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steamvr_lh: Correct jitter and pull latest timestamp on hands

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BabbleBones 2023-09-05 23:25:39 -04:00 committed by Jakob Bornecrantz
parent 2218446c3e
commit 10d0ab7e1e
1 changed files with 2 additions and 4 deletions
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6
src/xrt/drivers/steamvr_lh/device.cpp
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@ -312,9 +312,8 @@ 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 = {};
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);
uint64_t ts = chrono_timestamp_ns();
m_relation_history_get_latest(relation_hist, &ts, &hand_relation);
u_hand_sim_simulate_for_valve_index_knuckles(&curl_values, get_xrt_hand(), &hand_relation, out);
@ -620,7 +619,6 @@ Device::update_pose(const vr::DriverPose_t &newPose)
math_vec3_accum(&to_world_pos, &vec);
};
world_transform(pose.position);
world_transform(relation.linear_velocity);
math_quat_rotate(&to_world_rot, &pose.orientation, &pose.orientation);
math_quat_rotate_vec3(&pose.orientation, &relation.angular_velocity, &relation.angular_velocity);