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Merge pull request #470 from ey6es/master
Removed Orientation class, removed duplicate code in avatar-mixer.
This commit is contained in:
Andrzej Kapolka
commit
97343edfca
9 changed files with 12 additions and 358 deletions
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@ -51,19 +51,8 @@ void attachAvatarDataToAgent(Agent* newAgent) {
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}
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}
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bool wantLocalDomain = false;
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int main(int argc, const char* argv[]) {
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// Handle Local Domain testing with the --local command line
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const char* local = "--local";
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::wantLocalDomain = cmdOptionExists(argc, argv,local);
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if (::wantLocalDomain) {
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printf("Local Domain MODE!\n");
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int ip = getLocalAddress();
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sprintf(DOMAIN_IP,"%d.%d.%d.%d", (ip & 0xFF), ((ip >> 8) & 0xFF),((ip >> 16) & 0xFF), ((ip >> 24) & 0xFF));
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}
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AgentList* agentList = AgentList::createInstance(AGENT_TYPE_AVATAR_MIXER, AVATAR_LISTEN_PORT);
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setvbuf(stdout, NULL, _IOLBF, 0);
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@ -1274,7 +1274,7 @@ void Application::init() {
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void Application::updateAvatar(float deltaTime) {
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// Update my avatar's head position from gyros
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_myAvatar.updateHeadFromGyros(deltaTime, &_serialPort, &_gravity);
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_myAvatar.updateHeadFromGyros(deltaTime, &_serialPort);
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// Grab latest readings from the gyros
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float measuredPitchRate = _serialPort.getLastPitchRate();
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@ -124,7 +124,7 @@ void Avatar::reset() {
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}
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// Update avatar head rotation with sensor data
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void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterface, glm::vec3* gravity) {
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void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterface) {
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const float AMPLIFY_PITCH = 2.f;
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const float AMPLIFY_YAW = 2.f;
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const float AMPLIFY_ROLL = 2.f;
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@ -134,10 +134,9 @@ void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterfa
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float measuredRollRate = serialInterface->getLastRollRate();
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// Update avatar head position based on measured gyro rates
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_head.addPitch(measuredPitchRate * AMPLIFY_PITCH * deltaTime);
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_head.addYaw (measuredYawRate * AMPLIFY_YAW * deltaTime);
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_head.addRoll (measuredRollRate * AMPLIFY_ROLL * deltaTime);
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_head.addYaw(measuredYawRate * AMPLIFY_YAW * deltaTime);
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_head.addRoll(measuredRollRate * AMPLIFY_ROLL * deltaTime);
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// Update head lean distance based on accelerometer data
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glm::vec3 headRotationRates(_head.getPitch(), _head.getYaw(), _head.getRoll());
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@ -48,7 +48,7 @@ public:
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void reset();
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void simulate(float deltaTime, Transmitter* transmitter);
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void updateHeadFromGyros(float frametime, SerialInterface * serialInterface, glm::vec3 * gravity);
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void updateHeadFromGyros(float frametime, SerialInterface * serialInterface);
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void updateFromMouse(int mouseX, int mouseY, int screenWidth, int screenHeight);
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void addBodyYaw(float y) {_bodyYaw += y;};
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void render(bool lookingInMirror);
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@ -8,7 +8,6 @@
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#ifndef __interface__camera__
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#define __interface__camera__
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#include "Orientation.h"
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#include <glm/glm.hpp>
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#include <glm/gtc/quaternion.hpp>
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@ -12,8 +12,8 @@
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#include <glm/glm.hpp>
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#include <glm/gtc/noise.hpp>
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#include <glm/gtc/quaternion.hpp>
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#include <glm/gtx/quaternion.hpp>
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#include <AvatarData.h>
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#include <SharedUtil.h>
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#include "Log.h"
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@ -393,10 +393,10 @@ void renderCircle(glm::vec3 position, float radius, glm::vec3 surfaceNormal, int
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}
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void renderOrientationDirections(glm::vec3 position, Orientation orientation, float size) {
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glm::vec3 pRight = position + orientation.getRight() * size;
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glm::vec3 pUp = position + orientation.getUp () * size;
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glm::vec3 pFront = position + orientation.getFront() * size;
