From 001c92416b45848e41a4832ab7dc753f3984de5c Mon Sep 17 00:00:00 2001 From: Al Bernstein Date: Thu, 6 Apr 2017 11:23:33 -0700 Subject: [PATCH] clean ups - coding standard --- plugins/hifiKinect/src/KinectPlugin.cpp | 73 ++++++++++++------------- 1 file changed, 36 insertions(+), 37 deletions(-) diff --git a/plugins/hifiKinect/src/KinectPlugin.cpp b/plugins/hifiKinect/src/KinectPlugin.cpp index 2c9568cb50..165bca266c 100644 --- a/plugins/hifiKinect/src/KinectPlugin.cpp +++ b/plugins/hifiKinect/src/KinectPlugin.cpp @@ -248,7 +248,6 @@ void KinectPlugin::init() { auto preference = new CheckPreference(KINECT_PLUGIN, "Extra Debugging", debugGetter, debugSetter); preferences->addPreference(preference); } - } bool KinectPlugin::isSupported() const { @@ -494,15 +493,15 @@ void KinectPlugin::ProcessBody(INT64 time, int bodyCount, IBody** bodies) { //_joints[j].orientation = jointOrientation; if (joints[j].JointType == JointType_HandRight) { static const quat kinectToHandRight = glm::angleAxis(-PI / 2.0f, Vectors::UNIT_Y); - // add moving average of orientation quaternion - glm::quat jointTmp = jointOrientation * kinectToHandRight; - _joints[j].orientation = QMAR(jointTmp); + // add moving average of orientation quaternion + glm::quat jointTmp = jointOrientation * kinectToHandRight; + _joints[j].orientation = QMAR(jointTmp); } else if (joints[j].JointType == JointType_HandLeft) { // To transform from Kinect to our LEFT Hand.... Postive 90 deg around Y static const quat kinectToHandLeft = glm::angleAxis(PI / 2.0f, Vectors::UNIT_Y); - // add moving average of orientation quaternion - glm::quat jointTmp = jointOrientation * kinectToHandLeft; - _joints[j].orientation = QMAL(jointTmp); + // add moving average of orientation quaternion + glm::quat jointTmp = jointOrientation * kinectToHandLeft; + _joints[j].orientation = QMAL(jointTmp); } else { _joints[j].orientation = jointOrientation; } @@ -652,41 +651,41 @@ void KinectPlugin::InputDevice::clearState() { glm::quat KinectPlugin::QMAL(glm::quat q) { - if (glm::dot(_q_barL, q) < 0) - _q_barL = (1 - _deltaL)*_q_barL + -_deltaL*q; - else - _q_barL = (1 - _deltaL)*_q_barL + _deltaL*q; - - _q_barL = glm::normalize(_q_barL); - - - if (_debug) - { - qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w; - qDebug() << __FUNCTION__ << "_q_barL = " << _q_barL.x << "," << _q_barL.y << "," << _q_barL.z << "," << _q_barL.w; - } - return _q_barL; + if (glm::dot(_q_barL, q) < 0) { + _q_barL = (1 - _deltaL) * _q_barL + -_deltaL * q; + } + else { + _q_barL = (1 - _deltaL) * _q_barL + _deltaL * q; + } + + _q_barL = glm::normalize(_q_barL); + if (_debug) + { + qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w; + qDebug() << __FUNCTION__ << "_q_barL = " << _q_barL.x << "," << _q_barL.y << "," << _q_barL.z << "," << _q_barL.w; + } + return _q_barL; } glm::quat KinectPlugin::QMAR(glm::quat q) { - if (glm::dot(_q_barR, q) < 0) - _q_barR = (1 - _deltaR)*_q_barR + -_deltaR*q; - else - _q_barR = (1 - _deltaR)*_q_barR + _deltaR*q; - - _q_barR = glm::normalize(_q_barR); - - - _q_barR = -_q_barR; - - if (_debug) - { - qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w; - qDebug() << __FUNCTION__ << "_q_barL = " << _q_barR.x << "," << _q_barR.y << "," << _q_barR.z << "," << _q_barR.w; - } + if (glm::dot(_q_barR, q) < 0){ + _q_barR = (1 - _deltaR)*_q_barR + -_deltaR*q; + } + else { + _q_barR = (1 - _deltaR)*_q_barR + _deltaR*q; + } - return _q_barR; + _q_barR = glm::normalize(_q_barR); + _q_barR = -_q_barR; + + if (_debug) + { + qDebug() << __FUNCTION__ << "q = " << q.x << "," << q.y << "," << q.z << "," << q.w; + qDebug() << __FUNCTION__ << "_q_barL = " << _q_barR.x << "," << _q_barR.y << "," << _q_barR.z << "," << _q_barR.w; + } + + return _q_barR; }