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The open source OpenXR runtime
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d/ulv5: added joint orientation

authored by

0y8w1x and committed by
Christoph Haag 0cc05bc3 8a4963f7

+7 -1
+7 -1
src/xrt/drivers/ultraleap_v5/ulv5_driver.cpp
··· 151 151 struct xrt_hand_joint_value *joint) 152 152 { 153 153 joint->radius = (width / 1000) / 2; 154 - 155 154 struct xrt_space_relation *relation = &joint->relation; 155 + 156 + relation->pose.orientation.x = joint_orientation.x; 157 + relation->pose.orientation.y = joint_orientation.y; 158 + relation->pose.orientation.z = joint_orientation.z; 159 + relation->pose.orientation.w = joint_orientation.w; 160 + 156 161 relation->pose.position.x = joint_pos.x * -1 / 1000.0; 157 162 relation->pose.position.y = joint_pos.z * -1 / 1000.0; 158 163 relation->pose.position.z = joint_pos.y * -1 / 1000.0; 164 + 159 165 relation->relation_flags = valid_flags; 160 166 } 161 167