fixed roll rotation added to azimuth in MySkeletonModel.cpp

interface/src/avatar/MyAvatar.cpp

@@ -447,12 +447,12 @@ void MyAvatar::reset(bool andRecenter, bool andReload, bool andHead) {
 void MyAvatar::update(float deltaTime) {
     // update moving average of HMD facing in xz plane.
     const float HMD_FACING_TIMESCALE = getRotationRecenterFilterLength();
-    const float PERCENTAGE_WEIGHT_SHOULDERS_VS_HEAD_AZIMUTH = 0.0f; // 100 percent shoulders
+    const float PERCENTAGE_WEIGHT_HEAD_VS_SHOULDERS_AZIMUTH = 0.0f; // 100 percent shoulders
 
     float tau = deltaTime / HMD_FACING_TIMESCALE;
 
-    // put the spine facing in sensor space.
+    // put the average hand azimuth into sensor space.
-    // then mix it with head facing to determine rotation recenter
+    // then mix it with head facing direction to determine rotation recenter
     if (getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid() && getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid()) {
         glm::vec3 handHipAzimuthWorldSpace = transformVectorFast(getTransform().getMatrix(), glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y));
         glm::mat4 sensorToWorldMat = getSensorToWorldMatrix();
@@ -462,7 +462,7 @@ void MyAvatar::update(float deltaTime) {
         if (glm::length(glm::vec2(handHipAzimuthSensorSpace.x, handHipAzimuthSensorSpace.z)) > 0.0f) {
             normedHandHipAzimuthSensorSpace = glm::normalize(glm::vec2(handHipAzimuthSensorSpace.x, handHipAzimuthSensorSpace.z));
         }
-        glm::vec2 headFacingPlusHandHipAzimuthMix = lerp(normedHandHipAzimuthSensorSpace, _headControllerFacing, PERCENTAGE_WEIGHT_SHOULDERS_VS_HEAD_AZIMUTH);
+        glm::vec2 headFacingPlusHandHipAzimuthMix = lerp(normedHandHipAzimuthSensorSpace, _headControllerFacing, PERCENTAGE_WEIGHT_HEAD_VS_SHOULDERS_AZIMUTH);
         _headControllerFacingMovingAverage = lerp(_headControllerFacingMovingAverage, headFacingPlusHandHipAzimuthMix, tau);
     } else {
         _headControllerFacingMovingAverage = _headControllerFacing;
@@ -497,7 +497,7 @@ void MyAvatar::update(float deltaTime) {
 
     if (_goToPending) {
         setWorldPosition(_goToPosition);
-        setWorldOrientation(_goToOrientation);        
+        setWorldOrientation(_goToOrientation);
         _headControllerFacingMovingAverage = _headControllerFacing;
         _goToPending = false;
         // updateFromHMDSensorMatrix (called from paintGL) expects that the sensorToWorldMatrix is updated for any position changes
@@ -834,15 +834,14 @@ void MyAvatar::computeHandAzimuth() {
         if ((glm::length(glm::vec2(rightHandPoseAvatarSpace.translation.x, rightHandPoseAvatarSpace.translation.z)) > 0.0f) && (glm::length(glm::vec2(leftHandPoseAvatarSpace.translation.x, leftHandPoseAvatarSpace.translation.z)) > 0.0f)) {
             _hipToHandController = lerp(glm::normalize(glm::vec2(rightHandPoseAvatarSpace.translation.x, rightHandPoseAvatarSpace.translation.z)), glm::normalize(glm::vec2(leftHandPoseAvatarSpace.translation.x, leftHandPoseAvatarSpace.translation.z)), HALFWAY);
         } else {
-            _hipToHandController = glm::vec2(0.0f, 1.0f);
+            _hipToHandController = glm::vec2(0.0f, -1.0f);
         }
         // check the angular distance from forward and back
         float cosForwardAngle = glm::dot(_hipToHandController, oldAzimuthReading);
         float cosBackwardAngle = glm::dot(_hipToHandController, -oldAzimuthReading);
         // if we are now closer to the 180 flip of the previous chest forward
-        // then we negate our computed _hipToHandController to keep the chest in the same direction.
+        // then we negate our computed _hipToHandController to keep the chest from flipping.
         if (cosBackwardAngle > cosForwardAngle) {
-            // this means we have lost continuity with the current chest position
             _hipToHandController = -_hipToHandController;
         }
     }
@@ -3375,12 +3374,10 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
 
