The open source OpenXR runtime
d/hydra: Fix orientation problems
probably wrong in some subtle way, but whatever
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2469>
+19
-2
+19
-2
src/xrt/drivers/hydra/hydra_driver.c
+19
-2
src/xrt/drivers/hydra/hydra_driver.c
···
276
276
hydra_device_parse_controller(struct hydra_device *hd, uint8_t *buf)
277
277
{
278
278
struct hydra_controller_state *state = &hd->state;
279
+
279
280
static const float SCALE_MM_TO_METER = 0.001f;
280
281
static const float SCALE_INT16_TO_FLOAT_PLUSMINUS_1 = 1.0f / 32768.0f;
281
282
static const float SCALE_UINT8_TO_FLOAT_0_TO_1 = 1.0f / 255.0f;
283
+
282
284
state->pose.position.x = hydra_read_int16_le(&buf) * SCALE_MM_TO_METER;
283
285
state->pose.position.z = hydra_read_int16_le(&buf) * SCALE_MM_TO_METER;
284
286
state->pose.position.y = -hydra_read_int16_le(&buf) * SCALE_MM_TO_METER;
···
286
288
// the negatives are to fix handedness
287
289
state->pose.orientation.w = hydra_read_int16_le(&buf) * SCALE_INT16_TO_FLOAT_PLUSMINUS_1;
288
290
state->pose.orientation.x = hydra_read_int16_le(&buf) * SCALE_INT16_TO_FLOAT_PLUSMINUS_1;
289
-
state->pose.orientation.y = -hydra_read_int16_le(&buf) * SCALE_INT16_TO_FLOAT_PLUSMINUS_1;
290
-
state->pose.orientation.z = -hydra_read_int16_le(&buf) * SCALE_INT16_TO_FLOAT_PLUSMINUS_1;
291
+
state->pose.orientation.y = hydra_read_int16_le(&buf) * SCALE_INT16_TO_FLOAT_PLUSMINUS_1;
292
+
state->pose.orientation.z = hydra_read_int16_le(&buf) * SCALE_INT16_TO_FLOAT_PLUSMINUS_1;
291
293
292
294
//! @todo the presence of this suggest we're not decoding the
293
295
//! orientation right.
294
296
math_quat_normalize(&state->pose.orientation);
297
+
298
+
struct xrt_quat fixed = {
299
+
.x = state->pose.orientation.x,
300
+
.y = -state->pose.orientation.z,
301
+
.z = state->pose.orientation.y,
302
+
.w = state->pose.orientation.w,
303
+
};
304
+
305
+
struct xrt_quat adjustment = {.x = 0, .y = 1, .z = 0, .w = 0};
306
+
math_quat_rotate(&fixed, &adjustment, &fixed);
307
+
308
+
adjustment = (struct xrt_quat){.x = 0, .y = 0, .z = 1, .w = 0};
309
+
math_quat_rotate(&fixed, &adjustment, &fixed);
310
+
311
+
state->pose.orientation = fixed;
295
312
296
313
state->buttons = hydra_read_uint8(&buf);
297
314