mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-16 11:55:39 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

st/oxr: Use space graph in global-to-local space transform

Browse source 
This takes care of transforming the velocities.
This commit is contained in:
Christoph Haag 2020-09-11 19:05:25 +02:00
parent 150b7649f3
commit ddf3eb5789
2 changed files with 11 additions and 9 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
src/xrt/state_trackers/oxr/oxr_objects.h
View file

@ -704,7 +704,7 @@ bool
initial_head_relation_valid(struct oxr_session *sess);
bool
global_to_local_space(struct oxr_session *sess, struct xrt_pose *pose);
global_to_local_space(struct oxr_session *sess, struct xrt_space_relation *rel);
/*
*

18
src/xrt/state_trackers/oxr/oxr_space.c
View file

@ -161,16 +161,18 @@ initial_head_relation_valid(struct oxr_session *sess)
}
bool
global_to_local_space(struct oxr_session *sess, struct xrt_pose *pose)
global_to_local_space(struct oxr_session *sess, struct xrt_space_relation *rel)
{
if (!initial_head_relation_valid(sess)) {
return false;
}
struct xrt_pose inverse_initial_head_pose;
math_pose_invert(&sess->initial_head_relation.pose,
&inverse_initial_head_pose);
math_pose_transform(&inverse_initial_head_pose, pose, pose);
struct xrt_space_graph graph = {0};
m_space_graph_add_relation(&graph, rel);
m_space_graph_add_inverted_pose_if_not_identity(
&graph, &sess->initial_head_relation.pose);
m_space_graph_resolve(&graph, rel);
return true;
}
@ -203,7 +205,7 @@ oxr_space_ref_relation(struct oxr_logger *log,
if (baseSpc == XR_REFERENCE_SPACE_TYPE_STAGE) {
// device poses are already in stage = "global" space
} else if (baseSpc == XR_REFERENCE_SPACE_TYPE_LOCAL) {
global_to_local_space(sess, &out_relation->pose);
global_to_local_space(sess, out_relation);
} else if (baseSpc == XR_REFERENCE_SPACE_TYPE_VIEW) {
} else {
@ -225,7 +227,7 @@ oxr_space_ref_relation(struct oxr_logger *log,
if (space == XR_REFERENCE_SPACE_TYPE_STAGE) {
// device poses are already in stage = "global" space
} else if (space == XR_REFERENCE_SPACE_TYPE_LOCAL) {
global_to_local_space(sess, &out_relation->pose);
global_to_local_space(sess, out_relation);
} else if (space == XR_REFERENCE_SPACE_TYPE_VIEW) {
} else {
@ -341,7 +343,7 @@ oxr_space_action_relation(struct oxr_logger *log,
input->input->name, at_time, out_relation);
if (baseSpc->type == XR_REFERENCE_SPACE_TYPE_LOCAL) {
global_to_local_space(sess, &out_relation->pose);
global_to_local_space(sess, out_relation);
}
if (invert) {