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d/vive: Change how the pose GUI variable is updated

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This commit is contained in:
Jakob Bornecrantz 2023-04-06 22:23:35 +01:00
parent 990ce39fa1
commit ea97960b9e
1 changed files with 3 additions and 2 deletions
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5
src/xrt/drivers/vive/vive_controller.c
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@ -399,11 +399,9 @@ vive_controller_device_get_tracked_pose(struct xrt_device *xdev,
os_mutex_unlock(&d->fusion.mutex); os_mutex_unlock(&d->fusion.mutex);
relation.relation_flags = XRT_SPACE_RELATION_BITMASK_ALL; // Needed after history_get relation.relation_flags = XRT_SPACE_RELATION_BITMASK_ALL; // Needed after history_get
relation.pose.position = d->pose.position;
relation.linear_velocity = (struct xrt_vec3){0, 0, 0}; relation.linear_velocity = (struct xrt_vec3){0, 0, 0};
*out_relation = relation; *out_relation = relation;
d->pose = out_relation->pose;
math_pose_transform(&d->offset, &out_relation->pose, &out_relation->pose); math_pose_transform(&d->offset, &out_relation->pose, &out_relation->pose);
} }
@ -597,6 +595,9 @@ vive_controller_handle_imu_sample(struct vive_controller_device *d, struct watch
rel.pose.orientation = d->fusion.i3dof.rot; rel.pose.orientation = d->fusion.i3dof.rot;
m_relation_history_push(d->fusion.relation_hist, &rel, now_ns); m_relation_history_push(d->fusion.relation_hist, &rel, now_ns);
os_mutex_unlock(&d->fusion.mutex); os_mutex_unlock(&d->fusion.mutex);
// Update the pose we show in the GUI.
d->pose = rel.pose;
} }
static void static void