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Rotation axis #198

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pehrlich
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WIP - this still needs to be confirmed, and the tests updated to match. CC @GabrielHare

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cross reference: #191

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I’ll take a look tomorrow. Bug me about it please? ;-)

On 13 Nov, 2014, at 7:41 PM, Peter Ehrlich notifications@github.com wrote:

cross reference: #191 #191
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GabrielHare
GabrielHare reviewed Nov 17, 2014
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lib/frame.js Outdated
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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.

Gabriel Hare and others added 4 commits November 17, 2014 13:07
Update frame.js
d102e89 
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.
Fix hand rotationAngle
7e41cd0 
Making hand rotationAngle consistent with frame rotationAngle
Fix hand rotationAngle
afbf56c 
Correcting variable name rotation -> rot.
@pehrlich
Remove errant plus signs; build.
c332680
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@pehrlich @GabrielHare