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Fix logic errors in redirected-walking (#413)

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* Resolve a logic issue for Redirected Walking

* Resolve issue with arc magnitudes being less than expected

* warnings

Co-authored-by: ykeara <ykeara1@gmail.com>
This commit is contained in:
Chelsea Jaggi
2020-04-17 02:36:12 -05:00
committed by GitHub
co-authored by ykeara
parent b3e9e63cba
commit de460f172a
1 changed files with 19 additions and 15 deletions
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src/tabcontrollers/RotationTabController.cpp
+19 -15
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@@ -97,10 +97,10 @@ void RotationTabController::doVestibularMotion(
itr++ ) itr++ )
{ {
itrLast++; itrLast++;
if ( itr->distance > itrLast->distance ) // if ( itr->distance > itrLast->distance )
{ //{
continue; // continue;
} //}
if ( nearestWall == chaperoneDistances.end() if ( nearestWall == chaperoneDistances.end()
|| itr->distance < nearestWall->distance ) || itr->distance < nearestWall->distance )
@@ -135,19 +135,23 @@ void RotationTabController::doVestibularMotion(
// Get the distance between previous and current // Get the distance between previous and current
// position // position
double distanceChange = std::sqrt( double distanceChange = static_cast<double>(
std::pow( poseHmd.mDeviceToAbsoluteTracking.m[0][3] std::hypot( poseHmd.mDeviceToAbsoluteTracking.m[0][3]
- m_autoTurnLastHmdUpdate.m[0][3],
2.0 )
+ std::pow( poseHmd.mDeviceToAbsoluteTracking.m[0][3]
- m_autoTurnLastHmdUpdate.m[0][3], - m_autoTurnLastHmdUpdate.m[0][3],
2.0 ) ); poseHmd.mDeviceToAbsoluteTracking.m[2][3]
- m_autoTurnLastHmdUpdate.m[2][3] ) );
double rotationAmount // Get the arc length between the previous point and current point
= ( distanceChange // 2 sin-1( (d/2)/r ) (in radians)
/ ( 2.0 * M_PI double arcLength = 2
* RotationTabController::vestibularMotionRadius() ) ) * std::asin( ( distanceChange / 2 )
* ( turnLeft ? 1 : -1 ); / vestibularMotionRadius() );
if ( std::isnan( arcLength ) )
{
break;
}
double rotationAmount = arcLength * ( turnLeft ? 1 : -1 );
double newRotationAngleDeg double newRotationAngleDeg
= std::fmod( parent->m_moveCenterTabController.rotation() = std::fmod( parent->m_moveCenterTabController.rotation()