Merge branch 'master' of https://github.com/highfidelity/hifi

examples/cameraExample.js

@@ -69,6 +69,12 @@ function checkCamera() {
         var viewJoystickPosition = Controller.getJoystickPosition(VIEW_CONTROLLER);
         yaw -= viewJoystickPosition.x * JOYSTICK_YAW_MAG * deltaTime;
         pitch += viewJoystickPosition.y * JOYSTICK_PITCH_MAG * deltaTime;
+        if (yaw > 360) {
+            yaw -= 360;
+        }
+        if (yaw < -360) {
+            yaw += 360;
+        }
         var orientation = Quat.fromPitchYawRoll(pitch, yaw, roll);
         Camera.setOrientation(orientation);
     }

examples/hydraMove.js

@@ -0,0 +1,210 @@
+//
+//  hydraMove.js
+//  hifi
+//
+//  Created by Brad Hefta-Gaub on 2/10/14.
+//  Copyright (c) 2014 HighFidelity, Inc. All rights reserved.
+//
+//  This is an example script that demonstrates use of the Controller and MyAvatar classes to implement
+//  avatar flying through the hydra/controller joysticks
+//
+//
+
+var damping = 0.9;
+var position = { x: MyAvatar.position.x, y: MyAvatar.position.y, z: MyAvatar.position.z };
+var joysticksCaptured = false;
+var THRUST_CONTROLLER = 0;
+var VIEW_CONTROLLER = 1;
+var INITIAL_THRUST_MULTPLIER = 1.0;
+var THRUST_INCREASE_RATE = 1.05;
+var MAX_THRUST_MULTIPLIER = 75.0;
+var thrustMultiplier = INITIAL_THRUST_MULTPLIER;
+var grabDelta = { x: 0, y: 0, z: 0};
+var grabDeltaVelocity = { x: 0, y: 0, z: 0};
+var grabStartRotation = { x: 0, y: 0, z: 0, w: 1};
+var grabCurrentRotation = { x: 0, y: 0, z: 0, w: 1};
+var grabbingWithRightHand = false;
+var wasGrabbingWithRightHand = false;
+var grabbingWithLeftHand = false;
+var wasGrabbingWithLeftHand = false;
+var EPSILON = 0.000001;
+var velocity = { x: 0, y: 0, z: 0};
+var deltaTime = 1/60; // approximately our FPS - maybe better to be elapsed time since last call
+var THRUST_MAG_UP = 800.0;
+var THRUST_MAG_DOWN = 300.0;
+var THRUST_MAG_FWD = 500.0;
+var THRUST_MAG_BACK = 300.0;
+var THRUST_MAG_LATERAL = 250.0;
+var THRUST_JUMP = 120.0;
+
+var YAW_MAG = 500.0;
+var PITCH_MAG = 100.0;
+var THRUST_MAG_HAND_JETS = THRUST_MAG_FWD;
+var JOYSTICK_YAW_MAG = YAW_MAG;
+var JOYSTICK_PITCH_MAG = PITCH_MAG * 0.5;
+
+
+var LEFT_PALM = 0;
+var LEFT_BUTTON_4 = 4;
+var RIGHT_PALM = 2;
+var RIGHT_BUTTON_4 = 10;
+
+// Used by handleGrabBehavior() for managing the grab position changes
+function getAndResetGrabDelta() {
+    var HAND_GRAB_SCALE_DISTANCE = 2.0;
+    var delta = Vec3.multiply(grabDelta, (MyAvatar.scale * HAND_GRAB_SCALE_DISTANCE));
+    grabDelta = { x: 0, y: 0, z: 0};
+    var avatarRotation = MyAvatar.orientation;
+    var result = Vec3.multiplyQbyV(avatarRotation, Vec3.multiply(delta, -1));
+    return result;
+}
+
+// Used by handleGrabBehavior() for managing the grab velocity feature
+function getAndResetGrabDeltaVelocity() {
+    var HAND_GRAB_SCALE_VELOCITY = 50.0;
+    var delta = Vec3.multiply(grabDeltaVelocity, (MyAvatar.scale * HAND_GRAB_SCALE_VELOCITY));
+    grabDeltaVelocity = { x: 0, y: 0, z: 0};
+    var avatarRotation = MyAvatar.orientation;
