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Do less work in lovr.headset.getPosition/getOrientation;

This commit is contained in:
bjorn 2019-04-12 13:07:51 -07:00
parent 9a8b119a81
commit 965f39f834
7 changed files with 74 additions and 54 deletions
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14
src/api/headset.c
View File

@ -227,12 +227,12 @@ int l_lovrHeadsetGetPose(lua_State* L) {
int l_lovrHeadsetGetPosition(lua_State* L) {
Path path = luax_optpath(L, 1, "head");
float position[3], angle, ax, ay, az;
float x, y, z;
FOREACH_TRACKING_DRIVER(driver) {
if (driver->getPose(path, &position[0], &position[1], &position[2], &angle, &ax, &ay, &az)) {
lua_pushnumber(L, position[0]);
lua_pushnumber(L, position[1]);
lua_pushnumber(L, position[2]);
if (driver->getPose(path, &x, &y, &z, NULL, NULL, NULL, NULL)) {
lua_pushnumber(L, x);
lua_pushnumber(L, y);
lua_pushnumber(L, z);
return 3;
}
}
@ -241,9 +241,9 @@ int l_lovrHeadsetGetPosition(lua_State* L) {
int l_lovrHeadsetGetOrientation(lua_State* L) {
Path path = luax_optpath(L, 1, "head");
float x, y, z, angle, ax, ay, az;
float angle, ax, ay, az;
FOREACH_TRACKING_DRIVER(driver) {
if (driver->getPose(path, &x, &y, &z, &angle, &ax, &ay, &az)) {
if (driver->getPose(path, NULL, NULL, NULL, &angle, &ax, &ay, &az)) {
lua_pushnumber(L, angle);
lua_pushnumber(L, ax);
lua_pushnumber(L, ay);

27
src/headset/desktop.c
View File

@ -73,20 +73,25 @@ static const float* getBoundsGeometry(int* count) {
}
static bool getPose(Path path, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) {
if (PATH_EQ(path, P_HEAD)) {
*x = *y = *z = 0.f;
} else if (PATH_EQ(path, P_HAND, P_LEFT) || PATH_EQ(path, P_HAND, P_RIGHT)) {
*x = 0.f;
*y = 0.f;
*z = -.75f;
} else {
bool head = PATH_EQ(path, P_HEAD);
bool hand = PATH_EQ(path, P_HAND, P_LEFT) || PATH_EQ(path, P_HAND, P_RIGHT);
if (!head && !hand) {
return false;
}
float q[4];
mat4_transform(state.transform, x, y, z);
quat_fromMat4(q, state.transform);
quat_getAngleAxis(q, angle, ax, ay, az);
if (x) {
*x = *y = 0.f;
*z = hand ? -.75f : 0.f;
mat4_transform(state.transform, x, y, z);
}
if (angle) {
float q[4];
quat_fromMat4(q, state.transform);
quat_getAngleAxis(q, angle, ax, ay, az);
}
return true;
}

15
src/headset/oculus.c
View File

@ -169,12 +169,17 @@ static bool getPose(Path path, float* x, float* y, float* z, float* angle, float
return false;
}
*x = pose->Position.x;;
*y = pose->Position.y + state.offset;
*z = pose->Position.z;
if (x) {
*x = pose->Position.x;;
*y = pose->Position.y + state.offset;
*z = pose->Position.z;
}
if (angle) {
float quat[4] = { pose->Orientation.x, pose->Orientation.y, pose->Orientation.z, pose->Orientation.w };
quat_getAngleAxis(quat, angle, ax, ay, az);
}
float quat[4] = { pose->Orientation.x, pose->Orientation.y, pose->Orientation.z, pose->Orientation.w };
quat_getAngleAxis(quat, angle, ax, ay, az);
return true;
}

