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clean ups - coding standard

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This commit is contained in:
Al Bernstein 2017-04-06 11:23:33 -07:00
parent 4a17112478
commit 001c92416b
1 changed files with 36 additions and 37 deletions
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73
plugins/hifiKinect/src/KinectPlugin.cpp
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@ -248,7 +248,6 @@ void KinectPlugin::init() {
auto preference = new CheckPreference(KINECT_PLUGIN, "Extra Debugging", debugGetter, debugSetter);
preferences->addPreference(preference);
}
}
bool KinectPlugin::isSupported() const {
@ -494,15 +493,15 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) {
//_joints[j].orientation = jointOrientation;
if (joints[j].JointType == JointType_HandRight) {
static const quat kinectToHandRight = glm::angleAxis(-PI / 2.0f, Vectors::UNIT_Y);
// add moving average of orientation quaternion
glm::quat jointTmp = jointOrientation * kinectToHandRight;
_joints[j].orientation = QMAR(jointTmp);
// add moving average of orientation quaternion
glm::quat jointTmp = jointOrientation * kinectToHandRight;
_joints[j].orientation = QMAR(jointTmp);
} else if (joints[j].JointType == JointType_HandLeft) {
// To transform from Kinect to our LEFT Hand.... Postive 90 deg around Y
static const quat kinectToHandLeft = glm::angleAxis(PI / 2.0f, Vectors::UNIT_Y);
// add moving average of orientation quaternion
glm::quat jointTmp = jointOrientation * kinectToHandLeft;
_joints[j].orientation = QMAL(jointTmp);
// add moving average of orientation quaternion
glm::quat jointTmp = jointOrientation * kinectToHandLeft;
_joints[j].orientation = QMAL(jointTmp);
} else {
_joints[j].orientation = jointOrientation;
}
@ -652,41 +651,41 @@ void KinectPlugin::InputDevice::clearState() {
glm::quat KinectPlugin::QMAL(glm::quat q)
{
if (glm::dot(_q_barL, q) < 0)
_q_barL = (1 - _deltaL)*_q_barL + -_deltaL*q;
else
_q_barL = (1 - _deltaL)*_q_barL + _deltaL*q;
_q_barL = glm::normalize(_q_barL);
if (_debug)
{
qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w;
qDebug() << __FUNCTION__ << "_q_barL = " << _q_barL.x << "," << _q_barL.y << "," << _q_barL.z << "," << _q_barL.w;
}
return _q_barL;
if (glm::dot(_q_barL, q) < 0) {
_q_barL = (1 - _deltaL) * _q_barL + -_deltaL * q;
}
else {
_q_barL = (1 - _deltaL) * _q_barL + _deltaL * q;
}
_q_barL = glm::normalize(_q_barL);
if (_debug)
{
qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w;
qDebug() << __FUNCTION__ << "_q_barL = " << _q_barL.x << "," << _q_barL.y << "," << _q_barL.z << "," << _q_barL.w;
}
return _q_barL;
}
glm::quat KinectPlugin::QMAR(glm::quat q)
{
if (glm::dot(_q_barR, q) < 0)
_q_barR = (1 - _deltaR)*_q_barR + -_deltaR*q;
else
_q_barR = (1 - _deltaR)*_q_barR + _deltaR*q;
_q_barR = glm::normalize(_q_barR);
_q_barR = -_q_barR;
if (_debug)
{
qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w;
qDebug() << __FUNCTION__ << "_q_barL = " << _q_barR.x << "," << _q_barR.y << "," << _q_barR.z << "," << _q_barR.w;
}
if (glm::dot(_q_barR, q) < 0){
_q_barR = (1 - _deltaR)*_q_barR + -_deltaR*q;
}
else {
_q_barR = (1 - _deltaR)*_q_barR + _deltaR*q;
}
return _q_barR;
_q_barR = glm::normalize(_q_barR);
_q_barR = -_q_barR;
if (_debug)
{
qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w;
qDebug() << __FUNCTION__ << "_q_barL = " << _q_barR.x << "," << _q_barR.y << "," << _q_barR.z << "," << _q_barR.w;
}
return _q_barR;
}