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OpenXrInput: Rotate head and refactor sensor to avatar calculation.

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Lubosz Sarnecki 2024-03-13 01:23:56 +01:00
parent e98f08fa61
commit 5cf56caf81
1 changed files with 4 additions and 6 deletions
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10
plugins/openxr/src/OpenXrInputPlugin.cpp
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@ -443,22 +443,20 @@ void OpenXrInputPlugin::InputDevice::update(float deltaTime, const controller::I
XrResult result = xrSyncActions(session, &syncInfo);
xrCheck(instance, result, "failed to sync actions!");
glm::mat4 sensorToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
for (int i = 0; i < HAND_COUNT; i++) {
XrSpaceLocation handLocation = _actions.at("/input/grip/pose")->getPose(i);
bool locationValid = (handLocation.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) != 0;
if (locationValid) {
// TODO: Fix hands pose
vec3 translation = xrVecToGlm(handLocation.pose.position);
quat rotation = xrQuatToGlm(handLocation.pose.orientation);
auto pose = controller::Pose(translation, rotation);
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
_poseStateMap[i == 0 ? controller::LEFT_HAND : controller::RIGHT_HAND] = pose.transform(controllerToAvatar);
_poseStateMap[i == 0 ? controller::LEFT_HAND : controller::RIGHT_HAND] = pose.transform(sensorToAvatar);
}
}
glm::mat4 sensorToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
glm::mat4 defaultHeadOffset = createMatFromQuatAndPos(Quaternions::IDENTITY, -DEFAULT_AVATAR_HEAD_TO_MIDDLE_EYE_OFFSET);
glm::mat4 defaultHeadOffset = createMatFromQuatAndPos(-DEFAULT_AVATAR_HEAD_ROT, -DEFAULT_AVATAR_HEAD_TO_MIDDLE_EYE_OFFSET);
_poseStateMap[controller::HEAD] = _context->_lastHeadPose.postTransform(defaultHeadOffset).transform(sensorToAvatar);
std::map<controller::StandardAxisChannel, std::string> axesToUpdate[2] = {