+    var result = Quat.multiply(avatarRotation, Vec3.multiply(delta, -1));
+    return result;
+}
+
+// Used by handleGrabBehavior() for managing the grab rotation feature
+function getAndResetGrabRotation() {
+    var quatDiff = Quat.multiply(grabCurrentRotation, Quat.inverse(grabStartRotation));
+    grabStartRotation = grabCurrentRotation;
+    return quatDiff;
+}
+
+// handles all the grab related behavior: position (crawl), velocity (flick), and rotate (twist)
+function handleGrabBehavior() {
+    // check for and handle grab behaviors
+    grabbingWithRightHand = Controller.isButtonPressed(RIGHT_BUTTON_4);
+    grabbingWithLeftHand = Controller.isButtonPressed(LEFT_BUTTON_4);
+    stoppedGrabbingWithLeftHand = false;
+    stoppedGrabbingWithRightHand = false;
+    
+    if (grabbingWithRightHand && !wasGrabbingWithRightHand) {
+        // Just starting grab, capture starting rotation
+        grabStartRotation = Controller.getSpatialControlRawRotation(RIGHT_PALM);
+    }
+    if (grabbingWithRightHand) {
+        grabDelta = Vec3.sum(grabDelta, Vec3.multiply(Controller.getSpatialControlVelocity(RIGHT_PALM), deltaTime));
+        grabCurrentRotation = Controller.getSpatialControlRawRotation(RIGHT_PALM);
+    }
+    if (!grabbingWithRightHand && wasGrabbingWithRightHand) {
+        // Just ending grab, capture velocity
+        grabDeltaVelocity = Controller.getSpatialControlVelocity(RIGHT_PALM);
+        stoppedGrabbingWithRightHand = true;
+    }
+
+    if (grabbingWithLeftHand && !wasGrabbingWithLeftHand) {
+        // Just starting grab, capture starting rotation
+        grabStartRotation = Controller.getSpatialControlRawRotation(LEFT_PALM);
+    }
+
+    if (grabbingWithLeftHand) {
+        grabDelta = Vec3.sum(grabDelta, Vec3.multiply(Controller.getSpatialControlVelocity(LEFT_PALM), deltaTime));
+        grabCurrentRotation = Controller.getSpatialControlRawRotation(LEFT_PALM);
+    }
+    if (!grabbingWithLeftHand && wasGrabbingWithLeftHand) {
+        // Just ending grab, capture velocity
+        grabDeltaVelocity = Controller.getSpatialControlVelocity(LEFT_PALM);
+        stoppedGrabbingWithLeftHand = true;
+    }
+
+    grabbing = grabbingWithRightHand || grabbingWithLeftHand;
+    stoppedGrabbing = stoppedGrabbingWithRightHand || stoppedGrabbingWithLeftHand;
+
+    if (grabbing) {
+    
+        // move position
+        var moveFromGrab = getAndResetGrabDelta();
+        if (Vec3.length(moveFromGrab) > EPSILON) {
+            MyAvatar.position = Vec3.sum(MyAvatar.position, moveFromGrab);
+            velocity = { x: 0, y: 0, z: 0};
+        }
+        
+        // add some rotation...
+        var deltaRotation = getAndResetGrabRotation();
+        var GRAB_CONTROLLER_TURN_SCALING = 0.5;
+        var euler = Vec3.multiply(Quat.safeEulerAngles(deltaRotation), GRAB_CONTROLLER_TURN_SCALING);
+    
+        //  Adjust body yaw by yaw from controller
+        var orientation = Quat.multiply(Quat.angleAxis(-euler.y, {x:0, y: 1, z:0}), MyAvatar.orientation);
+        MyAvatar.orientation = orientation;
+