28
src/headset/oculus_mobile.c
View File

@ -71,16 +71,28 @@ static const float* getBoundsGeometry(int* count) {
static bool getPose(Path path, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) {
if (PATH_EQ(path, P_HEAD)) {
*x = bridgeLovrMobileData.updateData.lastHeadPose.x;
*y = bridgeLovrMobileData.updateData.lastHeadPose.y + state.offset; // Correct for head height
*z = bridgeLovrMobileData.updateData.lastHeadPose.z;
quat_getAngleAxis(bridgeLovrMobileData.updateData.lastHeadPose.q, angle, ax, ay, az);
if (x) {
*x = bridgeLovrMobileData.updateData.lastHeadPose.x;
*y = bridgeLovrMobileData.updateData.lastHeadPose.y + state.offset; // Correct for head height
*z = bridgeLovrMobileData.updateData.lastHeadPose.z;
}
if (angle) {
quat_getAngleAxis(bridgeLovrMobileData.updateData.lastHeadPose.q, angle, ax, ay, az);
}
return true;
} else if (PATH_EQ(path, P_HAND)) {
*x = bridgeLovrMobileData.updateData.goPose.x;
*y = bridgeLovrMobileData.updateData.goPose.y + state.offset; // Correct for head height
*z = bridgeLovrMobileData.updateData.goPose.z;
quat_getAngleAxis(bridgeLovrMobileData.updateData.goPose.q, angle, ax, ay, az);
if (x) {
*x = bridgeLovrMobileData.updateData.goPose.x;
*y = bridgeLovrMobileData.updateData.goPose.y + state.offset; // Correct for head height
*z = bridgeLovrMobileData.updateData.goPose.z;
}
if (angle) {
quat_getAngleAxis(bridgeLovrMobileData.updateData.goPose.q, angle, ax, ay, az);
}
return true;
}
return false;

2
src/headset/openvr.c
View File

@ -249,7 +249,7 @@ static bool getPose(Path path, float* x, float* y, float* z, float* angle, float
TrackedDeviceIndex_t deviceIndex = getDeviceIndexForPath(path);
float transform[16];
if (deviceIndex != INVALID_INDEX && getTransform(deviceIndex, transform)) {
mat4_getPose(transform, x, y, z, angle, ax, ay, az);
mat4_getTransform(transform, x, y, z, NULL, NULL, NULL, angle, ax, ay, az);
return true;
}
return false;

41
src/lib/maf.c
View File

@ -491,28 +491,27 @@ mat4 mat4_scale(mat4 m, float x, float y, float z) {
return m;
}
void mat4_getPose(mat4 m, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) {
*x = m[12];
*y = m[13];
*z = m[14];
float quat[4];
quat_fromMat4(quat, m);
quat_getAngleAxis(quat, angle, ax, ay, az);
}
void mat4_getTransform(mat4 m, float* x, float* y, float* z, float* sx, float* sy, float* sz, float* angle, float* ax, float* ay, float* az) {
*x = m[12];
*y = m[13];
*z = m[14];
float a[3] = { m[0], m[1], m[2] };
float b[3] = { m[4], m[5], m[6] };
float c[3] = { m[8], m[9], m[10] };
*sx = vec3_length(a);
*sy = vec3_length(b);
*sz = vec3_length(c);
float quat[4];
quat_fromMat4(quat, m);
quat_getAngleAxis(quat, angle, ax, ay, az);
if (x) {
*x = m[12];
*y = m[13];
*z = m[14];
}
if (sx) {
float a[3] = { m[0], m[1], m[2] };
float b[3] = { m[4], m[5], m[6] };
float c[3] = { m[8], m[9], m[10] };
*sx = vec3_length(a);
*sy = vec3_length(b);
*sz = vec3_length(c);
}
if (angle) {
float quat[4];
quat_fromMat4(quat, m);
quat_getAngleAxis(quat, angle, ax, ay, az);
}
}
mat4 mat4_orthographic(mat4 m, float left, float right, float top, float bottom, float clipNear, float clipFar) {

1
src/lib/maf.h
View File

@ -54,7 +54,6 @@ MAF_EXPORT mat4 mat4_translate(mat4 m, float x, float y, float z);
MAF_EXPORT mat4 mat4_rotate(mat4 m, float angle, float x, float y, float z);
MAF_EXPORT mat4 mat4_rotateQuat(mat4 m, quat q);
MAF_EXPORT mat4 mat4_scale(mat4 m, float x, float y, float z);
MAF_EXPORT void mat4_getPose(mat4 m, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az);
MAF_EXPORT void mat4_getTransform(mat4 m, float* x, float* y, float* z, float* sx, float* sy, float* sz, float* angle, float* ax, float* ay, float* az);
MAF_EXPORT mat4 mat4_orthographic(mat4 m, float left, float right, float top, float bottom, float near, float far);
MAF_EXPORT mat4 mat4_perspective(mat4 m, float near, float far, float fov, float aspect);