Precise Rotation (#482)

* temporarily disabled adjust chaperone

* added experimental check to prevent rotation drift

* adjusted ss to 2 digits precision

* updated rotation model to be based on relative position and not drift

* fixed force precision error with supersampling

* added Error for turning too fast

* removed error impossible to execute

* fixed and cleaned up some potential failure points

* added inversion check

* re-worded warning

* added adjustchaperone2 defaulted to off to replace adjust chaperone

* moved adjust chaperone to settings removed from offsets tab

* moved adjust chaperone to settings removed from offsets tab

* enabled clipping for settings page no longer scrolls outside of its area

* updated strings for release

build_scripts/compile_version_string.txt

@@ -1 +1 @@
-5.2.0-dev
+5.2.1-release

src/quaternion/quaternion.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <openvr.h>
-//#include <cmath>
+#include <cmath>
 
 namespace quaternion
 {
@@ -65,4 +65,34 @@ inline double getYaw( const vr::HmdQuaternion_t& quat )
     return yawResult;
 }
 
+inline double getPitch( const vr::HmdQuaternion_t& quat )
+{
+    // positive forward
+    // negative behind
+
+    double pitchResult
+        = atan2( 2.0 * ( quat.x * quat.w + quat.y * quat.z ),
+                 1.0 - 2.0 * ( quat.x * quat.x + quat.y * quat.y ) );
+    //    double pitchResult
+    //= atan2( 2.0 * ( quat.x * quat.w + quat.y * quat.z ),
+    //      2.0 * ( quat.w * quat.w + quat.z * quat.z ) - 1.0 );
+    return pitchResult;
+}
+
+inline double getRoll( const vr::HmdQuaternion_t& quat )
+{
+    double rollResult;
+    double sinp = 2 * ( quat.w * quat.z - quat.y * quat.x );
+    if ( std::abs( sinp ) >= 1 )
+
+    {
+        rollResult = std::copysign( 3.14159265358979323846 / 2, sinp );
+    }
+    else
+    {
+        rollResult = std::asin( sinp );
+    }
+    return rollResult;
+}
+
 } // namespace quaternion

src/res/qml/PlayspacePage.qml

@@ -477,14 +477,6 @@ MyStackViewPage {
                     }
                 }
 
-                MyToggleButton {
-                    id: spaceAdjustChaperoneToggle
-                    text: "Adjust Chaperone"
-                    onCheckedChanged: {
-                        MoveCenterTabController.adjustChaperone = this.checked
-                    }
-                }
-
                 Item {
                     Layout.fillWidth: true
                 }
@@ -517,7 +509,6 @@ MyStackViewPage {
         Item { Layout.fillHeight: true; Layout.fillWidth: true}
 
         Component.onCompleted: {
-            spaceAdjustChaperoneToggle.checked = MoveCenterTabController.adjustChaperone
             spaceMoveXText.text = MoveCenterTabController.offsetX.toFixed(2)
             spaceMoveYText.text = MoveCenterTabController.offsetY.toFixed(2)
             spaceMoveZText.text = MoveCenterTabController.offsetZ.toFixed(2)
@@ -574,9 +565,6 @@ MyStackViewPage {
                 var intTempRotation = MoveCenterTabController.tempRotation
                 spaceRotationSlider.value = ( intTempRotation / 100 )
                 spaceRotationText.text = ( intTempRotation / 100 ) + "°"
-            }
-            onAdjustChaperoneChanged: {
-                spaceAdjustChaperoneToggle.checked = MoveCenterTabController.adjustChaperone
             }
 			onLockXToggleChanged: {
 				lockXToggle.checked = MoveCenterTabController.lockXToggle

src/res/qml/SettingsPage.qml

@@ -11,6 +11,9 @@ MyStackViewPage {
     content: ScrollView{
         ScrollBar.horizontal.policy: ScrollBar.AlwaysOff
         ScrollBar.vertical.policy: ScrollBar.AlwaysOn
+        Layout.fillWidth: true
+        Layout.fillHeight: true
+        clip: true
 
