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u/hand: Move common init into init helper function

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This commit is contained in:
Jakob Bornecrantz 2022-08-14 15:57:04 +01:00
parent e6efcd7a02
commit 7e24b1dfe7
1 changed files with 6 additions and 9 deletions
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15
src/xrt/auxiliary/util/u_hand_simulation.c
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@ -335,10 +335,13 @@ our_eval_to_viz_hand(struct u_hand_sim_hand *opt,
}
static void
hand_sim_hand_init(struct u_hand_sim_hand *out_opt)
hand_sim_hand_init(struct u_hand_sim_hand *out_opt, enum xrt_hand xhand, const struct xrt_space_relation *root_pose)
{
out_opt->hand_size = 0.095f;
out_opt->is_right = xhand == XRT_HAND_RIGHT;
out_opt->hand_pose = *root_pose;
for (int i = 0; i < 4; i++) {
//!@todo needed?
out_opt->finger[i].metacarpal.swing.x = 0.f;
@ -396,9 +399,8 @@ u_hand_sim_simulate_for_valve_index_knuckles(const struct u_hand_tracking_curl_v
struct xrt_hand_joint_set *out_set)
{
struct u_hand_sim_hand hand;
hand.is_right = xhand == XRT_HAND_RIGHT;
hand_sim_hand_init(&hand);
hand_sim_hand_init(&hand, xhand, root_pose);
hand.wrist_pose.pose.position.x = 0.f;
hand.wrist_pose.pose.position.y = 0.f;
hand.wrist_pose.pose.position.z = 0.f;
@ -430,8 +432,6 @@ u_hand_sim_simulate_for_valve_index_knuckles(const struct u_hand_tracking_curl_v
hand.finger[finger].rotations[1] = val_turn * 0.4f;
}
hand.hand_pose = *root_pose;
u_hand_sim_simulate(&hand, out_set);
}
@ -455,9 +455,8 @@ u_hand_sim_simulate_generic(const struct u_hand_tracking_values *values,
struct xrt_hand_joint_set *out_set)
{
struct u_hand_sim_hand hand;
hand.is_right = xhand == XRT_HAND_RIGHT;
hand_sim_hand_init(&hand);
hand_sim_hand_init(&hand, xhand, root_pose);
hand.wrist_pose.pose.position.x = 0.f;
hand.wrist_pose.pose.position.y = 0.f;
hand.wrist_pose.pose.position.z = 0.f;
@ -477,7 +476,5 @@ u_hand_sim_simulate_generic(const struct u_hand_tracking_values *values,
u_hand_sim_apply_generic_finger_transform(&values->middle, &hand.finger[1]);
u_hand_sim_apply_generic_finger_transform(&values->index, &hand.finger[0]);
hand.hand_pose = *root_pose;
u_hand_sim_simulate(&hand, out_set);
}