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Fix position of objects created in XRInteraction. Also, ray has to be
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enabled by pressing both triggers >20%
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@kwahoo2
kwahoo2 committed May 15, 2021
1 parent a144d84 commit 88dc633
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Showing 4 changed files with 57 additions and 47 deletions.
71 changes: 46 additions & 25 deletions src/Gui/CoinXRWidget.cpp
View file
Expand Up @@ -436,6 +436,7 @@ void CoinXRWidget::prepareControls()
for (uint32_t i = 0; i < hands; i++)
{
currTriggerVal[i] = 0.0f;
oldTriggerVal[i] = 0.0f;
}

xr::ActionSetCreateInfo actionSetInfo{ };
Expand Down Expand Up @@ -929,39 +930,59 @@ void CoinXRWidget::updateXrControls()
}

//XRInteraction
mXRi->setControllerState(i, worldTransform, conTrans[i], conRotat[i], currTriggerVal[i]);
mXRi->setControllerState(i, conTrans[i], conRotat[i], currTriggerVal[i]);
}

if (((currTriggerVal[0] > 0.2 && oldTriggerVal[0] <= 0.2) && (currTriggerVal[1] > 0.2))
|| ((currTriggerVal[1] > 0.2 && oldTriggerVal[1] <= 0.2) && (currTriggerVal[0] > 0.2))) //enable or disable Interaction
{
if (interaction)
{
interaction = false;
}
else
{
interaction = true;
}
}
for (uint32_t i = 0; i < hands; i++)
{
oldTriggerVal[i] = currTriggerVal[i];
}
}

void CoinXRWidget::updateXrGui()
{
//picking ray
SbVec3f startVec = conTrans[secondaryConId]->translation.getValue();
SbVec3f endVec = conTrans[secondaryConId]->translation.getValue() - rayAxis;

SoSeparator *menuRoot = new SoSeparator; //build a tree just for menu picking
menuRoot->addChild(conTrans[primaryConId]);
menuRoot->addChild(conRotat[primaryConId]);
menuRoot->addChild(camera[0]);
menuRoot->addChild(conMenuSep);

if (mXRi->findPickedObject(menuRoot, vpReg,
startVec, endVec, rayAxis,
nearPlane, farPlane))
if (interaction)
{
//place for menu operations
//picking ray
SbVec3f startVec = conTrans[secondaryConId]->translation.getValue();
SbVec3f endVec = conTrans[secondaryConId]->translation.getValue() - rayAxis;

SoSeparator *menuRoot = new SoSeparator; //build a tree just for menu picking
menuRoot->addChild(conTrans[primaryConId]);
menuRoot->addChild(conRotat[primaryConId]);
menuRoot->addChild(camera[0]);
menuRoot->addChild(conMenuSep);

if (mXRi->findPickedObject(menuRoot, vpReg,
startVec, endVec, rayAxis,
nearPlane, farPlane))
{
//place for menu operations

}
else
{
//if menu not hit, check the scene
mXRi->findPickedObject(wSep, vpReg,
startVec, endVec, rayAxis,
nearPlane, farPlane);
}
}
else
{
//if menu not hit, check the scene
mXRi->findPickedObject(wSep, vpReg,
startVec, endVec, rayAxis,
nearPlane, farPlane);
}

//prepare and execute commands
mXRi->applyInput();
//prepare and execute commands
mXRi->applyInput();
}

}

Expand Down
2 changes: 2 additions & 0 deletions src/Gui/CoinXRWidget.h
View file
Expand Up @@ -121,6 +121,7 @@ class CoinXRWidget : public QOpenGLWidget , protected QOpenGLFunctions_4_5_Core
SbVec3f rayAxis;

