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d/opengloves: Pass in identity pose to hand simulation

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This commit is contained in:
Jakob Bornecrantz 2022-08-14 16:02:20 +01:00
parent 936733d4b7
commit 8e70290ec1
1 changed files with 5 additions and 1 deletions
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6
src/xrt/drivers/opengloves/opengloves_device.c
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@ -12,6 +12,8 @@
#include "xrt/xrt_device.h"
#include "xrt/xrt_defines.h"
#include "math/m_space.h"
#include "util/u_device.h"
#include "util/u_debug.h"
#include "util/u_hand_tracking.h"
@ -121,7 +123,9 @@ opengloves_device_get_hand_tracking(struct xrt_device *xdev,
memcpy(values.index.joint_curls, od->last_input->flexion[1], sizeof(od->last_input->flexion[1]));
memcpy(values.thumb.joint_curls, od->last_input->flexion[0], sizeof(od->last_input->flexion[0]));
u_hand_sim_simulate_generic(&values, hand, &out_joint_set->hand_pose, out_joint_set);
struct xrt_space_relation ident;
m_space_relation_ident(&ident);
u_hand_sim_simulate_generic(&values, hand, &ident, out_joint_set);
struct xrt_space_relation controller_relation = {.pose = {.orientation.w = 1.0f, .position = {0, 0, 0}}};
controller_relation.relation_flags = XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |