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corrected oculus touch rotation and converted hand pose to avatar coordinate system

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This commit is contained in:
SamGondelman 2016-06-02 09:09:25 -07:00
parent 35b80ba066
commit 7bd29c13b0
1 changed files with 40 additions and 1 deletions
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41
plugins/oculus/src/OculusControllerManager.cpp
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@ -220,12 +220,51 @@ void OculusControllerManager::TouchDevice::focusOutEvent() {
void OculusControllerManager::TouchDevice::handlePose(float deltaTime,
const controller::InputCalibrationData& inputCalibrationData, ovrHandType hand,
const ovrPoseStatef& handPose) {
// When the sensor-to-world rotation is identity the coordinate axes look like this:
//
// user
// forward
// -z
// |
// y| user
// y o----x right
// o-----x user
// | up
// |
// z
//
// Rift
// From ABOVE the hand canonical axes looks like this:
//
// | | | | y | | | |
// | | | | | | | | |
// | | | | |
// |left | / x---- + \ |right|
// | _/ z \_ |
// | | | |
// | | | |
//
// So when the user is in Rift space facing the -zAxis with hands outstretched and palms down
// the rotation to align the Touch axes with those of the hands is:
//
// touchToHand = halfTurnAboutY * quaterTurnAboutX
auto poseId = hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND;
auto& pose = _poseStateMap[poseId];
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat touchToHand = yFlip * quarterX;
pose.translation = toGlm(handPose.ThePose.Position);
pose.rotation = toGlm(handPose.ThePose.Orientation);
pose.rotation = toGlm(handPose.ThePose.Orientation)*touchToHand;
pose.angularVelocity = toGlm(handPose.AngularVelocity);
pose.velocity = toGlm(handPose.LinearVelocity);
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
pose = pose.transform(controllerToAvatar);
}
controller::Input::NamedVector OculusControllerManager::TouchDevice::getAvailableInputs() const {