 glm::mat4 MyAvatar::getSpine2RotationRigSpace() const {
 
-    static const glm::quat RIG_CHANGE_OF_BASIS = Quaternions::Y_180;
+    // static const glm::quat RIG_CHANGE_OF_BASIS = Quaternions::Y_180;
-    // RIG_CHANGE_OF_BASIS * INITIAL_RIG_ROTATION * Quaternions::IDENTITY(explicit rig rotation) * inverse(RIG_CHANGE_OF_BASIS) = Quaternions::Y_180(avatar Space);
+    // RIG_CHANGE_OF_BASIS * AVATAR_TO_RIG_ROTATION * inverse(RIG_CHANGE_OF_BASIS) = Quaternions::Y_180; //avatar Space;
-    // INITIAL_RIG_ROTATION = Quaternions::Y_180;
+    const glm::quat AVATAR_TO_RIG_ROTATION = Quaternions::Y_180;
-    static const glm::quat INITIAL_RIG_ROTATION = Quaternions::Y_180;
+    glm::vec3 hipToHandRigSpace = AVATAR_TO_RIG_ROTATION * glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y);
-    glm::quat avatarToRigSpace = INITIAL_RIG_ROTATION * Quaternions::IDENTITY;
-    glm::vec3 hipToHandRigSpace = avatarToRigSpace * glm::vec3(_hipToHandController.x, 0.0f, _hipToHandController.y);
 
     glm::vec3 u, v, w;
     generateBasisVectors(glm::vec3(0.0f,1.0f,0.0f), hipToHandRigSpace, u, v, w);
@@ -3971,7 +3968,7 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontalCG(MyAvatar& myAvatar) cons
         glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
         float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
         if (!isActive(Horizontal) &&
-            (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance * myAvatar.getAvatarScale())))) {
+            (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance)))) {
             myAvatar.setResetMode(true);
             stepDetected = true;
         }
@@ -3995,14 +3992,14 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
         qApp->getCamera().getMode() != CAMERA_MODE_MIRROR) {
         if (!isActive(Rotation) && (shouldActivateRotation(myAvatar, desiredBodyMatrix, currentBodyMatrix) || hasDriveInput)) {
             activate(Rotation);
-            myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
+            myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing());
         }
         if (myAvatar.getCenterOfGravityModelEnabled()) {
             if (!isActive(Horizontal) && (shouldActivateHorizontalCG(myAvatar) || hasDriveInput)) {
                 activate(Horizontal);
                 if (myAvatar.getEnableStepResetRotation()) {
                     activate(Rotation);
-                    myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
+                    myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing());
                 }
             }
         } else {
@@ -4010,7 +4007,7 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
                 activate(Horizontal);
                 if (myAvatar.getEnableStepResetRotation()) {
                     activate(Rotation);
-                    myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
+                    myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing());
                 }
             }
         }
@@ -4020,7 +4017,7 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
     } else {
         if (!isActive(Rotation) && getForceActivateRotation()) {
             activate(Rotation);
-            myAvatar.setHeadControllerFacingMovingAverage(myAvatar._headControllerFacing);
+            myAvatar.setHeadControllerFacingMovingAverage(myAvatar.getHeadControllerFacing());
             setForceActivateRotation(false);
         }
         if (!isActive(Horizontal) && getForceActivateHorizontal()) {

interface/src/avatar/MyAvatar.h

@@ -914,6 +914,8 @@ public:
 
     virtual void rebuildCollisionShape() override;
 
+    const glm::vec2& getHipToHandController() const { return _hipToHandController; }
+    void setHipToHandController(glm::vec2 currentHipToHandController) { _hipToHandController = currentHipToHandController; }
     const glm::vec2& getHeadControllerFacing() const { return _headControllerFacing; }
     void setHeadControllerFacing(glm::vec2 currentHeadControllerFacing) { _headControllerFacing = currentHeadControllerFacing; }
     const glm::vec2& getHeadControllerFacingMovingAverage() const { return _headControllerFacingMovingAverage; }

interface/src/avatar/MySkeletonModel.cpp

@@ -239,21 +239,28 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         params.primaryControllerFlags[Rig::PrimaryControllerType_Hips] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
 
