Rotation axis #198
Rotation axis #198
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cross reference: #191 |
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I’ll take a look tomorrow. Bug me about it please? ;-)
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| var cs = (rot[0] + rot[4] + rot[8] - 1.0)*0.5; | ||
| var angle = Math.acos(cs); | ||
| angle = isNaN(angle) ? 0.0 : angle; | ||
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A reasonably clear derivation can be found here: http://en.wikipedia.org/wiki/Axis–angle_representation#Exponential_map_from_so.283.29_to_SO.283.29
Also see the log map section.
PROBLEM: The output of rotationAxis is normalized var sin = Leap.vec3.len(this.rotationAxis(sinceFrame)); This has been addressed by re-deriving the axis of rotation without normalization. NOTE: The equations used here (which match those used in platform) will result in an undefined rotation at 180 deg. The formula used here conforms to the Leap math standards.
Making hand rotationAngle consistent with frame rotationAngle
Correcting variable name rotation -> rot.
WIP - this still needs to be confirmed, and the tests updated to match. CC @GabrielHare