Split off hand-turn hand-drag and hmdrotation
Hand-turn hand-drag and hmdrotationstats counting are split off into separate functions from the event loop.
This commit is contained in:
Kung-vr
@@ -859,9 +859,243 @@ void MoveCenterTabController::optionalOverrideRightHandRoomTurn(
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// END of turn bindings.
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void MoveCenterTabController::updateHmdRotationCounter(
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vr::TrackedDevicePose_t hmdPose,
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double angle )
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{
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// If hmd tracking is bad, set m_lastHmdQuaternion invalid
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if ( !hmdPose.bPoseIsValid
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|| hmdPose.eTrackingResult != vr::TrackingResult_Running_OK )
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{
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m_lastHmdQuaternion.w = k_quaternionInvalidValue;
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return;
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}
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// Get hmd pose matrix (in rotated coordinates)
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vr::HmdMatrix34_t hmdMatrix = hmdPose.mDeviceToAbsoluteTracking;
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// Set up (un)rotation matrix
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vr::HmdMatrix34_t hmdMatrixRotMat;
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vr::HmdMatrix34_t hmdMatrixAbsolute;
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utils::initRotationMatrix(
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hmdMatrixRotMat, 1, static_cast<float>( angle ) );
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// Get hmdMatrixAbsolute in un-rotated coordinates.
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utils::matMul33( hmdMatrixAbsolute, hmdMatrixRotMat, hmdMatrix );
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// Convert pose matrix to quaternion
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m_hmdQuaternion = utils::quaternionFromHmdMatrix34( hmdMatrixAbsolute );
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// Get rotation change of hmd
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// Checking for invalid quaternion using < because == isn't guaranteed
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// for doubles comparison.
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if ( m_lastHmdQuaternion.w < k_quaternionUnderIsInvalidValueThreshold )
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{
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m_lastHmdQuaternion = m_hmdQuaternion;
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return;
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}
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// Construct a quaternion representing difference between old
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// hmd pose and new hmd pose.
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vr::HmdQuaternion_t hmdDiffQuaternion = utils::quaternionMultiply(
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m_hmdQuaternion, utils::quaternionConjugate( m_lastHmdQuaternion ) );
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// Calculate yaw from quaternion.
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double hmdYawDiff = utils::quaternionGetYaw( hmdDiffQuaternion );
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// Apply yaw difference to m_hmdYawTotal.
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m_hmdYawTotal += hmdYawDiff;
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m_lastHmdQuaternion = m_hmdQuaternion;
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}
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void MoveCenterTabController::updateHandDrag(
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vr::TrackedDevicePose_t* devicePoses,
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double angle )
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{
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auto moveHandId = vr::VRSystem()->GetTrackedDeviceIndexForControllerRole(
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m_activeDragHand );
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if ( m_activeDragHand == vr::TrackedControllerRole_Invalid
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|| moveHandId == vr::k_unTrackedDeviceIndexInvalid
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|| moveHandId >= vr::k_unMaxTrackedDeviceCount )
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{
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if ( m_lastMoveHand != vr::TrackedControllerRole_Invalid )
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{
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emit offsetXChanged( m_offsetX );
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emit offsetYChanged( m_offsetY );
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emit offsetZChanged( m_offsetZ );
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}
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m_lastMoveHand = m_activeDragHand;
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return;
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}
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vr::TrackedDevicePose_t* movePose = devicePoses + moveHandId;
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if ( !movePose->bPoseIsValid || !movePose->bDeviceIsConnected
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|| movePose->eTrackingResult != vr::TrackingResult_Running_OK )
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{
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m_lastMoveHand = m_activeDragHand;
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return;
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}
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double relativeControllerPosition[]
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= { movePose->mDeviceToAbsoluteTracking.m[0][3],
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movePose->mDeviceToAbsoluteTracking.m[1][3],
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movePose->mDeviceToAbsoluteTracking.m[2][3] };
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rotateCoordinates( relativeControllerPosition, -angle );
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float absoluteControllerPosition[] = {
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static_cast<float>( relativeControllerPosition[0] ) + m_offsetX,
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static_cast<float>( relativeControllerPosition[1] ) + m_offsetY,
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static_cast<float>( relativeControllerPosition[2] ) + m_offsetZ,
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};
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if ( m_lastMoveHand == m_activeDragHand )
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{
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double diff[3] = {
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absoluteControllerPosition[0] - m_lastControllerPosition[0],
