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Merge pull request #5238 from hyperlogic/ajt/vive-sensor-reset

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OpenVR sensor reset fix
This commit is contained in:
Brad Davis 2015-07-01 16:03:16 -07:00
commit 5eca45353c
1 changed files with 21 additions and 3 deletions
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24
libraries/display-plugins/src/display-plugins/openvr/OpenVrDisplayPlugin.cpp
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@ -33,6 +33,7 @@ static vr::IVRSystem *_hmd{ nullptr };
static vr::IVRCompositor* _compositor{ nullptr };
static vr::TrackedDevicePose_t _trackedDevicePose[vr::k_unMaxTrackedDeviceCount];
static mat4 _trackedDevicePoseMat4[vr::k_unMaxTrackedDeviceCount];
static mat4 _sensorResetMat;
static uvec2 _windowSize;
static ivec2 _windowPosition;
static uvec2 _renderTargetSize;
@ -128,7 +129,24 @@ mat4 OpenVrDisplayPlugin::getModelview(Eye eye, const mat4& baseModelview) const
}
void OpenVrDisplayPlugin::resetSensors() {
_hmd->ResetSeatedZeroPose();
// _hmd->ResetSeatedZeroPose(); AJT: not working
mat4 pose = _trackedDevicePoseMat4[0];
vec3 xAxis = vec3(pose[0]);
vec3 yAxis = vec3(pose[1]);
vec3 zAxis = vec3(pose[2]);
// cancel out the roll and pitch
vec3 newZ = (zAxis.x == 0 && zAxis.z == 0) ? vec3(1, 0, 0) : glm::normalize(vec3(zAxis.x, 0, zAxis.z));
vec3 newX = glm::cross(vec3(0, 1, 0), newZ);
vec3 newY = glm::cross(newZ, newX);
mat4 m;
m[0] = vec4(newX, 0);
m[1] = vec4(newY, 0);
m[2] = vec4(newZ, 0);
m[3] = pose[3];
_sensorResetMat = glm::inverse(m);
}
glm::mat4 OpenVrDisplayPlugin::getEyePose(Eye eye) const {
@ -136,7 +154,7 @@ glm::mat4 OpenVrDisplayPlugin::getEyePose(Eye eye) const {
}
glm::mat4 OpenVrDisplayPlugin::getHeadPose() const {
return _trackedDevicePoseMat4[0];
return _sensorResetMat * _trackedDevicePoseMat4[0];
}
void OpenVrDisplayPlugin::customizeContext(PluginContainer * container) {
@ -158,7 +176,7 @@ void OpenVrDisplayPlugin::finishFrame() {
_compositor->WaitGetPoses(_trackedDevicePose, vr::k_unMaxTrackedDeviceCount);
_trackedDevicePoseMat4[0] = toGlm(_trackedDevicePose[0].mDeviceToAbsoluteTracking);
openvr_for_each_eye([&](vr::Hmd_Eye eye) {
_eyesData[eye]._pose = _trackedDevicePoseMat4[0];
_eyesData[eye]._pose = _sensorResetMat * _trackedDevicePoseMat4[0];
});
};