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angular velocity is a vector, not a quaternion

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This commit is contained in:
Andrew Meadows 2015-12-18 11:06:58 -08:00
parent 3da5cf1fe5
commit d6541e9ee7
7 changed files with 39 additions and 44 deletions
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8
interface/src/avatar/MyAvatar.cpp
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@ -509,25 +509,25 @@ glm::vec3 MyAvatar::getRightHandTipPosition() const {
controller::Pose MyAvatar::getLeftHandPose() const {
auto palmData = getHandData()->getCopyOfPalmData(HandData::LeftHand);
return palmData.isValid() ? controller::Pose(palmData.getPosition(), palmData.getRotation(),
palmData.getVelocity(), palmData.getRawAngularVelocityAsQuat()) : controller::Pose();
palmData.getVelocity(), palmData.getRawAngularVelocity()) : controller::Pose();
}
controller::Pose MyAvatar::getRightHandPose() const {
auto palmData = getHandData()->getCopyOfPalmData(HandData::RightHand);
return palmData.isValid() ? controller::Pose(palmData.getPosition(), palmData.getRotation(),
palmData.getVelocity(), palmData.getRawAngularVelocityAsQuat()) : controller::Pose();
palmData.getVelocity(), palmData.getRawAngularVelocity()) : controller::Pose();
}
controller::Pose MyAvatar::getLeftHandTipPose() const {
auto palmData = getHandData()->getCopyOfPalmData(HandData::LeftHand);
return palmData.isValid() ? controller::Pose(palmData.getTipPosition(), palmData.getRotation(),
palmData.getTipVelocity(), palmData.getRawAngularVelocityAsQuat()) : controller::Pose();
palmData.getTipVelocity(), palmData.getRawAngularVelocity()) : controller::Pose();
}
controller::Pose MyAvatar::getRightHandTipPose() const {
auto palmData = getHandData()->getCopyOfPalmData(HandData::RightHand);
return palmData.isValid() ? controller::Pose(palmData.getTipPosition(), palmData.getRotation(),
palmData.getTipVelocity(), palmData.getRawAngularVelocityAsQuat()) : controller::Pose();
palmData.getTipVelocity(), palmData.getRawAngularVelocity()) : controller::Pose();
}
// virtual

1
libraries/avatars/src/HandData.h
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@ -112,7 +112,6 @@ public:
void setRawAngularVelocity(const glm::vec3& angularVelocity) { _rawAngularVelocity = angularVelocity; }
const glm::vec3& getRawAngularVelocity() const { return _rawAngularVelocity; }
glm::quat getRawAngularVelocityAsQuat() const { return glm::quat(_rawAngularVelocity); }
void addToPosition(const glm::vec3& delta);

4
libraries/controllers/src/controllers/Pose.cpp
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@ -16,7 +16,7 @@
namespace controller {
Pose::Pose(const vec3& translation, const quat& rotation,
const vec3& velocity, const quat& angularVelocity) :
const vec3& velocity, const vec3& angularVelocity) :
translation(translation), rotation(rotation), velocity(velocity), angularVelocity(angularVelocity), valid (true) { }
bool Pose::operator==(const Pose& right) const {
@ -35,7 +35,7 @@ namespace controller {
obj.setProperty("translation", vec3toScriptValue(engine, pose.translation));
obj.setProperty("rotation", quatToScriptValue(engine, pose.rotation));
obj.setProperty("velocity", vec3toScriptValue(engine, pose.velocity));
obj.setProperty("angularVelocity", quatToScriptValue(engine, pose.angularVelocity));
obj.setProperty("angularVelocity", vec3toScriptValue(engine, pose.angularVelocity));
obj.setProperty("valid", pose.valid);
return obj;

6
libraries/controllers/src/controllers/Pose.h
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@ -23,12 +23,12 @@ namespace controller {
vec3 translation;
quat rotation;
vec3 velocity;
quat angularVelocity;
vec3 angularVelocity;
bool valid{ false };
Pose() {}
Pose(const vec3& translation, const quat& rotation,
const vec3& velocity = vec3(), const quat& angularVelocity = quat());
const vec3& velocity = vec3(), const vec3& angularVelocity = vec3());
Pose(const Pose&) = default;
Pose& operator = (const Pose&) = default;
@ -38,7 +38,7 @@ namespace controller {
vec3 getTranslation() const { return translation; }
quat getRotation() const { return rotation; }
vec3 getVelocity() const { return velocity; }
quat getAngularVelocity() const { return angularVelocity; }
vec3 getAngularVelocity() const { return angularVelocity; }
static QScriptValue toScriptValue(QScriptEngine* engine, const Pose& event);
static void fromScriptValue(const QScriptValue& object, Pose& event);

22
plugins/hifiSixense/src/SixenseManager.cpp
View file

@ -191,7 +191,7 @@ void SixenseManager::InputDevice::update(float deltaTime, bool jointsCaptured) {
// Rotation of Palm
glm::quat rotation(data->rot_quat[3], data->rot_quat[0], data->rot_quat[1], data->rot_quat[2]);
handlePoseEvent(deltaTime, position, rotation, left);
rawPoses[i] = controller::Pose(position, rotation, glm::vec3(0), glm::quat());
rawPoses[i] = controller::Pose(position, rotation, Vectors::ZERO, Vectors::ZERO);
} else {
_poseStateMap.clear();
_collectedSamples.clear();
@ -457,25 +457,21 @@ void SixenseManager::InputDevice::handlePoseEvent(float deltaTime, glm::vec3 pos
rotation = _avatarRotation * postOffset * glm::inverse(sixenseToHand) * rotation * preOffset * sixenseToHand;
glm::vec3 velocity(0.0f);
glm::quat angularVelocity;
glm::vec3 angularVelocity(0.0f);
if (prevPose.isValid() && deltaTime > std::numeric_limits<float>::epsilon()) {
auto& samples = _collectedSamples[hand];
velocity = (position - prevPose.getTranslation()) / deltaTime;
auto deltaRot = rotation * glm::conjugate(prevPose.getRotation());
auto axis = glm::axis(deltaRot);
auto angle = glm::angle(deltaRot);
angularVelocity = glm::angleAxis(angle / deltaTime, axis);
// Average
auto& samples = _collectedSamples[hand];
samples.first.addSample(velocity);
velocity = samples.first.average;
// FIXME: // Not using quaternion average yet for angular velocity because it s probably wrong but keep the MovingAverage in place
//samples.second.addSample(glm::vec4(angularVelocity.x, angularVelocity.y, angularVelocity.z, angularVelocity.w));
//angularVelocity = glm::quat(samples.second.average.w, samples.second.average.x, samples.second.average.y, samples.second.average.z);
auto deltaRot = rotation * glm::conjugate(prevPose.getRotation());
auto axis = glm::axis(deltaRot);
auto speed = glm::angle(deltaRot) / deltaTime;
angularVelocity = speed * axis;
samples.second.addSample(angularVelocity);
angularVelocity = samples.second.average;
} else if (!prevPose.isValid()) {
_collectedSamples[hand].first.clear();
_collectedSamples[hand].second.clear();

2
plugins/hifiSixense/src/SixenseManager.h
View file

@ -54,7 +54,7 @@ private:
template<typename T>
using SampleAverage = MovingAverage<T, MAX_NUM_AVERAGING_SAMPLES>;
using Samples = std::pair<SampleAverage<glm::vec3>, SampleAverage<glm::vec4>>;
using Samples = std::pair<SampleAverage<glm::vec3>, SampleAverage<glm::vec3>>;
using MovingAverageMap = std::map<int, Samples>;
class InputDevice : public controller::InputDevice {