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Let's try using estimated velocity to control "lean."

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This commit is contained in:
Andrzej Kapolka 2013-06-11 16:27:39 -07:00
parent 627fd49003
commit 35e18abcbd
1 changed files with 2 additions and 12 deletions
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14
interface/src/Avatar.cpp
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@ -285,18 +285,8 @@ void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterfa
_head.setRoll(estimatedRotation.z * AMPLIFY_ROLL);
// Update head lean distance based on accelerometer data
glm::vec3 headRotationRates(_head.getPitch(), _head.getYaw(), _head.getRoll());
glm::vec3 leaning = (serialInterface->getLastAcceleration() - serialInterface->getGravity())
* LEAN_SENSITIVITY
* (1.f - fminf(glm::length(headRotationRates), HEAD_RATE_MAX) / HEAD_RATE_MAX);
leaning.y = 0.f;
if (glm::length(leaning) < LEAN_MAX) {
_head.setLeanForward(_head.getLeanForward() * (1.f - LEAN_AVERAGING * deltaTime) +
(LEAN_AVERAGING * deltaTime) * leaning.z * LEAN_SENSITIVITY);
_head.setLeanSideways(_head.getLeanSideways() * (1.f - LEAN_AVERAGING * deltaTime) +
(LEAN_AVERAGING * deltaTime) * leaning.x * LEAN_SENSITIVITY);
}
_bodyPitchDelta = serialInterface->getEstimatedVelocity().z * LEAN_SENSITIVITY;
_bodyRollDelta = -serialInterface->getEstimatedVelocity().x * LEAN_SENSITIVITY;
}
float Avatar::getAbsoluteHeadYaw() const {