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add smooth moving/looking in viewer #1013

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Merged
charliecb merged 3 commits into from
Jan 11, 2021
+91 −45
Merged

add smooth moving/looking in viewer #1013

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559da48
Added smooth moving and looking in viewer
charliecb Jan 8, 2021
25e6cb2
Address PR comments
charliecb Jan 9, 2021
49116d3
Remove redundant recAgentLocation calls
charliecb Jan 10, 2021
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139 changes: 94 additions & 45 deletions src/utils/viewer/viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
// LICENSE file in the root directory of this source tree.

#include <stdlib.h>
#include <math.h>
#include <ctime>

#include <Magnum/configure.h>
Expand Down Expand Up @@ -51,8 +52,8 @@
#include "ObjectPickingHelper.h"
#include "esp/physics/configure.h"

constexpr float moveSensitivity = 0.1f;
constexpr float lookSensitivity = 11.25f;
constexpr float moveSensitivity = 0.08f;
constexpr float lookSensitivity = 0.8f;
constexpr float rgbSensorHeight = 1.5f;

// for ease of access
Expand Down Expand Up @@ -80,13 +81,30 @@ class Viewer : public Mn::Platform::Application {
explicit Viewer(const Arguments& arguments);

private:

// Keys for moving/looking are recorded according to whether they are currently being pressed
std::map<KeyEvent::Key, bool> keysPressed = {
{KeyEvent::Key::Left, false},
{KeyEvent::Key::Right, false},
{KeyEvent::Key::Up, false},
{KeyEvent::Key::Down, false},
{KeyEvent::Key::A, false},
{KeyEvent::Key::D, false},
{KeyEvent::Key::S, false},
{KeyEvent::Key::W, false},
{KeyEvent::Key::X, false},
{KeyEvent::Key::Z, false}
};

void drawEvent() override;
void viewportEvent(ViewportEvent& event) override;
void mousePressEvent(MouseEvent& event) override;
void mouseReleaseEvent(MouseEvent& event) override;
void mouseMoveEvent(MouseMoveEvent& event) override;
void mouseScrollEvent(MouseScrollEvent& event) override;
void keyPressEvent(KeyEvent& event) override;
void keyReleaseEvent(KeyEvent& event) override;
void moveAndLook(int repetitions);

/**
* @brief Instance an object from an ObjectAttributes.
Expand Down Expand Up @@ -664,13 +682,24 @@ void Viewer::drawEvent() {
Mn::GL::defaultFramebuffer.clear(Mn::GL::FramebufferClear::Color |
Mn::GL::FramebufferClear::Depth);

// step physics at a fixed rate
// Move and look actions should occur at a rate of 60 per second,
// which is the optimal frame rate (so 1 event per frame in the optimal case)
// In the non-optimal case, the number of actions per frame is given by repetitionsToPerform:
timeSinceLastSimulation += timeline_.previousFrameDuration();
if (timeSinceLastSimulation >= 1.0 / 60.0 &&
(simulating_ || simulateSingleStep_)) {
simulator_->stepWorld(1.0 / 60.0);
timeSinceLastSimulation = 0.0;
simulateSingleStep_ = false;
int repetitionsToPerform = timeSinceLastSimulation * 60.0;
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@eundersander eundersander Jan 8, 2021

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Let's rename this "60" magic number: constexpr float agentActionsPerSecond = 60.0f. And lets rename repetitionsToPerform to numAgentActions.

moveAndLook(repetitionsToPerform);

// occasionally a frame will pass quicker than 1/60 seconds
if (timeSinceLastSimulation >= 1.0 / 60.0) {
if (simulating_ || simulateSingleStep_) {
// step physics at a fixed rate
// In the interest of frame rate, only a single step is taken,
// even if timeSinceLastSimulation is quite large
simulator_->stepWorld(1.0 / 60.0);
simulateSingleStep_ = false;
}
// reset timeSinceLastSimulation, accounting for potential overflow
timeSinceLastSimulation = fmod(timeSinceLastSimulation, 1.0 / 60.0);
}

