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authorStanislaw Halik <sthalik@misaki.pl>2016-12-09 12:33:15 +0100
committerStanislaw Halik <sthalik@misaki.pl>2016-12-09 12:33:15 +0100
commit1122994bfa7a1ea61d3e8bcc262b21954aca2fdd (patch)
treedee006d06b81709a8d40781a633bbeb883f8cbea /logic/tracker.cpp
parent4442c953c05b0b1d240b088e0c6a3c4afdcdccf6 (diff)
gui, logic: add neck displacement feature
With it enabled, user's neck will be treated as separate from the rotation pivot. Rotating to the left will reposition to the left in addition to the rotation, and so on. This feature is subtle but apparently very popular with DCS users.
Diffstat (limited to 'logic/tracker.cpp')
-rw-r--r--logic/tracker.cpp193
1 files changed, 108 insertions, 85 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index a5892dd0..25e067a7 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -156,8 +156,7 @@ void Tracker::logic()
logger.write_pose(raw); // raw
- if (is_nan(raw))
- raw = last_raw;
+ bool nanp = is_nan(raw) | is_nan(value);
// TODO split this function, it's too big
@@ -171,58 +170,57 @@ void Tracker::logic()
scaled_rotation.camera = get_camera_offset_matrix(c_div);
real_rotation.camera = get_camera_offset_matrix(1);
- bool nanp = is_nan(value) || is_nan(scaled_rotation.rotation) || is_nan(real_rotation.rotation);
+ nanp |= is_nan(value) || is_nan(scaled_rotation.rotation) || is_nan(real_rotation.rotation);
- if (!nanp)
+ if (!tracking_started)
{
- if (!tracking_started)
- {
- using std::fabs;
+ using std::fabs;
- for (int i = 0; i < 6; i++)
- if (fabs(newpose(i)) != 0)
- {
- tracking_started = true;
- break;
- }
- }
+ for (int i = 0; i < 6; i++)
+ if (fabs(newpose(i)) != 0)
+ {
+ tracking_started = true;
+ break;
+ }
- if (get(f_center) && tracking_started)
- {
- set(f_center, false);
+ tracking_started &= !nanp;
+ }
- if (libs.pFilter)
- libs.pFilter->center();
+ if (get(f_center) && tracking_started)
+ {
+ set(f_center, false);
- if (libs.pTracker->center())
- {
- scaled_rotation.rotation = scaled_rotation.camera.t();
- real_rotation.rotation = real_rotation.camera.t();
-
- scaled_rotation.rotation = rmat::eye();
- real_rotation.rotation = rmat::eye();
- scaled_rotation.center_roll = rmat::eye();
- scaled_rotation.center_yaw = rmat::eye();
- scaled_rotation.center_pitch = rmat::eye();
- }
- else
- {
- euler::tait_bryan_to_matrices(rmat_to_euler(scaled_rotation.rotation),
- scaled_rotation.center_roll,
- scaled_rotation.center_pitch,
- scaled_rotation.center_yaw);
+ if (libs.pFilter)
+ libs.pFilter->center();
+
+ if (libs.pTracker->center())
+ {
+ scaled_rotation.rotation = scaled_rotation.camera.t();
+ real_rotation.rotation = real_rotation.camera.t();
+
+ scaled_rotation.rotation = rmat::eye();
+ real_rotation.rotation = rmat::eye();
+ scaled_rotation.center_roll = rmat::eye();
+ scaled_rotation.center_yaw = rmat::eye();
+ scaled_rotation.center_pitch = rmat::eye();
+ }
+ else
+ {
+ euler::tait_bryan_to_matrices(rmat_to_euler(scaled_rotation.rotation),
+ scaled_rotation.center_roll,
+ scaled_rotation.center_pitch,
+ scaled_rotation.center_yaw);
#if 0
- euler::tait_bryan_to_matrices(rmat_to_euler(real_rotation.rotation),
- real_rotation.center_roll,
- real_rotation.center_pitch,
- real_rotation.center_yaw);
+ euler::tait_bryan_to_matrices(rmat_to_euler(real_rotation.rotation),
+ real_rotation.center_roll,
+ real_rotation.center_pitch,
+ real_rotation.center_yaw);
#endif
