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Rather than adding Euler angles, compose quaternions for gyros.

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This commit is contained in:
Andrzej Kapolka 2013-05-30 14:56:12 -07:00
parent 5967fbcae8
commit e2ec8245b0
5 changed files with 15 additions and 7 deletions
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2
interface/src/Application.cpp
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@ -1274,7 +1274,7 @@ void Application::init() {
void Application::updateAvatar(float deltaTime) {
// Update my avatar's head position from gyros
_myAvatar.updateHeadFromGyros(deltaTime, &_serialPort, &_gravity);
_myAvatar.updateHeadFromGyros(deltaTime, &_serialPort);
// Grab latest readings from the gyros
float measuredPitchRate = _serialPort.getLastPitchRate();

10
interface/src/Avatar.cpp
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@ -124,7 +124,7 @@ void Avatar::reset() {
}
// Update avatar head rotation with sensor data
void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterface, glm::vec3* gravity) {
void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterface) {
const float AMPLIFY_PITCH = 2.f;
const float AMPLIFY_YAW = 2.f;
const float AMPLIFY_ROLL = 2.f;
@ -134,10 +134,10 @@ void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterfa
float measuredRollRate = serialInterface->getLastRollRate();
// Update avatar head position based on measured gyro rates
_head.addPitch(measuredPitchRate * AMPLIFY_PITCH * deltaTime);
_head.addYaw (measuredYawRate * AMPLIFY_YAW * deltaTime);
_head.addRoll (measuredRollRate * AMPLIFY_ROLL * deltaTime);
_head.setOrientation(_head.getOrientation() * glm::quat(glm::radians(glm::vec3(
measuredPitchRate * AMPLIFY_PITCH * deltaTime,
measuredYawRate * AMPLIFY_YAW * deltaTime,
measuredRollRate * AMPLIFY_ROLL * deltaTime))));
// Update head lean distance based on accelerometer data
glm::vec3 headRotationRates(_head.getPitch(), _head.getYaw(), _head.getRoll());

2
interface/src/Avatar.h
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@ -48,7 +48,7 @@ public:
void reset();
void simulate(float deltaTime, Transmitter* transmitter);
void updateHeadFromGyros(float frametime, SerialInterface * serialInterface, glm::vec3 * gravity);
void updateHeadFromGyros(float frametime, SerialInterface * serialInterface);
void updateFromMouse(int mouseX, int mouseY, int screenWidth, int screenHeight);
void addBodyYaw(float y) {_bodyYaw += y;};
void render(bool lookingInMirror);

7
interface/src/Head.cpp
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@ -307,6 +307,13 @@ void Head::renderMohawk(glm::vec3 cameraPosition) {
}
}
void Head::setOrientation(const glm::quat& orientation) {
glm::vec3 eulerAngles = safeEulerAngles(glm::inverse(glm::quat(glm::radians(_bodyRotation))) * orientation);
_pitch = eulerAngles.x;
_yaw = eulerAngles.y;
_roll = eulerAngles.z;
}
glm::quat Head::getOrientation() const {
return glm::quat(glm::radians(_bodyRotation)) * glm::quat(glm::radians(_lookingInMirror ?
glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll)));

1
interface/src/Head.h
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@ -45,6 +45,7 @@ public:
void setAverageLoudness(float averageLoudness ) { _averageLoudness = averageLoudness; }
void setReturnToCenter (bool returnHeadToCenter) { _returnHeadToCenter = returnHeadToCenter; }
void setRenderLookatVectors(bool onOff ) { _renderLookatVectors = onOff; }
void setOrientation(const glm::quat& orientation);
glm::quat getOrientation() const;
glm::quat getWorldAlignedOrientation () const;