C++ PalmData::setRawNormal方法代码示例

void SixenseManager::update(float deltaTime) {
#ifdef HAVE_SIXENSE
    if (sixenseGetNumActiveControllers() == 0) {
        return;
    }
    MyAvatar* avatar = Application::getInstance()->getAvatar();
    Hand* hand = avatar->getHand();
    
    int maxControllers = sixenseGetMaxControllers();

    // we only support two controllers
    sixenseControllerData controllers[2];

    int numActiveControllers = 0;
    for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) {
        if (!sixenseIsControllerEnabled(i)) {
            continue;
        }
        sixenseControllerData* data = controllers + numActiveControllers;
        ++numActiveControllers;
        sixenseGetNewestData(i, data);
        
        //  Set palm position and normal based on Hydra position/orientation
        
        // Either find a palm matching the sixense controller, or make a new one
        PalmData* palm;
        bool foundHand = false;
        for (size_t j = 0; j < hand->getNumPalms(); j++) {
            if (hand->getPalms()[j].getSixenseID() == data->controller_index) {
                palm = &(hand->getPalms()[j]);
                foundHand = true;
            }
        }
        if (!foundHand) {
            PalmData newPalm(hand);
            hand->getPalms().push_back(newPalm);
            palm = &(hand->getPalms()[hand->getNumPalms() - 1]);
            palm->setSixenseID(data->controller_index);
            printf("Found new Sixense controller, ID %i\n", data->controller_index);
        }
        
        palm->setActive(true);
        
        //  Read controller buttons and joystick into the hand
        palm->setControllerButtons(data->buttons);
        palm->setTrigger(data->trigger);
        palm->setJoystick(data->joystick_x, data->joystick_y);

        glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);
        // Transform the measured position into body frame.  
        glm::vec3 neck = _neckBase;
        // Zeroing y component of the "neck" effectively raises the measured position a little bit.
        neck.y = 0.f;
        position = _orbRotation * (position - neck);

        //  Rotation of Palm
        glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]);
        rotation = glm::angleAxis(PI, glm::vec3(0.f, 1.f, 0.f)) * _orbRotation * rotation;
        const glm::vec3 PALM_VECTOR(0.0f, -1.0f, 0.0f);
        glm::vec3 newNormal = rotation * PALM_VECTOR;
        palm->setRawNormal(newNormal);
        palm->setRawRotation(rotation);
        
        //  Compute current velocity from position change
        glm::vec3 rawVelocity = (position - palm->getRawPosition()) / deltaTime / 1000.f;
        palm->setRawVelocity(rawVelocity);   //  meters/sec
        palm->setRawPosition(position);
        
        // use the velocity to determine whether there's any movement (if the hand isn't new)
        const float MOVEMENT_SPEED_THRESHOLD = 0.05f;
        if (glm::length(rawVelocity) > MOVEMENT_SPEED_THRESHOLD && foundHand) {
            _lastMovement = usecTimestampNow();
        }
        
        // initialize the "finger" based on the direction
        FingerData finger(palm, hand);
        finger.setActive(true);
        finger.setRawRootPosition(position);
        const float FINGER_LENGTH = 300.0f;   //  Millimeters
        const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
        const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
        finger.setRawTipPosition(position + rotation * FINGER_VECTOR);
        
        // Store the one fingertip in the palm structure so we can track velocity
        glm::vec3 oldTipPosition = palm->getTipRawPosition();
        palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime / 1000.f);
        palm->setTipPosition(newTipPosition);
        
        // three fingers indicates to the skeleton that we have enough data to determine direction
        palm->getFingers().clear();
        palm->getFingers().push_back(finger);
        palm->getFingers().push_back(finger);
        palm->getFingers().push_back(finger);
    }

    if (numActiveControllers == 2) {
        updateCalibration(controllers);
    }

    // if the controllers haven't been moved in a while, disable
//.........这里部分代码省略.........