int w_Joystick_getAxes(lua_State *L)
{
Joystick *j = luax_checkjoystick(L, 1);
std::vector<float> axes = j->getAxes();
for (size_t i = 0; i < axes.size(); i++)
lua_pushnumber(L, axes[i]);
return (int) axes.size();
}
static void setPalm(float deltaTime, int index) {
MyAvatar* avatar = Application::getInstance()->getAvatar();
Hand* hand = avatar->getHand();
PalmData* palm;
bool foundHand = false;
for (size_t j = 0; j < hand->getNumPalms(); j++) {
if (hand->getPalms()[j].getSixenseID() == 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(index);
}
palm->setActive(true);
// Read controller buttons and joystick into the hand
const QString PRIO_JOYSTICK_NAME = "PrioVR";
Joystick* prioJoystick = JoystickScriptingInterface::getInstance().joystickWithName(PRIO_JOYSTICK_NAME);
if (prioJoystick) {
const QVector<float> axes = prioJoystick->getAxes();
const QVector<bool> buttons = prioJoystick->getButtons();
if (axes.size() >= 4 && buttons.size() >= 4) {
if (index == LEFT_HAND_INDEX) {
palm->setControllerButtons(buttons[1] ? BUTTON_FWD : 0);
palm->setTrigger(buttons[0] ? 1.0f : 0.0f);
palm->setJoystick(axes[0], -axes[1]);
} else {
palm->setControllerButtons(buttons[3] ? BUTTON_FWD : 0);
palm->setTrigger(buttons[2] ? 1.0f : 0.0f);
palm->setJoystick(axes[2], -axes[3]);
}
}
}
// NOTE: this math is done in the worl-frame with unecessary complexity.
// TODO: transfom this to stay in the model-frame.
glm::vec3 position;
glm::quat rotation;
SkeletonModel* skeletonModel = &Application::getInstance()->getAvatar()->getSkeletonModel();
int jointIndex;
glm::quat inverseRotation = glm::inverse(Application::getInstance()->getAvatar()->getOrientation());
if (index == LEFT_HAND_INDEX) {
jointIndex = skeletonModel->getLeftHandJointIndex();
skeletonModel->getJointRotationInWorldFrame(jointIndex, rotation);
rotation = inverseRotation * rotation * glm::quat(glm::vec3(0.0f, PI_OVER_TWO, 0.0f));
} else {
jointIndex = skeletonModel->getRightHandJointIndex();
skeletonModel->getJointRotationInWorldFrame(jointIndex, rotation);
rotation = inverseRotation * rotation * glm::quat(glm::vec3(0.0f, -PI_OVER_TWO, 0.0f));
}
skeletonModel->getJointPositionInWorldFrame(jointIndex, position);
position = inverseRotation * (position - skeletonModel->getTranslation());
palm->setRawRotation(rotation);
// Compute current velocity from position change
glm::vec3 rawVelocity;
if (deltaTime > 0.0f) {
rawVelocity = (position - palm->getRawPosition()) / deltaTime;
} else {
rawVelocity = glm::vec3(0.0f);
}
palm->setRawVelocity(rawVelocity);
palm->setRawPosition(position);
// Store the one fingertip in the palm structure so we can track velocity
const float FINGER_LENGTH = 0.3f; // meters
const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
glm::vec3 oldTipPosition = palm->getTipRawPosition();
if (deltaTime > 0.0f) {
palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);
} else {
palm->setTipVelocity(glm::vec3(0.0f));
}
palm->setTipPosition(newTipPosition);
}