.0;
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m_hmdYawOld = 0.0;
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m_hmdYawTurnCount = 0;
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}
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void MoveCenterTabController::clampVelocity( double* velocity )
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@@ -2105,6 +2107,8 @@ void MoveCenterTabController::saveUncommittedChaperone()
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}
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}
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// NOTE this function will create bad output if User Rotates 180 Degrees in 1/7*
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// frame-rate. (Worst Case 30 fps = ~770 deg/s)
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void MoveCenterTabController::updateHmdRotationCounter(
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vr::TrackedDevicePose_t hmdPose,
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double angle )
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@@ -2140,16 +2144,54 @@ void MoveCenterTabController::updateHmdRotationCounter(
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m_lastHmdQuaternion = m_hmdQuaternion;
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return;
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}
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// Construct a quaternion representing difference between old
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// hmd pose and new hmd pose.
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vr::HmdQuaternion_t hmdDiffQuaternion = quaternion::multiply(
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m_hmdQuaternion, quaternion::conjugate( m_lastHmdQuaternion ) );
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// Calculate yaw from quaternion.
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double hmdYawDiff = quaternion::getYaw( hmdDiffQuaternion );
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double hmdYawCurrent = quaternion::getYaw( m_hmdQuaternion );
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// double hmdPitchCurrent = quaternion::getPitch( m_hmdQuaternion );
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// double hmdRollCurrent = quaternion::getRoll( m_hmdQuaternion );
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// Apply yaw difference to m_hmdYawTotal.
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m_hmdYawTotal += hmdYawDiff;
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// checks to see if hmd is in exact same position
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if ( m_hmdYawOld == hmdYawCurrent )
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{
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return;
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}
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// Checks if The points defined by Yaw old and current form an arc of no
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// more than 180 degrees, that MUST intersect With 180 degrees.
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// NOTE: This fails if there is > 180 degrees between the update Rate
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// Worst Case Scenario this should be ~770 deg/s turning speed. (30 fps)
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if ( std::abs( m_hmdYawOld - hmdYawCurrent ) > M_PI )
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{
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// Checks if the HMD is inverted, and skips if it is
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bool isInverted = ( hmdMatrixAbsolute.m[1][1] < 0 );
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if ( !isInverted )
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{
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if ( m_hmdYawOld >= 0 )
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{
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m_hmdYawTurnCount += 1;
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}
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else if ( m_hmdYawOld < 0 )
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{
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m_hmdYawTurnCount -= 1;
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}
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}
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else
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{
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LOG( WARNING ) << "HMD Was Inverted during a Turn Count, Turn "
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"counter may be in-accurate";
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}
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}
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// Sets total rotation based on current orientation + Turn Count
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if ( m_hmdYawTurnCount == 0 )
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{
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m_hmdYawTotal = hmdYawCurrent;
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}
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else
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{
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m_hmdYawTotal = hmdYawCurrent + ( m_hmdYawTurnCount * 2 * M_PI );
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}
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m_hmdYawOld = hmdYawCurrent;
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m_lastHmdQuaternion = m_hmdQuaternion;
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}
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@@ -2674,6 +2716,9 @@ void MoveCenterTabController::updateSpace( bool forceUpdate )
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&offsetSeatedCenter );
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}
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// As of SVR 1.13.1 The Chaperone will follow Universe Center NOT raw Center
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// as such this should be off by defualt.
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if ( adjustChaperone() )
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{
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// make a copy of our bounds and
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@@ -2704,17 +2749,20 @@ void MoveCenterTabController::updateSpace( bool forceUpdate )
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// origin
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updatedBounds[quad].vCorners[corner].v[0]
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-= offsetUniverseCenter.m[0][3]
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- m_universeCenterForReset.m[0][3];
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- offsetUniverseCenter.m[0][3];
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//- m_universeCenterForReset.m[0][3];
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// but don't touch y=0 values to keep floor corners rooted down
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if ( updatedBounds[quad].vCorners[corner].v[1] != 0 )
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{
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updatedBounds[quad].vCorners[corner].v[1]
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-= offsetUniverseCenter.m[1][3]
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- m_universeCenterForReset.m[1][3];
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- offsetUniverseCenter.m[1][3];
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//- m_universeCenterForReset.m[1][3];
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}
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updatedBounds[quad].vCorners[corner].v[2]
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-= offsetUniverseCenter.m[2][3]
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- m_universeCenterForReset.m[2][3];
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- offsetUniverseCenter.m[2][3];
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//- m_universeCenterForReset.m[2][3];
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// rotate by universe center's yaw
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rotateFloatCoordinates(
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@@ -2723,52 +2771,48 @@ void MoveCenterTabController::updateSpace( bool forceUpdate )
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}
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}
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// Center Marker for playspace.