+        //  Adjust head pitch from controller
+        MyAvatar.headPitch = MyAvatar.headPitch - euler.x;
+    }
+
+    // add some velocity...
+    if (stoppedGrabbing) {
+        velocity = Vec3.sum(velocity, getAndResetGrabDeltaVelocity());
+    }
+
+    // handle residual velocity
+    if(Vec3.length(velocity) > EPSILON) {
+        MyAvatar.position = Vec3.sum(MyAvatar.position, Vec3.multiply(velocity, deltaTime));
+        // damp velocity
+        velocity = Vec3.multiply(velocity, damping);
+    }
+    
+    
+    wasGrabbingWithRightHand = grabbingWithRightHand;
+    wasGrabbingWithLeftHand = grabbingWithLeftHand;
+}
+
+// Main update function that handles flying and grabbing behaviort
+function flyWithHydra() {
+    var thrustJoystickPosition = Controller.getJoystickPosition(THRUST_CONTROLLER);
+    
+    if (thrustJoystickPosition.x != 0 || thrustJoystickPosition.y != 0) {
+        if (thrustMultiplier < MAX_THRUST_MULTIPLIER) {
+            thrustMultiplier *= 1 + (deltaTime * THRUST_INCREASE_RATE);
+        }
+        var currentOrientation = MyAvatar.orientation;
+
+        var front = Quat.getFront(currentOrientation);
+        var right = Quat.getRight(currentOrientation);
+        var up = Quat.getUp(currentOrientation);
+    
+        var thrustFront = Vec3.multiply(front, MyAvatar.scale * THRUST_MAG_HAND_JETS * 
+                                        thrustJoystickPosition.y * thrustMultiplier * deltaTime);
+        MyAvatar.addThrust(thrustFront);
+        var thrustRight = Vec3.multiply(right, MyAvatar.scale * THRUST_MAG_HAND_JETS * 
+                                        thrustJoystickPosition.x * thrustMultiplier * deltaTime);
+        MyAvatar.addThrust(thrustRight);
+    } else {
+        thrustMultiplier = INITIAL_THRUST_MULTPLIER;
+    }
+
+    // View Controller
+    var viewJoystickPosition = Controller.getJoystickPosition(VIEW_CONTROLLER);
+    if (viewJoystickPosition.x != 0 || viewJoystickPosition.y != 0) {
+
+        // change the body yaw based on our x controller
+        var orientation = MyAvatar.orientation;
+        var deltaOrientation = Quat.fromPitchYawRoll(0, (-1 * viewJoystickPosition.x * JOYSTICK_YAW_MAG * deltaTime), 0);
+        MyAvatar.orientation = Quat.multiply(orientation, deltaOrientation);
+
+        // change the headPitch based on our x controller
+        //pitch += viewJoystickPosition.y * JOYSTICK_PITCH_MAG * deltaTime;
+        var newPitch = MyAvatar.headPitch + (viewJoystickPosition.y * JOYSTICK_PITCH_MAG * deltaTime);
+        MyAvatar.headPitch = newPitch;
+    }
+    handleGrabBehavior();
+}
+    
+Script.willSendVisualDataCallback.connect(flyWithHydra);
+Controller.captureJoystick(THRUST_CONTROLLER);
+Controller.captureJoystick(VIEW_CONTROLLER);
+
+// Map keyPress and mouse move events to our callbacks
+function scriptEnding() {
+    // re-enabled the standard application for touch events
+    Controller.releaseJoystick(THRUST_CONTROLLER);
+    Controller.releaseJoystick(VIEW_CONTROLLER);
+}
+Script.scriptEnding.connect(scriptEnding);
+

