Merge pull request #79 from PhilipRosedale/master

Created eulerToOrthonormals function to (hopefully) help Brad

interface/src/Util.cpp

@@ -11,12 +11,44 @@
 #include <cstring>
 
 #include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
 #include <SharedUtil.h>
 
 #include "world.h"
 #include "Util.h"
 
 
+
+void eulerToOrthonormals(glm::vec3 * angles, glm::vec3 * fwd, glm::vec3 * left, glm::vec3 * up) {
+    //
+    //  Converts from three euler angles to the associated orthonormal vectors
+    //
+    //  Angles contains (pitch, yaw, roll) in radians
+    //
+    
+    //  First, create the quaternion associated with these euler angles
+    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;
+    
+    //  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;
+    
+}
+
+
 //  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;

interface/src/Util.h

@@ -19,6 +19,7 @@
 
 #include <Orientation.h>
 
+void eulerToOrthonormals(glm::vec3 * angles, glm::vec3 * fwd, glm::vec3 * left, glm::vec3 * up);
 
 float azimuth_to(glm::vec3 head_pos, glm::vec3 source_pos);
 float angle_to(glm::vec3 head_pos, glm::vec3 source_pos, float render_yaw, float head_yaw);

interface/src/main.cpp

@@ -1510,7 +1510,20 @@ 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();    
+    //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);
 
     AgentList::createInstance(AGENT_TYPE_INTERFACE);
     

libraries/avatars/src/AvatarData.cpp

@@ -82,7 +82,10 @@ void AvatarData::parseData(unsigned char* sourceBuffer, int numBytes) {
 
     memcpy(&_handPosition, sourceBuffer, sizeof(float) * 3);
     sourceBuffer += sizeof(float) * 3;
+    
+    //printf( "_bodyYaw = %f", _bodyYaw );
 
+    //std::cout << _handPosition.x << ", " << _handPosition.y << ", " << _handPosition.z << "\n";
     //std::cout << _bodyPosition.x << ", " << _bodyPosition.y << ", " << _bodyPosition.z << "\n";