             ColumnLayout {
             spacing: 18
@@ -87,6 +90,13 @@ MyStackViewPage {
                     SettingsTabController.setOculusSdkToggle(this.checked, true)
                 }
             }
+            MyToggleButton {
+                id: spaceAdjustChaperoneToggle
+                text: "Adjust Chaperone"
+                onCheckedChanged: {
+                    MoveCenterTabController.adjustChaperone = this.checked
+                }
+            }
 
             RowLayout {
                 Layout.fillWidth: true
@@ -248,6 +258,7 @@ MyStackViewPage {
                 oculusSdkToggleButton.checked = SettingsTabController.oculusSdkToggle
 
                 seatedOldExternalWarning.visible = MoveCenterTabController.allowExternalEdits && MoveCenterTabController.oldStyleMotion && MoveCenterTabController.enableSeatedMotion
+                spaceAdjustChaperoneToggle.checked = MoveCenterTabController.adjustChaperone
             }
 
         Connections {
@@ -280,6 +291,9 @@ MyStackViewPage {
                 enableSeatedMotionToggle.checked = MoveCenterTabController.enableSeatedMotion
                 seatedOldExternalWarning.visible = MoveCenterTabController.allowExternalEdits && MoveCenterTabController.oldStyleMotion && MoveCenterTabController.enableSeatedMotion
             }
+            onAdjustChaperoneChanged: {
+                spaceAdjustChaperoneToggle.checked = MoveCenterTabController.adjustChaperone
+            }
         }
 
         Connections {

src/res/qml/video_page/supersampling/SuperSamplingGroupBox.qml

@@ -38,7 +38,7 @@ GroupBox {
                 onCheckedChanged: {
                     VideoTabController.setAllowSupersampleOverride(this.checked, false)
                     VideoTabController.setSuperSampling(videoSupersamplingSlider.value, true)
-                    videoSupersamplingText.text = VideoTabController.superSampling.toFixed(1)
+                    videoSupersamplingText.text = VideoTabController.superSampling.toFixed(2)
                     if(!this.checked){
                         videoSupersamplingText.enabled = false
                         videoSupersamplingSlider.enabled = false
@@ -73,8 +73,8 @@ GroupBox {
                 Layout.fillWidth: true
                 onValueChanged: {
                     var val = this.value
-                    videoSupersamplingText.text = val.toFixed(1)
+                    videoSupersamplingText.text = val.toFixed(2)
-                    VideoTabController.setSuperSampling(this.value.toFixed(1), true)
+                    VideoTabController.setSuperSampling(this.value, true)
                 }
             }
 
@@ -100,14 +100,14 @@ GroupBox {
                         if (val < 0.1) {
                             val = 0.1
                         }
-                        var v = val.toFixed(1)
+                        var v = val
                         if (v <= videoSupersamplingSlider.to) {
                             videoSupersamplingSlider.value = v
                         } else {
                             VideoTabController.setSuperSampling(v, false)
                         }
                     }
-                    text = VideoTabController.superSampling.toFixed(1)
+                    text = VideoTabController.superSampling.toFixed(2)
                 }
             }
         }
@@ -117,7 +117,7 @@ GroupBox {
     }
 
     Component.onCompleted: {
-        var s1 = VideoTabController.superSampling.toFixed(1)
+        var s1 = VideoTabController.superSampling
         if (s1 <= videoSupersamplingSlider.to) {
             videoSupersamplingSlider.value = s1
         }
@@ -134,15 +134,15 @@ GroupBox {
         target: VideoTabController
 
         onSuperSamplingChanged: {
-            var s1 = VideoTabController.superSampling.toFixed(1)
+            var s1 = VideoTabController.superSampling
             videoSupersamplingSlider.value = s1
-            videoSupersamplingText.text = s1
+            videoSupersamplingText.text = s1.toFixed(2)
         }
         onAllowSupersampleOverrideChanged: {
             videoAllowSupersampleOverrideToggle.checked = VideoTabController.allowSupersampleOverride
-            var s1 = VideoTabController.superSampling.toFixed(1)
+            var s1 = VideoTabController.superSampling
             videoSupersamplingSlider.value = s1
-            videoSupersamplingText.text = s1
+            videoSupersamplingText.text = s1.toFixed(2)
         }
 
