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st/oxr: use initial head pose as local space origin

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Implements local space in xrLocateViews, xrLocateSpace, and Quad layers in xrEndFrame.
This commit is contained in:
Christoph Haag 2020-07-19 23:44:24 +02:00
parent 47a66e1bdf
commit 164eda38d4
3 changed files with 111 additions and 15 deletions
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9
src/xrt/state_trackers/oxr/oxr_objects.h
View file

@ -693,6 +693,11 @@ oxr_space_ref_relation(struct oxr_logger *log,
XrTime time,
struct xrt_space_relation *out_relation);
bool
initial_head_relation_valid(struct oxr_session *sess);
bool
global_to_local_space(struct oxr_session *sess, struct xrt_pose *pose);
/*
*
@ -1266,6 +1271,10 @@ struct oxr_session
struct oxr_session *sess,
const XrSwapchainCreateInfo *,
struct oxr_swapchain **);
/*! initial relation of head in "global" space.
* Used as reference for local space. */
struct xrt_space_relation initial_head_relation;
};
/*!

9
src/xrt/state_trackers/oxr/oxr_session.c
View file

@ -865,6 +865,15 @@ submit_quad_layer(struct oxr_session *sess,
// Remove the tracking system origin offset.
math_pose_transform(inv_offset, &pose, &pose);
if (spc->type == XR_REFERENCE_SPACE_TYPE_LOCAL) {
if (!initial_head_relation_valid(sess)) {
return XR_SUCCESS;
}
math_pose_transform(&sess->initial_head_relation.pose,
&pose, &pose);
}
} else {
//! @todo Action space handling not very complete

108
src/xrt/state_trackers/oxr/oxr_space.c
View file

@ -127,6 +127,51 @@ get_ref_space_type_short_str(struct oxr_space *spc)
}
}
static bool
ensure_initial_head_relation(struct oxr_session *sess,
struct xrt_space_relation *head_relation)
{
if (!(head_relation->relation_flags &
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT)) {
return false;
}
if (!initial_head_relation_valid(sess)) {
sess->initial_head_relation = *head_relation;
// take only head rotation around y axis
// https://stackoverflow.com/a/5783030
sess->initial_head_relation.pose.orientation.x = 0;
sess->initial_head_relation.pose.orientation.z = 0;
math_quat_normalize(
&sess->initial_head_relation.pose.orientation);
//! @todo: Handle relation velocities
}
return true;
}
bool
initial_head_relation_valid(struct oxr_session *sess)
{
return sess->initial_head_relation.relation_flags &
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT;
}
bool
global_to_local_space(struct oxr_session *sess, struct xrt_pose *pose)
{
if (!initial_head_relation_valid(sess)) {
return false;
}
struct xrt_pose inverse_initial_head_pose;
math_pose_invert(&sess->initial_head_relation.pose,
&inverse_initial_head_pose);
math_pose_transform(&inverse_initial_head_pose, pose, pose);
return true;
}
/*!
* This returns only the relation between two spaces without any of the app
* given relations applied, assumes that both spaces are reference spaces.
@ -139,33 +184,62 @@ oxr_space_ref_relation(struct oxr_logger *log,
XrTime time,
struct xrt_space_relation *out_relation)
{
// Treat stage space as the local space.
if (space == XR_REFERENCE_SPACE_TYPE_STAGE) {
space = XR_REFERENCE_SPACE_TYPE_LOCAL;
}
// Treat stage space as the local space.
if (baseSpc == XR_REFERENCE_SPACE_TYPE_STAGE) {
baseSpc = XR_REFERENCE_SPACE_TYPE_LOCAL;
}
math_relation_reset(out_relation);
if (space == XR_REFERENCE_SPACE_TYPE_VIEW &&
baseSpc == XR_REFERENCE_SPACE_TYPE_LOCAL) {
if (space == XR_REFERENCE_SPACE_TYPE_VIEW) {
oxr_session_get_view_pose_at(log, sess, time,
&out_relation->pose);
if (!ensure_initial_head_relation(sess, out_relation)) {
out_relation->relation_flags =
XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
}
if (baseSpc == XR_REFERENCE_SPACE_TYPE_STAGE) {
// device poses are already in stage = "global" space
} else if (baseSpc == XR_REFERENCE_SPACE_TYPE_LOCAL) {
global_to_local_space(sess, &out_relation->pose);
} else if (baseSpc == XR_REFERENCE_SPACE_TYPE_VIEW) {
} else {
OXR_WARN_ONCE(
log,
"unsupported base space in space_ref_relation");
out_relation->relation_flags =
XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
}
out_relation->relation_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_TRACKED_BIT |
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
} else if (space == XR_REFERENCE_SPACE_TYPE_LOCAL &&
baseSpc == XR_REFERENCE_SPACE_TYPE_VIEW) {
} else if (baseSpc == XR_REFERENCE_SPACE_TYPE_VIEW) {
oxr_session_get_view_pose_at(log, sess, time,
&out_relation->pose);
if (!ensure_initial_head_relation(sess, out_relation)) {
out_relation->relation_flags =
XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
} else if (space == XR_REFERENCE_SPACE_TYPE_STAGE) {
// device poses are already in stage = "global" space
} else if (space == XR_REFERENCE_SPACE_TYPE_LOCAL) {
global_to_local_space(sess, &out_relation->pose);
} else if (space == XR_REFERENCE_SPACE_TYPE_VIEW) {
} else {
OXR_WARN_ONCE(
log,
"unsupported base space in space_ref_relation");
out_relation->relation_flags =
XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
}
math_pose_invert(&out_relation->pose, &out_relation->pose);
out_relation->relation_flags = (enum xrt_space_relation_flags)(
@ -228,10 +302,10 @@ oxr_space_action_relation(struct oxr_logger *log,
// Reset so no relation is returned.
math_relation_reset(out_relation);
// We treat state and local space as the same.
//! @todo Can not relate to the view space right now.
if (baseSpc->type == XR_REFERENCE_SPACE_TYPE_VIEW) {
//! @todo Error code?
OXR_WARN_ONCE(log, "relating to view space unsupported");
return XR_SUCCESS;
}
@ -248,6 +322,10 @@ oxr_space_action_relation(struct oxr_logger *log,
input->input->name, at_time, &timestamp,
out_relation);
if (baseSpc->type == XR_REFERENCE_SPACE_TYPE_LOCAL) {
global_to_local_space(sess, &out_relation->pose);
}
if (invert) {
math_pose_invert(&out_relation->pose, &out_relation->pose);
}