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d/steamvr_lh: Only use the relation history buffer for poses

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Also enables prediction to be toggled on.
This commit is contained in:
Jakob Bornecrantz 2023-08-16 12:51:15 +01:00
parent 577a9aa420
commit 0fb5025997
2 changed files with 24 additions and 10 deletions
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28
src/xrt/drivers/steamvr_lh/device.cpp
View file

@ -38,6 +38,7 @@
#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.)
DEBUG_GET_ONCE_BOOL_OPTION(lh_emulate_hand, "LH_EMULATE_HAND", true)
DEBUG_GET_ONCE_BOOL_OPTION(lh_prediction, "LH_PREDICTION", false)
// Each device will have its own input class.
struct InputClass
@ -312,8 +313,9 @@ ControllerDevice::update_hand_tracking(struct xrt_hand_joint_set *out)
auto curl_values = u_hand_tracking_curl_values{pinky, ring, middle, index, thumb};
struct xrt_space_relation hand_relation = {};
m_relation_history_get(relation_hist, last_pose_timestamp, &hand_relation);
uint64_t last_ns{0}; // Not used.
// Currently we only return the latest pose.
m_relation_history_get_latest(relation_hist, &last_ns, &hand_relation);
u_hand_sim_simulate_for_valve_index_knuckles(&curl_values, get_xrt_hand(), &hand_relation, out);
@ -396,19 +398,29 @@ ControllerDevice::get_hand_tracking(enum xrt_input_name name,
*out_timestamp_ns = hand_tracking_timestamp;
}
void
Device::get_pose(uint64_t at_timestamp_ns, xrt_space_relation *out_relation)
{
if (debug_get_bool_option_lh_prediction()) {
m_relation_history_get(this->relation_hist, at_timestamp_ns, out_relation);
} else {
// Without prediction just use the latest, also disables history.
uint64_t last_ns{0}; // Not used.
m_relation_history_get_latest(this->relation_hist, &last_ns, out_relation);
}
}
void
HmdDevice::get_tracked_pose(xrt_input_name name, uint64_t at_timestamp_ns, xrt_space_relation *out_relation)
{
*out_relation = relation;
// TODO: figure this out, it's not doing anything like this
// at_timestamp_ns += vsync_to_photon_ns == 0.f ? 11000000L : static_cast<uint64_t>(vsync_to_photon_ns);
Device::get_pose(at_timestamp_ns, out_relation);
}
void
ControllerDevice::get_tracked_pose(xrt_input_name name, uint64_t at_timestamp_ns, xrt_space_relation *out_relation)
{
xrt_space_relation rel = {};
m_relation_history_get(relation_hist, last_pose_timestamp, &rel);
Device::get_pose(at_timestamp_ns, &rel);
xrt_pose pose_offset = XRT_POSE_IDENTITY;
vive_poses_get_pose_offset(input_class->name, device_type, name, &pose_offset);
@ -633,11 +645,11 @@ Device::update_pose(const vr::DriverPose_t &newPose)
} else {
relation.relation_flags = XRT_SPACE_RELATION_BITMASK_NONE;
}
this->relation = relation;
uint64_t ts = chrono_timestamp_ns();
uint64_t ts_offset = static_cast<uint64_t>(newPose.poseTimeOffset * 1000000.0);
ts += ts_offset;
last_pose_timestamp = ts;
m_relation_history_push(relation_hist, &relation, ts);
}

6
src/xrt/drivers/steamvr_lh/device.hpp
View file

@ -40,7 +40,6 @@ class Device : public xrt_device
{
public:
xrt_space_relation relation = XRT_SPACE_RELATION_ZERO;
m_relation_history *relation_hist;
virtual ~Device();
@ -54,6 +53,10 @@ public:
void
update_pose(const vr::DriverPose_t &newPose);
//! Helper to access the @ref relation_hist member.
void
get_pose(uint64_t at_timestamp_ns, xrt_space_relation *out_relation);
void
handle_properties(const vr::PropertyWrite_t *batch, uint32_t count);
@ -70,7 +73,6 @@ protected:
inline static xrt_vec3 chaperone_center{};
inline static xrt_quat chaperone_yaw = XRT_QUAT_IDENTITY;
const InputClass *input_class;
uint64_t last_pose_timestamp{0};
float vsync_to_photon_ns{0.f};