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Different approach for bat positionning

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This commit is contained in:
Atlante45 2015-11-09 16:14:18 -08:00
parent 67e70aca24
commit b3cdee278a
1 changed files with 27 additions and 25 deletions
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52
interface/src/avatar/AvatarActionHold.cpp
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@ -35,9 +35,7 @@ AvatarActionHold::~AvatarActionHold() {
qDebug() << "AvatarActionHold::~AvatarActionHold";
#endif
}
#include <plugins/PluginManager.h>
#include <input-plugins/ViveControllerManager.h>
#include <controllers/UserInputMapper.h>
void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
bool gotLock = false;
glm::quat rotation;
@ -53,28 +51,6 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
glm::vec3 palmPosition;
glm::quat palmRotation;
#ifdef Q_OS_WIN
const auto& plugins = PluginManager::getInstance()->getInputPlugins();
auto it = std::find_if(std::begin(plugins), std::end(plugins), [](const InputPluginPointer& plugin) {
return plugin->getName() == ViveControllerManager::NAME;
});
if (it != std::end(plugins)) {
const auto& vive = std::dynamic_pointer_cast<ViveControllerManager>(*it);
auto index = (_hand == "left") ? 0 : 1;
auto userInputMapper = DependencyManager::get<UserInputMapper>();
auto pos = extractTranslation(userInputMapper->getSensorToWorldMat());
auto rot = glm::quat_cast(userInputMapper->getSensorToWorldMat());
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat viveToHand = yFlip * quarterX;
palmPosition = pos + rot * vive->getPosition(index);
palmRotation = rot * vive->getRotation(index);// * viveToHand * glm::angleAxis(PI, glm::vec3(1.0f, 0.0f, 0.0f)) * glm::angleAxis(PI_OVER_TWO, glm::vec3(0.0f, 0.0f, 1.0f));
} else
#endif
if (_hand == "right") {
palmPosition = holdingAvatar->getRightPalmPosition();
palmRotation = holdingAvatar->getRightPalmRotation();
@ -83,6 +59,32 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
palmRotation = holdingAvatar->getLeftPalmRotation();
}
static const float CONTROLLER_LENGTH_OFFSET = 0.0762f; // three inches
static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET * 2.0f);
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat viveToHand = yFlip * quarterX;
static const glm::quat leftQuaterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuaterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat eighthX = glm::angleAxis(PI / 4.0f, Vectors::UNIT_X);
static const glm::quat leftRotationOffset = glm::inverse(leftQuaterZ * eighthX) * viveToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuaterZ * eighthX) * viveToHand;
static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
if (_hand == "left") {
_relativeRotation = leftRotationOffset;
_relativePosition = glm::inverse(_relativeRotation) * leftTranslationOffset;
} else {
_relativeRotation = rightRotationOffset;
_relativePosition = glm::inverse(_relativeRotation) * rightTranslationOffset;
}
rotation = palmRotation * _relativeRotation;
position = palmPosition + rotation * _relativePosition;
}