Fix rotation counter stats during rotation drag

src/res/qml/RootPage.qml

@@ -489,9 +489,9 @@ MyStackViewPage {
    function updateStatistics() {
        var rotations = StatisticsTabController.hmdRotations
        if (rotations > 0) {
-           summaryHmdRotationsText.text = rotations.toFixed(1) + " CCW"
+           summaryHmdRotationsText.text = rotations.toFixed(2) + " CCW"
        } else {
-           summaryHmdRotationsText.text = -rotations.toFixed(1) + " CW"
+           summaryHmdRotationsText.text = -rotations.toFixed(2) + " CW"
        }
        summaryDroppedFramesText.text = StatisticsTabController.droppedFrames
        summaryReprojectedFramesText.text = StatisticsTabController.reprojectedFrames

src/res/qml/StatisticsPage.qml

@@ -198,9 +198,9 @@ MyStackViewPage {
             statsHmdMovedText.text = StatisticsTabController.hmdDistanceMoved.toFixed(1) + " m"
             var rotations = StatisticsTabController.hmdRotations
             if (rotations > 0) {
-                statsHmdRotationText.text = rotations.toFixed(1) + " CCW"
+                statsHmdRotationText.text = rotations.toFixed(2) + " CCW"
             } else {
-                statsHmdRotationText.text = -rotations.toFixed(1) + " CW"
+                statsHmdRotationText.text = -rotations.toFixed(2) + " CW"
             }
             statsLeftControllerSpeedText.text = "    " + StatisticsTabController.leftControllerMaxSpeed.toFixed(1) + " m/s"
             statsRightControllerSpeedText.text = "    " + StatisticsTabController.rightControllerMaxSpeed.toFixed(1) + " m/s"

src/tabcontrollers/MoveCenterTabController.cpp

@@ -510,6 +510,16 @@ void MoveCenterTabController::reset()
     emit rotationChanged( m_rotation );
 }
 
+double MoveCenterTabController::getHmdYawTotal()
+{
+    return m_hmdYawTotal;
+}
+
+void MoveCenterTabController::resetHmdYawTotal()
+{
+    m_hmdYawTotal = 0.0;
+}
+
 bool isMoveShortCutPressed( vr::ETrackedControllerRole hand )
 {
     auto handId
@@ -618,6 +628,67 @@ void MoveCenterTabController::eventLoopTick(
     }
     auto oldMoveHand = m_activeMoveController;
     auto newMoveHand = getMoveShortcutHand();
+    double angle = m_rotation * M_PI / 18000.0;
+
+    // hmd rotation tracking stuff:
+    // Check if hmd is tracking ok and do everything
+    if ( devicePoses[0].bPoseIsValid
+         && devicePoses[0].eTrackingResult == vr::TrackingResult_Running_OK )
+    {
+        // Get hmd pose matrix (in rotated coordinates)
+        vr::HmdMatrix34_t hmdMatrix = devicePoses[0].mDeviceToAbsoluteTracking;
+
+        // Set up (un)rotation matrix
+        vr::HmdMatrix34_t hmdMatrixRotMat;
+        vr::HmdMatrix34_t hmdMatrixAbsolute;
+        utils::initRotationMatrix(
+            hmdMatrixRotMat, 1, static_cast<float>( angle ) );
+
+        // Get hmdMatrixAbsolute in un-rotated coordinates.
+        utils::matMul33( hmdMatrixAbsolute, hmdMatrixRotMat, hmdMatrix );
+
+        // Convert pose matrix to quaternion
+        hmdQuaternion = utils::getQuaternion( hmdMatrixAbsolute );
+
+        // Get rotation change of hmd
+        // Checking if set to -1000.0 placeholder for invalid hmd pose.
+        if ( lastHmdQuaternion.w < -900.0 )
+        {
+            lastHmdQuaternion = hmdQuaternion;
+        }
+
+        else
+        {
+            // Construct a quaternion representing difference between old
+            // hmd pose and new hmd pose.
+            vr::HmdQuaternion_t hmdDiffQuaternion = utils::multiplyQuaternion(
+                hmdQuaternion,
+                utils::quaternionConjugate( lastHmdQuaternion ) );
+
+            // Calculate yaw from quaternion.
+            double hmdYawDiff = atan2(
+                2.0
+                    * ( hmdDiffQuaternion.y * hmdDiffQuaternion.w
+                        + hmdDiffQuaternion.x * hmdDiffQuaternion.z ),
+                -1.0
+                    + 2.0
+                          * ( hmdDiffQuaternion.w * hmdDiffQuaternion.w
+                              + hmdDiffQuaternion.x * hmdDiffQuaternion.x ) );
+
+            // Apply yaw difference to m_hmdYawTotal.
+            m_hmdYawTotal += hmdYawDiff;
+            lastHmdQuaternion = hmdQuaternion;
+        }
+
+        // end check if hmdpose is ok
+    }
+    else
+    {
+        // set lastHmdQuaternion.w to placeholder -1000.0 for invalid
+        lastHmdQuaternion.w = -1000.0;
+    }
+    // end hmd rotating tracking stuff
+
     if ( newMoveHand == vr::TrackedControllerRole_Invalid )
     {
         emit offsetXChanged( m_offsetX );
@@ -663,7 +734,6 @@ void MoveCenterTabController::eventLoopTick(
             pose->mDeviceToAbsoluteTracking.m[1][3],
             pose->mDeviceToAbsoluteTracking.m[2][3] };
 