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absoluteControllerPosition[1] - m_lastControllerPosition[1],
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absoluteControllerPosition[2] - m_lastControllerPosition[2],
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};
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// offset is un-rotated coordinates
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// prevents UI from updating if axis movement is locked
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if ( !m_lockXToggle )
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{
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m_offsetX += diff[0];
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}
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if ( !m_lockYToggle )
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{
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m_offsetY += diff[1];
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}
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if ( !m_lockZToggle )
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{
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m_offsetZ += diff[2];
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}
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rotateCoordinates( diff, angle );
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// Done calculating rotation so we down-cast double to float for
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// openvr format
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float diffFloat[3] = { static_cast<float>( diff[0] ),
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static_cast<float>( diff[1] ),
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static_cast<float>( diff[2] ) };
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// If locked removes movement
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if ( m_lockXToggle )
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{
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diffFloat[0] = 0;
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}
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if ( m_lockYToggle )
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{
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diffFloat[1] = 0;
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}
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if ( m_lockZToggle )
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{
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diffFloat[2] = 0;
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}
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// Check if diffFloat is anything before comitting.
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if ( diffFloat[0] != 0 || diffFloat[1] != 0 || diffFloat[2] != 0 )
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{
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parent->AddOffsetToUniverseCenter(
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vr::TrackingUniverseOrigin( m_trackingUniverse ),
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diffFloat,
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m_adjustChaperone );
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}
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}
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m_lastControllerPosition[0] = absoluteControllerPosition[0];
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m_lastControllerPosition[1] = absoluteControllerPosition[1];
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m_lastControllerPosition[2] = absoluteControllerPosition[2];
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m_lastMoveHand = m_activeDragHand;
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}
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void MoveCenterTabController::updateHandTurn(
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vr::TrackedDevicePose_t* devicePoses,
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double angle )
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{
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auto rotateHandId = vr::VRSystem()->GetTrackedDeviceIndexForControllerRole(
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m_activeTurnHand );
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if ( m_activeTurnHand == vr::TrackedControllerRole_Invalid
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|| rotateHandId == vr::k_unTrackedDeviceIndexInvalid
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|| rotateHandId >= vr::k_unMaxTrackedDeviceCount )
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{
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if ( m_lastRotateHand != vr::TrackedControllerRole_Invalid )
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{
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m_lastHandQuaternion.w = k_quaternionInvalidValue;
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}
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m_lastRotateHand = m_activeTurnHand;
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return;
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}
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vr::TrackedDevicePose_t* rotatePose = devicePoses + rotateHandId;
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if ( !rotatePose->bPoseIsValid || !rotatePose->bDeviceIsConnected
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|| rotatePose->eTrackingResult != vr::TrackingResult_Running_OK )
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{
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m_lastRotateHand = m_activeTurnHand;
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return;
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}
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// Get hand's rotation.
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// handMatrix is in rotated coordinates.
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vr::HmdMatrix34_t handMatrix = rotatePose->mDeviceToAbsoluteTracking;
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// We need un-rotated coordinates for valid comparison between
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// handQuaternion and lastHandQuaternion. Set up (un)rotation
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// matrix.
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vr::HmdMatrix34_t handMatrixRotMat;
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vr::HmdMatrix34_t handMatrixAbsolute;
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utils::initRotationMatrix(
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handMatrixRotMat, 1, static_cast<float>( angle ) );
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// Get handMatrixAbsolute in un-rotated coordinates.
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utils::matMul33( handMatrixAbsolute, handMatrixRotMat, handMatrix );
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// Convert pose matrix to quaternion
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m_handQuaternion = utils::quaternionFromHmdMatrix34( handMatrixAbsolute );
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if ( m_lastRotateHand == m_activeTurnHand )
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{
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// Get rotation change of hand.
