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Fix headset and controller poses

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This commit is contained in:
mcc 2018-11-06 15:56:27 -05:00
parent bf7fd349e2
commit d8de87d789
1 changed files with 14 additions and 4 deletions
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18
src/headset/oculus_mobile.c
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@ -87,10 +87,14 @@ static const float* oculusMobileGetBoundsGeometry(int* count) {
static void oculusMobileGetPose(float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) { static void oculusMobileGetPose(float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) {
*x = bridgeLovrMobileData.updateData.lastHeadPose.x; *x = bridgeLovrMobileData.updateData.lastHeadPose.x;
*y = bridgeLovrMobileData.updateData.lastHeadPose.y; *y = bridgeLovrMobileData.updateData.lastHeadPose.y + offset; // Correct for head height
*z = bridgeLovrMobileData.updateData.lastHeadPose.z; *z = bridgeLovrMobileData.updateData.lastHeadPose.z;
quat_getAngleAxis(bridgeLovrMobileData.updateData.lastHeadPose.q, angle, ax, ay, az); // Notice: Ax and Az are both swapped and inverted. Experimentally, if you do the Oculus Go controller position
// lines up with Lovr visually, and if you don't it doesn't. This is probably needed because of different axis standards.
quat_getAngleAxis(bridgeLovrMobileData.updateData.lastHeadPose.q, angle, az, ay, ax);
*ax = -*ax;
*az = -*az;
} }
static void oculusMobileGetEyePose(HeadsetEye eye, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) { static void oculusMobileGetEyePose(HeadsetEye eye, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) {
@ -98,12 +102,14 @@ static void oculusMobileGetEyePose(HeadsetEye eye, float* x, float* y, float* z,
oculusMobileGetPose(x, y, z, angle, ax, ay, az); oculusMobileGetPose(x, y, z, angle, ax, ay, az);
} }
// TODO: This has never been tested
static void oculusMobileGetVelocity(float* x, float* y, float* z) { static void oculusMobileGetVelocity(float* x, float* y, float* z) {
*x = bridgeLovrMobileData.updateData.lastHeadVelocity.x; *x = bridgeLovrMobileData.updateData.lastHeadVelocity.x;
*y = bridgeLovrMobileData.updateData.lastHeadVelocity.y; *y = bridgeLovrMobileData.updateData.lastHeadVelocity.y;
*z = bridgeLovrMobileData.updateData.lastHeadVelocity.z; *z = bridgeLovrMobileData.updateData.lastHeadVelocity.z;
} }
// TODO: This has never been tested
static void oculusMobileGetAngularVelocity(float* x, float* y, float* z) { static void oculusMobileGetAngularVelocity(float* x, float* y, float* z) {
*x = bridgeLovrMobileData.updateData.lastHeadVelocity.ax; *x = bridgeLovrMobileData.updateData.lastHeadVelocity.ax;
*y = bridgeLovrMobileData.updateData.lastHeadVelocity.ay; *y = bridgeLovrMobileData.updateData.lastHeadVelocity.ay;
@ -129,10 +135,14 @@ static ControllerHand oculusMobileControllerGetHand(Controller* controller) {
static void oculusMobileControllerGetPose(Controller* controller, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) { static void oculusMobileControllerGetPose(Controller* controller, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) {
*x = bridgeLovrMobileData.updateData.goPose.x; *x = bridgeLovrMobileData.updateData.goPose.x;
*y = bridgeLovrMobileData.updateData.goPose.y; *y = bridgeLovrMobileData.updateData.goPose.y + offset; // Correct for head height
*z = bridgeLovrMobileData.updateData.goPose.z; *z = bridgeLovrMobileData.updateData.goPose.z;
quat_getAngleAxis(bridgeLovrMobileData.updateData.goPose.q, angle, ax, ay, az); // Notice: Ax and Az are both swapped and inverted. Experimentally, if you do the Oculus Go controller position
// lines up with Lovr visually, and if you don't it doesn't. This is probably needed because of different axis standards.
quat_getAngleAxis(bridgeLovrMobileData.updateData.goPose.q, angle, az, ay, ax);
*ax = -*ax;
*az = -*az;
} }
static float oculusMobileControllerGetAxis(Controller* controller, ControllerAxis axis) { static float oculusMobileControllerGetAxis(Controller* controller, ControllerAxis axis) {