     }

src/settings/internal/settings_controller.h

@@ -275,6 +275,12 @@ private:
                           SettingCategory::Playspace,
                           QtInfo{ "simpleRecenter" },
                           false },
+        // TODO Replace Back to Adjust Chaperone When Breaking Change is done.
+        // Needed New Setting defaulted to off w/ SVR 1.13.x release
+        BoolSettingValue{ BoolSetting::PLAYSPACE_adjustChaperone2,
+                          SettingCategory::Playspace,
+                          QtInfo{ "adjustChaperone2" },
+                          false },
 
         BoolSettingValue{ BoolSetting::APPLICATION_disableVersionCheck,
                           SettingCategory::Application,

src/settings/settings.h

@@ -22,6 +22,7 @@ enum class BoolSetting
     PLAYSPACE_adjustChaperone,
     PLAYSPACE_showLogMatricesButton,
     PLAYSPACE_simpleRecenter,
+    PLAYSPACE_adjustChaperone2,
 
     APPLICATION_disableVersionCheck,
     APPLICATION_previousShutdownSafe,

src/tabcontrollers/MoveCenterTabController.cpp

@@ -457,12 +457,12 @@ void MoveCenterTabController::setFrictionPercent( int value, bool notify )
 bool MoveCenterTabController::adjustChaperone() const
 {
     return settings::getSetting(
-        settings::BoolSetting::PLAYSPACE_adjustChaperone );
+        settings::BoolSetting::PLAYSPACE_adjustChaperone2 );
 }
 
 void MoveCenterTabController::setAdjustChaperone( bool value, bool notify )
 {
-    settings::setSetting( settings::BoolSetting::PLAYSPACE_adjustChaperone,
+    settings::setSetting( settings::BoolSetting::PLAYSPACE_adjustChaperone2,
                           value );
 
     if ( notify )
@@ -1178,6 +1178,8 @@ double MoveCenterTabController::getHmdYawTotal()
 void MoveCenterTabController::resetHmdYawTotal()
 {
     m_hmdYawTotal = 0.0;
+    m_hmdYawOld = 0.0;
+    m_hmdYawTurnCount = 0;
 }
 
 void MoveCenterTabController::clampVelocity( double* velocity )
@@ -2105,6 +2107,8 @@ void MoveCenterTabController::saveUncommittedChaperone()
     }
 }
 
+// NOTE this function will create bad output if User Rotates 180 Degrees in 1/7*
+// frame-rate. (Worst Case 30 fps = ~770 deg/s)
 void MoveCenterTabController::updateHmdRotationCounter(
     vr::TrackedDevicePose_t hmdPose,
     double angle )
@@ -2140,16 +2144,54 @@ void MoveCenterTabController::updateHmdRotationCounter(
         m_lastHmdQuaternion = m_hmdQuaternion;
         return;
     }
-    // Construct a quaternion representing difference between old
-    // hmd pose and new hmd pose.
-    vr::HmdQuaternion_t hmdDiffQuaternion = quaternion::multiply(
-        m_hmdQuaternion, quaternion::conjugate( m_lastHmdQuaternion ) );
 
-    // Calculate yaw from quaternion.
+    double hmdYawCurrent = quaternion::getYaw( m_hmdQuaternion );
-    double hmdYawDiff = quaternion::getYaw( hmdDiffQuaternion );
+    // double hmdPitchCurrent = quaternion::getPitch( m_hmdQuaternion );
+    // double hmdRollCurrent = quaternion::getRoll( m_hmdQuaternion );
 