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void renderOrientationDirections(glm::vec3 position, const glm::quat& orientation, float size) {
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glm::vec3 pRight = position + orientation * AVATAR_RIGHT * size;
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glm::vec3 pUp = position + orientation * AVATAR_UP * size;
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glm::vec3 pFront = position + orientation * AVATAR_FRONT * size;
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glColor3f(1.0f, 0.0f, 0.0f);
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glBegin(GL_LINE_STRIP);
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@ -424,126 +424,5 @@ bool closeEnoughForGovernmentWork(float a, float b) {
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}
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void testOrientationClass() {
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printLog("\n----------\ntestOrientationClass()\n----------\n\n");
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oTestCase tests[] = {
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// - inputs ------------, outputs -------------------- ------------------- ----------------------------
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// -- front -------------------, -- up -------------, -- right -------------------
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// ( yaw , pitch, roll , front.x , front.y , front.z , up.x , up.y , up.z , right.x , right.y , right.z )
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// simple yaw tests
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oTestCase( 0.f , 0.f , 0.f , 0.f , 0.f , 1.0f , 0.f , 1.0f , 0.f , -1.0f , 0.f , 0.f ),
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oTestCase(45.0f , 0.f , 0.f , 0.707107f , 0.f , 0.707107f , 0.f , 1.0f , 0.f , -0.707107f, 0.f , 0.707107f),
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oTestCase( 90.0f, 0.f , 0.f , 1.0f , 0.f , 0.f , 0.f , 1.0f , 0.f , 0.0f , 0.f , 1.0f ),
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oTestCase(135.0f, 0.f , 0.f , 0.707107f , 0.f ,-0.707107f , 0.f , 1.0f , 0.f , 0.707107f, 0.f , 0.707107f),
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oTestCase(180.0f, 0.f , 0.f , 0.f , 0.f , -1.0f , 0.f , 1.0f , 0.f , 1.0f , 0.f , 0.f ),
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oTestCase(225.0f, 0.f , 0.f , -0.707107f , 0.f ,-0.707107f , 0.f , 1.0f , 0.f , 0.707107f, 0.f , -0.707107f),
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oTestCase(270.0f, 0.f , 0.f , -1.0f , 0.f , 0.f , 0.f , 1.0f , 0.f , 0.0f , 0.f , -1.0f ),
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oTestCase(315.0f, 0.f , 0.f , -0.707107f , 0.f , 0.707107f , 0.f , 1.0f , 0.f , -0.707107f, 0.f , -0.707107f),
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oTestCase(-45.0f, 0.f , 0.f , -0.707107f , 0.f , 0.707107f , 0.f , 1.0f , 0.f , -0.707107f, 0.f , -0.707107f),
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oTestCase(-90.0f, 0.f , 0.f , -1.0f , 0.f , 0.f , 0.f , 1.0f , 0.f , 0.0f , 0.f , -1.0f ),
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oTestCase(-135.0f,0.f , 0.f , -0.707107f , 0.f ,-0.707107f , 0.f , 1.0f , 0.f , 0.707107f, 0.f , -0.707107f),
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oTestCase(-180.0f,0.f , 0.f , 0.f , 0.f , -1.0f , 0.f , 1.0f , 0.f , 1.0f , 0.f , 0.f ),
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oTestCase(-225.0f,0.f , 0.f , 0.707107f , 0.f ,-0.707107f , 0.f , 1.0f , 0.f , 0.707107f, 0.f , 0.707107f),
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oTestCase(-270.0f,0.f , 0.f , 1.0f , 0.f , 0.f , 0.f , 1.0f , 0.f , 0.0f , 0.f , 1.0f ),
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oTestCase(-315.0f,0.f , 0.f , 0.707107f , 0.f , 0.707107f , 0.f , 1.0f , 0.f , -0.707107f, 0.f , 0.707107f),
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// simple pitch tests
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oTestCase( 0.f , 0.f , 0.f , 0.f, 0.f , 1.0f , 0.f , 1.0f , 0.f , -1.0f , 0.f , 0.f ),
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oTestCase( 0.f ,45.0f , 0.f , 0.f, 0.707107f , 0.707107f, 0.f ,0.707107f, -0.707107f, -1.0f , 0.f , 0.f ),
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oTestCase( 0.f ,90.f , 0.f , 0.f, 1.0f , 0.0f , 0.f ,0.0f , -1.0f , -1.0f , 0.f , 0.f ),
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oTestCase( 0.f ,135.0f, 0.f , 0.f, 0.707107f , -0.707107f, 0.f ,-0.707107f, -0.707107f, -1.0f , 0.f , 0.f ),
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oTestCase( 0.f ,180.f , 0.f , 0.f, 0.0f ,-1.0f , 0.f ,-1.0f , 0.f , -1.0f , 0.f , 0.f ),
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oTestCase( 0.f ,225.0f, 0.f , 0.f,-0.707107f , -0.707107f, 0.f ,-0.707107f, 0.707107f, -1.0f , 0.f , 0.f ),
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oTestCase( 0.f ,270.f , 0.f , 0.f,-1.0f , 0.0f , 0.f ,0.0f , 1.0f , -1.0f , 0.f , 0.f ),
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oTestCase( 0.f ,315.0f, 0.f , 0.f,-0.707107f , 0.707107f, 0.f , 0.707107f, 0.707107f, -1.0f , 0.f , 0.f ),
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// simple roll tests
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oTestCase( 0.f , 0.f , 0.f , 0.f , 0.f , 1.0f , 0.f , 1.0f ,0.0f , -1.0f , 0.f , 0.0f ),
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oTestCase( 0.f , 0.f ,45.0f , 0.f , 0.f , 1.0f , 0.707107f , 0.707107f ,0.0f , -0.707107f, 0.707107f, 0.0f ),
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oTestCase( 0.f , 0.f ,90.f , 0.f , 0.f , 1.0f , 1.0f , 0.0f ,0.0f , 0.0f , 1.0f , 0.0f ),
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oTestCase( 0.f , 0.f ,135.0f , 0.f , 0.f , 1.0f , 0.707107f , -0.707107f,0.0f , 0.707107f , 0.707107f, 0.0f ),
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oTestCase( 0.f , 0.f ,180.f , 0.f , 0.f , 1.0f , 0.0f , -1.0f ,0.0f , 1.0f , 0.0f , 0.0f ),
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oTestCase( 0.f , 0.f ,225.0f , 0.f , 0.f , 1.0f , -0.707107f, -0.707107f,0.0f , 0.707107f ,-0.707107f, 0.0f ),
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oTestCase( 0.f , 0.f ,270.f , 0.f , 0.f , 1.0f , -1.0f , 0.0f ,0.0f , 0.0f , -1.0f , 0.0f ),
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oTestCase( 0.f , 0.f ,315.0f , 0.f , 0.f , 1.0f , -0.707107f, 0.707107f ,0.0f , -0.707107f,-0.707107f, 0.0f ),
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// yaw combo tests
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oTestCase( 90.f , 90.f , 0.f , 0.f , 1.0f , 0.0f , -1.0f , 0.0f , 0.f , 0.0f , 0.f , 1.0f ),
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oTestCase( 90.f , 0.f , 90.f , 1.0f , 0.0f, 0.f , 0.0f , 0.0f , -1.f , 0.0f , 1.0f , 0.0f ),