-    double angle = m_rotation * M_PI / 18000.0;
     rotateCoordinates( relativeControllerPosition, -angle );
     float absoluteControllerPosition[] = {
         static_cast<float>( relativeControllerPosition[0] ) + m_offsetX,
@@ -764,8 +834,15 @@ void MoveCenterTabController::eventLoopTick(
                         utils::quaternionConjugate( lastHandQuaternion ) );
 
                 // Calculate yaw from quaternion.
-                double handYawDiff
+                double handYawDiff = atan2(
-                    = atan2( handDiffQuaternion.y, handDiffQuaternion.w ) * 2.0;
+                    2.0
+                        * ( handDiffQuaternion.y * handDiffQuaternion.w
+                            + handDiffQuaternion.x * handDiffQuaternion.z ),
+                    -1.0
+                        + 2.0
+                              * ( handDiffQuaternion.w * handDiffQuaternion.w
+                                  + handDiffQuaternion.x
+                                        * handDiffQuaternion.x ) );
 
                 int newRotationAngleDeg = static_cast<int>(
                     round( handYawDiff * 18000.0 / M_PI ) + m_rotation );

src/tabcontrollers/MoveCenterTabController.h

@@ -70,6 +70,10 @@ private:
     // Set lastHandQuaternion.w to -1000.0 when last hand is invalid.
     vr::HmdQuaternion_t lastHandQuaternion = { -1000.0, 0.0, 0.0, 0.0 };
     vr::HmdQuaternion_t handQuaternion;
+    // Set lastHmdQuaternion.w to -1000.0 when last hmd pose is invalid.
+    vr::HmdQuaternion_t lastHmdQuaternion = { -1000.0, 0.0, 0.0, 0.0 };
+    vr::HmdQuaternion_t hmdQuaternion;
+    double m_hmdYawTotal = 0.0;
 
     unsigned settingsUpdateCounter = 0;
 
@@ -95,6 +99,8 @@ public:
     bool lockXToggle() const;
     bool lockYToggle() const;
     bool lockZToggle() const;
+    double getHmdYawTotal();
+    void resetHmdYawTotal();
 
 public slots:
     int trackingUniverse() const;

src/tabcontrollers/StatisticsTabController.cpp

@@ -77,126 +77,12 @@ void StatisticsTabController::eventLoopTick(
         m_rightControllerMaxSpeed = rightSpeed;
     }
 