         // set spine2 if we have hand controllers
-        AnimPose currentPose;
-        bool ret = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Spine2"),currentPose);
-        AnimPose rigSpaceYaw(myAvatar->getSpine2RotationRigSpace());
-        glm::vec3 u, v, w;
-        glm::vec3 fwd = rigSpaceYaw.rot() * glm::vec3(0.0f, 0.0f, 1.0f);
-        glm::vec3 up = currentPose.rot() * glm::vec3(0.0f, 1.0f, 0.0f);
-        generateBasisVectors(up, fwd, u, v, w);
-        AnimPose newSpinePose(glm::mat4(glm::vec4(w, 0.0f), glm::vec4(u, 0.0f), glm::vec4(v, 0.0f), glm::vec4(glm::vec3(0.0f, 0.0f, 0.0f), 1.0f)));
-
         if (myAvatar->getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND).isValid() && myAvatar->getControllerPoseInAvatarFrame(controller::Action::LEFT_HAND).isValid()) {
-            AnimPose newSpinePose(myAvatar->getSpine2RotationRigSpace());
+            AnimPose currentSpine2Pose;
-            currentPose.rot() = newSpinePose.rot();
+            AnimPose currentHeadPose;
+            AnimPose currentHipsPose;
+            bool ret = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Spine2"), currentSpine2Pose);
+            bool ret1 = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Head"), currentHeadPose);
+            bool ret2 = _rig.getAbsoluteJointPoseInRigFrame(_rig.indexOfJoint("Hips"), currentHipsPose);
+            AnimPose rigSpaceYaw(myAvatar->getSpine2RotationRigSpace());
+            glm::vec3 u, v, w;
+            glm::vec3 fwd = rigSpaceYaw.rot() * glm::vec3(0.0f, 0.0f, 1.0f);
+            glm::vec3 up = currentHeadPose.trans() - currentHipsPose.trans();
+            if (glm::length(up) > 0.0f) {
+                up = glm::normalize(up);
+            } else {
+                up = glm::vec3(0.0f, 1.0f, 0.0f);
+            }
+            generateBasisVectors(up, fwd, u, v, w);
+            AnimPose newSpinePose(glm::mat4(glm::vec4(w, 0.0f), glm::vec4(u, 0.0f), glm::vec4(v, 0.0f), glm::vec4(glm::vec3(0.0f, 0.0f, 0.0f), 1.0f)));
+            currentSpine2Pose.rot() = newSpinePose.rot();
+            params.primaryControllerPoses[Rig::PrimaryControllerType_Spine2] = currentSpine2Pose;
+            params.primaryControllerFlags[Rig::PrimaryControllerType_Spine2] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
         }
-        params.primaryControllerPoses[Rig::PrimaryControllerType_Spine2] = currentPose;
-        params.primaryControllerFlags[Rig::PrimaryControllerType_Spine2] = (uint8_t)Rig::ControllerFlags::Enabled | (uint8_t)Rig::ControllerFlags::Estimated;
 
     } else {
         _prevHipsValid = false;

