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d/multi: correctly override hand pose for "attached" tracking

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Moses Turner 2021-03-12 02:48:36 -06:00 committed by Christoph Haag
parent 4061bf7707
commit d54b653751
1 changed files with 30 additions and 0 deletions
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30
src/xrt/drivers/multi_wrapper/multi.c
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@ -138,6 +138,36 @@ get_hand_tracking(struct xrt_device *xdev,
struct multi_device *d = (struct multi_device *)xdev;
struct xrt_device *target = d->tracking_override.target;
xrt_device_get_hand_tracking(target, name, at_timestamp_ns, out_value);
struct xrt_device *tracker = d->tracking_override.tracker;
struct xrt_space_relation tracker_relation;
xrt_device_get_tracked_pose(tracker, XRT_INPUT_GENERIC_TRACKER_POSE, at_timestamp_ns, &tracker_relation);
switch (d->override_type) {
case XRT_TRACKING_OVERRIDE_DIRECT: {
// XXX: Codepath not tested. Probably doesn't do what you want.
direct_override(d, &out_value->hand_pose, &out_value->hand_pose);
} break;
case XRT_TRACKING_OVERRIDE_ATTACHED: {
// struct xrt_space_relation target_relation;
// xrt_device_get_tracked_pose(target, name, at_timestamp_ns, &target_relation);
// just use the origin of the tracker space as reference frame
struct xrt_space_relation in_target_space;
m_space_relation_ident(&in_target_space);
in_target_space.relation_flags = tracker_relation.relation_flags;
struct xrt_pose *target_offset = &d->tracking_override.target->tracking_origin->offset;
struct xrt_pose *tracker_offset = &d->tracking_override.tracker->tracking_origin->offset;
attached_override(d, &out_value->hand_pose, target_offset, &tracker_relation, tracker_offset,
&in_target_space, &out_value->hand_pose);
} break;
}
}
static void