-    // Apply yaw difference to m_hmdYawTotal.
+    // checks to see if hmd is in exact same position
-    m_hmdYawTotal += hmdYawDiff;
+    if ( m_hmdYawOld == hmdYawCurrent )
+    {
+        return;
+    }
+    // Checks if The points defined by Yaw old and current form an arc of no
+    // more than 180 degrees, that MUST intersect With 180 degrees.
+
+    // NOTE: This fails if there is > 180 degrees between the update Rate
+    // Worst Case Scenario this should be ~770 deg/s turning speed. (30 fps)
+
+    if ( std::abs( m_hmdYawOld - hmdYawCurrent ) > M_PI )
+    {
+        // Checks if the HMD is inverted, and skips if it is
+        bool isInverted = ( hmdMatrixAbsolute.m[1][1] < 0 );
+        if ( !isInverted )
+        {
+            if ( m_hmdYawOld >= 0 )
+            {
+                m_hmdYawTurnCount += 1;
+            }
+            else if ( m_hmdYawOld < 0 )
+            {
+                m_hmdYawTurnCount -= 1;
+            }
+        }
+        else
+        {
+            LOG( WARNING ) << "HMD Was Inverted during a Turn Count, Turn "
+                              "counter may be in-accurate";
+        }
+    }
+
+    // Sets total rotation based on current orientation + Turn Count
+    if ( m_hmdYawTurnCount == 0 )
+    {
+        m_hmdYawTotal = hmdYawCurrent;
+    }
+    else
+    {
+        m_hmdYawTotal = hmdYawCurrent + ( m_hmdYawTurnCount * 2 * M_PI );
+    }
+    m_hmdYawOld = hmdYawCurrent;
     m_lastHmdQuaternion = m_hmdQuaternion;
 }
 
@@ -2674,6 +2716,9 @@ void MoveCenterTabController::updateSpace( bool forceUpdate )
             &offsetSeatedCenter );
     }
 
+    // As of SVR 1.13.1 The Chaperone will follow Universe Center NOT raw Center
+    // as such this should be off by defualt.
+
     if ( adjustChaperone() )
     {
         // make a copy of our bounds and
@@ -2704,17 +2749,20 @@ void MoveCenterTabController::updateSpace( bool forceUpdate )
                 // origin
                 updatedBounds[quad].vCorners[corner].v[0]
                     -= offsetUniverseCenter.m[0][3]
-                       - m_universeCenterForReset.m[0][3];
+                       - offsetUniverseCenter.m[0][3];
+                //- m_universeCenterForReset.m[0][3];
                 // but don't touch y=0 values to keep floor corners rooted down
                 if ( updatedBounds[quad].vCorners[corner].v[1] != 0 )
                 {
                     updatedBounds[quad].vCorners[corner].v[1]
                         -= offsetUniverseCenter.m[1][3]
-                           - m_universeCenterForReset.m[1][3];
+                           - offsetUniverseCenter.m[1][3];
+                    //- m_universeCenterForReset.m[1][3];
                 }
                 updatedBounds[quad].vCorners[corner].v[2]
                     -= offsetUniverseCenter.m[2][3]
-                       - m_universeCenterForReset.m[2][3];
+                       - offsetUniverseCenter.m[2][3];
+                //- m_universeCenterForReset.m[2][3];
 
                 // rotate by universe center's yaw
                 rotateFloatCoordinates(
@@ -2723,52 +2771,48 @@ void MoveCenterTabController::updateSpace( bool forceUpdate )
             }
         }
 
