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d/survive: Use m_relation_history for HMD and controllers

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This commit is contained in:
Moses Turner 2021-09-15 01:30:50 -05:00
parent f9d540aee0
commit 7f88583d37
1 changed files with 22 additions and 25 deletions
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47
src/xrt/drivers/survive/survive_driver.c
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@ -41,6 +41,7 @@
#include "util/u_hand_tracking.h"
#include "util/u_logging.h"
#include "math/m_relation_history.h"
#include "math/m_predict.h"
@ -126,8 +127,7 @@ struct survive_device
struct survive_system *sys;
const SurviveSimpleObject *survive_obj;
struct xrt_space_relation last_relation;
timepoint_ns last_relation_ts;
struct m_relation_history *relation_hist;
//! Number of inputs.
size_t num_last_inputs;
@ -213,6 +213,7 @@ survive_device_destroy(struct xrt_device *xdev)
survive_simple_close(survive->sys->ctx);
free(survive->sys);
}
m_relation_history_destroy(&survive->relation_hist);
free(survive->last_inputs);
u_device_free(&survive->base);
@ -299,20 +300,6 @@ pose_to_relation(const SurvivePose *pose, const SurviveVelocity *vel, struct xrt
}
}
static void
_predict_pose(struct survive_device *survive, uint64_t at_timestamp_ns, struct xrt_space_relation *out_relation)
{
timepoint_ns prediction_ns = at_timestamp_ns - survive->last_relation_ts;
double prediction_s = time_ns_to_s(prediction_ns);
timepoint_ns monotonic_now_ns = os_monotonic_get_ns();
timepoint_ns remaining_ns = at_timestamp_ns - monotonic_now_ns;
SURVIVE_TRACE(survive, "dev %s At %ldns: Pose requested for +%ldns (%ldns), predicting %ldns",
survive->base.str, monotonic_now_ns, remaining_ns, at_timestamp_ns, prediction_ns);
m_predict_relation(&survive->last_relation, prediction_s, out_relation);
}
static bool
verify_device_name(struct survive_device *survive, enum xrt_input_name name)
{
@ -344,9 +331,7 @@ survive_device_get_tracked_pose(struct xrt_device *xdev,
return;
}
os_mutex_lock(&survive->sys->lock);
_predict_pose(survive, at_timestamp_ns, out_relation);
os_mutex_unlock(&survive->sys->lock);
m_relation_history_get(survive->relation_hist, out_relation, at_timestamp_ns);
struct xrt_pose *p = &out_relation->pose;
SURVIVE_TRACE(survive, "GET_POSITION (%f %f %f) GET_ORIENTATION (%f, %f, %f, %f)", p->position.x, p->position.y,
@ -445,10 +430,15 @@ survive_controller_get_hand_tracking(struct xrt_device *xdev,
struct xrt_pose hand_on_handle_pose;
u_hand_joints_offset_valve_index_controller(hand, &static_offset, &hand_on_handle_pose);
u_hand_joints_set_out_data(&survive->ctrl.hand_tracking, hand, &survive->last_relation, &hand_on_handle_pose,
out_value);
out_value->is_active = true; // Apparently libsurvive doesn't report controller tracked/untracked state, so just
// lie and say that the hand is being tracked
struct xrt_space_relation hand_relation;
m_relation_history_get(survive->relation_hist, &hand_relation, at_timestamp_ns);
u_hand_joints_set_out_data(&survive->ctrl.hand_tracking, hand, &hand_relation, &hand_on_handle_pose, out_value);
// This is a lie - apparently libsurvive doesn't report controller tracked/untracked state, so just say that the
// hand is being tracked
out_value->is_active = true;
}
static void
@ -730,8 +720,12 @@ add_device(struct survive_system *ss, const struct SurviveSimpleConfigEvent *e);
static void
_process_pose_event(struct survive_device *survive, const struct SurviveSimplePoseUpdatedEvent *e)
{
pose_to_relation(&e->pose, &e->velocity, &survive->last_relation);
survive->last_relation_ts = survive_timecode_to_monotonic(e->time);
struct xrt_space_relation rel;
timepoint_ns ts;
pose_to_relation(&e->pose, &e->velocity, &rel);
ts = survive_timecode_to_monotonic(e->time);
m_relation_history_push(survive->relation_hist, &rel, ts);
SURVIVE_TRACE(survive, "Process pose event for %s", survive->base.str);
}
@ -835,6 +829,8 @@ _create_hmd_device(struct survive_system *sys, const struct SurviveSimpleObject
survive->base.tracking_origin = &sys->base;
SURVIVE_INFO(survive, "survive HMD present");
m_relation_history_create(&survive->relation_hist);
size_t idx = 0;
survive->base.hmd->blend_modes[idx++] = XRT_BLEND_MODE_OPAQUE;
@ -1037,6 +1033,7 @@ _create_controller_device(struct survive_system *sys,
int outputs = 1;
struct survive_device *survive = U_DEVICE_ALLOCATE(struct survive_device, flags, inputs, outputs);
survive->ctrl.config = *config;
m_relation_history_create(&survive->relation_hist);
sys->controllers[idx] = survive;
survive->sys = sys;