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Removed double negation for coordinates, world aligned orientation -> camera

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orientation, removed roll.
This commit is contained in:
Andrzej Kapolka 2013-06-06 17:25:52 -07:00
parent d2eedeb815
commit ffc1c33455
4 changed files with 10 additions and 11 deletions
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4
interface/src/Application.cpp
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@ -311,11 +311,11 @@ void Application::paintGL() {
} else if (_myCamera.getMode() == CAMERA_MODE_FIRST_PERSON) {
_myCamera.setTightness(0.0f); // In first person, camera follows head exactly without delay
_myCamera.setTargetPosition(_myAvatar.getBallPosition(AVATAR_JOINT_HEAD_BASE));
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
_myCamera.setTargetRotation(_myAvatar.getHead().getCameraOrientation());
} else if (_myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) {
_myCamera.setTargetPosition(_myAvatar.getHeadJointPosition());
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
_myCamera.setTargetRotation(_myAvatar.getHead().getCameraOrientation());
}
// Update camera position

5
interface/src/Head.cpp
View file

@ -314,10 +314,9 @@ glm::quat Head::getOrientation() const {
glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll)));
}
glm::quat Head::getWorldAlignedOrientation () const {
glm::quat Head::getCameraOrientation () const {
Avatar* owningAvatar = static_cast<Avatar*>(_owningAvatar);
return owningAvatar->getWorldAlignedOrientation() * glm::quat(glm::radians(_lookingInMirror ?
glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll)));
return owningAvatar->getWorldAlignedOrientation() * glm::quat(glm::radians(glm::vec3(_pitch, _yaw, 0.0f)));
}
void Head::renderHeadSphere() {

2
interface/src/Head.h
View file

@ -47,7 +47,7 @@ public:
void setRenderLookatVectors(bool onOff ) { _renderLookatVectors = onOff; }
glm::quat getOrientation() const;
glm::quat getWorldAlignedOrientation () const;
glm::quat getCameraOrientation () const;
glm::vec3 getRightDirection() const { return getOrientation() * IDENTITY_RIGHT; }
glm::vec3 getUpDirection () const { return getOrientation() * IDENTITY_UP; }

10
interface/src/SerialInterface.cpp
View file

@ -215,7 +215,7 @@ void SerialInterface::readData(float deltaTime) {
// From MPU-9150 register map, with setting on
// highest resolution = +/- 2G
_lastAcceleration = glm::vec3(-accelXRate, -accelYRate, -accelZRate) * LSB_TO_METERS_PER_SECOND2;
_lastAcceleration = glm::vec3(accelXRate, accelYRate, accelZRate) * LSB_TO_METERS_PER_SECOND2;
int rollRate, yawRate, pitchRate;
@ -225,9 +225,9 @@ void SerialInterface::readData(float deltaTime) {
// Convert the integer rates to floats
const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.
_lastRotationRates[0] = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND;
_lastRotationRates[1] = ((float) -yawRate) * LSB_TO_DEGREES_PER_SECOND;
_lastRotationRates[2] = ((float) -rollRate) * LSB_TO_DEGREES_PER_SECOND;
_lastRotationRates[0] = ((float) pitchRate) * LSB_TO_DEGREES_PER_SECOND;
_lastRotationRates[1] = ((float) yawRate) * LSB_TO_DEGREES_PER_SECOND;
_lastRotationRates[2] = ((float) rollRate) * LSB_TO_DEGREES_PER_SECOND;
// Update raw rotation estimates
glm::quat estimatedRotation = glm::quat(glm::radians(_estimatedRotation)) *
@ -264,7 +264,7 @@ void SerialInterface::readData(float deltaTime) {
1.0f / SENSOR_FUSION_SAMPLES);
// Without a compass heading, always decay estimated Yaw slightly
const float YAW_DECAY = 0.995;
const float YAW_DECAY = 0.999f;
glm::vec3 forward = estimatedRotation * glm::vec3(0.0f, 0.0f, -1.0f);
estimatedRotation = safeMix(glm::angleAxis(glm::degrees(atan2f(forward.x, -forward.z)),
glm::vec3(0.0f, 1.0f, 0.0f)) * estimatedRotation, estimatedRotation, YAW_DECAY);