interface/src/Application.cpp

@@ -4042,7 +4042,7 @@ void Application::loadScript(const QString& fileNameString) {
     scriptEngine->getParticlesScriptingInterface()->setParticleTree(_particles.getTree());
     
     // hook our avatar object into this script engine
-    scriptEngine->setAvatarData( static_cast<Avatar*>(_myAvatar), "MyAvatar");
+    scriptEngine->setAvatarData(_myAvatar, "MyAvatar"); // leave it as a MyAvatar class to expose thrust features
 
     CameraScriptableObject* cameraScriptable = new CameraScriptableObject(&_myCamera, &_viewFrustum);
     scriptEngine->registerGlobalObject("Camera", cameraScriptable);

interface/src/ControllerScriptingInterface.cpp

@@ -172,6 +172,21 @@ glm::vec3 ControllerScriptingInterface::getSpatialControlVelocity(int controlInd
     return glm::vec3(0); // bad index
 }
 
+glm::quat ControllerScriptingInterface::getSpatialControlRawRotation(int controlIndex) const {
+    int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM;
+    int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM;
+    const PalmData* palmData = getActivePalm(palmIndex);
+    if (palmData) {
+        switch (controlOfPalm) {
+            case PALM_SPATIALCONTROL:
+                return palmData->getRawRotation();
+            case TIP_SPATIALCONTROL:
+                return palmData->getRawRotation(); // currently the tip doesn't have a unique rotation, use the palm rotation
+        }
+    }
+    return glm::quat(); // bad index
+}
+
 glm::vec3 ControllerScriptingInterface::getSpatialControlNormal(int controlIndex) const {
     int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM;
     int controlOfPalm = controlIndex % NUMBER_OF_SPATIALCONTROLS_PER_PALM;

interface/src/ControllerScriptingInterface.h

@@ -58,7 +58,7 @@ public slots:
     virtual glm::vec3 getSpatialControlPosition(int controlIndex) const;
     virtual glm::vec3 getSpatialControlVelocity(int controlIndex) const;
     virtual glm::vec3 getSpatialControlNormal(int controlIndex) const;
-
+    virtual glm::quat getSpatialControlRawRotation(int controlIndex) const;
     virtual void captureKeyEvents(const KeyEvent& event);
     virtual void releaseKeyEvents(const KeyEvent& event);
 

interface/src/avatar/Hand.cpp

@@ -32,12 +32,7 @@ Hand::Hand(Avatar* owningAvatar) :
     _ballColor(0.0, 0.0, 0.4),
     _collisionCenter(0,0,0),
     _collisionAge(0),
-    _collisionDuration(0),
+    _collisionDuration(0)
-    _pitchUpdate(0),
-    _grabDelta(0, 0, 0),
-    _grabDeltaVelocity(0, 0, 0),
-    _grabStartRotation(0, 0, 0, 1),
-    _grabCurrentRotation(0, 0, 0, 1)
 {
 }
 
@@ -54,28 +49,6 @@ void Hand::init() {
 void Hand::reset() {
 }
 
-glm::vec3 Hand::getAndResetGrabDelta() {
-    const float HAND_GRAB_SCALE_DISTANCE = 2.f;
-    glm::vec3 delta = _grabDelta * _owningAvatar->getScale() * HAND_GRAB_SCALE_DISTANCE;
-    _grabDelta = glm::vec3(0,0,0);
-    glm::quat avatarRotation = _owningAvatar->getOrientation();
-    return avatarRotation * -delta;
-}
-
-glm::vec3 Hand::getAndResetGrabDeltaVelocity() {
-    const float HAND_GRAB_SCALE_VELOCITY = 5.f;
-    glm::vec3 delta = _grabDeltaVelocity * _owningAvatar->getScale() * HAND_GRAB_SCALE_VELOCITY;
-    _grabDeltaVelocity = glm::vec3(0,0,0);
-    glm::quat avatarRotation = _owningAvatar->getOrientation();
-    return avatarRotation * -delta;
-    
-}
-glm::quat Hand::getAndResetGrabRotation() {
-    glm::quat diff = _grabCurrentRotation * glm::inverse(_grabStartRotation);
-    _grabStartRotation = _grabCurrentRotation;
-    return diff;
-}
-
 void Hand::simulate(float deltaTime, bool isMine) {
     
     if (_collisionAge > 0.f) {
@@ -99,19 +72,6 @@ void Hand::simulate(float deltaTime, bool isMine) {
                 
