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Successful test with motion platform and VR together

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This commit is contained in:
Marek S. Łukasiewicz 2025-02-25 14:36:57 +01:00
parent 416aa8a392
commit 2824f77450
4 changed files with 18 additions and 7 deletions
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6
project/aircraft/aircraft.gd
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@ -2,9 +2,9 @@ extends Node3D
## Rotation of cyclic stick model for full control deflection, in degrees
@export var range_cyclic: float = 30
## Main rotor speed, in revolutions per minute
@export var rotor_rpm: float = 500
@export var track_platform: bool = false
## Current angle of rotor rotation
var _rotor_azimuth: float = 0
@ -12,7 +12,8 @@ var _rotor_azimuth: float = 0
@onready var connector: MarshConnector = $MarshConnector
@onready var skeleton: Skeleton3D = $"Mi-2/Armature/Skeleton3D"
@onready var attitude_root: Node3D = $AttitudeRoot
@onready var tracker_mount: Node3D = $AttitudeRoot/PilotEyes/PilotFloor/TrackerMountChair
@onready var tracker_mount_chair: Node3D = $AttitudeRoot/PilotEyes/PilotFloor/TrackerMountChair
@onready var tracker_mount_platform: Node3D = $AttitudeRoot/PilotEyes/PilotFloor/TrackerMountPlatform
@onready var xr_origin: XROrigin3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D
@onready var tracker: XRController3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/ViveTracker
@ -48,6 +49,7 @@ func _process(delta: float) -> void:
skeleton.set_bone_pose_rotation(bone_rotor, rotor_rest * rotor_att)
if tracker.get_has_tracking_data():
var tracker_mount = tracker_mount_platform if track_platform else tracker_mount_chair
xr_origin.transform = tracker_mount.transform * tracker.transform.affine_inverse()
else:
xr_origin.transform = Transform3D.IDENTITY

9
project/aircraft/aircraft.tscn
View file

@ -9,6 +9,7 @@
[node name="Aircraft" type="Node3D"]
script = ExtResource("1_l4uib")
track_platform = true
[node name="Mi-2" parent="." instance=ExtResource("1_mrxe8")]
@ -33,6 +34,13 @@ transform = Transform3D(-1, 8.74228e-08, -3.82137e-15, 0, -4.37114e-08, -1, -8.7
[node name="ReferenceAxes" parent="AttitudeRoot/PilotEyes/PilotFloor/TrackerMountChair" instance=ExtResource("3_2bi7g")]
transform = Transform3D(0.25, 0, 0, 0, 0.25, 0, 0, 0, 0.25, 0, 0, 0)
[node name="TrackerMountPlatform" type="Node3D" parent="AttitudeRoot/PilotEyes/PilotFloor"]
transform = Transform3D(-0.891006, -0.453991, 1.98446e-08, 0, -4.37114e-08, -1, 0.453991, -0.891006, 3.89471e-08, 0.4, 0.5, -0.7)
[node name="ReferenceAxes" parent="AttitudeRoot/PilotEyes/PilotFloor/TrackerMountPlatform" instance=ExtResource("3_2bi7g")]
transform = Transform3D(0.25, 0, 0, 0, 0.25, 0, 0, 0, 0.25, 0, 0, 0)
visible = false
[node name="XROrigin3D" type="XROrigin3D" parent="AttitudeRoot/PilotEyes/PilotFloor"]
[node name="XRCamera3D" type="XRCamera3D" parent="AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D"]
@ -42,6 +50,7 @@ tracker = &"/user/vive_tracker_htcx/role/camera"
[node name="ReferenceAxes" parent="AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/ViveTracker" instance=ExtResource("3_2bi7g")]
transform = Transform3D(0.25, 0, 0, 0, 0.25, 0, 0, 0, 0.25, 0, 0, 0)
visible = false
[node name="Instruments" parent="AttitudeRoot" instance=ExtResource("3_5w717")]
transform = Transform3D(-0.5, -1.27582e-08, 7.43353e-08, 4.33325e-10, 0.4923, 0.0874084, -7.5421e-08, 0.0874084, -0.4923, 0.00724897, -1.1581, 2.40391)

2
project/instruments.gd
View file

@ -1,7 +1,7 @@
extends Node
@export var browser_name: String = "browser"
@export var url: String = "http://localhost:5555/pfd"
@export var url: String = "http://192.168.1.2:5555/pfd"
# ==============================================================================
# Create a single browser named "browser_name" that is attached as child node to $CEF.

8
src/marshconnector.cpp
View file

@ -85,7 +85,7 @@ void MarshConnector::_process(double delta) {
time_passed += delta;
if (!socket->is_socket_connected()) {
socket->connect_to_host("127.0.0.1", 24400);
socket->connect_to_host("192.168.1.2", 24400);
} else {
while (socket->get_available_packet_count() > 0) {
const PackedByteArray data = socket->get_packet();
@ -251,9 +251,9 @@ Vector3 MarshConnector::godot_location_from_mavlink(float north_meters,
// See Godot documentation for axis conventions:
// https://docs.godotengine.org/en/stable/classes/class_vector3.html#constants
return Vector3{
east_meters, // East is RIGHT = Vector3(1, 0, 0)
alt_meters, // Up is UP = Vector3(0, 1, 0)
north_meters, // North is FORWARD = Vector3(0, 0, -1)
-east_meters, // East is MODEL_RIGHT = Vector3(-1, 0, 0)
alt_meters, // Up is MODEL_TOP = Vector3(0, 1, 0)
north_meters, // North is MODEL_FRONT = Vector3(0, 0, 1)
};
}
Quaternion MarshConnector::godot_rotation_from_mavlink(float roll_rad,