bool quit{ false };
bool interaction{ false };
static const uint32_t hands = 2;
uint32_t m_nRenderWidth;
uint32_t m_nRenderHeight;
Expand Down Expand Up @@ -154,6 +155,7 @@ class CoinXRWidget : public QOpenGLWidget , protected QOpenGLFunctions_4_5_Core
float movSpeed;
float scaleMod;
float currTriggerVal[hands];
float oldTriggerVal[hands];
QElapsedTimer eTimer; //measure time of frame
uint32_t primaryConId = 0; //left one one most systemes
uint32_t secondaryConId = 1;
Expand Down
26 changes: 8 additions & 18 deletions src/Gui/XRInteraction.cpp
View file
Expand Up @@ -57,8 +57,8 @@ XRInteraction::XRInteraction()
menuSep->addChild(textTrans);
menuText = new SoText3;
SoScale * textScale = new SoScale;
textScale->scaleFactor.setValue(SbVec3f(0.01f, 0.01f, 0.01f));
menuText->string = "test";
textScale->scaleFactor.setValue(SbVec3f(0.005f, 0.005f, 0.005f));
menuText->string = "Press triggers to enable ray";
menuSep->addChild(textScale);
menuSep->addChild(menuText);

Expand Down Expand Up @@ -87,7 +87,7 @@ XRInteraction::XRInteraction()
void XRInteraction::applyInput()
{
for (uint32_t i = 0; i < hands; i++){
if (currTriggerVal[i] > 0.5 && oldTriggerVal[i] <= 0.5)
if (currTriggerVal[i] > 0.9 && oldTriggerVal[i] <= 0.9)
{

double l = 200.0;
Expand All @@ -110,12 +110,10 @@ void XRInteraction::applyInput()
.arg(l)
.arg(w)
.arg(h)
/*meters to milimeters conversion
* TODO world transformation, translation only so far
*rotation using controller stick will put the box i wrong place*/
.arg((conTransVec[i][0] - wTransVec[0]) * 1000)
.arg((conTransVec[i][1] - wTransVec[1]) * 1000)
.arg((conTransVec[i][2] - wTransVec[2]) * 1000)
/*meters to milimeters conversion*/
.arg((conTransVec[i][0]) * 1000)
.arg((conTransVec[i][1]) * 1000)
.arg((conTransVec[i][2]) * 1000)
.arg(conRotatQuat[i][0])
.arg(conRotatQuat[i][1])
.arg(conRotatQuat[i][2])
Expand All @@ -134,20 +132,12 @@ void XRInteraction::applyInput()

}

void XRInteraction::setControllerState(uint32_t id, const SoTransform *wt, const SoTranslation *st, const SoRotation *sr, float tv)
void XRInteraction::setControllerState(uint32_t id, const SoTranslation *st, const SoRotation *sr, float tv)
{
conTransVec[id] = st->translation.getValue();
conRotatQuat[id] = sr->rotation.getValue();
currTriggerVal[id] = tv;

wTransVec = wt->translation.getValue(); //take note of worldtranformation, world can be moved relative to physical position
wCenter = wt->center.getValue();
wRotatQuat = wt->rotation.getValue();
//wRotatQuat.invert();

/*Base::Console().Warning("Hand pose %d: %f %f %f %f, %f %f %f\n", id,
conRotat[id]->rotation.getValue()[0], conRotat[id]->rotation.getValue()[1],conRotat[id]->rotation.getValue()[2],conRotat[id]->rotation.getValue()[3],
conTrans[id]->translation.getValue()[0], conTrans[id]->translation.getValue()[1], conTrans[id]->translation.getValue()[2]);*/
}

SoSeparator * XRInteraction::getMenuSeparator()
Expand Down
5 changes: 1 addition & 4 deletions src/Gui/XRInteraction.h
View file
Expand Up @@ -65,7 +65,7 @@ class XRInteraction
~XRInteraction();

void applyInput();
void setControllerState(uint32_t id, const SoTransform *wt, const SoTranslation *st, const SoRotation *sr, float tv);
void setControllerState(uint32_t id, const SoTranslation *st, const SoRotation *sr, float tv);
SoSeparator * getMenuSeparator();
SoSeparator * getRaySeparator();
const SoPickedPoint * findPickedObject(SoSeparator *sep, SbViewportRegion vpReg,
Expand All @@ -79,9 +79,6 @@ class XRInteraction
float oldTriggerVal[hands];
SbVec3f conTransVec[hands];
SbRotation conRotatQuat[hands];
SbVec3f wTransVec;
SbVec3f wCenter;
SbRotation wRotatQuat;

QString cmd;
uint32_t objCount = 0;
Expand Down

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