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fix offset math in hold action

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This commit is contained in:
Seth Alves 2015-12-17 11:16:59 -08:00
parent eb173815f5
commit f3adb8a2f7
1 changed files with 25 additions and 30 deletions
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55
interface/src/avatar/AvatarActionHold.cpp
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@ -48,38 +48,38 @@ void AvatarActionHold::prepareForPhysicsSimulation() {
auto avatarManager = DependencyManager::get<AvatarManager>();
auto holdingAvatar = std::static_pointer_cast<Avatar>(avatarManager->getAvatarBySessionID(_holderID));
if (!holdingAvatar) {
if (!holdingAvatar || !holdingAvatar->isMyAvatar()) {
return;
}
withWriteLock([&]{
if (_ignoreIK && holdingAvatar->isMyAvatar()) {
if (_ignoreIK) {
return;
}
if (holdingAvatar->isMyAvatar()) {
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;
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.
glm::quat avatarRotationInverse = glm::inverse(avatarRigidBodyRotation);
_palmOffsetFromRigidBody = avatarRotationInverse * (palmPosition - avatarRigidBodyPosition);
_palmRotationFromRigidBody = avatarRotationInverse * palmRotation;
});
}
@ -116,13 +116,8 @@ std::shared_ptr<Avatar> AvatarActionHold::getTarget(glm::quat& rotation, glm::ve
// 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;
palmPosition = avatarRigidBodyPosition + avatarRigidBodyRotation * _palmOffsetFromRigidBody;
palmRotation = avatarRigidBodyRotation * _palmRotationFromRigidBody;
if (isRightHand) {
palmRotation = holdingAvatar->getRightPalmRotation();
} else {
palmRotation = holdingAvatar->getLeftPalmRotation();
}
} else {
if (isRightHand) {
palmPosition = holdingAvatar->getRightPalmPosition();