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Merge remote-tracking branch 'upstream/master'

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Philip Rosedale 2013-04-18 00:20:47 -07:00
commit a1d51f8db8
4 changed files with 86 additions and 82 deletions
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26
interface/src/Util.cpp
View file

@ -19,7 +19,7 @@
void eulerToOrthonormals(glm::vec3 * angles, glm::vec3 * fwd, glm::vec3 * left, glm::vec3 * up) {
void eulerToOrthonormals(glm::vec3 * angles, glm::vec3 * front, glm::vec3 * right, glm::vec3 * up) {
//
// Converts from three euler angles to the associated orthonormal vectors
//
@ -27,28 +27,28 @@ void eulerToOrthonormals(glm::vec3 * angles, glm::vec3 * fwd, glm::vec3 * left,
//
// First, create the quaternion associated with these euler angles
glm::quat q(glm::vec3(angles->x, angles->y, angles->z));
glm::quat q(glm::vec3(angles->x, -(angles->y), angles->z));
// Next, create a rotation matrix from that quaternion
glm::mat4 rotation;
rotation = glm::mat4_cast(q);
// Transform the original vectors by the rotation matrix to get the new vectors
glm::vec4 u(0,1,0,0);
glm::vec4 l(1,0,0,0);
glm::vec4 f(0,0,1,0);
glm::vec4 uNew = u*rotation;
glm::vec4 lNew = l*rotation;
glm::vec4 fNew = f*rotation;
glm::vec4 qup(0,1,0,0);
glm::vec4 qright(-1,0,0,0);
glm::vec4 qfront(0,0,1,0);
glm::vec4 upNew = qup*rotation;
glm::vec4 rightNew = qright*rotation;
glm::vec4 frontNew = qfront*rotation;
// Copy the answers to output vectors
up->x = uNew.x; up->y = uNew.y; up->z = uNew.z;
left->x = lNew.x; left->y = lNew.y; left->z = lNew.z;
fwd->x = fNew.x; fwd->y = fNew.y; fwd->z = fNew.z;
up->x = upNew.x; up->y = upNew.y; up->z = upNew.z;
right->x = rightNew.x; right->y = rightNew.y; right->z = rightNew.z;
front->x = frontNew.x; front->y = frontNew.y; front->z = frontNew.z;
}
// Return the azimuth angle in degrees between two points.
float azimuth_to(glm::vec3 head_pos, glm::vec3 source_pos) {
return atan2(head_pos.x - source_pos.x, head_pos.z - source_pos.z) * 180.0f / PIf;

20
interface/src/main.cpp
View file

@ -722,7 +722,7 @@ void display(void)
//----------------------------------------------------
myCamera.setTargetPosition ( myAvatar.getBodyPosition() );
myCamera.setYaw ( 180.0 - myAvatar.getBodyYaw() );
myCamera.setPitch ( 10.0 ); // temporarily, this must be 0.0 or else bad juju
myCamera.setPitch ( 0.0 ); // temporarily, this must be 0.0 or else bad juju
myCamera.setRoll ( 0.0 );
myCamera.setUp ( 0.45);
myCamera.setDistance ( 1.0 );
@ -1483,20 +1483,10 @@ void audioMixerUpdate(in_addr_t newMixerAddress, in_port_t newMixerPort) {
int main(int argc, const char * argv[])
{
// Quick test of the Orientation class on startup!
//testOrientationClass(); // PER - commented out to test orthonormal code
//
// For Brad: Demo of function to test conversion of euler angles to orthonormals
// (Note that the euler angles order is Pitch, Yaw, Roll, and in radians)
//
glm::vec3 angles(0, PI/4, 0);
glm::vec3 fwd, left, up;
eulerToOrthonormals(&angles, &fwd, &left, &up);
printf("fwd: %4.2f, %4.2f, %4.2f\n", fwd.x, fwd.y, fwd.z);
printf("left: %4.2f, %4.2f, %4.2f\n", left.x, left.y, left.z);
printf("up: %4.2f, %4.2f, %4.2f\n", up.x, up.y, up.z);
if (cmdOptionExists(argc, argv, "--testOrientation")) {
testOrientationClass();
return EXIT_SUCCESS;
}
AgentList::createInstance(AGENT_TYPE_INTERFACE);