-        // Center Marker for playspace.
-        if ( parent->m_chaperoneTabController.m_centerMarkerOverlayNeedsUpdate )
-        {
-            // Set Unrotated Coordinates
-            float universePlayCenterTempCoords[3] = { 0.0f, 0.0f, 0.0f };
-            universePlayCenterTempCoords[0]
-                -= offsetUniverseCenter.m[0][3]
-                   - m_universeCenterForReset.m[0][3];
-            universePlayCenterTempCoords[1]
-                -= offsetUniverseCenter.m[1][3]
-                   - m_universeCenterForReset.m[1][3];
-            universePlayCenterTempCoords[2]
-                -= offsetUniverseCenter.m[2][3]
-                   - m_universeCenterForReset.m[2][3];
-            // Rotate un-rotated to rotated
-            rotateFloatCoordinates(
-                universePlayCenterTempCoords,
-                static_cast<float>( offsetUniverseCenterYaw ) );
-            // Set Up orientation properly away from raw center
-            utils::matMul33( m_offsetmatrix,
-                             offsetUniverseCenter,
-                             utils::k_forwardUpMatrix );
-            vr::HmdMatrix34_t rotMatrix;
-            utils::initRotationMatrix(
-                rotMatrix,
-                1,
-                static_cast<float>( -( ( m_rotation * k_centidegreesToRadians )
-                                       + offsetUniverseCenterYaw ) ) );
-
-            // Rotates orientation At playspace center
-            vr::HmdMatrix34_t finalmatrix;
-            utils::matMul33( finalmatrix, rotMatrix, m_offsetmatrix );
-
-            finalmatrix.m[0][3] = universePlayCenterTempCoords[0];
-            finalmatrix.m[1][3] = universePlayCenterTempCoords[1];
-            finalmatrix.m[2][3] = universePlayCenterTempCoords[2];
-
-            parent->m_chaperoneTabController.updateCenterMarkerOverlay(
-                &finalmatrix );
-        }
-
         // update chaperone working set preview (this does not commit)
         vr::VRChaperoneSetup()->SetWorkingCollisionBoundsInfo(
             updatedBounds, m_collisionBoundsCountForReset );
         delete[] updatedBounds;
     }
+
+    // Center Marker for playspace.
+    if ( parent->m_chaperoneTabController.m_centerMarkerOverlayNeedsUpdate )
+    {
+        // Set Unrotated Coordinates
+        float universePlayCenterTempCoords[3] = { 0.0f, 0.0f, 0.0f };
+        universePlayCenterTempCoords[0]
+            -= offsetUniverseCenter.m[0][3] - m_universeCenterForReset.m[0][3];
+        universePlayCenterTempCoords[1]
+            -= offsetUniverseCenter.m[1][3] - m_universeCenterForReset.m[1][3];
+        universePlayCenterTempCoords[2]
+            -= offsetUniverseCenter.m[2][3] - m_universeCenterForReset.m[2][3];
+        // Rotate un-rotated to rotated
+        rotateFloatCoordinates( universePlayCenterTempCoords,
+                                static_cast<float>( offsetUniverseCenterYaw ) );
+        // Set Up orientation properly away from raw center
+        utils::matMul33(
+            m_offsetmatrix, offsetUniverseCenter, utils::k_forwardUpMatrix );
+        vr::HmdMatrix34_t rotMatrix;
+        utils::initRotationMatrix(
+            rotMatrix,
+            1,
+            static_cast<float>( -( ( m_rotation * k_centidegreesToRadians )
+                                   + offsetUniverseCenterYaw ) ) );
+
+        // Rotates orientation At playspace center
+        vr::HmdMatrix34_t finalmatrix;
+        utils::matMul33( finalmatrix, rotMatrix, m_offsetmatrix );
+
+        finalmatrix.m[0][3] = universePlayCenterTempCoords[0];
+        finalmatrix.m[1][3] = universePlayCenterTempCoords[1];
+        finalmatrix.m[2][3] = universePlayCenterTempCoords[2];
+
+        parent->m_chaperoneTabController.updateCenterMarkerOverlay(
+            &finalmatrix );
+    }
+
     vr::VRChaperoneSetup()->SetWorkingStandingZeroPoseToRawTrackingPose(
         &offsetUniverseCenter );
 

src/tabcontrollers/MoveCenterTabController.h

@@ -170,6 +170,8 @@ private:
         = { k_quaternionInvalidValue, 0.0, 0.0, 0.0 };
     vr::HmdQuaternion_t m_hmdQuaternion;
     double m_hmdYawTotal = 0.0;
+    double m_hmdYawOld = 0.0;
+    int m_hmdYawTurnCount = 0;
     vr::ETrackedControllerRole m_activeDragHand
         = vr::TrackedControllerRole_Invalid;
     vr::ETrackedControllerRole m_lastMoveHand

ver/versioncheck.json

@@ -1 +1 @@
-{ "major": 5, "minor": 2, "patch": 0, "updateMessage": "", "optionalMessage": "" }
+{ "major": 5, "minor": 2, "patch": 1, "updateMessage": "", "optionalMessage": "" }