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// Checking for invalid quaternion using < because == isn't
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// guaranteed for doubles comparison.
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if ( m_lastHandQuaternion.w < k_quaternionUnderIsInvalidValueThreshold )
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{
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m_lastHandQuaternion = m_handQuaternion;
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}
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else
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{
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// Construct a quaternion representing difference
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// between old hand and new hand.
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vr::HmdQuaternion_t handDiffQuaternion = utils::quaternionMultiply(
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m_handQuaternion,
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utils::quaternionConjugate( m_lastHandQuaternion ) );
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// Calculate yaw from quaternion.
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double handYawDiff = utils::quaternionGetYaw( handDiffQuaternion );
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int newRotationAngleDeg = static_cast<int>(
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round( handYawDiff * k_radiansToCentidegrees ) + m_rotation );
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// Keep angle within -18000 ~ 18000 centidegrees
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if ( newRotationAngleDeg > 18000 )
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{
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newRotationAngleDeg -= 36000;
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}
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else if ( newRotationAngleDeg < -18000 )
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{
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newRotationAngleDeg += 36000;
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}
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setRotation( newRotationAngleDeg );
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}
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}
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m_lastHandQuaternion = m_handQuaternion;
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m_lastRotateHand = m_activeTurnHand;
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}
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void MoveCenterTabController::eventLoopTick(
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vr::ETrackingUniverseOrigin universe,
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vr::TrackedDevicePose_t* devicePoses )
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{
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if ( settingsUpdateCounter >= k_moveCenterSettingsUpdateCounter )
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{
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@@ -876,248 +1110,22 @@ void MoveCenterTabController::eventLoopTick(
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settingsUpdateCounter++;
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}
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// get current space rotation in radians
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double angle = m_rotation * k_centidegreesToRadians;
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// START of hmd rotation stats tracking:
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// Check if hmd is tracking ok and do everything
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if ( devicePoses[0].bPoseIsValid
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&& devicePoses[0].eTrackingResult == vr::TrackingResult_Running_OK )
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if ( m_hmdRotationStatsUpdateCounter >= k_hmdRotationCounterUpdateRate )
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{
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// Get hmd pose matrix (in rotated coordinates)
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vr::HmdMatrix34_t hmdMatrix = devicePoses[0].mDeviceToAbsoluteTracking;
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// Set up (un)rotation matrix
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vr::HmdMatrix34_t hmdMatrixRotMat;
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vr::HmdMatrix34_t hmdMatrixAbsolute;
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utils::initRotationMatrix(
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hmdMatrixRotMat, 1, static_cast<float>( angle ) );
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// Get hmdMatrixAbsolute in un-rotated coordinates.
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utils::matMul33( hmdMatrixAbsolute, hmdMatrixRotMat, hmdMatrix );
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// Convert pose matrix to quaternion
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m_hmdQuaternion = utils::quaternionFromHmdMatrix34( hmdMatrixAbsolute );
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// Get rotation change of hmd
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// Checking for invalid quaternion using < because == isn't guaranteed
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// for doubles comparison.
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if ( m_lastHmdQuaternion.w < k_quaternionUnderIsInvalidValueThreshold )
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{
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m_lastHmdQuaternion = m_hmdQuaternion;
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}
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else
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{
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// Construct a quaternion representing difference between old
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// hmd pose and new hmd pose.
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vr::HmdQuaternion_t hmdDiffQuaternion = utils::quaternionMultiply(
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m_hmdQuaternion,
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utils::quaternionConjugate( m_lastHmdQuaternion ) );
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// Calculate yaw from quaternion.
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double hmdYawDiff = utils::quaternionGetYaw( hmdDiffQuaternion );
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// Apply yaw difference to m_hmdYawTotal.
