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OpenXrInputPlugin: Fix hand orientation.

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Use same orientation as OpenVR plugin.
This commit is contained in:
Lubosz Sarnecki 2024-03-17 13:44:32 +01:00
parent 5ea07c8eb2
commit a2a1fca274
1 changed files with 14 additions and 1 deletions
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15
plugins/openxr/src/OpenXrInputPlugin.cpp
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@ -467,6 +467,17 @@ void OpenXrInputPlugin::InputDevice::update(float deltaTime, const controller::I
glm::mat4 sensorToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat touchToHand = yFlip * quarterX;
static const glm::quat leftQuarterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuarterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat eighthX = glm::angleAxis(PI / 4.0f, Vectors::UNIT_X);
static const glm::quat leftRotationOffset = glm::inverse(leftQuarterZ * eighthX) * touchToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuarterZ * eighthX) * touchToHand;
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;
@ -474,7 +485,9 @@ void OpenXrInputPlugin::InputDevice::update(float deltaTime, const controller::I
vec3 translation = xrVecToGlm(handLocation.pose.position);
quat rotation = xrQuatToGlm(handLocation.pose.orientation);
auto pose = controller::Pose(translation, rotation);
_poseStateMap[i == 0 ? controller::LEFT_HAND : controller::RIGHT_HAND] = pose.transform(sensorToAvatar);
glm::mat4 handOffset = i == 0 ? glm::toMat4(leftRotationOffset) : glm::toMat4(rightRotationOffset);
_poseStateMap[i == 0 ? controller::LEFT_HAND : controller::RIGHT_HAND] =
pose.postTransform(handOffset).transform(sensorToAvatar);
}
}