The open source OpenXR runtime
d/hydra + a/bindings: Split hydra pose into separate grip/aim poses
This should be a backwards-compatible change.
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2469>
+53
-24
+14
-2
src/xrt/auxiliary/bindings/bindings.json
+14
-2
src/xrt/auxiliary/bindings/bindings.json
···
2098
2098
"/input/grip": {
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2099
"type": "pose",
2100
2100
"localized_name": "Grip",
2101
-
"components": ["pose"],
2101
+
"components": [
2102
+
"pose"
2103
+
],
2102
2104
"monado_bindings": {
2103
-
"pose": "XRT_INPUT_HYDRA_POSE"
2105
+
"pose": "XRT_INPUT_HYDRA_GRIP_POSE"
2106
+
}
2107
+
},
2108
+
"/input/aim": {
2109
+
"type": "pose",
2110
+
"localized_name": "Aim",
2111
+
"components": [
2112
+
"pose"
2113
+
],
2114
+
"monado_bindings": {
2115
+
"pose": "XRT_INPUT_HYDRA_AIM_POSE"
2104
2116
}
2105
2117
}
2106
2118
}
+35
-19
src/xrt/drivers/hydra/hydra_driver.c
+35
-19
src/xrt/drivers/hydra/hydra_driver.c
···
23
23
#include "os/os_time.h"
24
24
25
25
#include "math/m_api.h"
26
+
#include "math/m_relation_history.h"
27
+
#include "math/m_space.h"
28
+
26
29
#include "util/u_debug.h"
27
30
#include "util/u_device.h"
28
31
#include "util/u_misc.h"
···
58
61
HYDRA_INDEX_JOYSTICK_CLICK,
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62
HYDRA_INDEX_JOYSTICK_VALUE,
60
63
HYDRA_INDEX_TRIGGER_VALUE,
61
-
HYDRA_INDEX_POSE,
64
+
HYDRA_INDEX_GRIP_POSE,
65
+
HYDRA_INDEX_AIM_POSE,
62
66
HYDRA_MAX_CONTROLLER_INDEX
63
67
};
64
68
···
510
514
511
515
hydra_system_update(hs);
512
516
513
-
out_relation->pose = hd->state.pose;
517
+
struct xrt_relation_chain xrc = {0};
514
518
515
-
//! @todo how do we report this is not (necessarily) the same base space
516
-
//! as the HMD?
517
-
out_relation->relation_flags = (enum xrt_space_relation_flags)(
518
-
XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT |
519
-
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT);
520
-
// struct xrt_vec3 pos = out_relation->pose.position;
521
-
// struct xrt_quat quat = out_relation->pose.orientation;
522
-
// HYDRA_SPEW(hd, "GET_TRACKED_POSE (%f, %f, %f) (%f, %f, %f, %f) ",
523
-
// pos.x,
524
-
// pos.y, pos.z, quat.x, quat.y, quat.z, quat.w);
519
+
switch (name) {
520
+
case XRT_INPUT_HYDRA_AIM_POSE: {
521
+
const struct xrt_pose aim_offset = {
522
+
.position = {0, 0.045, -0.08},
523
+
.orientation = {-0.258819, 0, 0, 0.9659258},
524
+
};
525
+
m_relation_chain_push_pose(&xrc, &aim_offset);
526
+
break;
527
+
}
528
+
case XRT_INPUT_HYDRA_GRIP_POSE:
529
+
default: break;
530
+
}
531
+
532
+
struct xrt_space_relation device_relation = {
533
+
.pose = hd->state.pose,
534
+
.relation_flags = XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT |
535
+
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT};
536
+
537
+
m_relation_chain_push_relation(&xrc, &device_relation);
538
+
539
+
m_relation_chain_resolve(&xrc, out_relation);
525
540
526
541
return XRT_SUCCESS;
527
542
}
···
604
619
{XRT_INPUT_TOUCH_TRIGGER_VALUE, XRT_INPUT_HYDRA_TRIGGER_VALUE},
605
620
