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Head: Added roll to lean decoupling constants, appropriate physical limits on angles for head, reduced sensitivity.

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This commit is contained in:
Philip Rosedale 2013-02-22 22:37:11 -08:00
parent d31eeda816
commit d272a7de31
1 changed files with 32 additions and 14 deletions
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46
interface/src/Head.cpp
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@ -73,25 +73,43 @@ void Head::reset()
void Head::UpdatePos(float frametime, SerialInterface * serialInterface, int head_mirror, glm::vec3 * gravity)
// Using serial data, update avatar/render position and angles
{
const float PITCH_ACCEL_COUPLING = 0.5;
const float ROLL_ACCEL_COUPLING = -1.0;
float measured_pitch_rate = serialInterface->getRelativeValue(PITCH_RATE);
float measured_yaw_rate = serialInterface->getRelativeValue(YAW_RATE);
float measured_lateral_accel = serialInterface->getRelativeValue(ACCEL_X);
float measured_fwd_accel = serialInterface->getRelativeValue(ACCEL_Z);
float measured_lateral_accel = serialInterface->getRelativeValue(ACCEL_X) -
ROLL_ACCEL_COUPLING*serialInterface->getRelativeValue(ROLL_RATE);
float measured_fwd_accel = serialInterface->getRelativeValue(ACCEL_Z) -
PITCH_ACCEL_COUPLING*serialInterface->getRelativeValue(PITCH_RATE);
float measured_roll_rate = serialInterface->getRelativeValue(ROLL_RATE);
//std::cout << "Pitch Rate: " << serialInterface->getRelativeValue(PITCH_RATE) <<
// " fwd_accel: " << serialInterface->getRelativeValue(ACCEL_Z) << "\n";
//std::cout << "Roll Rate: " << serialInterface->getRelativeValue(ROLL_RATE) <<
//" ACCEL_X: " << serialInterface->getRelativeValue(ACCEL_X) << "\n";
//std::cout << "Pitch: " << Pitch << "\n";
// Update avatar head position based on measured gyro rates
const float HEAD_ROTATION_SCALE = 0.80;
const float HEAD_ROLL_SCALE = 0.80;
const float HEAD_LEAN_SCALE = 0.03;
if (head_mirror) {
addYaw(-measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
const float HEAD_ROTATION_SCALE = 0.70;
const float HEAD_ROLL_SCALE = 0.40;
const float HEAD_LEAN_SCALE = 0.01;
const float MAX_PITCH = 45;
const float MIN_PITCH = -45;
const float MAX_YAW = 85;
const float MIN_YAW = -85;
if ((Pitch < MAX_PITCH) && (Pitch > MIN_PITCH))
addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
addRoll(-measured_roll_rate * HEAD_ROLL_SCALE * frametime);
addRoll(-measured_roll_rate * HEAD_ROLL_SCALE * frametime);
if (head_mirror) {
if ((Yaw < MAX_YAW) && (Yaw > MIN_YAW))
addYaw(-measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
addLean(-measured_lateral_accel * frametime * HEAD_LEAN_SCALE, -measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
} else {
addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
addRoll(-measured_roll_rate * HEAD_ROLL_SCALE * frametime);
if ((Yaw < MAX_YAW) && (Yaw > MIN_YAW))
addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
addLean(measured_lateral_accel * frametime * -HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
}
}
@ -116,9 +134,9 @@ void Head::simulate(float deltaTime)
if (!noise)
{
// Decay back toward center
Pitch *= (1.f - DECAY*deltaTime);
Yaw *= (1.f - DECAY*deltaTime);
Roll *= (1.f - DECAY*deltaTime);
Pitch *= (1.f - DECAY*2*deltaTime);
Yaw *= (1.f - DECAY*2*deltaTime);
Roll *= (1.f - DECAY*2*deltaTime);
}
else {
// Move toward new target