scripts/developer/rotateApp.js

@@ -1,385 +0,0 @@
-/* global Script, Vec3, MyAvatar, Tablet, Messages, Quat, 
-DebugDraw, Mat4, Entities, Xform, Controller, Camera, console, document*/
-
-Script.registerValue("ROTATEAPP", true);
-
-var TABLET_BUTTON_NAME = "ROTATE";
-var CHANGE_OF_BASIS_ROTATION = { x: 0, y: 1, z: 0, w: 0 };
-var DEFAULT_HEAD_TURN_THRESHOLD = 0.5333;
-var DEFAULT_HEAD_TURN_FILTER_LENGTH = 4.0;
-var LOADING_DELAY = 2000;
-var AVERAGING_RATE = 0.03;
-var INCREASING = 1.0;
-var DECREASING = -1.0;
-var DEGREES_PER_PI_RADIANS = 180.0;
-var FILTER_FUDGE_RANGE = 0.9;
-
-var activated = false;
-var documentLoaded = false;
-var sciptLoaded = false;
-var headPoseAverageOrientation = { x: 0, y: 0, z: 0, w: 1 };
-var hipToLeftHandAverage = 0.0; // { x: 0, y: 0, z: 0, w: 1 };
-var hipToRightHandAverage = 0.0; // { x: 0, y: 0, z: 0, w: 1 };
-var averageAzimuth = 0.0;
-var hipsPositionRigSpace = { x: 0, y: 0, z: 0 };
-var spine2PositionRigSpace = { x: 0, y: 0, z: 0 };
-var hipsRotationRigSpace = { x: 0, y: 0, z: 0, w: 1 };
-var spine2RotationRigSpace = { x: 0, y: 0, z: 0, w: 1 };
-var spine2Rotation = { x: 0, y: 0, z: 0, w: 1 };
-var hipToLHandAverage = { x: 0, y: 0, z: 0, w: 1 };
-var hipToRHandAverage = { x: 0, y: 0, z: 0, w: 1 };
-
-/*
-var ikTypes = {
-    RotationAndPosition: 0,
-    RotationOnly: 1,
-    HmdHead: 2,
-    HipsRelativeRotationAndPosition: 3,
-    Spline: 4,
-    Unknown: 5
-};
-
-
-var ANIM_VARS = [
-    //"headType",
-    "spine2Type",
-    //"hipsType",
-    "spine2Position",
-    "spine2Rotation"
-    //"hipsPosition",
-    //"hipsRotation"
-];
-
-var handlerId = MyAvatar.addAnimationStateHandler(function (props) {
-    //print("in callback");
-    //print("props spine2 pos: " + props.spine2Position.x + " " + props.spine2Position.y + " " + props.spine2Position.z);
-    //print("props hip pos: " + props.hipsPosition.x + " " + props.hipsPosition.y + " " + props.hipsPosition.z);
-    var result = {};
-    //{x:0,y:0,z:0}
-    //result.headType = ikTypes.HmdHead;
-    //result.hipsType = ikTypes.RotationAndPosition;
-    //result.hipsPosition = hipsPositionRigSpace; // { x: 0, y: 0, z: 0 };
-    //result.hipsRotation = hipsRotationRigSpace;//{ x: 0, y: 0, z: 0, w: 1 }; //
-    result.spine2Type = ikTypes.Spline;
-    result.spine2Position = spine2PositionRigSpace; // { x: 0, y: 1.3, z: 0 }; 
-    result.spine2Rotation = spine2Rotation;
-    
-    return result;
-}, ANIM_VARS);
-*/
-// define state readings constructor
-function StateReading(headPose, rhandPose, lhandPose, diffFromAverageEulers) {
-    this.headPose = headPose;
-    this.rhandPose = rhandPose;
-    this.lhandPose = lhandPose;
-    this.diffFromAverageEulers = diffFromAverageEulers;
-}
-
-// define current state readings object for holding tracker readings and current differences from averages
-var currentStateReadings = new StateReading(Controller.getPoseValue(Controller.Standard.Head),
-    Controller.getPoseValue(Controller.Standard.RightHand), 
-    Controller.getPoseValue(Controller.Standard.LeftHand),
-    { x: 0, y: 0, z: 0 });
-    
-// declare the checkbox constructor
-function AppCheckbox(type,id,eventType,isChecked) {
-    this.type = type;
-    this.id = id;
-    this.eventType = eventType;
-    this.data = {value: isChecked};
-}
-
-var usingStepResetRotationDirection = new AppCheckbox("checkboxtick", "stepReset", "onStepResetCheckBox", false);
-var usingDrawAverageFacing = new AppCheckbox("checkboxtick", "drawAverage", "onDrawAverageFacingCheckBox", false);
-var checkBoxArray = new Array(usingStepResetRotationDirection, usingDrawAverageFacing);
-
-// declare the html slider constructor
