Class OrienterThreeBody

Derived class which supports computing implicit rotations in full 3-DOF (6-DOF w/ position).

Inheritance
Object
Orienter
OrienterThreeBody
Implements
Inherited Members
Namespace: Microsoft.MixedReality.WorldLocking.Core
Assembly: cs.temp.dll.dll
Syntax
public class OrienterThreeBody : Orienter, IOrienter
Remarks

Whereas the base Orienter class uses the simplifying assumption of only adjusting yaw, that is rotation about the gravity vector Y-axis, the OrienterThreeBody computes an arbitrary 3-DOF rotation to align modeling space with the supplied physical reference points. Since at least three non-collinear points are necessary to compute such a rotation, until they are available, it falls back on a simplified computation. To summarize:

  1. Zero points - identity transform
  2. One point - position alignment only (identity rotation)
  3. All points collinear - yaw and pitch about the line, but no roll about the line.
  4. Non-collinear - 3-DOF alignment.

Methods

ComputeRotation(IOrientable, IOrientable)

Compute yaw and pitch to align virtual line with physical.

Declaration
protected override Orienter.WeightedRotation ComputeRotation(IOrientable a, IOrientable b)
Parameters
Type Name Description
IOrientable a

First point
IOrientable b

Second point
Returns
Type Description
Orienter.WeightedRotation

Computed rotation weighted by inverse distance between points.
Overrides

ComputeRotations()

Override to compute rotations unconstrained as a rotation about the gravity vector, Y-axis.

Declaration
protected override bool ComputeRotations()
Returns
Type Description
Boolean

True on success.
Overrides
Remarks

It takes at least 3 non-collinear points to imply a rotation. If there are fewer than that, this reverts back to the behavior of computing a rotation which pitches to align points but doesn't introduce roll.

Implements