-    // Hmd Rotation //
+    // HMD Rotation //
-    /*
+    double playspaceHmdYawTotal
-    | Intrinsic y-x'-z" rotation matrix:
+        = parent->m_moveCenterTabController.getHmdYawTotal();
-    | cr*cy+sp*sr*sy | cr*sp*sy-cy*sr | cp*sy |
+    m_hmdRotation = static_cast<float>( playspaceHmdYawTotal / ( 2.0 * M_PI ) );
-    | cp*sr          | cp*cr          |-sp    |
-    | cy*sp*sr-cr*sy | cr*cy*sp+sr*sy | cp*cy |
 
-    yaw = atan2(cp*sy, cp*cy) [pi, -pi], CCW
+    if ( lastPosTimer <= 0 )
-    pitch = -asin(-sp) [pi/2, -pi/2]
-    roll = atan2(cp*sr, cp*cr) [pi, -pi], CW
-    */
-
-    double yawRaw = 0.0;
-    double yaw = 0.0;
-    bool rotationChanged = false;
-    if ( devicePoses[0].bPoseIsValid
-         && devicePoses[0].eTrackingResult == vr::TrackingResult_Running_OK )
-    {
-        yawRaw = std::atan2( m[0][2], m[2][2] );
-        if ( yawRaw < 0.0f )
-        {
-            yawRaw += 2 * M_PI; // map to [0, 2*pi], CCW
-        }
-        yaw = yawRaw - rotationOffset;
-        if ( yaw < 0.0 )
-        {
-            yaw = 2 * M_PI + yaw;
-        }
-        if ( rotationResetFlag )
-        {
-            rotationDir = 0;
-            rotationCounter = 0;
-            rotationOffset = yawRaw;
-            rotationResetFlag = false;
-            lastYaw = -1.0f;
-            rotationChanged = true;
-        }
-        else if ( lastYaw < 0.0f && yaw > 0.0 )
-        {
-            lastYaw = yaw;
-            rotationChanged = true;
-            if ( yaw <= M_PI )
-            {
-                rotationDir = 1;
-            }
-            else
-            {
-                rotationDir = -1;
-            }
-        }
-        else if ( std::abs( lastYaw - yaw ) >= 0.01 && yaw > 0.0 )
-        {
-            auto diff = yaw - lastYaw;
-            int mode = 0;
-            if ( std::abs( diff ) > M_PI )
-            {
-                if ( diff < -M_PI )
-                { // CCW overflow
-                    mode = 1;
-                }
-                else if ( diff > M_PI )
-                { // CW overflow
-                    mode = -1;
-                }
-            }
-            else
-            {
-                if ( lastYaw < 0.0 && yaw > 0.0 )
-                {
-                    mode = 1;
-                }
-                else if ( lastYaw > 0.0 && yaw < 0.0 )
-                {
-                    mode = -1;
-                }
-            }
-            if ( mode > 0 )
-            {
-                if ( rotationCounter == 0 && rotationDir <= 0 )
-                {
-                    rotationDir = 1;
-                }
-                else
-                {
-                    rotationCounter++;
-                }
-            }
-            else if ( mode < 0 )
-            {
-                if ( rotationCounter == 0 && rotationDir >= 0 )
-                {
-                    rotationDir = -1;
-                }
-                else
-                {
-                    rotationCounter--;
-                }
-            }
-            lastYaw = yaw;
-            rotationChanged = true;
-        }
-    }
-    else
-    {
-        lastYaw = -1;
-    }
-
-    if ( rotationChanged )
-    {
-        m_hmdRotation = ( float ) rotationCounter;
-        if ( rotationDir > 0 )
-        {
-            m_hmdRotation += yaw / ( 2 * M_PI );
-        }
-        else if ( rotationDir < 0 )
-        {
-            m_hmdRotation += -1.0f + yaw / ( 2 * M_PI );
-        }
-    }
-    if ( lastPosTimer == 0 )
     {
         lastPosTimer = 10;
     }
@@ -273,7 +159,8 @@ void StatisticsTabController::statsDistanceResetClicked()
 
 void StatisticsTabController::statsRotationResetClicked()
 {
-    rotationResetFlag = true;
+    // rotationResetFlag = true;
+    parent->m_moveCenterTabController.resetHmdYawTotal();
 }
 
 void StatisticsTabController::statsLeftControllerSpeedResetClicked()