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fix angularVelocity reported by leap-motion plugin

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This commit is contained in:
Seth Alves 2019-10-02 16:19:08 -07:00
parent 63dcf0e1c9
commit 4d3da24c33
1 changed files with 18 additions and 1 deletions
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19
plugins/hifiLeapMotion/src/LeapMotionPlugin.cpp
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@ -281,6 +281,7 @@ void LeapMotionPlugin::InputDevice::update(float deltaTime, const controller::In
glm::vec3 pos;
glm::quat rot;
glm::quat prevRot;
if (_isLeapOnHMD) {
auto jointPosition = joints[i].position;
const glm::vec3 HMD_EYE_TO_LEAP_OFFSET = glm::vec3(0.0f, 0.0f, -0.09f); // Eyes to surface of Leap Motion.
@ -291,17 +292,33 @@ void LeapMotionPlugin::InputDevice::update(float deltaTime, const controller::In
glm::quat jointOrientation = joints[i].orientation;
jointOrientation = glm::quat(jointOrientation.w, -jointOrientation.x, -jointOrientation.z, -jointOrientation.y);
rot = controllerToAvatarRotation * hmdSensorOrientation * jointOrientation;
glm::quat prevJointOrientation = prevJoints[i].orientation;
prevJointOrientation =
glm::quat(prevJointOrientation.w, -prevJointOrientation.x, -prevJointOrientation.z, -prevJointOrientation.y);
prevRot = controllerToAvatarRotation * hmdSensorOrientation * prevJointOrientation;
} else {
pos = controllerToAvatarRotation * (joints[i].position - leapMotionOffset);
const glm::quat ZERO_HAND_ORIENTATION = glm::quat(glm::vec3(PI_OVER_TWO, PI, 0.0f));
rot = controllerToAvatarRotation * joints[i].orientation * ZERO_HAND_ORIENTATION;
prevRot = controllerToAvatarRotation * prevJoints[i].orientation * ZERO_HAND_ORIENTATION;
}
// glm::vec3 linearVelocity, angularVelocity;
// if (i < prevJoints.size()) {
// linearVelocity = (pos - (prevJoints[i].position * METERS_PER_CENTIMETER)) / deltaTime; // m/s
// glm::quat dQ = rot * glm::inverse(prevRot);
// float angle = glm::angle(dQ);
// glm::vec3 axis = glm::axis(dQ);
// angularVelocity = (angle / deltaTime) * axis;
// }
glm::vec3 linearVelocity, angularVelocity;
if (i < prevJoints.size()) {
linearVelocity = (pos - (prevJoints[i].position * METERS_PER_CENTIMETER)) / deltaTime; // m/s
// quat log imaginary part points along the axis of rotation, with length of one half the angle of rotation.
glm::quat d = glm::log(rot * glm::inverse(prevJoints[i].orientation));
glm::quat d = glm::log(rot * glm::inverse(prevRot));
angularVelocity = glm::vec3(d.x, d.y, d.z) / (0.5f * deltaTime); // radians/s
}