add angularVelocity to controller

interface/src/devices/SixenseManager.cpp

@@ -260,6 +260,18 @@ void SixenseManager::update(float deltaTime) {
             float sign = (i == 0) ? -1.0f : 1.0f;
             rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f));
             
+            //  Angular Velocity of Palm
+            glm::quat deltaRotation = rotation * glm::inverse(palm->getRawRotation());
+            glm::vec3 angularVelocity(0.0f);
+            float rotationAngle = glm::angle(deltaRotation);
+            if ((rotationAngle > EPSILON) && (deltaTime > 0.0f)) {
+                angularVelocity = glm::normalize(glm::axis(deltaRotation));
+                angularVelocity *= (rotationAngle / deltaTime);
+                palm->setRawAngularVelocity(angularVelocity);
+            } else {
+                palm->setRawAngularVelocity(glm::vec3(0.0f));
+            }
+            
             if (_lowVelocityFilter) {
                 //  Use a velocity sensitive filter to damp small motions and preserve large ones with
                 //  no latency.

interface/src/scripting/ControllerScriptingInterface.cpp

@@ -208,6 +208,21 @@ glm::quat ControllerScriptingInterface::getSpatialControlRawRotation(int control
     }
     return glm::quat(); // bad index
 }
+    
+glm::vec3 ControllerScriptingInterface::getSpatialControlRawAngularVelocity(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->getRawAngularVelocity();
+            case TIP_SPATIALCONTROL:
+                return palmData->getRawAngularVelocity();  //  Tip = palm angular velocity        
+        }
+    }
+    return glm::vec3(0); // bad index
+}
 
 glm::vec3 ControllerScriptingInterface::getSpatialControlNormal(int controlIndex) const {
     int palmIndex = controlIndex / NUMBER_OF_SPATIALCONTROLS_PER_PALM;

interface/src/scripting/ControllerScriptingInterface.h

@@ -96,6 +96,7 @@ public slots:
     virtual glm::vec3 getSpatialControlVelocity(int controlIndex) const;
     virtual glm::vec3 getSpatialControlNormal(int controlIndex) const;
     virtual glm::quat getSpatialControlRawRotation(int controlIndex) const;
+    virtual glm::vec3 getSpatialControlRawAngularVelocity(int controlIndex) const;
     virtual void captureKeyEvents(const KeyEvent& event);
     virtual void releaseKeyEvents(const KeyEvent& event);
 

libraries/avatars/src/HandData.cpp

@@ -67,7 +67,7 @@ PalmData::PalmData(HandData* owningHandData) :
 _rawRotation(0.0f, 0.0f, 0.0f, 1.0f),
 _rawPosition(0.0f),
 _rawVelocity(0.0f),
-_rotationalVelocity(0.0f),
+_rawAngularVelocity(0.0f),
 _totalPenetration(0.0f),
 _controllerButtons(0),
 _isActive(false),

libraries/avatars/src/HandData.h

@@ -98,6 +98,8 @@ public:
     void setRawPosition(const glm::vec3& pos)  { _rawPosition = pos; }
     void setRawVelocity(const glm::vec3& velocity) { _rawVelocity = velocity; }
     const glm::vec3& getRawVelocity()  const { return _rawVelocity; }
+    void setRawAngularVelocity(const glm::vec3& angularVelocity) { _rawAngularVelocity = angularVelocity; }
+    const glm::vec3& getRawAngularVelocity() const { return _rawAngularVelocity; }
     void addToPosition(const glm::vec3& delta);
 
     void addToPenetration(const glm::vec3& penetration) { _totalPenetration += penetration; }
@@ -148,7 +150,7 @@ private:
     glm::quat _rawRotation;
     glm::vec3 _rawPosition;
     glm::vec3 _rawVelocity;
-    glm::vec3 _rotationalVelocity;
+    glm::vec3 _rawAngularVelocity;
     glm::quat _lastRotation;
     
     glm::vec3 _tipPosition;