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d/survive: Remove useless loop

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We already have a SurviveSimpleObject, no need to look for it through iteration
This commit is contained in:
Christoph Haag 2020-05-28 17:19:00 +02:00
parent d3b90e9548
commit 25bafd71c8
1 changed files with 52 additions and 58 deletions
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110
src/xrt/drivers/survive/survive_driver.c
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@ -176,65 +176,59 @@ _get_survive_pose(const SurviveSimpleObject *survive_object,
out_relation->relation_flags = 0;
for (const SurviveSimpleObject *it =
survive_simple_get_first_object(ctx);
it != 0; it = survive_simple_get_next_object(ctx, it)) {
// const char *codename = survive_simple_object_name(it);
if (survive_simple_object_get_type(it) !=
SurviveSimpleObject_OBJECT &&
survive_simple_object_get_type(it) !=
SurviveSimpleObject_HMD) {
continue;
}
if (it != survive_object)
continue;
SurvivePose pose;
uint32_t timecode =
survive_simple_object_get_latest_pose(it, &pose);
(void)timecode;
struct xrt_quat out_rot = {.x = pose.Rot[1],
.y = pose.Rot[2],
.z = pose.Rot[3],
.w = pose.Rot[0]};
// printf ("quat %f %f %f %f\n", out_rot.x, out_rot.y,
// out_rot.z, out_rot.w);
/* libsurvive looks down when it should be looking forward, so
* rotate the quat.
* because the HMD quat is the opposite of the in world
* rotation, we rotate down. */
struct xrt_quat down_rot;
down_rot.x = sqrtf(2) / 2.;
down_rot.y = 0;
down_rot.z = 0;
down_rot.w = -sqrtf(2) / 2.;
math_quat_rotate(&down_rot, &out_rot, &out_rot);
math_quat_normalize(&out_rot);
out_relation->pose.orientation = out_rot;
/* because the quat is rotated, y and z axes are switched. */
out_relation->pose.position.x = pose.Pos[0];
out_relation->pose.position.y = pose.Pos[2];
out_relation->pose.position.z = -pose.Pos[1];
out_relation->relation_flags =
(enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT) |
XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_TRACKED_BIT;
if (survive_simple_object_get_type(survive_object) !=
SurviveSimpleObject_OBJECT &&
survive_simple_object_get_type(survive_object) !=
SurviveSimpleObject_HMD) {
return;
}
SurvivePose pose;
uint32_t timecode =
survive_simple_object_get_latest_pose(survive_object, &pose);
(void)timecode;
struct xrt_quat out_rot = {.x = pose.Rot[1],
.y = pose.Rot[2],
.z = pose.Rot[3],
.w = pose.Rot[0]};
/*
printf("quat %f %f %f %f\n", out_rot.x, out_rot.y, out_rot.z,
out_rot.w);
*/
/* libsurvive looks down when it should be looking forward, so
* rotate the quat.
* because the HMD quat is the opposite of the in world
* rotation, we rotate down. */
struct xrt_quat down_rot;
down_rot.x = sqrtf(2) / 2.;
down_rot.y = 0;
down_rot.z = 0;
down_rot.w = -sqrtf(2) / 2.;
math_quat_rotate(&down_rot, &out_rot, &out_rot);
math_quat_normalize(&out_rot);
out_relation->pose.orientation = out_rot;
/* because the quat is rotated, y and z axes are switched. */
out_relation->pose.position.x = pose.Pos[0];
out_relation->pose.position.y = pose.Pos[2];
out_relation->pose.position.z = -pose.Pos[1];
out_relation->relation_flags =
(enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT) |
XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_TRACKED_BIT;
}
static bool