Fix up hand roll, pitch, and yaw as best able for now

examples/leapHands.js

@@ -211,6 +211,7 @@ var leapHands = (function () {
             handRoll,
             handPitch,
             handYaw,
+            handRotation,
             locRotation;
 
         for (h = 0; h < NUM_HANDS; h += 1) {
@@ -229,25 +230,25 @@ var leapHands = (function () {
                 // TODO: 2.0* scale factor should not be necessary; Leap Motion controller code needs investigating.
                 handRoll = 2.0 * -hands[h].controller.getAbsRotation().z;
                 handPitch = 2.0 * -wrists[h].controller.getAbsRotation().x;
-                handYaw = 2.0 * -wrists[h].controller.getAbsRotation().y;
+                handYaw = 2.0 * wrists[h].controller.getAbsRotation().y;
 
-                // TODO: Leap Motion controller's right-hand roll calculation is off by 90 degrees.
+                // TODO: Leap Motion controller's right-hand roll calculation only works if physical hand is upside down.
+                // Approximate fix is to add a fudge factor.
                 if (h === 1) {
-                    handRoll = handRoll + PI / 2.0;
+                    handRoll = handRoll + 0.6 * PI;
                 }
 
                 // Hand position and orientation ...
                 if (h === 0) {
-                    MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset, Quat.fromPitchYawRollRadians(
+                    handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
-                        handPitch,
+                        Quat.fromVec3Radians({ x: handRoll, y: handYaw, z: -handPitch }));
-                        -PI / 2.0 - handYaw,
+
-                        handRoll), true);
+
                 } else {
-                    MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset, Quat.fromPitchYawRollRadians(
+                    handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 0, y: 1, z: 0 }),
-                        handPitch,
+                        Quat.fromVec3Radians({ x: -handRoll, y: handYaw, z: handPitch }));
-                        PI / 2.0 - handYaw,
-                        handRoll), true);
                 }
+                MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset, handRotation, true);
 
                 // Finger joints ...
                 // TODO: 2.0 * scale factors should not be necessary; Leap Motion controller code needs investigating.

interface/src/avatar/Avatar.cpp

@@ -840,36 +840,26 @@ glm::quat Avatar::getJointCombinedRotation(const QString& name) const {
     return rotation;
 }
 
-bool Avatar::setJointModelPositionAndOrientation(int index, glm::vec3 position, const glm::quat& rotation, 
+const float SCRIPT_PRIORITY = DEFAULT_PRIORITY + 1.0f;
-                                                 bool useRotation) {
+
-    bool success;
+void Avatar::setJointModelPositionAndOrientation(int index, glm::vec3 position, const glm::quat& rotation) {
     if (QThread::currentThread() != thread()) {
         QMetaObject::invokeMethod(const_cast<Avatar*>(this), "setJointModelPositionAndOrientation", 
-            Qt::BlockingQueuedConnection, Q_RETURN_ARG(bool, success), Q_ARG(const int, index), 
+            Qt::BlockingQueuedConnection, Q_ARG(const int, index), Q_ARG(const glm::vec3, position),
-            Q_ARG(const glm::vec3, position),
+            Q_ARG(const glm::quat&, rotation));
-            Q_ARG(const glm::quat&, rotation), Q_ARG(bool, useRotation));
     } else {
-        qDebug() << "setJointModelPositionAndOrientation()";
+        _skeletonModel.inverseKinematics(index, position, rotation, SCRIPT_PRIORITY);
-        success = _skeletonModel.setJointPosition(index, position, rotation, useRotation, -1, true, 
-                                                  glm::vec3(0.0, -1.0, 0.0), DEFAULT_PRIORITY + 2.0f);
     }
-    return success;
 }
 