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};
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int failedCount = 0;
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int totalTests = sizeof(tests)/sizeof(oTestCase);
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for (int i=0; i < totalTests; i++) {
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bool passed = true; // I'm an optimist!
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float yaw = tests[i].yaw;
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float pitch = tests[i].pitch;
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float roll = tests[i].roll;
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Orientation o1;
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o1.setToIdentity();
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o1.yaw(yaw);
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o1.pitch(pitch);
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o1.roll(roll);
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glm::vec3 front = o1.getFront();
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glm::vec3 up = o1.getUp();
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glm::vec3 right = o1.getRight();
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printLog("\n-----\nTest: %d - yaw=%f , pitch=%f , roll=%f \n",i+1,yaw,pitch,roll);
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printLog("\nFRONT\n");
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printLog(" + received: front.x=%f, front.y=%f, front.z=%f\n",front.x,front.y,front.z);
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if (closeEnoughForGovernmentWork(front.x, tests[i].frontX)
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&& closeEnoughForGovernmentWork(front.y, tests[i].frontY)
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&& closeEnoughForGovernmentWork(front.z, tests[i].frontZ)) {
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printLog(" front vector PASSES!\n");
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} else {
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printLog(" expected: front.x=%f, front.y=%f, front.z=%f\n",tests[i].frontX,tests[i].frontY,tests[i].frontZ);
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printLog(" front vector FAILED! \n");
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passed = false;
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}
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printLog("\nUP\n");
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printLog(" + received: up.x=%f, up.y=%f, up.z=%f\n",up.x,up.y,up.z);
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if (closeEnoughForGovernmentWork(up.x, tests[i].upX)
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&& closeEnoughForGovernmentWork(up.y, tests[i].upY)
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&& closeEnoughForGovernmentWork(up.z, tests[i].upZ)) {
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printLog(" up vector PASSES!\n");
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} else {
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printLog(" expected: up.x=%f, up.y=%f, up.z=%f\n",tests[i].upX,tests[i].upY,tests[i].upZ);
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printLog(" up vector FAILED!\n");
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passed = false;
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}
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printLog("\nRIGHT\n");
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printLog(" + received: right.x=%f, right.y=%f, right.z=%f\n",right.x,right.y,right.z);
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if (closeEnoughForGovernmentWork(right.x, tests[i].rightX)
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&& closeEnoughForGovernmentWork(right.y, tests[i].rightY)
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&& closeEnoughForGovernmentWork(right.z, tests[i].rightZ)) {
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printLog(" right vector PASSES!\n");
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} else {
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printLog(" expected: right.x=%f, right.y=%f, right.z=%f\n",tests[i].rightX,tests[i].rightY,tests[i].rightZ);
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printLog(" right vector FAILED!\n");
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passed = false;
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}
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if (!passed) {
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printLog("\n-----\nTest: %d - FAILED! \n----------\n\n",i+1);
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failedCount++;
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}
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}
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printLog("\n-----\nTotal Failed: %d out of %d \n----------\n\n",failedCount,totalTests);
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printLog("\n----------DONE----------\n\n");
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}
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@ -16,8 +16,7 @@
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#endif
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#include <glm/glm.hpp>
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#include <Orientation.h>
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#include <glm/gtc/quaternion.hpp>
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// the standard sans serif font family
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#define SANS_FONT_FAMILY "Helvetica"
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@ -56,44 +55,9 @@ void drawGroundPlaneGrid(float size);
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void renderDiskShadow(glm::vec3 position, glm::vec3 upDirection, float radius, float darkness);
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void renderOrientationDirections( glm::vec3 position, Orientation orientation, float size );
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void renderOrientationDirections( glm::vec3 position, const glm::quat& orientation, float size );
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void renderSphereOutline(glm::vec3 position, float radius, int numSides, glm::vec3 cameraPosition);
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void renderCircle(glm::vec3 position, float radius, glm::vec3 surfaceNormal, int numSides );
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class oTestCase {
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public:
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float yaw;
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float pitch;
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float roll;
