mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-19 21:28:50 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

a/math: Port to using the new zero/identity defines

Browse source
This commit is contained in:
Ryan Pavlik 2021-04-26 14:51:32 -05:00 committed by Jakob Bornecrantz
parent 8c0aabfc0d
commit edc6490d74
1 changed files with 14 additions and 19 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

33
src/xrt/auxiliary/math/m_space.cpp
View file

@ -126,18 +126,13 @@ make_valid_pose(flags flags, const struct xrt_pose *in_pose, struct xrt_pose *ou
if (flags.has_orientation) {
out_pose->orientation = in_pose->orientation;
} else {
out_pose->orientation.x = 0.0f;
out_pose->orientation.y = 0.0f;
out_pose->orientation.z = 0.0f;
out_pose->orientation.w = 1.0f;
out_pose->orientation = XRT_QUAT_IDENTITY;
}
if (flags.has_position) {
out_pose->position = in_pose->position;
} else {
out_pose->position.x = 0.0f;
out_pose->position.y = 0.0f;
out_pose->position.z = 0.0f;
out_pose->position = XRT_VEC3_ZERO;
}
}
@ -150,9 +145,9 @@ apply_relation(const struct xrt_space_relation *a,
flags bf = get_flags(b);
flags nf = {};
struct xrt_pose pose = {};
struct xrt_vec3 linear_velocity = {};
struct xrt_vec3 angular_velocity = {};
struct xrt_pose pose = XRT_POSE_IDENTITY;
struct xrt_vec3 linear_velocity = XRT_VEC3_ZERO;
struct xrt_vec3 angular_velocity = XRT_VEC3_ZERO;
/*
@ -161,7 +156,7 @@ apply_relation(const struct xrt_space_relation *a,
if (af.has_linear_velocity) {
nf.has_linear_velocity = true;
struct xrt_vec3 tmp = {};
struct xrt_vec3 tmp = XRT_VEC3_ZERO;
math_quat_rotate_vec3(&b->pose.orientation, // Base rotation
&a->linear_velocity, // In base space
&tmp); // Output
@ -180,7 +175,7 @@ apply_relation(const struct xrt_space_relation *a,
if (af.has_angular_velocity) {
nf.has_angular_velocity = true;
struct xrt_vec3 tmp = {};
struct xrt_vec3 tmp = XRT_VEC3_ZERO;
math_quat_rotate_derivative(&b->pose.orientation, // Base rotation
&a->angular_velocity, // In base space
@ -194,10 +189,10 @@ apply_relation(const struct xrt_space_relation *a,
nf.has_linear_velocity = true;
angular_velocity += b->angular_velocity;
struct xrt_vec3 rotated_position = {};
struct xrt_vec3 position = {};
struct xrt_quat orientation = {};
struct xrt_vec3 tangental_velocity = {};
struct xrt_vec3 rotated_position = XRT_VEC3_ZERO;
struct xrt_vec3 position = XRT_VEC3_ZERO;
struct xrt_quat orientation = XRT_QUAT_IDENTITY;
struct xrt_vec3 tangental_velocity = XRT_VEC3_ZERO;
position = a->pose.position; // In the base space
orientation = b->pose.orientation; // Base space
@ -218,8 +213,8 @@ apply_relation(const struct xrt_space_relation *a,
* Apply the pose part.
*/
struct xrt_pose body_pose = {};
struct xrt_pose base_pose = {};
struct xrt_pose body_pose = XRT_POSE_IDENTITY;
struct xrt_pose base_pose = XRT_POSE_IDENTITY;
// Only valid poses handled in graph. Flags are determined later.
make_valid_pose(af, &a->pose, &body_pose);
@ -284,7 +279,7 @@ void
m_space_graph_resolve(const struct xrt_space_graph *xsg, struct xrt_space_relation *out_relation)
{
if (xsg->num_steps == 0 || has_step_with_no_pose(xsg)) {
U_ZERO(out_relation);
*out_relation = XRT_SPACE_RELATION_ZERO;
return;
}