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fix angular velocity

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This commit is contained in:
Brad Hefta-Gaub 2015-10-23 13:16:05 -07:00
parent 4a58eeb810
commit f90844449d
3 changed files with 5 additions and 8 deletions
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2
interface/src/Application.cpp
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@ -4851,10 +4851,8 @@ void Application::setPalmData(Hand* hand, const controller::Pose& pose, float de
angularVelocity = glm::normalize(glm::axis(deltaRotation)); angularVelocity = glm::normalize(glm::axis(deltaRotation));
angularVelocity *= (rotationAngle / deltaTime); angularVelocity *= (rotationAngle / deltaTime);
palm->setRawAngularVelocity(angularVelocity); palm->setRawAngularVelocity(angularVelocity);
palm->setRawDeltaRotation(deltaRotation); // FIXME - do we really want both RawAngularVelocity and RawDeltaRotation
} else { } else {
palm->setRawAngularVelocity(glm::vec3(0.0f)); palm->setRawAngularVelocity(glm::vec3(0.0f));
palm->setRawDeltaRotation(glm::quat());
} }
if (controller::InputDevice::getLowVelocityFilter()) { if (controller::InputDevice::getLowVelocityFilter()) {

8
interface/src/avatar/MyAvatar.cpp
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@ -600,28 +600,28 @@ controller::Pose MyAvatar::getLeftHandPose() const {
const int LEFT_HAND = 0; const int LEFT_HAND = 0;
auto palmData = getActivePalm(LEFT_HAND); auto palmData = getActivePalm(LEFT_HAND);
return palmData ? controller::Pose(palmData->getPosition(), palmData->getRotation(), return palmData ? controller::Pose(palmData->getPosition(), palmData->getRotation(),
palmData->getVelocity(), palmData->getRawDeltaRotation()) : controller::Pose(); palmData->getVelocity(), palmData->getRawAngularVelocityAsQuat()) : controller::Pose();
} }
controller::Pose MyAvatar::getRightHandPose() const { controller::Pose MyAvatar::getRightHandPose() const {
const int RIGHT_HAND = 1; const int RIGHT_HAND = 1;
auto palmData = getActivePalm(RIGHT_HAND); auto palmData = getActivePalm(RIGHT_HAND);
return palmData ? controller::Pose(palmData->getPosition(), palmData->getRotation(), return palmData ? controller::Pose(palmData->getPosition(), palmData->getRotation(),
palmData->getVelocity(), palmData->getRawDeltaRotation()) : controller::Pose(); palmData->getVelocity(), palmData->getRawAngularVelocityAsQuat()) : controller::Pose();
} }
controller::Pose MyAvatar::getLeftHandTipPose() const { controller::Pose MyAvatar::getLeftHandTipPose() const {
const int LEFT_HAND = 0; const int LEFT_HAND = 0;
auto palmData = getActivePalm(LEFT_HAND); auto palmData = getActivePalm(LEFT_HAND);
return palmData ? controller::Pose(palmData->getTipPosition(), palmData->getRotation(), return palmData ? controller::Pose(palmData->getTipPosition(), palmData->getRotation(),
palmData->getTipVelocity(), palmData->getRawDeltaRotation()) : controller::Pose(); palmData->getTipVelocity(), palmData->getRawAngularVelocityAsQuat()) : controller::Pose();
} }
controller::Pose MyAvatar::getRightHandTipPose() const { controller::Pose MyAvatar::getRightHandTipPose() const {
const int RIGHT_HAND = 1; const int RIGHT_HAND = 1;
auto palmData = getActivePalm(RIGHT_HAND); auto palmData = getActivePalm(RIGHT_HAND);
return palmData ? controller::Pose(palmData->getTipPosition(), palmData->getRotation(), return palmData ? controller::Pose(palmData->getTipPosition(), palmData->getRotation(),
palmData->getTipVelocity(), palmData->getRawDeltaRotation()) : controller::Pose(); palmData->getTipVelocity(), palmData->getRawAngularVelocityAsQuat()) : controller::Pose();
} }
// virtual // virtual

3
libraries/avatars/src/HandData.h
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@ -104,8 +104,7 @@ public:
void setRawAngularVelocity(const glm::vec3& angularVelocity) { _rawAngularVelocity = angularVelocity; } void setRawAngularVelocity(const glm::vec3& angularVelocity) { _rawAngularVelocity = angularVelocity; }
const glm::vec3& getRawAngularVelocity() const { return _rawAngularVelocity; } const glm::vec3& getRawAngularVelocity() const { return _rawAngularVelocity; }
void setRawDeltaRotation(glm::quat rawDeltaRotation) { _rawDeltaRotation = rawDeltaRotation; } // FIXME, is this really what we want? glm::quat getRawAngularVelocityAsQuat() const { return glm::quat(_rawAngularVelocity); }
glm::quat getRawDeltaRotation() const { return _rawDeltaRotation; }
void addToPosition(const glm::vec3& delta); void addToPosition(const glm::vec3& delta);