- real_rotation.rot_center = real_rotation.rotation.t();
- scaled_rotation.rot_center = scaled_rotation.rotation.t();
- }
-
- t_center = euler_t(&value(TX));
+ real_rotation.rot_center = real_rotation.rotation.t();
+ scaled_rotation.rot_center = scaled_rotation.rotation.t();
}
+
+ t_center = euler_t(&value(TX));
}
{
@@ -268,20 +266,37 @@ void Tracker::logic()
logger.write_pose(value); // "corrected" - after various transformations to account for camera position
- // whenever something can corrupt its internal state due to nan/inf, elide the call
- if (is_nan(value))
- {
- nanp = true;
- logger.write_pose(value); // "filtered"
- }
- else
+ nanp |= is_nan(value);
+
{
- Pose tmp(value);
+ {
+ Pose tmp(value);
- if (libs.pFilter)
- libs.pFilter->filter(tmp, value);
+ // nan/inf values will corrupt filter internal state
+ if (!nanp && libs.pFilter)
+ libs.pFilter->filter(tmp, value);
+
+ logger.write_pose(value); // "filtered"
+ }
+
+ euler_t neck, rel;
- logger.write_pose(value); // "filtered"
+ {
+ double ny = s.neck_y, nz = -s.neck_z;
+
+ if (ny != 0 || nz != 0)
+ {
+ const rmat R = euler_to_rmat(
+ euler_t(value(Yaw) * d2r,
+ value(Pitch) * d2r,
+ value(Roll) * d2r));
+ euler_t xyz(0, ny, nz);
+ t_compensate(R, xyz, xyz, false, false, false);
+ neck(TX) = xyz(TX);
+ neck(TY) = xyz(TY) - ny;
+ neck(TZ) = xyz(TZ) - nz;
+ }
+ }
// CAVEAT rotation only, due to tcomp
for (int i = 3; i < 6; i++)
@@ -294,38 +309,45 @@ void Tracker::logic()
for (int i = 0; i < 6; i++)
value(i) = 0;
- if (is_nan(value))
- nanp = true;
- }
+ const bool reltrans = !get(f_tcomp_disabled);
- if (s.tcomp_p && !get(f_tcomp_disabled))
- {
- const double tcomp_c[] =
+ if (s.tcomp_p && reltrans)
{
- double(!s.tcomp_disable_src_yaw),
- double(!s.tcomp_disable_src_pitch),
- double(!s.tcomp_disable_src_roll),
- };
- euler_t value_(value(TX), value(TY), value(TZ));
- t_compensate(euler_to_rmat(
- euler_t(value(Yaw) * d2r * tcomp_c[0],
- value(Pitch) * d2r * tcomp_c[1],
- value(Roll) * d2r * tcomp_c[2])),
- value_,
- value_,
- s.tcomp_disable_tx,
- s.tcomp_disable_ty,
- s.tcomp_disable_tz);
- if (is_nan(value_))
- nanp = true;
+ const double tcomp_c[] =
+ {
+ double(!s.tcomp_disable_src_yaw),
+ double(!s.tcomp_disable_src_pitch),
+ double(!s.tcomp_disable_src_roll),
+ };
+ const rmat R = euler_to_rmat(
+ euler_t(value(Yaw) * d2r * tcomp_c[0],
+ value(Pitch) * d2r * tcomp_c[1],
+ value(Roll) * d2r * tcomp_c[2]));
+ euler_t ret;
+ t_compensate(R,
+ euler_t(value(TX), value(TY), value(TZ)),
+ ret,
+ s.tcomp_disable_tx,
+ s.tcomp_disable_ty,
+ s.tcomp_disable_tz);
+
+ for (int i = 0; i < 3; i++)
+ rel(i) = ret(i) - value(i);
+ }
+
+ // don't t_compensate existing compensated values
for (int i = 0; i < 3; i++)
- value(i) = value_(i);
+ value(i) += neck(i) + rel(i);
+
+ nanp |= is_nan(neck) | is_nan(rel) | is_nan(value);
}
// CAVEAT translation only, due to tcomp
for (int i = 0; i < 3; i++)
value(i) = map(value(i), m(i));
+ nanp |= is_nan(value);
+
for (int i = 0; i < 6; i++)
if (m(i).opts.invert)
value(i) = -value(i);
@@ -334,17 +356,18 @@ void Tracker::logic()
if (nanp)
{
- value = last_mapped;
+ QMutexLocker foo(&mtx);
+
+ value = output_pose;
+ raw = raw_6dof;
// for widget last value display
for (int i = 0; i < 6; i++)
- (void) map(value(i), m(i));
+ (void) map(raw_6dof(i), m(i));
}
- libs.pProtocol->pose(value);
-
- last_mapped = value;
- last_raw = raw;
+ if (!nanp)
+ libs.pProtocol->pose(value);
QMutexLocker foo(&mtx);
output_pose = value;