Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-08-06 10:43:45 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Show the average rotation rates, too.

Browse source
This commit is contained in:
Andrzej Kapolka 2013-06-11 15:47:05 -07:00
parent d913f8dec0
commit e77aee3967
3 changed files with 9 additions and 3 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

7
interface/src/SerialInterface.cpp
View file

@ -236,6 +236,11 @@ void SerialInterface::readData(float deltaTime) {
glm::vec3 angularAcceleration = (deltaTime < EPSILON) ? glm::vec3() : (rotationRates - _lastRotationRates) / deltaTime; glm::vec3 angularAcceleration = (deltaTime < EPSILON) ? glm::vec3() : (rotationRates - _lastRotationRates) / deltaTime;
_lastRotationRates = rotationRates; _lastRotationRates = rotationRates;
_averageRotationRates = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageRotationRates +
1.f/(float)LONG_TERM_RATE_SAMPLES * _lastRotationRates;
printLog("r: %g %g %g\n", _averageRotationRates.x, _averageRotationRates.y, _averageRotationRates.z);
// Update raw rotation estimates // Update raw rotation estimates
glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) * glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
glm::quat(glm::radians(deltaTime * _lastRotationRates)); glm::quat(glm::radians(deltaTime * _lastRotationRates));
@ -247,7 +252,7 @@ void SerialInterface::readData(float deltaTime) {
_averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration + _averageAcceleration = (1.f - 1.f/(float)LONG_TERM_RATE_SAMPLES) * _averageAcceleration +
1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration; 1.f/(float)LONG_TERM_RATE_SAMPLES * _estimatedAcceleration;
printLog("%g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z); printLog("a: %g %g %g\n", _averageAcceleration.x, _averageAcceleration.y, _averageAcceleration.z);
// Consider updating our angular velocity/acceleration to linear acceleration mapping // Consider updating our angular velocity/acceleration to linear acceleration mapping
if (glm::length(_estimatedAcceleration) > EPSILON && if (glm::length(_estimatedAcceleration) > EPSILON &&

1
interface/src/SerialInterface.h
View file

@ -74,6 +74,7 @@ private:
glm::vec3 _lastRotationRates; glm::vec3 _lastRotationRates;
glm::vec3 _averageAcceleration; glm::vec3 _averageAcceleration;
glm::vec3 _averageRotationRates;
glm::mat3 _angularVelocityToLinearAccel; glm::mat3 _angularVelocityToLinearAccel;
glm::mat3 _angularAccelToLinearAccel; glm::mat3 _angularAccelToLinearAccel;

4
libraries/shared/src/SharedUtil.cpp
View file

@ -102,12 +102,12 @@ void setAtBit(unsigned char& byte, int bitIndex) {
} }
int getSemiNibbleAt(unsigned char& byte, int bitIndex) { int getSemiNibbleAt(unsigned char& byte, int bitIndex) {
return (byte >> (7 - bitIndex) & 3); // semi-nibbles store 00, 01, 10, or 11 return (byte >> (6 - bitIndex) & 3); // semi-nibbles store 00, 01, 10, or 11
} }
void setSemiNibbleAt(unsigned char& byte, int bitIndex, int value) { void setSemiNibbleAt(unsigned char& byte, int bitIndex, int value) {
//assert(value <= 3 && value >= 0); //assert(value <= 3 && value >= 0);
byte += ((value & 3) << (7 - bitIndex)); // semi-nibbles store 00, 01, 10, or 11 byte += ((value & 3) << (6 - bitIndex)); // semi-nibbles store 00, 01, 10, or 11
} }