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https://gitlab.freedesktop.org/monado/monado.git
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e745a28374
This commits lays the foundation for actions in Monado (input and output). There are lots of things missing and non-conformant in there. But once in more people then just me can test it out and work on it.
97 lines
2.2 KiB
C
97 lines
2.2 KiB
C
// Copyright 2019, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Various helpers for accessing @ref xrt_device.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @ingroup oxr_main
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*/
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#include "math/m_api.h"
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#include "oxr_objects.h"
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void
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oxr_xdev_update(struct xrt_device* xdev, struct time_state* timekeeping)
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{
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if (xdev != NULL) {
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xdev->update_inputs(xdev, timekeeping);
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}
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}
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void
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oxr_xdev_find_input(struct xrt_device *xdev,
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enum xrt_input_name name,
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struct xrt_input **out_input)
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{
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*out_input = NULL;
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if (xdev == NULL) {
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return;
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}
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for (uint32_t i = 0; i < xdev->num_inputs; i++) {
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if (xdev->inputs[i].name != name) {
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continue;
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}
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*out_input = &xdev->inputs[i];
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return;
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}
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}
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void
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oxr_xdev_find_output(struct xrt_device *xdev,
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enum xrt_output_name name,
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struct xrt_output **out_output)
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{
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if (xdev == NULL) {
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return;
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}
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for (uint32_t i = 0; i < xdev->num_outputs; i++) {
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if (xdev->outputs[i].name != name) {
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continue;
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}
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*out_output = &xdev->outputs[i];
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return;
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}
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}
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void
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oxr_xdev_get_pose_at(struct oxr_logger *log,
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struct oxr_instance *inst,
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struct xrt_device *xdev,
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enum xrt_input_name name,
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struct xrt_pose *pose,
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int64_t *timestamp)
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{
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struct xrt_pose *offset = &xdev->tracking->offset;
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struct xrt_space_relation relation = {0};
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xdev->get_tracked_pose(xdev, name, inst->timekeeping, timestamp,
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&relation);
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// Add in the offset from the tracking system.
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math_relation_accumulate_transform(offset, &relation);
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// clang-format off
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bool valid_pos = (relation.relation_flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) != 0;
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bool valid_ori = (relation.relation_flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) != 0;
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// clang-format on
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if (valid_ori) {
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pose->orientation = relation.pose.orientation;
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} else {
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// If the orientation is not valid just use the offset.
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pose->orientation = offset->orientation;
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}
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if (valid_pos) {
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pose->position = relation.pose.position;
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} else {
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// If the position is not valid just use the offset.
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pose->position = offset->position;
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}
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}
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