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keep track of palm rotation vs avatar as well as palm translation

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This commit is contained in:
Seth Alves 2015-12-16 15:41:27 -08:00
parent 489d4099a7
commit d7affcf811
2 changed files with 39 additions and 13 deletions

49
interface/src/avatar/AvatarActionHold.cpp
View file

@ -33,17 +33,15 @@ AvatarActionHold::~AvatarActionHold() {
#endif
}
glm::vec3 AvatarActionHold::getAvatarRigidBodyPosition() {
bool AvatarActionHold::getAvatarRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation) {
MyAvatar* myAvatar = DependencyManager::get<AvatarManager>()->getMyAvatar();
MyCharacterController* controller = myAvatar ? myAvatar->getCharacterController() : nullptr;
if (!controller) {
qDebug() << "AvatarActionHold::getAvatarRigidBodyPosition failed to get character controller";
return glm::vec3(0.0f);
qDebug() << "AvatarActionHold::getAvatarRigidBodyLocation failed to get character controller";
return false;
}
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;
controller->getRigidBodyLocation(avatarRigidBodyPosition, avatarRigidBodyRotation);
return avatarRigidBodyPosition;
return true;
}
void AvatarActionHold::prepareForPhysicsSimulation() {
@ -59,9 +57,28 @@ void AvatarActionHold::prepareForPhysicsSimulation() {
return;
}
if (holdingAvatar->isMyAvatar()) {
glm::vec3 palmPosition = (_hand == "right") ?
holdingAvatar->getRightPalmPosition() : holdingAvatar->getLeftPalmPosition();
_palmOffsetFromRigidBody = palmPosition - getAvatarRigidBodyPosition();
glm::vec3 palmPosition;
glm::quat palmRotation;
if (_hand == "right") {
palmPosition = holdingAvatar->getRightPalmPosition();
palmRotation = holdingAvatar->getRightPalmRotation();
} else {
palmPosition = holdingAvatar->getLeftPalmPosition();
palmRotation = holdingAvatar->getLeftPalmRotation();
}
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;
getAvatarRigidBodyLocation(avatarRigidBodyPosition, avatarRigidBodyRotation);
// determine the difference in translation and rotation between the avatar's
// rigid body and the palm position. The avatar's rigid body will be moved by bullet
// between this call and the call to getTarget, below. A call to get*PalmPosition in
// getTarget would get the palm position of the previous location of the avatar (because
// bullet has moved the av's rigid body but the rigid body's location has not yet been
// copied out into the Avatar class.
_palmOffsetFromRigidBody = palmPosition - avatarRigidBodyPosition;
_palmRotationFromRigidBody = glm::inverse(avatarRigidBodyRotation) * palmRotation;
}
});
}
@ -90,7 +107,17 @@ std::shared_ptr<Avatar> AvatarActionHold::getTarget(glm::quat& rotation, glm::ve
palmRotation = holdingAvatar->getHand()->getCopyOfPalmData(HandData::LeftHand).getRotation();
}
} else if (holdingAvatar->isMyAvatar()) {
palmPosition = getAvatarRigidBodyPosition() + _palmOffsetFromRigidBody;
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;
getAvatarRigidBodyLocation(avatarRigidBodyPosition, avatarRigidBodyRotation);
// the offset and rotation between the avatar's rigid body and the palm were determined earlier
// in prepareForPhysicsSimulation. At this point, the avatar's rigid body has been moved by bullet
// and the data in the Avatar class is stale. This means that the result of get*PalmPosition will
// be stale. Instead, determine the current palm position with the current avatar's rigid body
// location and the saved offsets.
palmPosition = avatarRigidBodyPosition + _palmOffsetFromRigidBody;
palmRotation = avatarRigidBodyRotation * _palmRotationFromRigidBody;
if (isRightHand) {
palmRotation = holdingAvatar->getRightPalmRotation();
} else {
@ -199,8 +226,6 @@ void AvatarActionHold::doKinematicUpdate(float deltaTimeStep) {
motionState->dirtyInternalKinematicChanges();
ownerEntity->setPosition(_positionalTarget);
_previousPositionalTarget = _positionalTarget;
_previousRotationalTarget = _rotationalTarget;
_previousSet = true;

3
interface/src/avatar/AvatarActionHold.h
View file

@ -35,7 +35,7 @@ public:
virtual bool shouldSuppressLocationEdits() override { return _active && !_ownerEntity.expired(); }
glm::vec3 getAvatarRigidBodyPosition();
bool getAvatarRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation);
std::shared_ptr<Avatar> getTarget(glm::quat& rotation, glm::vec3& position);
virtual void prepareForPhysicsSimulation() override;
@ -61,6 +61,7 @@ private:
glm::vec3 _previousPositionalDelta;
glm::vec3 _palmOffsetFromRigidBody;
glm::quat _palmRotationFromRigidBody;
};
#endif // hifi_AvatarActionHold_h