mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-29 18:08:29 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/simulated: Use more generic variable names

Browse source
This commit is contained in:
Rylie Pavlik 2024-02-07 12:54:09 -06:00
parent 4948ec8291
commit 33000bbd2c
1 changed files with 40 additions and 40 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

80
src/xrt/drivers/simulated/simulated_hmd.c
View file

@ -90,15 +90,15 @@ simulated_hmd_get_tracked_pose(struct xrt_device *xdev,
uint64_t at_timestamp_ns,
struct xrt_space_relation *out_relation)
{
struct simulated_hmd *dh = simulated_hmd(xdev);
struct simulated_hmd *hmd = simulated_hmd(xdev);
if (name != XRT_INPUT_GENERIC_HEAD_POSE) {
HMD_ERROR(dh, "unknown input name");
HMD_ERROR(hmd, "unknown input name");
return;
}
const double time_s = time_ns_to_s(at_timestamp_ns - dh->created_ns);
const double d = dh->diameter_m;
const double time_s = time_ns_to_s(at_timestamp_ns - hmd->created_ns);
const double d = hmd->diameter_m;
const double d2 = d * 2;
const double t = 2.0;
const double t2 = t * 2;
@ -106,7 +106,7 @@ simulated_hmd_get_tracked_pose(struct xrt_device *xdev,
const double t4 = t * 4;
const struct xrt_vec3 up = {0, 1, 0};
switch (dh->movement) {
switch (hmd->movement) {
default:
case SIMULATED_MOVEMENT_WOBBLE: {
struct xrt_pose tmp = XRT_POSE_IDENTITY;
@ -120,24 +120,24 @@ simulated_hmd_get_tracked_pose(struct xrt_device *xdev,
math_quat_normalize(&tmp.orientation);
// Transform with center to set it.
math_pose_transform(&dh->center, &tmp, &dh->pose);
math_pose_transform(&hmd->center, &tmp, &hmd->pose);
} break;
case SIMULATED_MOVEMENT_ROTATE: {
struct xrt_pose tmp = XRT_POSE_IDENTITY;
// Rotate around the up vector.
math_quat_from_angle_vector(time_s / 4, &up, &dh->pose.orientation);
math_quat_from_angle_vector(time_s / 4, &up, &hmd->pose.orientation);
// Transform with center to set it.
math_pose_transform(&dh->center, &tmp, &dh->pose);
math_pose_transform(&hmd->center, &tmp, &hmd->pose);
} break;
case SIMULATED_MOVEMENT_STATIONARY:
// Reset pose.
dh->pose = dh->center;
hmd->pose = hmd->center;
break;
}
out_relation->pose = dh->pose;
out_relation->pose = hmd->pose;
out_relation->relation_flags = (enum xrt_space_relation_flags)(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
@ -149,7 +149,7 @@ simulated_ref_space_usage(struct xrt_device *xdev,
enum xrt_input_name name,
bool used)
{
struct simulated_hmd *dh = simulated_hmd(xdev);
struct simulated_hmd *hmd = simulated_hmd(xdev);
struct u_pp_sink_stack_only sink;
u_pp_delegate_t dg = u_pp_sink_stack_only_init(&sink);
@ -166,7 +166,7 @@ simulated_ref_space_usage(struct xrt_device *xdev,
u_pp(dg, ", not controlled by us.");
}
HMD_INFO(dh, "%s", sink.buffer);
HMD_INFO(hmd, "%s", sink.buffer);
return XRT_SUCCESS;
}
@ -189,28 +189,28 @@ simulated_hmd_create(enum simulated_movement movement, const struct xrt_pose *ce
{
enum u_device_alloc_flags flags =
(enum u_device_alloc_flags)(U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
struct simulated_hmd *dh = U_DEVICE_ALLOCATE(struct simulated_hmd, flags, 1, 0);
dh->base.update_inputs = u_device_noop_update_inputs;
dh->base.get_tracked_pose = simulated_hmd_get_tracked_pose;
dh->base.get_view_poses = u_device_get_view_poses;
dh->base.ref_space_usage = simulated_ref_space_usage;
dh->base.destroy = simulated_hmd_destroy;
dh->base.name = XRT_DEVICE_GENERIC_HMD;
dh->base.device_type = XRT_DEVICE_TYPE_HMD;
dh->base.ref_space_usage_supported = true;
dh->pose.orientation.w = 1.0f; // All other values set to zero.
dh->center = *center;
dh->created_ns = os_monotonic_get_ns();
dh->diameter_m = 0.05f;
dh->log_level = simulated_log_level();
dh->movement = movement;
struct simulated_hmd *hmd = U_DEVICE_ALLOCATE(struct simulated_hmd, flags, 1, 0);
hmd->base.update_inputs = u_device_noop_update_inputs;
hmd->base.get_tracked_pose = simulated_hmd_get_tracked_pose;
hmd->base.get_view_poses = u_device_get_view_poses;
hmd->base.ref_space_usage = simulated_ref_space_usage;
hmd->base.destroy = simulated_hmd_destroy;
hmd->base.name = XRT_DEVICE_GENERIC_HMD;
hmd->base.device_type = XRT_DEVICE_TYPE_HMD;
hmd->base.ref_space_usage_supported = true;
hmd->pose.orientation.w = 1.0f; // All other values set to zero.
hmd->center = *center;
hmd->created_ns = os_monotonic_get_ns();
hmd->diameter_m = 0.05f;
hmd->log_level = simulated_log_level();
hmd->movement = movement;
// Print name.
snprintf(dh->base.str, XRT_DEVICE_NAME_LEN, "Simulated HMD");
snprintf(dh->base.serial, XRT_DEVICE_NAME_LEN, "Simulated HMD");
snprintf(hmd->base.str, XRT_DEVICE_NAME_LEN, "Simulated HMD");
snprintf(hmd->base.serial, XRT_DEVICE_NAME_LEN, "Simulated HMD");
// Setup input.
dh->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
hmd->base.inputs[0].name = XRT_INPUT_GENERIC_HEAD_POSE;
// Setup info.
struct u_device_simple_info info;
@ -223,21 +223,21 @@ simulated_hmd_create(enum simulated_movement movement, const struct xrt_pose *ce
info.fov[0] = 85.0f * ((float)(M_PI) / 180.0f);
info.fov[1] = 85.0f * ((float)(M_PI) / 180.0f);
if (!u_device_setup_split_side_by_side(&dh->base, &info)) {
HMD_ERROR(dh, "Failed to setup basic device info");
simulated_hmd_destroy(&dh->base);
if (!u_device_setup_split_side_by_side(&hmd->base, &info)) {
HMD_ERROR(hmd, "Failed to setup basic device info");
simulated_hmd_destroy(&hmd->base);
return NULL;
}
// Setup variable tracker.
u_var_add_root(dh, "Simulated HMD", true);
u_var_add_pose(dh, &dh->pose, "pose");
u_var_add_pose(dh, &dh->center, "center");
u_var_add_f32(dh, &dh->diameter_m, "diameter_m");
u_var_add_log_level(dh, &dh->log_level, "log_level");
u_var_add_root(hmd, "Simulated HMD", true);
u_var_add_pose(hmd, &hmd->pose, "pose");
u_var_add_pose(hmd, &hmd->center, "center");
u_var_add_f32(hmd, &hmd->diameter_m, "diameter_m");
u_var_add_log_level(hmd, &hmd->log_level, "log_level");
// Distortion information, fills in xdev->compute_distortion().
u_distortion_mesh_set_none(&dh->base);
u_distortion_mesh_set_none(&hmd->base);
return &dh->base;
return &hmd->base;
}