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OpenXrInputPlugin: Correct HMD-head bone offset

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Ada 2025-01-25 16:03:04 +10:00
parent c9b528545d
commit 9bdc389556
1 changed files with 9 additions and 6 deletions
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15
plugins/openxr/src/OpenXrInputPlugin.cpp
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@ -554,7 +554,7 @@ void OpenXrInputPlugin::InputDevice::update(float deltaTime, const controller::I
glm::mat4 handOffset = i == 0 ? glm::toMat4(leftRotationOffset) : glm::toMat4(rightRotationOffset);
// offset constants taken from OpenComposite
// (apparently the openvr plugin uses similar constants?)
// and tweaked to fit my hands as best i could
glm::mat4 posOffset(1.0f);
posOffset *= glm::translate(glm::vec3(handOffset[0]) * (i == 0 ? 0.04f : -0.04f));
posOffset *= glm::translate(glm::vec3(handOffset[1]) * -0.16f);
@ -565,18 +565,21 @@ void OpenXrInputPlugin::InputDevice::update(float deltaTime, const controller::I
}
glm::mat4 defaultHeadOffset;
float eyeZOffset = 0.16f;
if (inputCalibrationData.hmdAvatarAlignmentType == controller::HmdAvatarAlignmentType::Eyes) {
// align the eyes of the user with the eyes of the avatar
defaultHeadOffset = (glm::inverse(inputCalibrationData.defaultCenterEyeMat) * inputCalibrationData.defaultHeadMat) * Matrices::Y_180;
defaultHeadOffset = Matrices::Y_180 * (glm::inverse(inputCalibrationData.defaultCenterEyeMat) * inputCalibrationData.defaultHeadMat);
// dont double up on eye offset
eyeZOffset = 0.0f;
} else {
defaultHeadOffset = createMatFromQuatAndPos(-DEFAULT_AVATAR_HEAD_ROT, -DEFAULT_AVATAR_HEAD_TO_MIDDLE_EYE_OFFSET);
}
// try to account for weirdness with HMD view being inside the root of the head bone
// TODO: is the 15cm(?) forward shift too much?
// FIXME: this doesn't account for avatar scale
auto headCorrectionA = glm::translate(glm::vec3(0.0f, 0.15f, 0.15f));
auto headCorrectionA = glm::translate(glm::vec3(0.0f, 0.16f, eyeZOffset));
auto headCorrectionB = glm::translate(glm::vec3(0.0f, -0.2f, 0.0f));
_poseStateMap[controller::HEAD] = _context->_lastHeadPose.postTransform(headCorrectionA).postTransform(defaultHeadOffset).transform(sensorToAvatar).postTransform(headCorrectionB);
_poseStateMap[controller::HEAD] = _context->_lastHeadPose.postTransform(headCorrectionA).postTransform(defaultHeadOffset).postTransform(headCorrectionB).transform(sensorToAvatar);
std::vector<std::pair<std::string, controller::StandardAxisChannel>> floatsToUpdate = {
{"interact_left", controller::LT},