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more anti-jitter changes

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This commit is contained in:
Seth Alves 2016-08-30 14:59:30 -07:00
parent 78f54a7f33
commit cdd08bd38e
1 changed files with 10 additions and 27 deletions
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37
interface/src/avatar/AvatarActionHold.cpp
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@ -127,37 +127,20 @@ bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::
if (pose.isValid()) {
linearVelocity = pose.getVelocity();
angularVelocity = pose.getAngularVelocity();
if (isRightHand) {
pose = avatarManager->getMyAvatar()->getRightHandControllerPoseInAvatarFrame();
} else {
pose = avatarManager->getMyAvatar()->getLeftHandControllerPoseInAvatarFrame();
}
}
if (_ignoreIK && pose.isValid()) {
// We cannot ignore other avatars IK and this is not the point of this option
// This is meant to make the grabbing behavior more reactive.
// The avatar moves between prepareForPhysicsSimulation and this, so do some stuff to avoid jitter:
// - transform the pose's world-position into the space relative to the old rigid-body
// - then transform this relative position back into world-space via the new rigid-body's transform
Transform poseTransform;
poseTransform.setTranslation(pose.getTranslation());
poseTransform.setRotation(pose.getRotation());
Transform preStepAvatarTransform;
preStepAvatarTransform.setTranslation(_preStepAvatarPosition);
preStepAvatarTransform.setRotation(_preStepAvatarRotation);
Transform inversePreStepAvatarTransform = Transform(preStepAvatarTransform.getInverseMatrix());
Transform avatarTransform;
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;
getAvatarRigidBodyLocation(avatarRigidBodyPosition, avatarRigidBodyRotation);
avatarTransform.setTranslation(avatarRigidBodyPosition);
avatarTransform.setRotation(avatarRigidBodyRotation);
glm::mat4 adjustedMatrix = avatarTransform.getMatrix() *
(inversePreStepAvatarTransform.getMatrix() * poseTransform.getMatrix());
Transform adjustedTransform = Transform(adjustedMatrix);
palmPosition = adjustedTransform.getTranslation();
palmRotation = adjustedTransform.getRotation();
auto myAvatar = DependencyManager::get<AvatarManager>()->getMyAvatar();
avatarTransform = myAvatar->getTransform();
palmPosition = avatarTransform.transform(pose.getTranslation());
palmRotation = avatarTransform.getRotation() * pose.getRotation();
} else {
glm::vec3 avatarRigidBodyPosition;
glm::quat avatarRigidBodyRotation;