ElbowModel.cpp - mozsearch

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/* -*- Mode: C++; tab-width: 20; indent-tabs-mode: nil; c-basic-offset: 2 -*-

 * This Source Code Form is subject to the terms of the Mozilla Public

 * License, v. 2.0. If a copy of the MPL was not distributed with this

 * file, You can obtain one at http://mozilla.org/MPL/2.0/. */

#include "ElbowModel.h"

#include "vrb/ConcreteClass.h"

#include "vrb/Matrix.h"

#include "vrb/Vector.h"

namespace crow {

struct ElbowModel::State {

  const vrb::Vector rightElbowOffset;

  const vrb::Vector leftElbowOffset;

  const vrb::Vector lowerArm;

  vrb::Matrix result;

  State()

      : rightElbowOffset(0.2f, -0.3f, -0.15f)

      , leftElbowOffset(-rightElbowOffset.x(), rightElbowOffset.y(), rightElbowOffset.z())

      , lowerArm(0.0f, 0.0f, -0.4f) {}

};

ElbowModelPtr

ElbowModel::Create() {

  return std::make_shared<vrb::ConcreteClass<ElbowModel, ElbowModel::State> >();

const vrb::Matrix&

ElbowModel::GetTransform(const HandEnum aHand, const vrb::Matrix& aHeadTransform, const vrb::Matrix& aDeviceRotation) {

  vrb::Vector arm = aDeviceRotation.MultiplyDirection(m.lowerArm);

  vrb::Vector offset = aHeadTransform.MultiplyPosition(aHand == HandEnum::Right ? m.rightElbowOffset : m.leftElbowOffset);

  m.result = aDeviceRotation.PreMultiply(vrb::Matrix::Position(offset + arm));

  return m.result;

ElbowModel::ElbowModel(State& aState) : m(aState) {}

} // namespace crow