-function AppProperty(name, type, eventType, signalType, setFunction, initValue, convertToThreshold, convertToSlider, signalOn) {
-    this.name = name;
-    this.type = type;
-    this.eventType = eventType;
-    this.signalType = signalType;
-    this.setValue = setFunction;
-    this.value = initValue;
-    this.get = function () {
-        return this.value;
-    };
-    this.convertToThreshold = convertToThreshold;
-    this.convertToSlider = convertToSlider;
-}
-
-// var HTML_URL = Script.resolvePath("file:///c:/dev/hifi_fork/hifi/scripts/developer/rotateRecenterApp.html");
-var HTML_URL = Script.resolvePath("http://hifi-content.s3.amazonaws.com/angus/stepApp/rotateRecenterApp.html");
-var tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");
-
-// define the sliders
-var filterLengthProperty = new AppProperty("#filterLength-slider", "slider", "onFilterLengthSlider", "filterSignal",
-    setFilterLength, DEFAULT_HEAD_TURN_FILTER_LENGTH, function (num) {
-        var base = 5;
-        var shift = 0;
-        return convertExponential(base, num, INCREASING, shift);
-    }, function (num) {
-        var base = 5;
-        var shift = 0;
-        return convertLog(base, num, INCREASING, shift);
-    }, true);
-var angleThresholdProperty = new AppProperty("#angleThreshold-slider", "slider", "onAngleThresholdSlider", "angleSignal",
-    setAngleThreshold, DEFAULT_HEAD_TURN_THRESHOLD, function (num) {
-        return convertToRadians(num);
-    }, function (num) {
-        return convertToDegrees(num);
-    }, true);
-
-var propArray = new Array(filterLengthProperty, angleThresholdProperty);
-
-function setFilterLength(num) {
-    filterLengthProperty.value = num;
-    MyAvatar.rotationRecenterFilterLength = filterLengthProperty.value;
-    
-}
-
-function setAngleThreshold(num) {
-    angleThresholdProperty.value = num;
-    MyAvatar.rotationThreshold = angleThresholdProperty.value;
-}
-
-function convertToRadians(num) {
-    return (num / DEGREES_PER_PI_RADIANS) * Math.PI;
-}
-
-function convertToDegrees(num) {
-    return (num / Math.PI) * DEGREES_PER_PI_RADIANS;
-}
-
-function getLog(x, y) {
-    return Math.log(y) / Math.log(x);
-}
-
-function convertLog(base, num, direction, shift) {
-    return direction * getLog(base, (num + FILTER_FUDGE_RANGE)) + shift;
-}
-
-function convertExponential(base, num, direction, shift) {
-    return Math.pow(base, (direction * num + shift)) - FILTER_FUDGE_RANGE;
-}
-
-function manageClick() {
-    if (activated) {
-        tablet.gotoHomeScreen();
-    } else {
-        tablet.gotoWebScreen(HTML_URL);
-    }
-}
-
-var tabletButton = tablet.addButton({
-    text: TABLET_BUTTON_NAME,
-    icon: Script.resolvePath("http://hifi-content.s3.amazonaws.com/angus/stepApp/foot.svg"),
-    activeIcon: Script.resolvePath("http://hifi-content.s3.amazonaws.com/angus/stepApp/foot.svg")
-});
-
-function onKeyPress(event) {
-    if (event.text === "'") {
-        // when the sensors are reset, then reset the mode.
-    }
-}
-
-function onWebEventReceived(msg) {
-    var message = JSON.parse(msg);
-    print(" we have a message from html dialog " + message.type);
-    propArray.forEach(function (prop) {
-        if (prop.eventType === message.type) {
-            prop.setValue(prop.convertToThreshold(message.data.value));
-            print("message from " + prop.name);
-            // break;
-        }
-    });
-    checkBoxArray.forEach(function(cbox) {
-        if (cbox.eventType === message.type) {
-            cbox.data.value = message.data.value;
-            if (cbox.id === "stepReset") {
-                MyAvatar.enableStepResetRotation = cbox.data.value;
-            }