115
libraries/avatars/src/Orientation.cpp
View file

@ -7,19 +7,26 @@
#include "Orientation.h"
#include <SharedUtil.h>
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
//#include "Util.h"
static bool testingForNormalizationAndOrthogonality = true;
// XXXBHG - this test has not yet been reworked to match the correct vector orientation
// of the coordinate system, so don't use it for now.
static bool testingForNormalizationAndOrthogonality = false;
Orientation::Orientation() {
setToIdentity();
}
void Orientation::setToIdentity() {
right = glm::vec3( 1.0, 0.0, 0.0 );
up = glm::vec3( 0.0, 1.0, 0.0 );
front = glm::vec3( 0.0, 0.0, 1.0 );
_yaw = 0.0;
_pitch = 0.0;
_roll = 0.0;
right = glm::vec3( -1.0f, 0.0f, 0.0f );
up = glm::vec3( 0.0f, 1.0f, 0.0f );
front = glm::vec3( 0.0f, 0.0f, 1.0f );
}
void Orientation::set( Orientation o ) {
@ -28,72 +35,75 @@ void Orientation::set( Orientation o ) {
front = o.front;
}
void Orientation::update() {
void Orientation::yaw( float angle ) {
float r = angle * PI_OVER_180;
float s = sin(r);
float c = cos(r);
glm::vec3 cosineFront = front * c;
glm::vec3 cosineRight = right * c;
glm::vec3 sineFront = front * s;
glm::vec3 sineRight = right * s;
front = cosineFront + sineRight;
right = cosineRight - sineFront;
float pitchRads = _pitch * PI_OVER_180;
float yawRads = _yaw * PI_OVER_180;
float rollRads = _roll * PI_OVER_180;
glm::quat q(glm::vec3(pitchRads, -(yawRads), rollRads));
// Next, create a rotation matrix from that quaternion
glm::mat4 rotation;
rotation = glm::mat4_cast(q);
// Transform the original vectors by the rotation matrix to get the new vectors
glm::vec4 qup(0,1,0,0);
glm::vec4 qright(-1,0,0,0);
glm::vec4 qfront(0,0,1,0);
glm::vec4 upNew = qup*rotation;
glm::vec4 rightNew = qright*rotation;
glm::vec4 frontNew = qfront*rotation;
// Copy the answers to output vectors
up.x = upNew.x;
up.y = upNew.y;
up.z = upNew.z;
right.x = rightNew.x;
right.y = rightNew.y;
right.z = rightNew.z;
front.x = frontNew.x;
front.y = frontNew.y;
front.z = frontNew.z;
if ( testingForNormalizationAndOrthogonality ) { testForOrthogonalAndNormalizedVectors( EPSILON ); }
}
void Orientation::yaw(float angle) {
// remember the value for any future changes to other angles
_yaw = angle;
update();
}
void Orientation::pitch( float angle ) {
float r = angle * PI_OVER_180;
float s = sin(r);
float c = cos(r);
glm::vec3 cosineUp = up * c;
glm::vec3 cosineFront = front * c;
glm::vec3 sineUp = up * s;
glm::vec3 sineFront = front * s;
up = cosineUp + sineFront;
front = cosineFront - sineUp;
if ( testingForNormalizationAndOrthogonality ) { testForOrthogonalAndNormalizedVectors( EPSILON ); }
// remember the value for any future changes to other angles
_pitch = angle;
update();
}
void Orientation::roll( float angle ) {
float r = angle * PI_OVER_180;
float s = sin(r);
float c = cos(r);
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;
if ( testingForNormalizationAndOrthogonality ) { testForOrthogonalAndNormalizedVectors( EPSILON ); }
_roll = angle;
update();
}
void Orientation::setRightUpFront( const glm::vec3 &r, const glm::vec3 &u, const glm::vec3 &f ) {
right = r;
up = u;
front = f;
right = r;
up = u;
front = f;
}
//----------------------------------------------------------------------
void Orientation::testForOrthogonalAndNormalizedVectors( float epsilon ) {
//------------------------------------------------------------------
// XXXBHG - this test has not yet been reworked to match the correct vector orientation
// of the coordinate system
// bail for now, assume all is good
return;
// make sure vectors are normalized (or close enough to length 1.0)
//------------------------------------------------------------------
float rightLength = glm::length( right );
float upLength = glm::length( up );
float frontLength = glm::length( front );
@ -122,10 +132,7 @@ void Orientation::testForOrthogonalAndNormalizedVectors( float epsilon ) {
assert ( frontLength < 1.0f + epsilon );
//----------------------------------------------------------------
// make sure vectors are orthogonal (or close enough)
//----------------------------------------------------------------
glm::vec3 rightCross = glm::cross( up, front );
glm::vec3 upCross = glm::cross( front, right );
glm::vec3 frontCross = glm::cross( right, up );

7
libraries/avatars/src/Orientation.h
View file

@ -20,6 +20,13 @@ enum Axis
class Orientation
{
private:
float _yaw;
float _pitch;
float _roll;
void update(); // actually updates the vectors from yaw, pitch, roll
public:
Orientation();