Implementation of elbow model for the controller position and rotation.

chrome/browser/android/vr_shell/elbow_model.cc

+// Copyright 2016 The Chromium Authors. All rights reserved.
+// Use of this source code is governed by a BSD-style license that can be
+// found in the LICENSE file.
+
+// Adapted from:
+// https://github.com/googlevr/gvr-unity-sdk/blob/master/Samples/DaydreamLabsControllerPlayground/Assets/GoogleVR/Scripts/Controller/GvrArmModel.cs
+
+#include "chrome/browser/android/vr_shell/elbow_model.h"
+
+#include <cmath>
+
+#include "device/vr/vr_math.h"
+
+namespace vr_shell {
+
+namespace {
+
+constexpr vr::Quatf kNoRotation = {0.0f, 0.0f, 0.0f, 1.0f};
+constexpr gfx::Point3F kDefaultShoulderRight = {0.19f, -0.19f, 0.03f};
+constexpr float kFadeDistanceFromFace = 0.34f;
+constexpr gfx::Point3F kDefaultRelativeElbow = {0.195f, -0.5f, 0.075f};
+constexpr gfx::Point3F kDefaultRelativeWrist = {0.0f, 0.0f, -0.25f};
+constexpr gfx::Vector3dF kForward = {0.0f, 0.0f, -1.0f};
+constexpr gfx::Vector3dF kUp = {0.0f, 1.0f, 0.0f};
+constexpr gfx::Vector3dF kDefaultArmExtensionOffset = {-0.13f, 0.14f, -0.08f};
+constexpr float kMinExtensionAngle = 7.0f;
+constexpr float kMaxExtenstionAngle = 60.0f;
+constexpr float kExtensionWeight = 0.4f;
+constexpr float kDeltaAlpha = 3.0f;
+constexpr float kDefaultElbowRotationRatio = 0.4f;
+
+}  // namespace
+
+ElbowModel::ElbowModel(gvr::ControllerHandedness handedness)
+    : handedness_(handedness),
+      alpha_value_(1.0f),
+      torso_direction_{0.0f, 0.0f, 0.0f} {}
+
+ElbowModel::~ElbowModel() = default;
+
+void ElbowModel::UpdateHandedness() {
+  handed_multiplier_ = {
+      handedness_ == GVR_CONTROLLER_RIGHT_HANDED ? 1.0f : -1.0f, 1.0f, 1.0f};
+  shoulder_rotation_ = kNoRotation;
+  shoulder_position_ =
+      vr::ScalePoint(kDefaultShoulderRight, handed_multiplier_);
+}
+
+void ElbowModel::Update(const UpdateData& update) {
+  UpdateHandedness();
+  UpdateTorsoDirection(update);
+  ApplyArmModel(update);
+  UpdateTransparency(update);
+}
+
+void ElbowModel::UpdateTorsoDirection(const UpdateData& update) {
+  auto head_direction = update.head_direction;
+  head_direction.set_y(0);
+  vr::NormalizeVector(&head_direction);
+
+  // Determine the gaze direction horizontally.
+  float angular_velocity = update.gyro.Length();
+  float gaze_filter_strength =
+      vr::Clampf((angular_velocity - 0.2f) / 45.0f, 0.0f, 0.1f);
+  torso_direction_ =
+      vr::QuatSlerp(torso_direction_, head_direction, gaze_filter_strength);
+
+  // Rotate the fixed joints.
+  auto gaze_rotation = vr::GetVectorRotation(kForward, torso_direction_);
+  shoulder_rotation_ = gaze_rotation;
+  vr::Mat4f gaze_rotation_mat;
+  vr::QuatToMatrix(gaze_rotation, &gaze_rotation_mat);
+  shoulder_position_ = vr::ToPoint(vr::MatrixVectorRotate(
+      gaze_rotation_mat, vr::ToVector(shoulder_position_)));
+}
+
+void ElbowModel::ApplyArmModel(const UpdateData& update) {
+  // Controller's orientation relative to the user.
+  auto controller_orientation = update.orientation;
+  controller_orientation = vr::QuatProduct(vr::InvertQuat(shoulder_rotation_),
+                                           controller_orientation);
+
+  // Relative positions of the joints.
+  elbow_position_ = vr::ScalePoint(kDefaultRelativeElbow, handed_multiplier_);
+  wrist_position_ = vr::ScalePoint(kDefaultRelativeWrist, handed_multiplier_);
+  auto arm_extension_offset =
+      vr::ScaleVector(kDefaultArmExtensionOffset, handed_multiplier_);
+
+  // Extract just the x rotation angle.
+  vr::Mat4f controller_orientation_mat;
+  QuatToMatrix(controller_orientation, &controller_orientation_mat);
+  auto controller_forward =
+      vr::MatrixVectorRotate(controller_orientation_mat, kForward);
+  float x_angle =
+      90.0f - gfx::AngleBetweenVectorsInDegrees(controller_forward, kUp);
+
+  // Remove the z rotation from the controller
+  auto x_y_rotation = vr::GetVectorRotation(kForward, controller_forward);
+
+  // Offset the elbow by the extension.
+  float normalized_angle = (x_angle - kMinExtensionAngle) /
+                           (kMaxExtenstionAngle - kMinExtensionAngle);
+  float extension_ratio = vr::Clampf(normalized_angle, 0.0f, 1.0f);
+  elbow_position_ = elbow_position_ +
+                    gfx::ScaleVector3d(arm_extension_offset, extension_ratio);
+
+  // Calculate the lerp interpolation factor.
+  float total_angle = vr::QuatAngleDegrees(x_y_rotation, kNoRotation);
+  float lerp_suppresion = 1.0f - pow(total_angle / 180.0f, 6);
+  float lerp_value = lerp_suppresion * (kDefaultElbowRotationRatio +
+                                        (1.0f - kDefaultElbowRotationRatio) *
+                                            extension_ratio * kExtensionWeight);
+
+  // Apply the absolute rotations to the joints.
+  auto lerp_rotation = vr::QuatLerp(kNoRotation, x_y_rotation, lerp_value);
+  elbow_rotation_ = vr::QuatProduct(
+      vr::QuatProduct(shoulder_rotation_, vr::InvertQuat(lerp_rotation)),
+      controller_orientation);
+  wrist_rotation_ = vr::QuatProduct(shoulder_rotation_, controller_orientation);
+
+  // Determine the relative positions.
+  vr::Mat4f shoulder_rotation_mat;
+  QuatToMatrix(shoulder_rotation_, &shoulder_rotation_mat);
+  elbow_position_ = vr::ToPoint(vr::MatrixVectorRotate(
+      shoulder_rotation_mat, vr::ToVector(elbow_position_)));
+  vr::Mat4f elbow_rotation_mat;
+  QuatToMatrix(elbow_rotation_, &elbow_rotation_mat);
+  wrist_position_ =
+      elbow_position_ +
+      vr::MatrixVectorRotate(elbow_rotation_mat, vr::ToVector(wrist_position_));
+}
+
+void ElbowModel::UpdateTransparency(const UpdateData& update) {
+  float distance_to_face = vr::ToVector(wrist_position_).Length();
+  float alpha_change = kDeltaAlpha * update.delta_time_seconds;
+  alpha_value_ = vr::Clampf(distance_to_face < kFadeDistanceFromFace
+                                ? alpha_value_ - alpha_change
+                                : alpha_value_ + alpha_change,
+                            0.0f, 1.0f);
+}
+
+}  // namespace vr_shell