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m_hmdYawTotal += hmdYawDiff;
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m_lastHmdQuaternion = m_hmdQuaternion;
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}
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// end check if hmdpose is ok
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// device pose index 0 is always the hmd
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updateHmdRotationCounter( devicePoses[0], angle );
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m_hmdRotationStatsUpdateCounter = 0;
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}
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else
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{
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m_lastHmdQuaternion.w = k_quaternionInvalidValue;
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} // END of hmd rotation stats tracking
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auto moveHandId = vr::VRSystem()->GetTrackedDeviceIndexForControllerRole(
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m_activeDragHand );
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auto rotateHandId = vr::VRSystem()->GetTrackedDeviceIndexForControllerRole(
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m_activeTurnHand );
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// START of hand move
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if ( m_activeDragHand == vr::TrackedControllerRole_Invalid
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|| moveHandId == vr::k_unTrackedDeviceIndexInvalid
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|| moveHandId >= vr::k_unMaxTrackedDeviceCount )
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{
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if ( m_lastMoveHand != vr::TrackedControllerRole_Invalid )
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{
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emit offsetXChanged( m_offsetX );
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emit offsetYChanged( m_offsetY );
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emit offsetZChanged( m_offsetZ );
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}
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m_lastMoveHand = m_activeDragHand;
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m_hmdRotationStatsUpdateCounter++;
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}
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else
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{
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vr::TrackedDevicePose_t* movePose = devicePoses + moveHandId;
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if ( !movePose->bPoseIsValid || !movePose->bDeviceIsConnected
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|| movePose->eTrackingResult != vr::TrackingResult_Running_OK )
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{
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m_lastMoveHand = m_activeDragHand;
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}
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else
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{
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double relativeControllerPosition[]
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= { movePose->mDeviceToAbsoluteTracking.m[0][3],
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movePose->mDeviceToAbsoluteTracking.m[1][3],
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movePose->mDeviceToAbsoluteTracking.m[2][3] };
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rotateCoordinates( relativeControllerPosition, -angle );
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float absoluteControllerPosition[] = {
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static_cast<float>( relativeControllerPosition[0] ) + m_offsetX,
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static_cast<float>( relativeControllerPosition[1] ) + m_offsetY,
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static_cast<float>( relativeControllerPosition[2] ) + m_offsetZ,
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};
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updateHandDrag( devicePoses, angle );
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if ( m_lastMoveHand == m_activeDragHand )
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{
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double diff[3] = {
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absoluteControllerPosition[0] - m_lastControllerPosition[0],
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absoluteControllerPosition[1] - m_lastControllerPosition[1],
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absoluteControllerPosition[2] - m_lastControllerPosition[2],
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};
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// offset is un-rotated coordinates
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// prevents UI from updating if axis movement is locked
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if ( !m_lockXToggle )
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{
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m_offsetX += diff[0];
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}
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if ( !m_lockYToggle )
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{
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m_offsetY += diff[1];
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}
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if ( !m_lockZToggle )
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{
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m_offsetZ += diff[2];
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}
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rotateCoordinates( diff, angle );
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// Done calculating rotation so we down-cast double to float for
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// openvr format
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float diffFloat[3] = { static_cast<float>( diff[0] ),
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static_cast<float>( diff[1] ),
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static_cast<float>( diff[2] ) };
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// If locked removes movement
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if ( m_lockXToggle )
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{
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diffFloat[0] = 0;
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}
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if ( m_lockYToggle )
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{
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diffFloat[1] = 0;
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}
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if ( m_lockZToggle )
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{
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diffFloat[2] = 0;
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}
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// Check if diffFloat is anything before comitting.
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if ( diffFloat[0] != 0 || diffFloat[1] != 0
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|| diffFloat[2] != 0 )
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{
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parent->AddOffsetToUniverseCenter(
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vr::TrackingUniverseOrigin( m_trackingUniverse ),
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diffFloat,
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m_adjustChaperone );
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}
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}
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m_lastControllerPosition[0] = absoluteControllerPosition[0];
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m_lastControllerPosition[1] = absoluteControllerPosition[1];
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m_lastControllerPosition[2] = absoluteControllerPosition[2];
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m_lastMoveHand = m_activeDragHand;
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}
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} // END of hand move
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// START of hand rotation
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if ( m_activeTurnHand == vr::TrackedControllerRole_Invalid
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|| rotateHandId == vr::k_unTrackedDeviceIndexInvalid
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|| rotateHandId >= vr::k_unMaxTrackedDeviceCount )
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{
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if ( m_lastRotateHand != vr::TrackedControllerRole_Invalid )
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{
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m_lastHandQuaternion.w = k_quaternionInvalidValue;
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}
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m_lastRotateHand = m_activeTurnHand;
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}
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else
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{
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vr::TrackedDevicePose_t* rotatePose = devicePoses + rotateHandId;
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if ( !rotatePose->bPoseIsValid || !rotatePose->bDeviceIsConnected
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|| rotatePose->eTrackingResult != vr::TrackingResult_Running_OK )
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{
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m_lastRotateHand = m_activeTurnHand;
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}
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else
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{
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// Get hand's rotation.
