mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-04 06:06:17 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/psvr: Add new imu code, but it's stubbed out... Unless?

Browse source
This commit is contained in:
Jakob Bornecrantz 2019-10-22 19:51:05 +01:00
parent 35ae8f31ce
commit 6b99e2fbdc
1 changed files with 28 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

28
src/xrt/drivers/psvr/psvr_device.c
View file

@ -23,6 +23,8 @@
#include "util/u_debug.h"
#include "util/u_device.h"
#include "tracking/t_imu.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
@ -89,10 +91,14 @@ struct psvr_device
bool control;
} gui;
#if 0
struct imu_fusion *fusion;
#else
struct
{
struct xrt_quat rot;
} fusion;
#endif
};
@ -225,9 +231,19 @@ update_fusion(struct psvr_device *psvr,
} else {
float delta_secs = tick_delta / PSVR_TICKS_PER_SECOND;
#if 0
struct xrt_vec3 ident = {0.0f, 1.0f, 0.0f};
struct xrt_vec3 var1 = {0};
struct xrt_vec3 var2 = {0};
imu_fusion_incorporate_gyros_and_accelerometer(
psvr->fusion, delta_secs, &psvr->read.gyro, &var1,
&psvr->read.accel, 0.0f, &ident, &var2);
#else
math_quat_integrate_velocity(&psvr->fusion.rot,
&psvr->read.gyro, delta_secs,
&psvr->fusion.rot);
#endif
}
}
@ -683,7 +699,15 @@ psvr_device_get_tracked_pose(struct xrt_device *xdev,
// We have no tracking, don't return a position.
if (psvr->tracker == NULL) {
#if 0
struct xrt_vec3 ang_vel = {0};
imu_fusion_get_prediction(psvr->fusion, 0.0f,
&out_relation->pose.orientation,
&ang_vel);
#else
out_relation->pose.orientation = psvr->fusion.rot;
#endif
out_relation->relation_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
@ -764,7 +788,11 @@ psvr_device_create(struct hid_device_info *hmd_handle_info,
psvr->base.hmd->distortion.mesh.num_vertex =
ARRAY_SIZE(psvr_both_uvs) / 8;
#if 0
psvr->fusion = imu_fusion_create();
#else
psvr->fusion.rot.w = 1.0f;
#endif
snprintf(psvr->base.str, XRT_DEVICE_NAME_LEN, "PS VR Headset");