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Fix Leap hand roll

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This commit is contained in:
David Rowe 2014-10-08 10:11:18 -07:00
parent 373d2f0532
commit a3cce3ae22
1 changed files with 24 additions and 24 deletions
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48
examples/leapHands.js
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@ -30,7 +30,6 @@ var leapHands = (function () {
CALIBRATING = 1,
CALIBRATED = 2,
CALIBRATION_TIME = 1000, // milliseconds
PI = 3.141593,
avatarScale,
avatarFaceModelURL,
avatarSkeletonModelURL,
@ -314,11 +313,7 @@ var leapHands = (function () {
j,
side,
handOffset,
handRoll,
handPitch,
handYaw,
handRotation,
wristAbsRotation,
locRotation,
cameraOrientation,
inverseAvatarOrientation;
@ -357,20 +352,22 @@ var leapHands = (function () {
handOffset.x = -handOffset.x;
// Hand rotation in camera coordinates ...
// TODO: 2.0* scale factors should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
wristAbsRotation = wrists[h].controller.getAbsRotation();
handPitch = 2.0 * wristAbsRotation.x - PI / 2.0;
handYaw = 2.0 * -wristAbsRotation.y;
// TODO: Roll values only work if hand is upside down; Leap Motion controller code needs investigating.
handRoll = PI + handRoll;
handRotation = wrists[h].controller.getAbsRotation();
handRotation = {
x: handRotation.z,
y: handRotation.y,
z: handRotation.x,
w: handRotation.w
};
if (h === 0) {
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
handRotation.x = -handRotation.x;
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 1, y: 0, z: 0 }), handRotation);
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 0, z: 1 }), handRotation);
} else {
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
handRotation.z = -handRotation.z;
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 1, y: 0, z: 0 }), handRotation);
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 0, z: 1 }), handRotation);
}
// Hand rotation in avatar coordinates ...
@ -388,19 +385,22 @@ var leapHands = (function () {
z: hands[h].zeroPosition.z - handOffset.z
};
// TODO: 2.0* scale factors should not be necessary; Leap Motion controller code needs investigating.
handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
wristAbsRotation = wrists[h].controller.getAbsRotation();
handPitch = 2.0 * -wristAbsRotation.x;
handYaw = 2.0 * wristAbsRotation.y;
handRotation = wrists[h].controller.getAbsRotation();
handRotation = {
x: handRotation.z,
y: handRotation.y,
z: handRotation.x,
w: handRotation.w
};
// Hand position and orientation ...
if (h === 0) {
handRotation.x = -handRotation.x;
handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
handRotation);
} else {
handRotation.z = -handRotation.z;
handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
handRotation);
}
}