{XRT_INPUT_TOUCH_THUMBSTICK_CLICK, XRT_INPUT_HYDRA_JOYSTICK_CLICK},
606
621
{XRT_INPUT_TOUCH_THUMBSTICK, XRT_INPUT_HYDRA_JOYSTICK_VALUE},
607
-
{XRT_INPUT_TOUCH_GRIP_POSE, XRT_INPUT_HYDRA_POSE},
608
-
{XRT_INPUT_TOUCH_AIM_POSE, XRT_INPUT_HYDRA_POSE},
622
+
{XRT_INPUT_TOUCH_GRIP_POSE, XRT_INPUT_HYDRA_GRIP_POSE},
623
+
{XRT_INPUT_TOUCH_AIM_POSE, XRT_INPUT_HYDRA_AIM_POSE},
609
624
};
610
625
611
626
static struct xrt_binding_input_pair simple_inputs[4] = {
612
627
{XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_HYDRA_TRIGGER_VALUE},
613
628
{XRT_INPUT_SIMPLE_MENU_CLICK, XRT_INPUT_HYDRA_MIDDLE_CLICK},
614
-
{XRT_INPUT_SIMPLE_GRIP_POSE, XRT_INPUT_HYDRA_POSE},
615
-
{XRT_INPUT_SIMPLE_AIM_POSE, XRT_INPUT_HYDRA_POSE},
629
+
{XRT_INPUT_SIMPLE_GRIP_POSE, XRT_INPUT_HYDRA_GRIP_POSE},
630
+
{XRT_INPUT_SIMPLE_AIM_POSE, XRT_INPUT_HYDRA_AIM_POSE},
616
631
};
617
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633
static struct xrt_binding_profile binding_profiles[2] = {
···
664
679
hs->command_hid = command_hid;
665
680
666
681
enum u_device_alloc_flags flags = (enum u_device_alloc_flags)0;
667
-
hs->devs[0] = U_DEVICE_ALLOCATE(struct hydra_device, flags, 10, 0);
668
-
hs->devs[1] = U_DEVICE_ALLOCATE(struct hydra_device, flags, 10, 0);
682
+
hs->devs[0] = U_DEVICE_ALLOCATE(struct hydra_device, flags, HYDRA_MAX_CONTROLLER_INDEX, 0);
683
+
hs->devs[1] = U_DEVICE_ALLOCATE(struct hydra_device, flags, HYDRA_MAX_CONTROLLER_INDEX, 0);
669
684
670
685
hs->report_counter = -1;
671
686
hs->refs = 2;
···
692
707
SET_INPUT(JOYSTICK_CLICK);
693
708
SET_INPUT(JOYSTICK_VALUE);
694
709
SET_INPUT(TRIGGER_VALUE);
695
-
SET_INPUT(POSE);
710
+
SET_INPUT(GRIP_POSE);
711
+
SET_INPUT(AIM_POSE);
696
712
hd->index = i;
697
713
hd->sys = hs;
698
714
+2
-1
src/xrt/include/xrt/xrt_defines.h
+2
-1
src/xrt/include/xrt/xrt_defines.h
···
926
926
_(XRT_INPUT_HYDRA_JOYSTICK_CLICK , XRT_INPUT_NAME(0x0036, BOOLEAN)) \
927
927
_(XRT_INPUT_HYDRA_JOYSTICK_VALUE , XRT_INPUT_NAME(0x0037, VEC2_MINUS_ONE_TO_ONE)) \
928
928
_(XRT_INPUT_HYDRA_TRIGGER_VALUE , XRT_INPUT_NAME(0x0038, VEC1_ZERO_TO_ONE)) \
929
-
_(XRT_INPUT_HYDRA_POSE , XRT_INPUT_NAME(0x0039, POSE)) \
929
+
_(XRT_INPUT_HYDRA_AIM_POSE , XRT_INPUT_NAME(0x0039, POSE)) \
930
+
_(XRT_INPUT_HYDRA_GRIP_POSE , XRT_INPUT_NAME(0x0040, POSE)) \
930
931
\
931
932
_(XRT_INPUT_DAYDREAM_TOUCHPAD_CLICK , XRT_INPUT_NAME(0x0040, BOOLEAN)) \
932
933
_(XRT_INPUT_DAYDREAM_BAR_CLICK , XRT_INPUT_NAME(0x0041, BOOLEAN)) \
+1
-1
src/xrt/state_trackers/oxr/oxr_xdev.c
+1
-1
src/xrt/state_trackers/oxr/oxr_xdev.c
+1
-1
src/xrt/state_trackers/steamvr_drv/ovrd_driver.cpp
+1
-1
src/xrt/state_trackers/steamvr_drv/ovrd_driver.cpp
···
866
866
} else if (m_xdev->name == XRT_DEVICE_DAYDREAM) {
867
867
grip_name = XRT_INPUT_DAYDREAM_POSE;
868
868
} else if (m_xdev->name == XRT_DEVICE_HYDRA) {
869
-
grip_name = XRT_INPUT_HYDRA_POSE;
869
+
grip_name = XRT_INPUT_HYDRA_GRIP_POSE;
870
870
} else if (m_xdev->name == XRT_DEVICE_TOUCH_CONTROLLER) {
871
871
grip_name = XRT_INPUT_TOUCH_GRIP_POSE;
872
872
} else if (m_xdev->name == XRT_DEVICE_SIMPLE_CONTROLLER) {