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float frontX;
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float frontY;
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float frontZ;
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float upX;
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float upY;
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float upZ;
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float rightX;
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float rightY;
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float rightZ;
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oTestCase(
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float yaw, float pitch, float roll,
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float frontX, float frontY, float frontZ,
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float upX, float upY, float upZ,
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float rightX, float rightY, float rightZ
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) :
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yaw(yaw),pitch(pitch),roll(roll),
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frontX(frontX),frontY(frontY),frontZ(frontZ),
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upX(upX),upY(upY),upZ(upZ),
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rightX(rightX),rightY(rightY),rightZ(rightZ)
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{};
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};
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void testOrientationClass();
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#endif
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@ -1,121 +0,0 @@
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//-----------------------------------------------------------
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//
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// Created by Jeffrey Ventrella
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// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
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//
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//-----------------------------------------------------------
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#include "Orientation.h"
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#include "SharedUtil.h"
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static const bool USING_QUATERNIONS = true;
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Orientation::Orientation() {
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setToIdentity();
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}
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void Orientation::setToIdentity() {
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quat = glm::quat();
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right = glm::vec3(IDENTITY_RIGHT);
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up = glm::vec3(IDENTITY_UP );
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front = glm::vec3(IDENTITY_FRONT);
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}
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void Orientation::set(Orientation o) {
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quat = o.quat;
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right = o.right;
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up = o.up;
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front = o.front;
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}
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void Orientation::yaw(float angle) {
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float radian = angle * PI_OVER_180;
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if (USING_QUATERNIONS) {
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rotateAndGenerateDirections(glm::quat(glm::vec3(0.0f, -radian, 0.0f)));
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} else {
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float s = sin(radian);
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float c = cos(radian);
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glm::vec3 cosineFront = front * c;
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glm::vec3 cosineRight = right * c;
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glm::vec3 sineFront = front * s;
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glm::vec3 sineRight = right * s;
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front = cosineFront - sineRight;
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right = cosineRight + sineFront;
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}
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}
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void Orientation::pitch(float angle) {
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float radian = angle * PI_OVER_180;
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if (USING_QUATERNIONS) {
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rotateAndGenerateDirections(glm::quat(glm::vec3(radian, 0.0f, 0.0f)));
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} else {
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float s = sin(radian);
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float c = cos(radian);
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glm::vec3 cosineUp = up * c;
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glm::vec3 cosineFront = front * c;
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glm::vec3 sineUp = up * s;
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glm::vec3 sineFront = front * s;
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up = cosineUp - sineFront;
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front = cosineFront + sineUp;
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}
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}
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|
||||
void Orientation::roll(float angle) {
|
||||
|
||||
float radian = angle * PI_OVER_180;
|
||||
|
||||
if (USING_QUATERNIONS) {
|
||||
rotateAndGenerateDirections(glm::quat(glm::vec3(0.0f, 0.0f, radian)));
|
||||
} else {
|
||||
float s = sin(radian);
|
||||
float c = cos(radian);
|
||||
|
||||
glm::vec3 cosineUp = up * c;
|
||||
glm::vec3 cosineRight = right * c;
|
||||
glm::vec3 sineUp = up * s;
|
||||
glm::vec3 sineRight = right * s;
|
||||
|
||||
up = cosineUp - sineRight;
|
||||
right = cosineRight + sineUp;
|
||||
}
|
||||
}
|
||||
|
||||
void Orientation::rotate(float pitch_change, float yaw_change, float roll_change) {
|
||||
pitch(pitch_change);
|
||||
yaw (yaw_change);
|
||||
roll (roll_change);
|
||||
}
|
||||
|
||||
void Orientation::rotate(glm::vec3 eulerAngles) {
|
||||
|
||||
//this needs to be optimized!