                 _buckyBalls.grab(palm, fingerTipPosition, _owningAvatar->getOrientation(), deltaTime);
                 
-                if (palm.getControllerButtons() & BUTTON_4) {
-                    _grabDelta +=  palm.getRawVelocity() * deltaTime;
-                    _grabCurrentRotation = palm.getRawRotation();
-                }
-                if ((palm.getLastControllerButtons() & BUTTON_4) && !(palm.getControllerButtons() & BUTTON_4)) {
-                    // Just ending grab, capture velocity
-                    _grabDeltaVelocity = palm.getRawVelocity();
-                }
-                if (!(palm.getLastControllerButtons() & BUTTON_4) && (palm.getControllerButtons() & BUTTON_4)) {
-                    // Just starting grab, capture starting rotation
-                    _grabStartRotation = palm.getRawRotation();
-                }
-                
                 if (palm.getControllerButtons() & BUTTON_1) {
                     if (glm::length(fingerTipPosition - _lastFingerAddVoxel) > (FINGERTIP_VOXEL_SIZE / 2.f)) {
                         QColor paintColor = Menu::getInstance()->getActionForOption(MenuOption::VoxelPaintColor)->data().value<QColor>();

interface/src/avatar/Hand.h

@@ -58,15 +58,6 @@ public:
     const glm::vec3& getLeapFingerTipBallPosition (int ball) const { return _leapFingerTipBalls [ball].position;}
     const glm::vec3& getLeapFingerRootBallPosition(int ball) const { return _leapFingerRootBalls[ball].position;}
     
-    // Pitch from controller input to view
-    const float getPitchUpdate() const { return _pitchUpdate; }
-    void setPitchUpdate(float pitchUpdate) { _pitchUpdate = pitchUpdate; }
-    
-    // Get the drag distance to move
-    glm::vec3 getAndResetGrabDelta();
-    glm::vec3 getAndResetGrabDeltaVelocity();
-    glm::quat getAndResetGrabRotation();
-
 private:
     // disallow copies of the Hand, copy of owning Avatar is disallowed too
     Hand(const Hand&);
@@ -100,13 +91,6 @@ private:
     void calculateGeometry();
     
     void handleVoxelCollision(PalmData* palm, const glm::vec3& fingerTipPosition, VoxelTreeElement* voxel, float deltaTime);
-    
-    float _pitchUpdate;
-    
-    glm::vec3 _grabDelta;
-    glm::vec3 _grabDeltaVelocity;
-    glm::quat _grabStartRotation;
-    glm::quat _grabCurrentRotation;
 };
 
 #endif

interface/src/avatar/MyAvatar.cpp

@@ -328,21 +328,6 @@ void MyAvatar::simulate(float deltaTime) {
 
     updateChatCircle(deltaTime);
 
-    //  Get any position, velocity, or rotation update from Grab Drag controller
-    glm::vec3 moveFromGrab = _hand.getAndResetGrabDelta();
-    if (glm::length(moveFromGrab) > EPSILON) {
-        _position += moveFromGrab;
-        _velocity = glm::vec3(0, 0, 0);
-    }
-    _velocity += _hand.getAndResetGrabDeltaVelocity();
-    glm::quat deltaRotation = _hand.getAndResetGrabRotation();
-    const float GRAB_CONTROLLER_TURN_SCALING = 0.5f;
-    glm::vec3 euler = safeEulerAngles(deltaRotation) * GRAB_CONTROLLER_TURN_SCALING;
-    //  Adjust body yaw by yaw from controller
-    setOrientation(glm::angleAxis(-euler.y, glm::vec3(0, 1, 0)) * getOrientation());
-    //  Adjust head pitch from controller
-    getHead().setPitch(getHead().getPitch() - euler.x);
-
     _position += _velocity * deltaTime;
 
