mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2025-01-01 04:36:07 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

d/dummy: Add option to rotate around up axis

Browse source
This commit is contained in:
Jakob Bornecrantz 2021-08-02 14:02:23 +01:00
parent 9178e0ef59
commit f27b50ff5a
1 changed files with 44 additions and 14 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

58
src/xrt/drivers/dummy/dummy_hmd.c
View file

@ -31,6 +31,13 @@
*
*/
enum dummy_movement
{
DUMMY_WOBBLE,
DUMMY_ROTATE,
};
/*!
* A example HMD device.
*
@ -47,6 +54,7 @@ struct dummy_hmd
float diameter_m;
enum u_logging_level log_level;
enum dummy_movement movement;
};
@ -63,6 +71,7 @@ dummy_hmd(struct xrt_device *xdev)
}
DEBUG_GET_ONCE_LOG_OPTION(dummy_log, "DUMMY_LOG", U_LOGGING_WARN)
DEBUG_GET_ONCE_BOOL_OPTION(dummy_rotate, "DUMMY_ROTATE", false)
#define DH_TRACE(p, ...) U_LOG_XDEV_IFL_T(&dh->base, dh->log_level, __VA_ARGS__)
#define DH_DEBUG(p, ...) U_LOG_XDEV_IFL_D(&dh->base, dh->log_level, __VA_ARGS__)
@ -98,20 +107,35 @@ dummy_hmd_get_tracked_pose(struct xrt_device *xdev,
return;
}
double time_s = time_ns_to_s(at_timestamp_ns - dh->created_ns);
double d = dh->diameter_m;
double d2 = d * 2;
double t = 2.0;
double t2 = t * 2;
double t3 = t * 3;
double t4 = t * 4;
dh->pose.position.x = dh->center.x + sin((time_s / t2) * M_PI) * d2 - d;
dh->pose.position.y = dh->center.y + sin((time_s / t) * M_PI) * d;
dh->pose.orientation.x = sin((time_s / t3) * M_PI) / 64.0;
dh->pose.orientation.y = sin((time_s / t4) * M_PI) / 16.0;
dh->pose.orientation.z = sin((time_s / t4) * M_PI) / 64.0;
dh->pose.orientation.w = 1;
math_quat_normalize(&dh->pose.orientation);
const double time_s = time_ns_to_s(at_timestamp_ns - dh->created_ns);
const double d = dh->diameter_m;
const double d2 = d * 2;
const double t = 2.0;
const double t2 = t * 2;
const double t3 = t * 3;
const double t4 = t * 4;
const struct xrt_vec3 up = {0, 1, 0};
switch (dh->movement) {
default:
case DUMMY_WOBBLE:
// Wobble time.
dh->pose.position.x = dh->center.x + sin((time_s / t2) * M_PI) * d2 - d;
dh->pose.position.y = dh->center.y + sin((time_s / t) * M_PI) * d;
dh->pose.orientation.x = sin((time_s / t3) * M_PI) / 64.0;
dh->pose.orientation.y = sin((time_s / t4) * M_PI) / 16.0;
dh->pose.orientation.z = sin((time_s / t4) * M_PI) / 64.0;
dh->pose.orientation.w = 1;
math_quat_normalize(&dh->pose.orientation);
break;
case DUMMY_ROTATE:
// Reset position.
dh->pose.position = dh->center;
// Rotate around the up vector.
math_quat_from_angle_vector(time_s / 4, &up, &dh->pose.orientation);
break;
}
out_relation->pose = dh->pose;
out_relation->relation_flags = (enum xrt_space_relation_flags)(XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
@ -170,6 +194,12 @@ dummy_hmd_create(void)
return NULL;
}
// Select the type of movement.
dh->movement = DUMMY_WOBBLE;
if (debug_get_bool_option_dummy_rotate()) {
dh->movement = DUMMY_ROTATE;
}
// Setup variable tracker.
u_var_add_root(dh, "Dummy HMD", true);
u_var_add_pose(dh, &dh->pose, "pose");