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finxing rotation problem

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This commit is contained in:
Dante Ruiz 2017-06-14 00:46:55 +01:00
parent ef9a211f6e
commit aa23986618
1 changed files with 8 additions and 6 deletions
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14
plugins/openvr/src/ViveControllerManager.cpp
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@ -467,10 +467,12 @@ bool ViveControllerManager::InputDevice::configureHands(glm::mat4& defaultToRefe
calibrateLeftHand(defaultToReferenceMat, inputCalibration, firstHand);
calibrateRightHand(defaultToReferenceMat, inputCalibration, secondHand);
_overrideHands = true;
return true;
} else {
calibrateLeftHand(defaultToReferenceMat, inputCalibration, secondHand);
calibrateRightHand(defaultToReferenceMat, inputCalibration, firstHand);
_overrideHands = true;
return true;
}
} else if (_handConfig == HandConfig::HandController) {
_overrideHands = false;
@ -879,7 +881,7 @@ void ViveControllerManager::InputDevice::calibrateLeftHand(glm::mat4& defaultToR
glm::mat4 avatarToSensorMat = glm::inverse(inputCalibration.sensorToWorldMat) * inputCalibration.avatarMat;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
controller::Pose& handPose = handPair.second;
glm::mat4 handPoseAvatarMat = createMatFromQuatAndPos(handPose.getRotation(), handPose.getTranslation()) * Matrices::Y_180;
glm::mat4 handPoseAvatarMat = createMatFromQuatAndPos(handPose.getRotation(), handPose.getTranslation());
glm::vec3 handPoseTranslation = extractTranslation(handPoseAvatarMat);
glm::vec3 handPoseZAxis = glmExtractRotation(handPoseAvatarMat) * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 avatarHandYAxis = glm::vec3(1.0f, 0.0f, 0.0f);
@ -888,7 +890,7 @@ void ViveControllerManager::InputDevice::calibrateLeftHand(glm::mat4& defaultToR
if (fabsf(fabsf(glm::dot(glm::normalize(avatarHandYAxis), glm::normalize(handPoseZAxis))) - 1.0f) < EPSILON) {
handPoseZAxis = glm::vec3(0.0f, 0.0f, 1.0f);
}
glm::vec3 yPrime = avatarHandYAxis;
glm::vec3 xPrime = glm::normalize(glm::cross(avatarHandYAxis, handPoseZAxis));
glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, yPrime));
@ -911,7 +913,7 @@ void ViveControllerManager::InputDevice::calibrateRightHand(glm::mat4& defaultTo
glm::mat4 avatarToSensorMat = glm::inverse(inputCalibration.sensorToWorldMat) * inputCalibration.avatarMat;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
controller::Pose& handPose = handPair.second;
glm::mat4 handPoseAvatarMat = createMatFromQuatAndPos(handPose.getRotation(), handPose.getTranslation()) * Matrices::Y_180;
glm::mat4 handPoseAvatarMat = createMatFromQuatAndPos(handPose.getRotation(), handPose.getTranslation());
glm::vec3 handPoseTranslation = extractTranslation(handPoseAvatarMat);
glm::vec3 handPoseZAxis = glmExtractRotation(handPoseAvatarMat) * glm::vec3(0.0f, 0.0f, 1.0f);
glm::vec3 avatarHandYAxis = glm::vec3(-1.0f, 0.0f, 0.0f);
@ -920,7 +922,7 @@ void ViveControllerManager::InputDevice::calibrateRightHand(glm::mat4& defaultTo
if (fabsf(fabsf(glm::dot(glm::normalize(avatarHandYAxis), glm::normalize(handPoseZAxis))) - 1.0f) < EPSILON) {
handPoseZAxis = glm::vec3(0.0f, 0.0f, 1.0f);
}
glm::vec3 yPrime = avatarHandYAxis;
glm::vec3 xPrime = glm::normalize(glm::cross(avatarHandYAxis, handPoseZAxis));
glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, yPrime));
@ -929,14 +931,14 @@ void ViveControllerManager::InputDevice::calibrateRightHand(glm::mat4& defaultTo
glm::vec4(zPrime, 0.0f), glm::vec4(handPoseTranslation, 1.0f));
glm::mat4 handPoseOffset = glm::mat4(glm::vec4(1.0f, 0.0f, 0.0f, 0.0f), glm::vec4(0.0f, 1.0f, 0.0f, 0.0f),
glm::vec4(0.0f, 0.0f, 1.0f, 0.0f), glm::vec4(0.0f, 0.0f, 0.0f, 1.0f));
glm::vec4(0.0f, 0.0f, 1.0f, 0.0f), glm::vec4(0.0f, 0.0508f, 0.0f, 1.0f));
glm::mat4 finalHandMat = newHandMat * handPoseOffset;
controller::Pose finalPose(extractTranslation(finalHandMat), glmExtractRotation(finalHandMat));
_jointToPuckMap[controller::RIGHT_HAND] = handPair.first;
_pucksOffset[handPair.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftHand, finalPose);
_pucksOffset[handPair.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightHand, finalPose);
}