The open source OpenXR runtime
d/psmv: Introduce proper grip and aim poses
Correctly rotate the grip pose to follow the spec more closely.
+34
-22
+3
doc/changes/drivers/mr.509.md
+3
doc/changes/drivers/mr.509.md
+15
-7
src/xrt/drivers/psmv/psmv_driver.c
+15
-7
src/xrt/drivers/psmv/psmv_driver.c
···
71
71
PSMV_INDEX_CIRCLE_CLICK,
72
72
PSMV_INDEX_TRIANGLE_CLICK,
73
73
PSMV_INDEX_TRIGGER_VALUE,
74
+
PSMV_INDEX_GRIP_POSE,
75
+
PSMV_INDEX_AIM_POSE,
74
76
PSMV_INDEX_BODY_CENTER_POSE,
75
77
PSMV_INDEX_BALL_CENTER_POSE,
76
-
PSMV_INDEX_BALL_TIP_POSE,
77
78
};
78
79
79
80
/*!
···
886
887
*out_relation_timestamp_ns = now;
887
888
}
888
889
889
-
// Adjust from the normal body center pose to the ball tip.
890
-
if (name != XRT_INPUT_PSMV_BALL_TIP_POSE) {
890
+
/*
891
+
* Both the grip and aim pose needs adjustments, the grip is a rotated
892
+
* body center pose, while the aim pose needs to rotated and translated
893
+
* to the tip of the ball.
894
+
*/
895
+
if (name != XRT_INPUT_PSMV_AIM_POSE &&
896
+
name != XRT_INPUT_PSMV_GRIP_POSE) {
891
897
return;
892
898
}
893
899
894
-
float y = PSMV_BALL_FROM_IMU_Y_M;
895
-
if (name == XRT_INPUT_PSMV_BALL_TIP_POSE) {
900
+
float y = 0.0;
901
+
if (name == XRT_INPUT_PSMV_AIM_POSE) {
902
+
y += PSMV_BALL_FROM_IMU_Y_M;
896
903
y += PSMV_BALL_DIAMETER_M / 2.0;
897
904
}
898
905
···
967
974
968
975
enum u_device_alloc_flags flags = U_DEVICE_ALLOC_TRACKING_NONE;
969
976
struct psmv_device *psmv =
970
-
U_DEVICE_ALLOCATE(struct psmv_device, flags, 12, 1);
977
+
U_DEVICE_ALLOCATE(struct psmv_device, flags, 13, 1);
971
978
psmv->base.destroy = psmv_device_destroy;
972
979
psmv->base.update_inputs = psmv_device_update_inputs;
973
980
psmv->base.get_tracked_pose = psmv_device_get_tracked_pose;
···
1019
1026
SET_INPUT(CIRCLE_CLICK);
1020
1027
SET_INPUT(TRIANGLE_CLICK);
1021
1028
SET_INPUT(TRIGGER_VALUE);
1029
+
SET_INPUT(GRIP_POSE);
1030
+
SET_INPUT(AIM_POSE);
1022
1031
SET_INPUT(BODY_CENTER_POSE);
1023
1032
SET_INPUT(BALL_CENTER_POSE);
1024
-
SET_INPUT(BALL_TIP_POSE);
1025
1033
1026
1034
// We only have one output.
1027
1035
psmv->base.outputs[0].name = XRT_OUTPUT_NAME_PSMV_RUMBLE_VIBRATION;
+4
-3
src/xrt/include/xrt/xrt_defines.h
+4
-3
src/xrt/include/xrt/xrt_defines.h
···
475
475
XRT_INPUT_PSMV_CIRCLE_CLICK = XRT_INPUT_NAME(0x0026, BOOLEAN),
476
476
XRT_INPUT_PSMV_TRIANGLE_CLICK = XRT_INPUT_NAME(0x0027, BOOLEAN),
477
477
XRT_INPUT_PSMV_TRIGGER_VALUE = XRT_INPUT_NAME(0x0028, VEC1_ZERO_TO_ONE),
478
-
XRT_INPUT_PSMV_BODY_CENTER_POSE = XRT_INPUT_NAME(0x0029, POSE),
479
-
XRT_INPUT_PSMV_BALL_CENTER_POSE = XRT_INPUT_NAME(0x002A, POSE),
480
-
XRT_INPUT_PSMV_BALL_TIP_POSE = XRT_INPUT_NAME(0x002B, POSE),
478
+
XRT_INPUT_PSMV_GRIP_POSE = XRT_INPUT_NAME(0x0029, POSE),
