The open source OpenXR runtime
steamvr_lh: Correct angular and linear velocities
authored by
BabbleBones
and committed by
Jakob Bornecrantz
9033ff4b
10d0ab7e
+9
-7
+9
-7
src/xrt/drivers/steamvr_lh/device.cpp
+9
-7
src/xrt/drivers/steamvr_lh/device.cpp
···
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rightEye_postquat.position.z = eyeToHeadRight.m[2][3];
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this->eye[0].orientation = leftEye_postquat.orientation;
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this->eye[0].position.x += leftEye_postquat.position.x;
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this->eye[0].position.y += leftEye_postquat.position.y;
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this->eye[0].position.z += leftEye_postquat.position.z;
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this->eye[0].position = leftEye_postquat.position;
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this->eye[1].orientation = rightEye_postquat.orientation;
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this->eye[1].position.x += rightEye_postquat.position.x;
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this->eye[1].position.y += rightEye_postquat.position.y;
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this->eye[1].position.z += rightEye_postquat.position.z;
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this->eye[1].position = rightEye_postquat.position;
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}
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void
···
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out_poses);
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out_poses[0].orientation = this->eye[0].orientation;
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out_poses[0].position.z = this->eye[0].position.z;
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out_poses[0].position.y = this->eye[0].position.y;
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out_poses[1].orientation = this->eye[1].orientation;
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out_poses[1].position.z = this->eye[1].position.z;
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out_poses[1].position.y = this->eye[1].position.y;
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}
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bool
···
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};
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world_transform(pose.position);
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math_quat_rotate(&to_world_rot, &pose.orientation, &pose.orientation);
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math_quat_rotate_vec3(&to_world_rot, &relation.linear_velocity, &relation.linear_velocity);
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math_quat_rotate_vec3(&pose.orientation, &relation.angular_velocity, &relation.angular_velocity);
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// apply local transform
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xrt_vec3 local_rotated;
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math_quat_rotate_vec3(&pose.orientation, &to_local_pos, &local_rotated);
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math_vec3_accum(&local_rotated, &pose.position);
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math_vec3_accum(&local_rotated, &relation.linear_velocity);
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math_quat_rotate(&pose.orientation, &to_local_rot, &pose.orientation);
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// apply chaperone transform
···
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};
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chap_transform(pose.position);
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math_quat_rotate(&chaperone_yaw, &pose.orientation, &pose.orientation);
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+
math_quat_rotate_vec3(&chaperone_yaw, &relation.linear_velocity, &relation.linear_velocity);
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math_quat_rotate_vec3(&chaperone_yaw, &relation.angular_velocity, &relation.angular_velocity);
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} else {
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relation.relation_flags = XRT_SPACE_RELATION_BITMASK_NONE;
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}