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// handMatrix is in rotated coordinates.
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vr::HmdMatrix34_t handMatrix
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= rotatePose->mDeviceToAbsoluteTracking;
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// We need un-rotated coordinates for valid comparison between
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// handQuaternion and lastHandQuaternion. Set up (un)rotation
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// matrix.
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vr::HmdMatrix34_t handMatrixRotMat;
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vr::HmdMatrix34_t handMatrixAbsolute;
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utils::initRotationMatrix(
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handMatrixRotMat, 1, static_cast<float>( angle ) );
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// Get handMatrixAbsolute in un-rotated coordinates.
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utils::matMul33( handMatrixAbsolute, handMatrixRotMat, handMatrix );
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// Convert pose matrix to quaternion
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m_handQuaternion
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= utils::quaternionFromHmdMatrix34( handMatrixAbsolute );
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if ( m_lastRotateHand == m_activeTurnHand )
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{
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// Get rotation change of hand.
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// Checking for invalid quaternion using < because == isn't
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// guaranteed for doubles comparison.
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if ( m_lastHandQuaternion.w
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< k_quaternionUnderIsInvalidValueThreshold )
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{
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m_lastHandQuaternion = m_handQuaternion;
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}
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else
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{
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// Construct a quaternion representing difference
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// between old hand and new hand.
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vr::HmdQuaternion_t handDiffQuaternion
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= utils::quaternionMultiply(
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m_handQuaternion,
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utils::quaternionConjugate(
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m_lastHandQuaternion ) );
|
||||
|
||||
// Calculate yaw from quaternion.
|
||||
double handYawDiff
|
||||
= utils::quaternionGetYaw( handDiffQuaternion );
|
||||
|
||||
int newRotationAngleDeg = static_cast<int>(
|
||||
round( handYawDiff * k_radiansToCentidegrees )
|
||||
+ m_rotation );
|
||||
|
||||
// Keep angle within -18000 ~ 18000 centidegrees
|
||||
if ( newRotationAngleDeg > 18000 )
|
||||
{
|
||||
newRotationAngleDeg -= 36000;
|
||||
}
|
||||
else if ( newRotationAngleDeg < -18000 )
|
||||
{
|
||||
newRotationAngleDeg += 36000;
|
||||
}
|
||||
|
||||
setRotation( newRotationAngleDeg );
|
||||
}
|
||||
}
|
||||
m_lastHandQuaternion = m_handQuaternion;
|
||||
m_lastRotateHand = m_activeTurnHand;
|
||||
}
|
||||
} // END of hand rotation
|
||||
updateHandTurn( devicePoses, angle );
|
||||
}
|
||||
} // namespace advsettings
|
||||
|
||||
@@ -96,6 +96,11 @@ private:
|
||||
bool m_overrideLeftHandTurnPressed = false;
|
||||
bool m_overrideRightHandTurnPressed = false;
|
||||
unsigned settingsUpdateCounter = 0;
|
||||
int m_hmdRotationStatsUpdateCounter = 0;
|
||||
void updateHmdRotationCounter( vr::TrackedDevicePose_t hmdPose,
|
||||
double angle );
|
||||
void updateHandDrag( vr::TrackedDevicePose_t* devicePoses, double angle );
|
||||
void updateHandTurn( vr::TrackedDevicePose_t* devicePoses, double angle );
|
||||
|
||||
public:
|
||||
void initStage1();
|
||||
|
||||
Reference in New Issue
Block a user