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https://github.com/HifiExperiments/overte.git
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clean ups - coding standard
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parent
4a17112478
commit
001c92416b
1 changed files with 36 additions and 37 deletions
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@ -248,7 +248,6 @@ void KinectPlugin::init() {
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auto preference = new CheckPreference(KINECT_PLUGIN, "Extra Debugging", debugGetter, debugSetter);
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auto preference = new CheckPreference(KINECT_PLUGIN, "Extra Debugging", debugGetter, debugSetter);
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preferences->addPreference(preference);
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preferences->addPreference(preference);
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}
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}
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}
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}
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bool KinectPlugin::isSupported() const {
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bool KinectPlugin::isSupported() const {
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@ -494,15 +493,15 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
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//_joints[j].orientation = jointOrientation;
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//_joints[j].orientation = jointOrientation;
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if (joints[j].JointType == JointType_HandRight) {
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if (joints[j].JointType == JointType_HandRight) {
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static const quat kinectToHandRight = glm::angleAxis(-PI / 2.0f, Vectors::UNIT_Y);
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static const quat kinectToHandRight = glm::angleAxis(-PI / 2.0f, Vectors::UNIT_Y);
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// add moving average of orientation quaternion
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// add moving average of orientation quaternion
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glm::quat jointTmp = jointOrientation * kinectToHandRight;
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glm::quat jointTmp = jointOrientation * kinectToHandRight;
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_joints[j].orientation = QMAR(jointTmp);
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_joints[j].orientation = QMAR(jointTmp);
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} else if (joints[j].JointType == JointType_HandLeft) {
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} else if (joints[j].JointType == JointType_HandLeft) {
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// To transform from Kinect to our LEFT Hand.... Postive 90 deg around Y
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// To transform from Kinect to our LEFT Hand.... Postive 90 deg around Y
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static const quat kinectToHandLeft = glm::angleAxis(PI / 2.0f, Vectors::UNIT_Y);
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static const quat kinectToHandLeft = glm::angleAxis(PI / 2.0f, Vectors::UNIT_Y);
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// add moving average of orientation quaternion
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// add moving average of orientation quaternion
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glm::quat jointTmp = jointOrientation * kinectToHandLeft;
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glm::quat jointTmp = jointOrientation * kinectToHandLeft;
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_joints[j].orientation = QMAL(jointTmp);
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_joints[j].orientation = QMAL(jointTmp);
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} else {
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} else {
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_joints[j].orientation = jointOrientation;
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_joints[j].orientation = jointOrientation;
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}
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}
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@ -652,41 +651,41 @@ void KinectPlugin::InputDevice::clearState() {
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glm::quat KinectPlugin::QMAL(glm::quat q)
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glm::quat KinectPlugin::QMAL(glm::quat q)
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{
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{
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if (glm::dot(_q_barL, q) < 0)
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if (glm::dot(_q_barL, q) < 0) {
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_q_barL = (1 - _deltaL)*_q_barL + -_deltaL*q;
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_q_barL = (1 - _deltaL) * _q_barL + -_deltaL * q;
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else
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}
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_q_barL = (1 - _deltaL)*_q_barL + _deltaL*q;
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else {
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_q_barL = (1 - _deltaL) * _q_barL + _deltaL * q;
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_q_barL = glm::normalize(_q_barL);
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}
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_q_barL = glm::normalize(_q_barL);
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if (_debug)
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if (_debug)
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{
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{
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qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w;
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qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w;
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qDebug() << __FUNCTION__ << "_q_barL = " << _q_barL.x << "," << _q_barL.y << "," << _q_barL.z << "," << _q_barL.w;
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qDebug() << __FUNCTION__ << "_q_barL = " << _q_barL.x << "," << _q_barL.y << "," << _q_barL.z << "," << _q_barL.w;
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}
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}
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return _q_barL;
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return _q_barL;
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}
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}
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glm::quat KinectPlugin::QMAR(glm::quat q)
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glm::quat KinectPlugin::QMAR(glm::quat q)
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{
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{
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if (glm::dot(_q_barR, q) < 0)
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if (glm::dot(_q_barR, q) < 0){
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_q_barR = (1 - _deltaR)*_q_barR + -_deltaR*q;
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_q_barR = (1 - _deltaR)*_q_barR + -_deltaR*q;
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else
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}
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_q_barR = (1 - _deltaR)*_q_barR + _deltaR*q;
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else {
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_q_barR = (1 - _deltaR)*_q_barR + _deltaR*q;
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_q_barR = glm::normalize(_q_barR);
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}
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_q_barR = -_q_barR;
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if (_debug)
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{
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qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w;
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qDebug() << __FUNCTION__ << "_q_barL = " << _q_barR.x << "," << _q_barR.y << "," << _q_barR.z << "," << _q_barR.w;
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}
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return _q_barR;
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_q_barR = glm::normalize(_q_barR);
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_q_barR = -_q_barR;
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if (_debug)
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{
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qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w;
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qDebug() << __FUNCTION__ << "_q_barL = " << _q_barR.x << "," << _q_barR.y << "," << _q_barR.z << "," << _q_barR.w;
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}
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return _q_barR;
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}
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}
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