-bool Avatar::setJointModelPositionAndOrientation(const QString& name, glm::vec3 position, const glm::quat& rotation, 
+void Avatar::setJointModelPositionAndOrientation(const QString& name, glm::vec3 position, const glm::quat& rotation) {
-                                                 bool useRotation) {
-    bool success;
     if (QThread::currentThread() != thread()) {
         QMetaObject::invokeMethod(const_cast<Avatar*>(this), "setJointModelPositionAndOrientation", 
-            Qt::BlockingQueuedConnection, Q_RETURN_ARG(bool, success), Q_ARG(const QString&, name), 
+            Qt::BlockingQueuedConnection, Q_ARG(const QString&, name), Q_ARG(const glm::vec3, position),
-            Q_ARG(const glm::vec3, position),
+            Q_ARG(const glm::quat&, rotation));
-            Q_ARG(const glm::quat&, rotation), Q_ARG(bool, useRotation));
     } else {
-        qDebug() << "setJointModelPositionAndOrientation()";
+        _skeletonModel.inverseKinematics(getJointIndex(name), position, rotation, SCRIPT_PRIORITY);
-        success = _skeletonModel.setJointPosition(getJointIndex(name), position, rotation, useRotation, -1, true, 
-                                                  glm::vec3(0.0, -1.0, 0.0), DEFAULT_PRIORITY + 2.0f);
     }
-    return success;
 }
 
 void Avatar::scaleVectorRelativeToPosition(glm::vec3 &positionToScale) const {

interface/src/avatar/Avatar.h

@@ -151,10 +151,9 @@ public:
     Q_INVOKABLE glm::quat getJointCombinedRotation(int index) const;
     Q_INVOKABLE glm::quat getJointCombinedRotation(const QString& name) const;
     
-    Q_INVOKABLE bool setJointModelPositionAndOrientation(int index, const glm::vec3 position,
+    Q_INVOKABLE void setJointModelPositionAndOrientation(int index, const glm::vec3 position, const glm::quat& rotation);
-        const glm::quat& rotation = glm::quat(), bool useRotation = false);
+    Q_INVOKABLE void setJointModelPositionAndOrientation(const QString& name, const glm::vec3 position, 
-    Q_INVOKABLE bool setJointModelPositionAndOrientation(const QString& name, const glm::vec3 position,
+        const glm::quat& rotation);
-        const glm::quat& rotation = glm::quat(), bool useRotation = false);
 
     Q_INVOKABLE glm::vec3 getVelocity() const { return _velocity; }
     Q_INVOKABLE glm::vec3 getAcceleration() const { return _acceleration; }

interface/src/renderer/Model.h

@@ -183,17 +183,7 @@ public:
     QVector<JointState>& getJointStates() { return _jointStates; }
     const QVector<JointState>& getJointStates() const { return _jointStates; }
  
-    /// \param jointIndex index of joint in model structure
+    void inverseKinematics(int jointIndex, glm::vec3 position, const glm::quat& rotation, float priority);
-    /// \param position position of joint in model-frame
-    /// \param rotation rotation of joint in model-frame
-    /// \param useRotation false if rotation should be ignored
-    /// \param lastFreeIndex
-    /// \param allIntermediatesFree
-    /// \param alignment
-    /// \return true if joint exists
-    bool setJointPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation = glm::quat(),
-        bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
-        const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);
 
 protected:
     QSharedPointer<NetworkGeometry> _geometry;
@@ -238,8 +228,18 @@ protected:
 
     virtual void updateVisibleJointStates();
     
-    void inverseKinematics(int jointIndex, glm::vec3 position, const glm::quat& rotation, float priority);
+    /// \param jointIndex index of joint in model structure
-    
+    /// \param position position of joint in model-frame
+    /// \param rotation rotation of joint in model-frame
+    /// \param useRotation false if rotation should be ignored
+    /// \param lastFreeIndex
+    /// \param allIntermediatesFree
+    /// \param alignment
+    /// \return true if joint exists
+    bool setJointPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation = glm::quat(),
+        bool useRotation = false, int lastFreeIndex = -1, bool allIntermediatesFree = false,
+        const glm::vec3& alignment = glm::vec3(0.0f, -1.0f, 0.0f), float priority = 1.0f);
+
     /// Restores the indexed joint to its default position.
     /// \param fraction the fraction of the default position to apply (i.e., 0.25f to slerp one fourth of the way to
     /// the original position