The open source OpenXR runtime
a/math: Use angle as magnitude of change in m_filter_euro_quat
Previously this was using math_quat_len which was always 1 for
these unit quaternions. This commit assumes math_quat_ln works properly which is
not exactly true at the moment and the returned angle will be twice as large.
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src/xrt/auxiliary/math/m_filter_one_euro.c
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src/xrt/auxiliary/math/m_filter_one_euro.c
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f->prev_dy = exp_smooth_quat(alpha_d, dy, f->prev_dy);
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double dy_mag = math_quat_len(&f->prev_dy);
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double alpha = filter_one_euro_compute_alpha(&f->base, dt, dy_mag);
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// The magnitud of the smoothed dy (f->prev_dy) is its rotation angle in radians
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struct xrt_vec3 smooth_dy_aa;
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math_quat_ln(&f->prev_dy, &smooth_dy_aa);
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double smooth_dy_mag = m_vec3_len(smooth_dy_aa);
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double alpha = filter_one_euro_compute_alpha(&f->base, dt, smooth_dy_mag);
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/* Smooth the dy values and use them to calculate the frequency cutoff for the main filter */
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f->prev_y = exp_smooth_quat(alpha, *in_y, f->prev_y);