Changeset 289 in flair-src for trunk/lib/FlairSimulator

Timestamp:

Jan 8, 2019, 3:18:33 PM (6 years ago)

Author:

Sanahuja Guillaume

Message:

use yaw rotation of vrpn

File:

• trunk/lib/FlairSimulator/src/UavVrpnObject_impl.cpp (modified) (1 diff)

trunk/lib/FlairSimulator/src/UavVrpnObject_impl.cpp

@@ -80 +80 @@
   input->ReleaseMutex();
   
+  //use yaw rotation from earth to vrpn
+  Quaternion yaw_rot_quat;
+  Euler yaw_rot_euler(0, 0, getSimulator()->Yaw()); // yaw_rad is vrpn rotation in earth reference
+  yaw_rot_euler.ToQuaternion(yaw_rot_quat);
+  vrpnPosition.Rotate(yaw_rot_quat);
+  vrpnQuaternion= yaw_rot_quat * vrpnQuaternion;
+  
   vector3df nodePosition;
   Quaternion nodeQuaternion;
   Euler nodeEuler;
 
+  //transform form earth to irrlicht
   nodePosition = ToIrrlichtCoordinates(vrpnPosition);
   setPosition(nodePosition);