     // update avatar skeleton and simulate hand and head
@@ -807,39 +792,6 @@ void MyAvatar::updateThrust(float deltaTime) {
             up;
         }
     }
-    //  Add thrust and rotation from hand controllers
-    const float THRUST_MAG_HAND_JETS = THRUST_MAG_FWD;
-    const float JOYSTICK_YAW_MAG = YAW_MAG;
-    const float JOYSTICK_PITCH_MAG = PITCH_MAG * 0.5f;
-    const int THRUST_CONTROLLER = 0;
-    const int VIEW_CONTROLLER = 1;
-    for (size_t i = 0; i < getHand().getPalms().size(); ++i) {
-        PalmData& palm = getHand().getPalms()[i];
-
-        // If the script hasn't captured this joystick, then let the default behavior work
-        if (!Application::getInstance()->getControllerScriptingInterface()->isJoystickCaptured(palm.getSixenseID())) {
-            if (palm.isActive() && (palm.getSixenseID() == THRUST_CONTROLLER)) {
-                if (palm.getJoystickY() != 0.f) {
-                    FingerData& finger = palm.getFingers()[0];
-                    if (finger.isActive()) {
-                    }
-                    _thrust += front * _scale * THRUST_MAG_HAND_JETS * palm.getJoystickY() * _thrustMultiplier * deltaTime;
-                }
-                if (palm.getJoystickX() != 0.f) {
-                    _thrust += right * _scale * THRUST_MAG_HAND_JETS * palm.getJoystickX() * _thrustMultiplier * deltaTime;
-                }
-            } else if (palm.isActive() && (palm.getSixenseID() == VIEW_CONTROLLER)) {
-                if (palm.getJoystickX() != 0.f) {
-                    _bodyYawDelta -= palm.getJoystickX() * JOYSTICK_YAW_MAG * deltaTime;
-                }
-                if (palm.getJoystickY() != 0.f) {
-                    getHand().setPitchUpdate(getHand().getPitchUpdate() +
-                                             (palm.getJoystickY() * JOYSTICK_PITCH_MAG * deltaTime));
-                }
-            }
-        }
-
-    }
 
     //  Update speed brake status
     const float MIN_SPEED_BRAKE_VELOCITY = _scale * 0.4f;

interface/src/avatar/MyAvatar.h

@@ -45,7 +45,6 @@ public:
 
     // setters
     void setMousePressed(bool mousePressed) { _mousePressed = mousePressed; }
-    void setThrust(glm::vec3 newThrust) { _thrust = newThrust; }
     void setVelocity(const glm::vec3 velocity) { _velocity = velocity; }
     void setLeanScale(float scale) { _leanScale = scale; }
     void setGravity(glm::vec3 gravity);
@@ -78,9 +77,6 @@ public:
     
     static void sendKillAvatar();
 
-    //  Set/Get update the thrust that will move the avatar around
-    void addThrust(glm::vec3 newThrust) { _thrust += newThrust; };
-    glm::vec3 getThrust() { return _thrust; };
 
     void orbit(const glm::vec3& position, int deltaX, int deltaY);
 
@@ -94,9 +90,13 @@ public slots:
     void increaseSize();
     void decreaseSize();
     void resetSize();
-    
     void sendIdentityPacket();
 
+    //  Set/Get update the thrust that will move the avatar around
+    void addThrust(glm::vec3 newThrust) { _thrust += newThrust; };
+    glm::vec3 getThrust() { return _thrust; };
+    void setThrust(glm::vec3 newThrust) { _thrust = newThrust; }
+
 private:
     bool _mousePressed;
     float _bodyPitchDelta;

libraries/avatars/src/AvatarData.h

@@ -67,6 +67,7 @@ class AvatarData : public NodeData {
     Q_OBJECT
 
     Q_PROPERTY(glm::vec3 position READ getPosition WRITE setPosition)
+    Q_PROPERTY(float scale READ getTargetScale WRITE setTargetScale)
     Q_PROPERTY(glm::vec3 handPosition READ getHandPosition WRITE setHandPosition)
     Q_PROPERTY(float bodyYaw READ getBodyYaw WRITE setBodyYaw)
     Q_PROPERTY(float bodyPitch READ getBodyPitch WRITE setBodyPitch)

libraries/script-engine/src/AbstractControllerScriptingInterface.h

@@ -12,6 +12,7 @@
 #include <QtCore/QObject>
 
 #include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
 
 #include "EventTypes.h"
 