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if ( parent->m_chaperoneTabController.m_centerMarkerOverlayNeedsUpdate )
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{
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// Set Unrotated Coordinates
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float universePlayCenterTempCoords[3] = { 0.0f, 0.0f, 0.0f };
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universePlayCenterTempCoords[0]
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-= offsetUniverseCenter.m[0][3]
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- m_universeCenterForReset.m[0][3];
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universePlayCenterTempCoords[1]
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-= offsetUniverseCenter.m[1][3]
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- m_universeCenterForReset.m[1][3];
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universePlayCenterTempCoords[2]
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-= offsetUniverseCenter.m[2][3]
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- m_universeCenterForReset.m[2][3];
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// Rotate un-rotated to rotated
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rotateFloatCoordinates(
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universePlayCenterTempCoords,
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static_cast<float>( offsetUniverseCenterYaw ) );
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// Set Up orientation properly away from raw center
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utils::matMul33( m_offsetmatrix,
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offsetUniverseCenter,
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utils::k_forwardUpMatrix );
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vr::HmdMatrix34_t rotMatrix;
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utils::initRotationMatrix(
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rotMatrix,
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1,
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static_cast<float>( -( ( m_rotation * k_centidegreesToRadians )
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+ offsetUniverseCenterYaw ) ) );
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// Rotates orientation At playspace center
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vr::HmdMatrix34_t finalmatrix;
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utils::matMul33( finalmatrix, rotMatrix, m_offsetmatrix );
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finalmatrix.m[0][3] = universePlayCenterTempCoords[0];
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finalmatrix.m[1][3] = universePlayCenterTempCoords[1];
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finalmatrix.m[2][3] = universePlayCenterTempCoords[2];
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parent->m_chaperoneTabController.updateCenterMarkerOverlay(
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&finalmatrix );
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}
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// update chaperone working set preview (this does not commit)
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vr::VRChaperoneSetup()->SetWorkingCollisionBoundsInfo(
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updatedBounds, m_collisionBoundsCountForReset );
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delete[] updatedBounds;
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}
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// Center Marker for playspace.
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if ( parent->m_chaperoneTabController.m_centerMarkerOverlayNeedsUpdate )
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{
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// Set Unrotated Coordinates
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float universePlayCenterTempCoords[3] = { 0.0f, 0.0f, 0.0f };
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universePlayCenterTempCoords[0]
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-= offsetUniverseCenter.m[0][3] - m_universeCenterForReset.m[0][3];
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universePlayCenterTempCoords[1]
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-= offsetUniverseCenter.m[1][3] - m_universeCenterForReset.m[1][3];
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universePlayCenterTempCoords[2]
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-= offsetUniverseCenter.m[2][3] - m_universeCenterForReset.m[2][3];
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// Rotate un-rotated to rotated
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rotateFloatCoordinates( universePlayCenterTempCoords,
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static_cast<float>( offsetUniverseCenterYaw ) );
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// Set Up orientation properly away from raw center
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utils::matMul33(
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m_offsetmatrix, offsetUniverseCenter, utils::k_forwardUpMatrix );
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vr::HmdMatrix34_t rotMatrix;
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utils::initRotationMatrix(
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rotMatrix,
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1,
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static_cast<float>( -( ( m_rotation * k_centidegreesToRadians )
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+ offsetUniverseCenterYaw ) ) );
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// Rotates orientation At playspace center
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vr::HmdMatrix34_t finalmatrix;
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utils::matMul33( finalmatrix, rotMatrix, m_offsetmatrix );
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finalmatrix.m[0][3] = universePlayCenterTempCoords[0];
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finalmatrix.m[1][3] = universePlayCenterTempCoords[1];
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finalmatrix.m[2][3] = universePlayCenterTempCoords[2];
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parent->m_chaperoneTabController.updateCenterMarkerOverlay(
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&finalmatrix );
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}
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vr::VRChaperoneSetup()->SetWorkingStandingZeroPoseToRawTrackingPose(
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&offsetUniverseCenter );
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@@ -170,6 +170,8 @@ private:
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= { k_quaternionInvalidValue, 0.0, 0.0, 0.0 };
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vr::HmdQuaternion_t m_hmdQuaternion;
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double m_hmdYawTotal = 0.0;
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double m_hmdYawOld = 0.0;
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int m_hmdYawTurnCount = 0;
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vr::ETrackedControllerRole m_activeDragHand
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= vr::TrackedControllerRole_Invalid;
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vr::ETrackedControllerRole m_lastMoveHand
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