The open source OpenXR runtime
d/wmr: Fix pose correction from Basalt
There was a confusion about whether this was needed for some apps. It was.
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
604815cb
e7c33766
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src/xrt/drivers/wmr/wmr_hmd.c
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src/xrt/drivers/wmr/wmr_hmd.c
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XRT_MAYBE_UNUSED static inline struct xrt_pose
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wmr_hmd_correct_pose_from_basalt(struct xrt_pose pose)
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{
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struct xrt_quat q = {0.70710678, 0, 0, 0.70710678};
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math_quat_rotate(&q, &pose.orientation, &pose.orientation);
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math_quat_rotate_vec3(&q, &pose.position, &pose.position);
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// Correct swapped axes
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pose.position.y = -pose.position.y;
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pose.position.z = -pose.position.z;