@@ -37,6 +38,7 @@ public slots:
     virtual glm::vec3 getSpatialControlPosition(int controlIndex) const = 0;
     virtual glm::vec3 getSpatialControlVelocity(int controlIndex) const = 0;
     virtual glm::vec3 getSpatialControlNormal(int controlIndex) const = 0;
+    virtual glm::quat getSpatialControlRawRotation(int controlIndex) const = 0;
 
     virtual void captureKeyEvents(const KeyEvent& event) = 0;
     virtual void releaseKeyEvents(const KeyEvent& event) = 0;

libraries/script-engine/src/Quat.cpp

@@ -9,7 +9,10 @@
 //
 //
 
+#include <glm/gtx/vector_angle.hpp>
+
 #include <OctreeConstants.h>
+#include <SharedUtil.h>
 #include "Quat.h"
 
 glm::quat Quat::multiply(const glm::quat& q1, const glm::quat& q2) { 
@@ -24,6 +27,11 @@ glm::quat Quat::fromPitchYawRoll(float pitch, float yaw, float roll) {
     return glm::quat(glm::radians(glm::vec3(pitch, yaw, roll)));
 }
 
+glm::quat Quat::inverse(const glm::quat& q) {
+    return glm::inverse(q);
+}
+
+
 glm::vec3 Quat::getFront(const glm::quat& orientation) {
     return orientation * IDENTITY_FRONT;
 }
@@ -35,3 +43,12 @@ glm::vec3 Quat::getRight(const glm::quat& orientation) {
 glm::vec3 Quat::getUp(const glm::quat& orientation) {
     return orientation * IDENTITY_UP;
 }
+
+glm::vec3 Quat::safeEulerAngles(const glm::quat& orientation) {
+    return ::safeEulerAngles(orientation);
+}
+
+glm::quat Quat::angleAxis(float angle, const glm::vec3& v) {
+    return glm::angleAxis(angle, v);
+}
+

libraries/script-engine/src/Quat.h

@@ -23,11 +23,12 @@ public slots:
     glm::quat multiply(const glm::quat& q1, const glm::quat& q2);
     glm::quat fromVec3(const glm::vec3& vec3);
     glm::quat fromPitchYawRoll(float pitch, float yaw, float roll);
+    glm::quat inverse(const glm::quat& q);
     glm::vec3 getFront(const glm::quat& orientation);
     glm::vec3 getRight(const glm::quat& orientation);
     glm::vec3 getUp(const glm::quat& orientation);
+    glm::vec3 safeEulerAngles(const glm::quat& orientation);
+    glm::quat angleAxis(float angle, const glm::vec3& v);
 };
 
-
-
 #endif /* defined(__hifi__Quat__) */

libraries/script-engine/src/Vec3.cpp

@@ -19,6 +19,14 @@ glm::vec3 Vec3::multiply(const glm::vec3& v1, float f) {
     return v1 * f;
 }
 
+glm::vec3 Vec3::multiplyQbyV(const glm::quat& q, const glm::vec3& v) {
+    return q * v;
+}
+
 glm::vec3 Vec3::sum(const glm::vec3& v1, const glm::vec3& v2) {
     return v1 + v2;
 }
+
+float Vec3::length(const glm::vec3& v) {
+    return glm::length(v);
+}

libraries/script-engine/src/Vec3.h

@@ -23,7 +23,9 @@ class Vec3 : public QObject {
 public slots:
     glm::vec3 multiply(const glm::vec3& v1, const glm::vec3& v2);
     glm::vec3 multiply(const glm::vec3& v1, float f);
+    glm::vec3 multiplyQbyV(const glm::quat& q, const glm::vec3& v);
     glm::vec3 sum(const glm::vec3& v1, const glm::vec3& v2);
+    float length(const glm::vec3& v);
 };