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Attempting to perform the transform between angular and linear acceleration.

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This commit is contained in:
Andrzej Kapolka 2013-06-10 18:40:07 -07:00
parent 1b8683cbc5
commit 90ef6a7cc0
1 changed files with 12 additions and 11 deletions
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23
interface/src/SerialInterface.cpp
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@ -238,18 +238,19 @@ void SerialInterface::readData(float deltaTime) {
glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
glm::quat(glm::radians(deltaTime * _lastRotationRates));
// The acceleration matrix transforms angular to linear accelerations
const glm::vec3 PIVOT_OFFSET(0.0f, -0.02f, -0.01f);
const glm::vec3 PIVOT_VECTOR_NORMALIZED = glm::normalize(PIVOT_OFFSET);
const glm::vec3 PIVOT_SINES = glm::max(glm::vec3(EPSILON, EPSILON, EPSILON),
glm::sqrt(glm::vec3(1.0f, 1.0f, 1.0f) - PIVOT_OFFSET * PIVOT_OFFSET));
const glm::mat3 ACCELERATION_MATRIX(
0.0f, PIVOT_OFFSET.z / PIVOT_SINES.x, -PIVOT_OFFSET.y / PIVOT_SINES.x,
-PIVOT_OFFSET.z / PIVOT_SINES.y, 0.0f, PIVOT_OFFSET.x / PIVOT_SINES.y,
PIVOT_OFFSET.y / PIVOT_SINES.z, -PIVOT_OFFSET.x / PIVOT_SINES.z, 0.0f);
// Update acceleration estimate
_estimatedAcceleration = _lastAcceleration - glm::inverse(estimatedRotation) * _gravity;
static float ratioEstimate = 0.0f;
float angularAccelerationLength = glm::length(angularAcceleration);
float linearAccelerationLength = glm::length(estimatedAcceleration);
if (angularAccelerationLength > EPSILON && linearAccelerationLength > EPSILON) {
float ratio = linearAccelerationLength / angularAccelerationLength;
static float ratioEstimate = ratio;
ratioEstimate = ratioEstimate * 0.999 + ratio * 0.001;
printLog("%g %g\n", ratio, ratioEstimate);
}
_estimatedAcceleration = _lastAcceleration - glm::inverse(estimatedRotation) * _gravity -
ACCELERATION_MATRIX * angularAcceleration;
// Update estimated position and velocity
float const DECAY_VELOCITY = 0.95f;