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steamvr_lh: Correct angular and linear velocities

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BabbleBones 2023-09-07 16:54:03 -04:00 committed by Jakob Bornecrantz
parent 10d0ab7e1e
commit 9033ff4b91
1 changed files with 9 additions and 7 deletions
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16
src/xrt/drivers/steamvr_lh/device.cpp
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@ -481,13 +481,9 @@ HmdDevice::SetDisplayEyeToHead(uint32_t unWhichDevice,
rightEye_postquat.position.z = eyeToHeadRight.m[2][3];
this->eye[0].orientation = leftEye_postquat.orientation;
this->eye[0].position.x += leftEye_postquat.position.x;
this->eye[0].position.y += leftEye_postquat.position.y;
this->eye[0].position.z += leftEye_postquat.position.z;
this->eye[0].position = leftEye_postquat.position;
this->eye[1].orientation = rightEye_postquat.orientation;
this->eye[1].position.x += rightEye_postquat.position.x;
this->eye[1].position.y += rightEye_postquat.position.y;
this->eye[1].position.z += rightEye_postquat.position.z;
this->eye[1].position = rightEye_postquat.position;
}
void
@ -505,7 +501,11 @@ HmdDevice::get_view_poses(const xrt_vec3 *default_eye_relation,
out_poses);
out_poses[0].orientation = this->eye[0].orientation;
out_poses[0].position.z = this->eye[0].position.z;
out_poses[0].position.y = this->eye[0].position.y;
out_poses[1].orientation = this->eye[1].orientation;
out_poses[1].position.z = this->eye[1].position.z;
out_poses[1].position.y = this->eye[1].position.y;
}
bool
@ -620,13 +620,13 @@ Device::update_pose(const vr::DriverPose_t &newPose)
};
world_transform(pose.position);
math_quat_rotate(&to_world_rot, &pose.orientation, &pose.orientation);
math_quat_rotate_vec3(&to_world_rot, &relation.linear_velocity, &relation.linear_velocity);
math_quat_rotate_vec3(&pose.orientation, &relation.angular_velocity, &relation.angular_velocity);
// apply local transform
xrt_vec3 local_rotated;
math_quat_rotate_vec3(&pose.orientation, &to_local_pos, &local_rotated);
math_vec3_accum(&local_rotated, &pose.position);
math_vec3_accum(&local_rotated, &relation.linear_velocity);
math_quat_rotate(&pose.orientation, &to_local_rot, &pose.orientation);
// apply chaperone transform
@ -636,6 +636,8 @@ Device::update_pose(const vr::DriverPose_t &newPose)
};
chap_transform(pose.position);
math_quat_rotate(&chaperone_yaw, &pose.orientation, &pose.orientation);
math_quat_rotate_vec3(&chaperone_yaw, &relation.linear_velocity, &relation.linear_velocity);
math_quat_rotate_vec3(&chaperone_yaw, &relation.angular_velocity, &relation.angular_velocity);
} else {
relation.relation_flags = XRT_SPACE_RELATION_BITMASK_NONE;
}