Copied the delta based computation of velocity and angularVelocity that was in Application::setPalmData() and moved it into SixenseManager. This will guarantee that the velocity computation is the same as it was previously. The goal here is to NOT change the behavior of the hydra. The moving average style calculation of velocities has been removed. Removed dead code.
Showing the changes to interface/src/Application.cpp (1 of 5 files). Show all
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| @@ -5036,31 +5036,6 @@ void Application::setPalmData(Hand* hand, const controller::Pose& pose, float de · 5035 unmodified lines | |||
| 5036 | // controller pose is in Avatar frame. | 5036 | // controller pose is in Avatar frame. |
| 5037 | glm::vec3 position = pose.getTranslation(); | 5037 | glm::vec3 position = pose.getTranslation(); |
| 5038 | glm::quat rotation = pose.getRotation(); | 5038 | glm::quat rotation = pose.getRotation(); |
| 5039 | |||
| 5040 | // AJT: REMOVE | ||
| 5041 | /* | ||
| 5042 | // Compute current velocity from position change | ||
| 5043 | glm::vec3 rawVelocity; | ||
| 5044 | if (deltaTime > 0.0f) { | ||
| 5045 | rawVelocity = (position - palm.getRawPosition()) / deltaTime; | ||
| 5046 | } else { | ||
| 5047 | rawVelocity = glm::vec3(0.0f); | ||
| 5048 | } | ||
| 5049 | palm.setRawVelocity(rawVelocity); // meters/sec | ||
| 5050 | |||
| 5051 | // Angular Velocity of Palm | ||
| 5052 | glm::quat deltaRotation = rotation * glm::inverse(palm.getRawRotation()); | ||
| 5053 | glm::vec3 angularVelocity(0.0f); | ||
| 5054 | float rotationAngle = glm::angle(deltaRotation); | ||
| 5055 | if ((rotationAngle > EPSILON) && (deltaTime > 0.0f)) { | ||
| 5056 | angularVelocity = glm::normalize(glm::axis(deltaRotation)); | ||
| 5057 | angularVelocity *= (rotationAngle / deltaTime); | ||
| 5058 | palm.setRawAngularVelocity(angularVelocity); | ||
| 5059 | } else { | ||
| 5060 | palm.setRawAngularVelocity(glm::vec3(0.0f)); | ||
| 5061 | } | ||
| 5062 | */ | ||
| 5063 | |||
| 5064 | glm::vec3 rawVelocity = pose.getVelocity(); | 5039 | glm::vec3 rawVelocity = pose.getVelocity(); |
| 5065 | glm::vec3 angularVelocity = pose.getAngularVelocity(); | 5040 | glm::vec3 angularVelocity = pose.getAngularVelocity(); |
| 5066 | 5041 | ||