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add offset function

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This commit is contained in:
Dante Ruiz 2017-05-03 00:37:35 +01:00
parent 8e2b25eacc
commit fb502a7fed
1 changed files with 5 additions and 3 deletions
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8
plugins/openvr/src/ViveControllerManager.cpp
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@ -54,8 +54,9 @@ const char* ViveControllerManager::NAME { "OpenVR" };
glm::mat4 computeOffset(glm::mat4 defaultRefrence, glm::mat4 defaultJointMat, controller::Pose puckPose) { glm::mat4 computeOffset(glm::mat4 defaultRefrence, glm::mat4 defaultJointMat, controller::Pose puckPose) {
qDebug() << "-------------> computing offset <-------------"; qDebug() << "-------------> computing offset <-------------";
glm::mat4 puckMat = create glm::mat4 poseMat = createMatFromQuatAndPos(puckPose.rotation, puckPose.translation);
return mat4(); glm::mat4 refrenceJointMat = defaultRefrence * defaultJointMat;
return glm::inverse(poseMat) * refrenceJointMat;
} }
bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) { bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
controller::Pose firstPose = firstPuck.second; controller::Pose firstPose = firstPuck.second;
@ -221,10 +222,11 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
if (!_calibrated) { if (!_calibrated) {
glm::mat4 controllerToAvatar = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat; glm::mat4 controllerToAvatar = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
glm::mat4 currentHead = inputCalibration.hmdSensorMat * controllerToAvatar; glm::mat4 currentHead = inputCalibration.hmdSensorMat * controllerToAvatar;
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::quat canceledRollAndPitch = cancelOutRollAndPitch(glmExtractRotation(currentHead)); glm::quat canceledRollAndPitch = cancelOutRollAndPitch(glmExtractRotation(currentHead));
glm::vec3 currentHeadPosition = extractTranslation(currentHead); glm::vec3 currentHeadPosition = extractTranslation(currentHead);
currentHead = createMatFromQuatAndPos(canceledRollAndPitch, currentHeadPosition); currentHead = createMatFromQuatAndPos(canceledRollAndPitch, currentHeadPosition);
glm::mat4 defaultRefrenceXform = currentHead * glm::inverse(inputCalibration.defaultHeadMat); glm::mat4 defaultRefrenceXform = currentHead * defaultHeadOffset;
auto puckCount = _validTrackedObjects.size(); auto puckCount = _validTrackedObjects.size();
if (puckCount == 2) { if (puckCount == 2) {
qDebug() << "-------------< configure feet <-------------"; qDebug() << "-------------< configure feet <-------------";