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avoid a little pop when grabbing something with ignore-ik as true

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This commit is contained in:
Seth Alves 2017-01-15 10:10:54 -08:00
parent 0744a148b1
commit 36fdaa6350
1 changed files with 23 additions and 11 deletions
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34
interface/src/avatar/AvatarActionHold.cpp
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@ -128,32 +128,44 @@ bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::
glm::quat palmRotation;
if (holdingAvatar->isMyAvatar()) {
std::shared_ptr<MyAvatar> myAvatar = avatarManager->getMyAvatar();
// fetch the hand controller pose
controller::Pose pose;
if (isRightHand) {
pose = avatarManager->getMyAvatar()->getRightHandControllerPoseInWorldFrame();
pose = myAvatar->getRightHandControllerPoseInWorldFrame();
} else {
pose = avatarManager->getMyAvatar()->getLeftHandControllerPoseInWorldFrame();
pose = myAvatar->getLeftHandControllerPoseInWorldFrame();
}
if (pose.isValid()) {
linearVelocity = pose.getVelocity();
angularVelocity = pose.getAngularVelocity();
if (isRightHand) {
pose = avatarManager->getMyAvatar()->getRightHandControllerPoseInAvatarFrame();
} else {
pose = avatarManager->getMyAvatar()->getLeftHandControllerPoseInAvatarFrame();
}
}
if (_ignoreIK && pose.isValid()) {
// this position/rotation should be the same as the one in scripts/system/libraries/controllers.js
// otherwise things will do a little hop when you grab them.
// if (isRightHand) {
// pose = myAvatar->getRightHandControllerPoseInAvatarFrame();
// } else {
// pose = myAvatar->getLeftHandControllerPoseInAvatarFrame();
// }
// glm::vec3 camRelPos = pose.getTranslation();
// glm::quat camRelRot = pose.getRotation();
int camRelIndex = isRightHand ?
CAMERA_RELATIVE_CONTROLLER_RIGHTHAND_INDEX :
CAMERA_RELATIVE_CONTROLLER_LEFTHAND_INDEX;
glm::vec3 camRelPos = myAvatar->getAbsoluteJointTranslationInObjectFrame(camRelIndex);
glm::quat camRelRot = myAvatar->getAbsoluteJointRotationInObjectFrame(camRelIndex);
Transform avatarTransform;
auto myAvatar = DependencyManager::get<AvatarManager>()->getMyAvatar();
avatarTransform = myAvatar->getTransform();
palmPosition = avatarTransform.transform(pose.getTranslation() / myAvatar->getDomainLimitedScale());
palmRotation = avatarTransform.getRotation() * pose.getRotation();
palmPosition = avatarTransform.transform(camRelPos / myAvatar->getDomainLimitedScale());
palmRotation = avatarTransform.getRotation() * camRelRot;
} else {
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;