The open source OpenXR runtime
xrt: enable acceleration components for xrt_space_relation
Signed-off-by: MatrixFurry <did:plc:zmjoeu3stwcn44647rhxa44o>
+31
-13
+1
-3
src/xrt/auxiliary/math/m_predict.c
+1
-3
src/xrt/auxiliary/math/m_predict.c
···
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struct xrt_vec3 accum = {0};
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bool valid_orientation = (flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) != 0;
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bool valid_angular_velocity = (flags & XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT) != 0;
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bool valid_angular_acceleration = (flags & XRT_SPACE_RELATION_ANGULAR_ACCELERATION_VALID_BIT) != 0;
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if (valid_angular_velocity) {
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// angular velocity needs to be in body space for prediction
···
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accum.z += ang_vel_body_space.z;
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}
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-
// We don't want the angular acceleration, it's way too noisy.
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-
#if 0
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if (valid_angular_acceleration) {
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accum.x += delta_s / 2 * rel->angular_acceleration.x;
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accum.y += delta_s / 2 * rel->angular_acceleration.y;
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accum.z += delta_s / 2 * rel->angular_acceleration.z;
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}
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-
#endif
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if (valid_orientation) {
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math_quat_integrate_velocity(&rel->pose.orientation, // Old orientation
+12
src/xrt/auxiliary/math/m_space.cpp
+12
src/xrt/auxiliary/math/m_space.cpp
···
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fprintf(stderr, " LV{%f %f %f}", r->linear_velocity.x, r->linear_velocity.y, r->linear_velocity.z);
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}
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+
if (r->relation_flags &
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XRT_SPACE_RELATION_LINEAR_ACCELERATION_VALID_BIT) {
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fprintf(stderr, " LA{%f %f %f}", r->linear_acceleration.x,
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r->linear_acceleration.y, r->linear_acceleration.z);
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}
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if (r->relation_flags & XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT) {
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fprintf(stderr, " AV{%f %f %f}", r->angular_velocity.x, r->angular_velocity.y, r->angular_velocity.z);
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}
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if (r->relation_flags &
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XRT_SPACE_RELATION_ANGULAR_ACCELERATION_VALID_BIT) {
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fprintf(stderr, " AA{%f %f %f}", r->angular_acceleration.x,
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r->angular_acceleration.y, r->angular_acceleration.z);
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}
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fprintf(stderr, "\n");
+4
-2
src/xrt/auxiliary/math/m_space.h
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-2
src/xrt/auxiliary/math/m_space.h
+14
-8
src/xrt/include/xrt/xrt_defines.h
+14
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src/xrt/include/xrt/xrt_defines.h
···
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XRT_SPACE_RELATION_POSITION_VALID_BIT = (1u << 1u),
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XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT = (1u << 2u),
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XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT = (1u << 3u),
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-
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT = (1u << 4u),
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XRT_SPACE_RELATION_POSITION_TRACKED_BIT = (1u << 5u),
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XRT_SPACE_RELATION_LINEAR_ACCELERATION_VALID_BIT = (1u << 4u),
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XRT_SPACE_RELATION_ANGULAR_ACCELERATION_VALID_BIT = (1u << 5u),
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XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT = (1u << 6u),
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XRT_SPACE_RELATION_POSITION_TRACKED_BIT = (1u << 7u),
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// clang-format on
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XRT_SPACE_RELATION_BITMASK_ALL = (uint32_t)XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_POSITION_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | //
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XRT_SPACE_RELATION_BITMASK_ALL = (uint32_t)XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_POSITION_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_LINEAR_ACCELERATION_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_ANGULAR_ACCELERATION_VALID_BIT | //
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(uint32_t)XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | //
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(uint32_t)XRT_SPACE_RELATION_POSITION_TRACKED_BIT,
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XRT_SPACE_RELATION_BITMASK_NONE = 0,
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};
···
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struct xrt_pose pose;
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struct xrt_vec3 linear_velocity;
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struct xrt_vec3 angular_velocity;
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struct xrt_vec3 linear_acceleration;
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struct xrt_vec3 angular_acceleration;
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};
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/*!
···
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* @relates xrt_space_relation
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*/
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// clang-format off
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#define XRT_SPACE_RELATION_ZERO {XRT_SPACE_RELATION_BITMASK_NONE, XRT_POSE_IDENTITY, XRT_VEC3_ZERO, XRT_VEC3_ZERO}
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#define XRT_SPACE_RELATION_ZERO {XRT_SPACE_RELATION_BITMASK_NONE, XRT_POSE_IDENTITY, XRT_VEC3_ZERO, XRT_VEC3_ZERO, XRT_VEC3_ZERO, XRT_VEC3_ZERO}
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// clang-format on
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/*!