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st/oxr: Support locating stage space in local space

Browse source 
And the other way around.

Fixes hello_xr -s Local, which renders cubes at offset stage space locations,
relative to local space.
This commit is contained in:
Christoph Haag 2020-07-20 14:04:09 +02:00
parent 164eda38d4
commit ddb528f002
1 changed files with 30 additions and 15 deletions
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45
src/xrt/state_trackers/oxr/oxr_space.c
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@ -186,6 +186,7 @@ oxr_space_ref_relation(struct oxr_logger *log,
{
math_relation_reset(out_relation);
if (space == XR_REFERENCE_SPACE_TYPE_VIEW) {
oxr_session_get_view_pose_at(log, sess, time,
&out_relation->pose);
@ -210,13 +211,6 @@ oxr_space_ref_relation(struct oxr_logger *log,
XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
}
out_relation->relation_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_TRACKED_BIT |
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
} else if (baseSpc == XR_REFERENCE_SPACE_TYPE_VIEW) {
oxr_session_get_view_pose_at(log, sess, time,
&out_relation->pose);
@ -239,23 +233,44 @@ oxr_space_ref_relation(struct oxr_logger *log,
XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
}
math_pose_invert(&out_relation->pose, &out_relation->pose);
out_relation->relation_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_TRACKED_BIT |
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
} else if (space == XR_REFERENCE_SPACE_TYPE_STAGE) {
if (baseSpc == XR_REFERENCE_SPACE_TYPE_LOCAL) {
math_pose_invert(&sess->initial_head_relation.pose,
&out_relation->pose);
} else {
OXR_WARN_ONCE(
log,
"unsupported base space in space_ref_relation");
out_relation->relation_flags =
XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
}
} else if (space == XR_REFERENCE_SPACE_TYPE_LOCAL) {
if (baseSpc == XR_REFERENCE_SPACE_TYPE_STAGE) {
out_relation->pose = sess->initial_head_relation.pose;
} else {
OXR_WARN_ONCE(
log,
"unsupported base space in space_ref_relation");
out_relation->relation_flags =
XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
}
} else if (space == baseSpc) {
// math_relation_reset() sets to identity.
} else {
out_relation->relation_flags = XRT_SPACE_RELATION_BITMASK_NONE;
return XR_SUCCESS;
}
out_relation->relation_flags = (enum xrt_space_relation_flags)(
XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_TRACKED_BIT |
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
return XR_SUCCESS;
}