479
+
XRT_INPUT_PSMV_AIM_POSE = XRT_INPUT_NAME(0x002A, POSE),
480
+
XRT_INPUT_PSMV_BODY_CENTER_POSE = XRT_INPUT_NAME(0x002B, POSE),
481
+
XRT_INPUT_PSMV_BALL_CENTER_POSE = XRT_INPUT_NAME(0x002C, POSE),
481
482
482
483
XRT_INPUT_HYDRA_1_CLICK = XRT_INPUT_NAME(0x0030, BOOLEAN),
483
484
XRT_INPUT_HYDRA_2_CLICK = XRT_INPUT_NAME(0x0031, BOOLEAN),
+12
-12
src/xrt/state_trackers/oxr/oxr_binding_data.h
+12
-12
src/xrt/state_trackers/oxr/oxr_binding_data.h
···
93
93
},
94
94
.inputs =
95
95
{
96
-
XRT_INPUT_PSMV_BODY_CENTER_POSE,
96
+
XRT_INPUT_PSMV_GRIP_POSE,
97
97
XRT_INPUT_HYDRA_POSE,
98
98
XRT_INPUT_DAYDREAM_POSE,
99
99
XRT_INPUT_INDEX_GRIP_POSE,
···
111
111
},
112
112
.inputs =
113
113
{
114
-
XRT_INPUT_PSMV_BALL_TIP_POSE,
114
+
XRT_INPUT_PSMV_AIM_POSE,
115
115
XRT_INPUT_HYDRA_POSE,
116
116
XRT_INPUT_DAYDREAM_POSE,
117
117
XRT_INPUT_INDEX_AIM_POSE,
···
180
180
},
181
181
.inputs =
182
182
{
183
-
XRT_INPUT_PSMV_BODY_CENTER_POSE,
183
+
XRT_INPUT_PSMV_GRIP_POSE,
184
184
XRT_INPUT_HYDRA_POSE,
185
185
XRT_INPUT_DAYDREAM_POSE,
186
186
XRT_INPUT_INDEX_GRIP_POSE,
···
198
198
},
199
199
.inputs =
200
200
{
201
-
XRT_INPUT_PSMV_BALL_TIP_POSE,
201
+
XRT_INPUT_PSMV_AIM_POSE,
202
202
XRT_INPUT_HYDRA_POSE,
203
203
XRT_INPUT_DAYDREAM_POSE,
204
204
XRT_INPUT_INDEX_AIM_POSE,
···
303
303
.inputs =
304
304
{
305
305
#if 0
306
-
XRT_INPUT_PSMV_BODY_CENTER_POSE,
306
+
XRT_INPUT_PSMV_GRIP_POSE,
307
307
XRT_INPUT_HYDRA_POSE,
308
308
#endif
309
309
(enum xrt_input_name)0,
···
320
320
.inputs =
321
321
{
322
322
#if 0
323
-
XRT_INPUT_PSMV_BALL_TIP_POSE,
323
+
XRT_INPUT_PSMV_AIM_POSE,
324
324
XRT_INPUT_HYDRA_POSE,
325
325
#endif
326
326
(enum xrt_input_name)0,
···
394
394
.inputs =
395
395
{
396
396
#if 0
397
-
XRT_INPUT_PSMV_BODY_CENTER_POSE,
397
+
XRT_INPUT_PSMV_GRIP_POSE,
398
398
XRT_INPUT_HYDRA_POSE,
399
399
#endif
400
400
(enum xrt_input_name)0,
···
411
411
.inputs =
412
412
{
413
413
#if 0
414
-
XRT_INPUT_PSMV_BALL_TIP_POSE,
414
+
XRT_INPUT_PSMV_AIM_POSE,
415
415
XRT_INPUT_HYDRA_POSE,
416
416
#endif
417
417
(enum xrt_input_name)0,
···
567
567
},
568
568
.inputs =
569
569
{
570
-
XRT_INPUT_PSMV_BODY_CENTER_POSE,
570
+
XRT_INPUT_PSMV_GRIP_POSE,
571
571
(enum xrt_input_name)0,
572
572
},
573
573
},
···
595
595
},
596
596
.inputs =
597
597
{
598
-
XRT_INPUT_PSMV_BALL_TIP_POSE,
598
+
XRT_INPUT_PSMV_AIM_POSE,
599
599
(enum xrt_input_name)0,
600
600
},
601
601
},
···
748
748
},
749
749
.inputs =
750
750
{
751
-
XRT_INPUT_PSMV_BODY_CENTER_POSE,
751
+
XRT_INPUT_PSMV_GRIP_POSE,
752
752
(enum xrt_input_name)0,
753
753
},
754
754
},
···
776
776
},
777
777
.inputs =
778
778
{
779
-
XRT_INPUT_PSMV_BALL_TIP_POSE,
779
+
XRT_INPUT_PSMV_AIM_POSE,
780
780
(enum xrt_input_name)0,
781
781
},
782
782
},