mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2024-12-29 11:06:18 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/psmv: Rotate angular velocity to be in base space

Browse source
This commit is contained in:
Jakob Bornecrantz 2020-09-04 00:33:07 +01:00
parent f9905a4007
commit 74690a2278
1 changed files with 9 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

9
src/xrt/drivers/psmv/psmv_driver.c
View file

@ -798,6 +798,15 @@ psmv_get_fusion_pose(struct psmv_device *psmv,
out_relation->linear_velocity.y = 0.0f;
out_relation->linear_velocity.z = 0.0f;
/*!
* @todo This is hack, fusion reports angvel relative to the device but
* it needs to be in relation to the base space. Rotating it with the
* device orientation is enough to get it into the right space, angular
* velocity is a derivative so needs a special rotation.
*/
math_quat_rotate_derivative(&psmv->fusion.rot, &psmv->fusion.angvel,
&out_relation->angular_velocity);
//! @todo assuming that orientation is actually currently tracked.
out_relation->relation_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |