Fixing SurfaceMagnetism quaternion math #10074
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keveleigh
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Jul 13, 2021
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Dec 7, 2021
Fixing SurfaceMagnetism quaternion math
keveleigh
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to keveleigh/HoloToolkit-Unity
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Dec 7, 2021
Fixing SurfaceMagnetism quaternion math
keveleigh
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to keveleigh/HoloToolkit-Unity
that referenced
this pull request
Dec 7, 2021
Fixing SurfaceMagnetism quaternion math
keveleigh
pushed a commit
to keveleigh/HoloToolkit-Unity
that referenced
this pull request
Dec 7, 2021
Fixing SurfaceMagnetism quaternion math
keveleigh
pushed a commit
to keveleigh/HoloToolkit-Unity
that referenced
this pull request
Dec 8, 2021
Fixing SurfaceMagnetism quaternion math
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Overview
Currently, SurfaceMagnetism uses
Vector3.upas the up vector for all surface normalQuaternion.LookRotationcalculations. This causes gimbal-lock-like behavior when the surface that is being magnetized to is mostly looking upwards. This manifests in ugly temporal instability when a hologram is magnetized to the floor of the scene reconstruction mesh.The quaternion math in
SurfaceMagnetismhas been fixed to now use the "best guess" up vector, derived from the current working rotation's up vector. This ensures temporal stability in all cases. Compatibility has been ensured with both modes ofKeepOrientationVertical, as well asOrientationMode.TrackedTarget.A unit test has been added that verifies the absence of any gimbal locking behavior when a floor-like surface is tilted/updated.
Changes
SurfaceMagnetismto properly calculate a temporally stable look rotation.Verification
The test should cover #10064's reported incident. @holomatt feel free to clone this PR and verify that your issue is fixed.