-            if (cbox.id === "drawAverage") {
-                MyAvatar.enableDrawAverageFacing = cbox.data.value;
-            }
-            // break;
-        }
-
-    });
-    if (message.type === "onCreateRotateApp") {
-        print("document loaded");
-        documentLoaded = true;
-        Script.setTimeout(initAppForm, LOADING_DELAY);
-    }
-}
-
-function initAppForm() {
-    print("step app is loaded: " + documentLoaded);
-    if (documentLoaded === true) {
-        propArray.forEach(function (prop) {
-            print(prop.name);
-            tablet.emitScriptEvent(JSON.stringify({
-                "type": "slider",
-                "id": prop.name,
-                "data": { "value": prop.convertToSlider(prop.value) }
-            }));
-        });
-        checkBoxArray.forEach(function (cbox) {
-            tablet.emitScriptEvent(JSON.stringify({
-                "type": "checkboxtick",
-                "id": cbox.id,
-                "data": { value: cbox.data.value }
-            }));
-        });
-    }
- 
-}
-
-
-function onScreenChanged(type, url) {     
-    print("Screen changed");
-    if (type === "Web" && url === HTML_URL) {
-        if (!activated) {
-            // hook up to event bridge
-            tablet.webEventReceived.connect(onWebEventReceived);
-            print("after connect web event");
-            MyAvatar.hmdLeanRecenterEnabled = true;
-        }
-        activated = true;
-    } else {
-        if (activated) {
-            // disconnect from event bridge
-            tablet.webEventReceived.disconnect(onWebEventReceived);
-            documentLoaded = false;
-        }
-        activated = false;
-    }
-}
-
-function limitAngle(angle) {
-    return (angle + 180) % 360 - 180;
-}
-
-function computeHandAzimuths(timeElapsed) {
-
-   // var leftHandPositionRigSpace = Vec3.multiplyQbyV(Quat.inverse(CHANGE_OF_BASIS_ROTATION), currentStateReadings.lhandPose.translation);
-   // var rightHandPositionRigSpace = Vec3.multiplyQbyV(Quat.inverse(CHANGE_OF_BASIS_ROTATION), currentStateReadings.rhandPose.translation);
-
-
-   // var hipToLeftHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, { x: leftHandPositionRigSpace.x, y: 0, z: leftHandPositionRigSpace.z });
-   // var hipToRightHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, { x: rightHandPositionRigSpace.x, y: 0, z: rightHandPositionRigSpace.z });
-   // var hipToHandHalfway = Quat.slerp(hipToLeftHand, hipToRightHand, 0.5);
-
-    var leftHand = currentStateReadings.lhandPose.translation;
-    var rightHand = currentStateReadings.rhandPose.translation;
-    var head = currentStateReadings.headPose.translation;
-    var lHandMinusHead = Vec3.subtract(leftHand, head);
-    lHandMinusHead.y = 0.0;
-    var rHandMinusHead = Vec3.subtract(rightHand, head);
-    rHandMinusHead.y = 0.0;
-    //print(JSON.stringify(leftHand));
-    //print(JSON.stringify(head));
-    var avatarZAxis = { x: 0.0, y: 0.0, z: 1.0 };
-    var hipToLHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, lHandMinusHead);
-    var hipToRHand = Quat.lookAtSimple({ x: 0, y: 0, z: 0 }, rHandMinusHead);
-    var tau = timeElapsed / filterLengthProperty.value;
-    hipToLHandAverage = Quat.slerp(hipToLHandAverage, hipToLHand, tau);
-    hipToRHandAverage = Quat.slerp(hipToRHandAverage, hipToRHand, tau);
-
-    // var angleToLeft = limitAngle(Quat.safeEulerAngles(hipToLHandAverage).y);
-    // var angleToRight = limitAngle(Quat.safeEulerAngles(hipToRHandAverage).y);
-    var leftRightMidpoint = (Quat.safeEulerAngles(hipToLHand).y + Quat.safeEulerAngles(hipToRHand).y) / 2.0;
