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fix calculation of walk motor for HMD

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Andrew Meadows 2017-07-28 09:22:47 -07:00
parent 8c55476c65
commit 3ec9640ea1
1 changed files with 7 additions and 2 deletions
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9
interface/src/avatar/MyAvatar.cpp
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@ -1586,9 +1586,14 @@ void MyAvatar::updateMotors() {
motorRotation = getMyHead()->getHeadOrientation(); motorRotation = getMyHead()->getHeadOrientation();
} else { } else {
// non-hovering = walking: follow camera twist about vertical but not lift // non-hovering = walking: follow camera twist about vertical but not lift
// so we decompose camera's rotation and store the twist part in motorRotation // we decompose camera's rotation and store the twist part in motorRotation
// however, we need to perform the decomposition in the avatar-frame
// using the local UP axis and then transform back into world-frame
glm::quat orientation = getOrientation();
glm::quat headOrientation = glm::inverse(orientation) * getMyHead()->getHeadOrientation(); // avatar-frame
glm::quat liftRotation; glm::quat liftRotation;
motorRotation = getOrientation(); swingTwistDecomposition(headOrientation, Vectors::UNIT_Y, liftRotation, motorRotation);
motorRotation = orientation * motorRotation;
} }
const float DEFAULT_MOTOR_TIMESCALE = 0.2f; const float DEFAULT_MOTOR_TIMESCALE = 0.2f;
const float INVALID_MOTOR_TIMESCALE = 1.0e6f; const float INVALID_MOTOR_TIMESCALE = 1.0e6f;