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adding measured angular velocity to faceshift

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Freddy 2013-09-25 16:46:26 -07:00
parent 7a567e214c
commit 1dbc8459f8
1 changed files with 8 additions and 2 deletions
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10
interface/src/devices/Faceshift.cpp
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@ -142,8 +142,14 @@ void Faceshift::receive(const QByteArray& buffer) {
case fsMsg::MSG_OUT_TRACKING_STATE: {
const fsTrackingData& data = static_cast<fsMsgTrackingState*>(msg.get())->tracking_data();
if ((_tracking = data.m_trackingSuccessful)) {
_headRotation = glm::quat(data.m_headRotation.w, -data.m_headRotation.x,
data.m_headRotation.y, -data.m_headRotation.z);
glm::quat newRotation = glm::quat(data.m_headRotation.w, -data.m_headRotation.x,
data.m_headRotation.y, -data.m_headRotation.z);
glm::quat r = newRotation * glm::inverse(_headRotation);
//printf("angle = %.3f\n", 2 * acos(r.w));
_headRotation = newRotation;
//_headRotation = glm::quat(data.m_headRotation.w, -data.m_headRotation.x,
// data.m_headRotation.y, -data.m_headRotation.z);
const float TRANSLATION_SCALE = 0.02f;
_headTranslation = glm::vec3(data.m_headTranslation.x, data.m_headTranslation.y,
-data.m_headTranslation.z) * TRANSLATION_SCALE;