-    var leftRightMidpointAverage = (Quat.safeEulerAngles(hipToLHandAverage).y + Quat.safeEulerAngles(hipToRHandAverage).y) / 2.0;
-    
-    // limit the angle because we are flipped by 180, fix this tomorrow.
-    // print(leftRightMidpointAverage/180.0);
-    // print("threshold value " + angleThresholdProperty.value);
-    
-
-    var raySpineRotation = Quat.fromVec3Degrees({ x: 0, y: leftRightMidpointAverage, z: 0 });
-    var zAxisSpineRotation = Vec3.multiplyQbyV(raySpineRotation, { x: 0, y: 0, z: -1 });
-    var zAxisWorldSpace = Vec3.multiplyQbyV(MyAvatar.orientation, zAxisSpineRotation);
-    // DebugDraw.drawRay(MyAvatar.position, Vec3.sum(MyAvatar.position, zAxisWorldSpace), { x: 1, y: 0, z: 0, w: 1 });
-
-    //print(leftRightMidpoint);
-
-    var headPoseRigSpace = Quat.multiply(CHANGE_OF_BASIS_ROTATION, currentStateReadings.head.rotation);
-    headPoseAverageOrientation = Quat.slerp(headPoseAverageOrientation, headPoseRigSpace, tau);
-    var headPoseAverageEulers = Quat.safeEulerAngles(headPoseAverageOrientation);
-
-    // get it into radians too!!
-    // average head and hands 50/50
-    // print("hands azimuth " + leftRightMidpointAverage + " head azimuth " + headPoseAverageEulers.y);
-    var headPlusHands = (leftRightMidpointAverage + headPoseAverageEulers.y) / 2.0;
-    if ((Math.abs(headPlusHands / 180.0) * Math.PI) > angleThresholdProperty.value) {
-        //print("recenter the feet under the head");
-        // MyAvatar.triggerRotationRecenter();
-        hipToLHandAverage = { x: 0, y: 0, z: 0, w: 1 };
-        hipToRHandAverage = { x: 0, y: 0, z: 0, w: 1 };
-        headPoseAverageOrientation = { x: 0, y: 0, z: 0, w: 1 };
-    }
-    
-    // put a hard max on this easing function.  
-    var rotateAngle = ((Math.cos((leftRightMidpoint / 180.0) * Math.PI) + 2.0)/3.0) * leftRightMidpoint;
-    //print("rotate angle " + rotateAngle);
-
-    return Quat.fromVec3Degrees({ x: 0, y: rotateAngle, z: 0 });
-
-
-}
-
-function update(dt) {
-    //update state readings
-    currentStateReadings.head = Controller.getPoseValue(Controller.Standard.Head);
-    currentStateReadings.rhandPose = Controller.getPoseValue(Controller.Standard.RightHand);
-    currentStateReadings.lhandPose = Controller.getPoseValue(Controller.Standard.LeftHand);
-
-    //print(JSON.stringify(currentStateReadings.head));
-
-
-
-    var latestSpineRotation = computeHandAzimuths(dt);
-    
-    spine2Rotation = latestSpineRotation;
-    var spine2Pos = MyAvatar.getAbsoluteJointTranslationInObjectFrame(MyAvatar.getJointIndex("Spine2"));
-    spine2PositionRigSpace = Vec3.multiplyQbyV(CHANGE_OF_BASIS_ROTATION, spine2Pos);
-    /*
-    if (HMD.active && !scriptLoaded) {
-        //Script.load("rotateApp.js");
-        scriptLoaded = true;
-    }
-
-    if (!HMD.active) {
-        scriptLoaded = false;
-    }
-    */
-
-    // handle the azimuth of the arms
-
-}
-
-function shutdownTabletApp() {
-    tablet.removeButton(tabletButton);
-    if (activated) {
-        tablet.webEventReceived.disconnect(onWebEventReceived);
-        tablet.gotoHomeScreen();
-    }
-    tablet.screenChanged.disconnect(onScreenChanged);
-}
-
-Script.setTimeout(function () {
-    tabletButton.clicked.connect(manageClick);
-    tablet.screenChanged.connect(onScreenChanged);
-    Script.update.connect(update);
-    Controller.keyPressEvent.connect(onKeyPress);
-}, (LOADING_DELAY));
-
-Script.scriptEnding.connect(function () {
-    // if (handlerId) {
-    // print("removing animation state handler");
-    // handlerId = MyAvatar.removeAnimationStateHandler(handlerId);
-    // }
-    MyAvatar.hmdLeanRecenterEnabled = true;
-    Script.update.disconnect(update);
-    shutdownTabletApp();
-});