// using polygon offset to increase mesh depth to a avoid z-fighting with
Expand Down Expand Up @@ -769,6 +798,44 @@ void Viewer::drawEvent() {
redraw();
}

void Viewer::moveAndLook(int repetitions) {
if (repetitions <= 2) {repetitions = 1;} // for visual smoothness, for small deviations around 60fps, we default to repetitions=1.
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@eundersander eundersander Jan 8, 2021

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We discussed offline and agreed this isn't necessary, so I expect you'll remove this line.


for (int i = 0; i < repetitions; i++) {
if (keysPressed[KeyEvent::Key::Left]) {
defaultAgent_->act("turnLeft");
}
if (keysPressed[KeyEvent::Key::Right]) {
defaultAgent_->act("turnRight");
}
if (keysPressed[KeyEvent::Key::Up]) {
defaultAgent_->act("lookUp");
}
if (keysPressed[KeyEvent::Key::Down]) {
defaultAgent_->act("lookDown");
}
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@aclegg3 aclegg3 Jan 8, 2021 •
edited
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These (arrow key turning/looking) feel a bit sluggish compared to the linear movement speed currently.


if (keysPressed[KeyEvent::Key::A]) {
defaultAgent_->act("moveLeft");
}
if (keysPressed[KeyEvent::Key::D]) {
defaultAgent_->act("moveRight");
}
if (keysPressed[KeyEvent::Key::S]) {
defaultAgent_->act("moveBackward");
}
if (keysPressed[KeyEvent::Key::W]) {
defaultAgent_->act("moveForward");
}
if (keysPressed[KeyEvent::Key::X]) {
defaultAgent_->act("moveDown");
}
if (keysPressed[KeyEvent::Key::Z]) {
defaultAgent_->act("moveUp");
}
Comment on lines +818 to +837
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@jturner65 jturner65 Jan 8, 2021

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recAgentLocation() should be called in here, as in the original movement cases. At the end of this section, if any of the movement actions have executed (if the agent's location has changed in any way), recAgentLocation() should be called.

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}
}

void Viewer::viewportEvent(ViewportEvent& event) {
auto& sensors = defaultAgent_->getSensorSuite();
for (auto entry : sensors.getSensors()) {
Expand Down Expand Up @@ -918,43 +985,6 @@ void Viewer::keyPressEvent(KeyEvent& event) {
// also `>` key
simulateSingleStep_ = true;
break;
// ==== Look direction and Movement ====
case KeyEvent::Key::Left:
defaultAgent_->act("turnLeft");
break;
case KeyEvent::Key::Right:
defaultAgent_->act("turnRight");
break;
case KeyEvent::Key::Up:
defaultAgent_->act("lookUp");
break;
case KeyEvent::Key::Down:
defaultAgent_->act("lookDown");
break;
case KeyEvent::Key::A:
defaultAgent_->act("moveLeft");
recAgentLocation();
break;
case KeyEvent::Key::D:
defaultAgent_->act("moveRight");
recAgentLocation();
break;
case KeyEvent::Key::S:
defaultAgent_->act("moveBackward");
recAgentLocation();
break;
case KeyEvent::Key::W:
defaultAgent_->act("moveForward");
recAgentLocation();
break;
case KeyEvent::Key::X:
defaultAgent_->act("moveDown");
recAgentLocation();
break;
case KeyEvent::Key::Z:
defaultAgent_->act("moveUp");
recAgentLocation();
break;
// ==== Miscellaneous ====
case KeyEvent::Key::One:
// toggle agent location recording for trajectory
Expand Down Expand Up @@ -1048,6 +1078,25 @@ void Viewer::keyPressEvent(KeyEvent& event) {
default:
break;
}

// Update map of moving/looking keys which are currently pressed
for (const auto& [k, b] : keysPressed) {
if (key == k) {
keysPressed[key] = true;
}
}
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redraw();
}

void Viewer::keyReleaseEvent(KeyEvent& event) {
// Update map of moving/looking keys which are currently pressed
const auto key = event.key();
for (const auto& [k, b] : keysPressed) {
if (key == k) {
keysPressed[key] = false;
}
}
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redraw();
}

Expand Down