From 1122994bfa7a1ea61d3e8bcc262b21954aca2fdd Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Fri, 9 Dec 2016 12:33:15 +0100 Subject: 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. --- logic/tracker.cpp | 193 ++++++++++++++++++++++++++++++------------------------ 1 file changed, 108 insertions(+), 85 deletions(-) (limited to 'logic/tracker.cpp') 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; -- cgit v1.2.3