From 36fdaa63509524cbaea9565195cc1ddb8941a347 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Sun, 15 Jan 2017 10:10:54 -0800
Subject: [PATCH] avoid a little pop when grabbing something with ignore-ik as
 true

---
 interface/src/avatar/AvatarActionHold.cpp | 34 +++++++++++++++--------
 1 file changed, 23 insertions(+), 11 deletions(-)

diff --git a/interface/src/avatar/AvatarActionHold.cpp b/interface/src/avatar/AvatarActionHold.cpp
index f1b2ee1440..bb61074e73 100644
--- a/interface/src/avatar/AvatarActionHold.cpp
+++ b/interface/src/avatar/AvatarActionHold.cpp
@@ -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;