|
||||
pitch(eulerAngles.x);
|
||||
yaw (eulerAngles.y);
|
||||
roll (eulerAngles.z);
|
||||
}
|
||||
|
||||
void Orientation::rotate( glm::quat rotation ) {
|
||||
rotateAndGenerateDirections(rotation);
|
||||
}
|
||||
|
||||
|
||||
void Orientation::rotateAndGenerateDirections(glm::quat rotation) {
|
||||
|
||||
quat = quat * rotation;
|
||||
|
||||
glm::mat4 rotationMatrix = glm::mat4_cast(quat);
|
||||
|
||||
right = glm::vec3(glm::vec4(IDENTITY_RIGHT, 0.0f) * rotationMatrix);
|
||||
up = glm::vec3(glm::vec4(IDENTITY_UP, 0.0f) * rotationMatrix);
|
||||
front = glm::vec3(glm::vec4(IDENTITY_FRONT, 0.0f) * rotationMatrix);
|
||||
}
|
||||
|
|
@ -1,55 +0,0 @@
|
|||
//-----------------------------------------------------------
|
||||
//
|
||||
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
|
||||
//
|
||||
//-----------------------------------------------------------
|
||||
|
||||
#ifndef __interface__orientation__
|
||||
#define __interface__orientation__
|
||||
|
||||
#include <cmath>
|
||||
#include <glm/glm.hpp>
|
||||
#include <glm/gtc/quaternion.hpp>
|
||||
|
||||
// this is where the coordinate system is represented
|
||||
const glm::vec3 IDENTITY_RIGHT = glm::vec3(-1.0f, 0.0f, 0.0f);
|
||||
const glm::vec3 IDENTITY_UP = glm::vec3( 0.0f, 1.0f, 0.0f);
|
||||
const glm::vec3 IDENTITY_FRONT = glm::vec3( 0.0f, 0.0f, 1.0f);
|
||||
|
||||
class Orientation
|
||||
{
|
||||
public:
|
||||
Orientation();
|
||||
|
||||
void set(Orientation);
|
||||
void setToIdentity();
|
||||
|
||||
void pitch(float pitch_change);
|
||||
void yaw (float yaw_change);
|
||||
void roll (float roll_change);
|
||||
|
||||
void rotate(float pitch, float yaw, float roll);
|
||||
void rotate(glm::vec3 EulerAngles);
|
||||
void rotate(glm::quat quaternion);
|
||||
|
||||
const glm::quat& getQuat() const {return quat;}
|
||||
|
||||
const glm::vec3& getRight() const {return right;}
|
||||
const glm::vec3& getUp () const {return up; }
|
||||
const glm::vec3& getFront() const {return front;}
|
||||
|
||||
const glm::vec3& getIdentityRight() const {return IDENTITY_RIGHT;}
|
||||
const glm::vec3& getIdentityUp () const {return IDENTITY_UP;}
|
||||
const glm::vec3& getIdentityFront() const {return IDENTITY_FRONT;}
|
||||
|
||||
private:
|
||||
|
||||
glm::quat quat;
|
||||
glm::vec3 right;
|
||||
glm::vec3 up;
|
||||
glm::vec3 front;
|
||||
|
||||
void rotateAndGenerateDirections(glm::quat rotation);
|
||||
};
|
||||
|
||||
#endif
|
||||
Loading…
Reference in a new issue