The open source OpenXR runtime
d/simulated: Make hmd center be pose and make it possible to pass it in at start
+31
-21
+24
-17
src/xrt/drivers/simulated/simulated_hmd.c
+24
-17
src/xrt/drivers/simulated/simulated_hmd.c
···
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43
struct xrt_device base;
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struct xrt_pose pose;
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-
struct xrt_vec3 center;
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+
struct xrt_pose center;
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uint64_t created_ns;
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float diameter_m;
···
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switch (dh->movement) {
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default:
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-
case SIMULATED_MOVEMENT_WOBBLE:
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+
case SIMULATED_MOVEMENT_WOBBLE: {
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+
struct xrt_pose tmp = XRT_POSE_IDENTITY;
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+
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// Wobble time.
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-
dh->pose.position.x = dh->center.x + sin((time_s / t2) * M_PI) * d2 - d;
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-
dh->pose.position.y = dh->center.y + sin((time_s / t) * M_PI) * d;
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dh->pose.orientation.x = sin((time_s / t3) * M_PI) / 64.0f;
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dh->pose.orientation.y = sin((time_s / t4) * M_PI) / 16.0f;
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dh->pose.orientation.z = sin((time_s / t4) * M_PI) / 64.0f;
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dh->pose.orientation.w = 1;
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math_quat_normalize(&dh->pose.orientation);
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-
break;
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-
case SIMULATED_MOVEMENT_ROTATE:
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-
// Reset position.
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-
dh->pose.position = dh->center;
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+
tmp.position.x = sin((time_s / t2) * M_PI) * d2 - d;
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+
tmp.position.y = sin((time_s / t) * M_PI) * d;
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+
tmp.orientation.x = sin((time_s / t3) * M_PI) / 64.0f;
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+
tmp.orientation.y = sin((time_s / t4) * M_PI) / 16.0f;
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+
tmp.orientation.z = sin((time_s / t4) * M_PI) / 64.0f;
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+
math_quat_normalize(&tmp.orientation);
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+
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// Transform with center to set it.
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+
math_pose_transform(&dh->center, &tmp, &dh->pose);
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+
} break;
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+
case SIMULATED_MOVEMENT_ROTATE: {
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+
struct xrt_pose tmp = XRT_POSE_IDENTITY;
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// Rotate around the up vector.
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math_quat_from_angle_vector(time_s / 4, &up, &dh->pose.orientation);
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-
break;
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+
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// Transform with center to set it.
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+
math_pose_transform(&dh->center, &tmp, &dh->pose);
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+
} break;
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case SIMULATED_MOVEMENT_STATIONARY:
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// Reset pose.
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dh->pose = (struct xrt_pose)XRT_POSE_IDENTITY;
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+
dh->pose = dh->center;
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break;
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}
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···
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}
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struct xrt_device *
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-
simulated_hmd_create(enum simulated_movement movement)
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+
simulated_hmd_create(enum simulated_movement movement, const struct xrt_pose *center)
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{
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enum u_device_alloc_flags flags =
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(enum u_device_alloc_flags)(U_DEVICE_ALLOC_HMD | U_DEVICE_ALLOC_TRACKING_NONE);
···
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dh->base.name = XRT_DEVICE_GENERIC_HMD;
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dh->base.device_type = XRT_DEVICE_TYPE_HMD;
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dh->pose.orientation.w = 1.0f; // All other values set to zero.
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+
dh->center = *center;
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dh->created_ns = os_monotonic_get_ns();
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dh->diameter_m = 0.05f;
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dh->log_level = debug_get_log_option_simulated_log();
···
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// Setup variable tracker.
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u_var_add_root(dh, "Simulated HMD", true);
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u_var_add_pose(dh, &dh->pose, "pose");
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-
u_var_add_vec3_f32(dh, &dh->center, "center");
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+
u_var_add_pose(dh, &dh->center, "center");
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u_var_add_f32(dh, &dh->diameter_m, "diameter_m");
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u_var_add_log_level(dh, &dh->log_level, "log_level");
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+1
-1
src/xrt/drivers/simulated/simulated_interface.h
+1
-1
src/xrt/drivers/simulated/simulated_interface.h
+2
-1
src/xrt/drivers/simulated/simulated_prober.c
+2
-1
src/xrt/drivers/simulated/simulated_prober.c
+2
-1
src/xrt/targets/common/target_builder_rgb_tracking.c
+2
-1
src/xrt/targets/common/target_builder_rgb_tracking.c
+2
-1
src/xrt/targets/sdl_test/sdl_instance.c
+2
-1
src/xrt/targets/sdl_test/sdl_instance.c
···
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sp->xsysd_base.destroy = sdl_system_devices_destroy;
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#ifdef USE_SIMULATED
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-
struct xrt_device *head = simulated_hmd_create(SIMULATED_MOVEMENT_WOBBLE);
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+
const struct xrt_pose center = XRT_POSE_IDENTITY;
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+
struct xrt_device *head = simulated_hmd_create(SIMULATED_MOVEMENT_WOBBLE, ¢er);
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#else
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struct xrt_device *head = &sp->xdev_base;
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#endif