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Floor Fix now works correctly regardless of controller facing up or down.

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matzman
2016-12-20 20:31:54 +01:00
parent a93bdeb063
commit 930c99a341
2 changed files with 48 additions and 15 deletions
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src/tabcontrollers/FixFloorTabController.cpp
+44 -12
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@@ -60,23 +60,55 @@ void FixFloorTabController::eventLoopTick(vr::TrackedDevicePose_t* devicePoses)
} else {
referenceController = rightId;
}
tempOffset = (double)devicePoses[referenceController].mDeviceToAbsoluteTracking.m[1][3];
auto& m = devicePoses[referenceController].mDeviceToAbsoluteTracking.m;
tempOffsetY = (double)m[1][3];
/*
| Intrinsic y-x'-z" rotation matrix:
| cr*cy+sp*sr*sy | cr*sp*sy-cy*sr | cp*sy |
| 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
pitch = -asin(-sp) [pi/2, -pi/2]
roll = atan2(cp*sr, cp*cr) [pi, -pi], CW
*/
tempRoll = std::atan2((double)m[1][0], (double)m[1][1]);
measurementCount = 1;
}
} else if (measurementCount >= 25) {
floorOffset = -controllerUpOffsetCorrection + (float)(tempOffset / (double)measurementCount);
LOG(INFO) << "Fix Floor: Floor Offset = " << floorOffset;
parent->AddOffsetToUniverseCenter(vr::TrackingUniverseStanding, 1, floorOffset, false);
statusMessage = "Fixing ... OK";
statusMessageTimeout = 1.0;
emit statusMessageSignal();
emit measureEndSignal();
setCanUndo(true);
state = 0;
} else {
tempOffset += (double)devicePoses[referenceController].mDeviceToAbsoluteTracking.m[1][3];
measurementCount++;
auto& m = devicePoses[referenceController].mDeviceToAbsoluteTracking.m;
double rollDiff = std::atan2((double)m[1][0], (double)m[1][1]) - tempRoll;
if (rollDiff > M_PI) {
rollDiff -= 2.0 * M_PI;
} else if (rollDiff < -M_PI) {
rollDiff += 2.0 * M_PI;
}
tempRoll += rollDiff / (double)measurementCount;
if (tempRoll > M_PI) {
tempRoll -= 2.0 * M_PI;
} else if (tempRoll < -M_PI) {
tempRoll += 2.0 * M_PI;
}
if (measurementCount >= 25) {
if (std::abs(tempRoll) <= M_PI_2) {
floorOffset = tempOffsetY - controllerUpOffsetCorrection;
} else {
floorOffset = tempOffsetY - controllerDownOffsetCorrection;
}
LOG(INFO) << "Fix Floor: Floor Offset = " << floorOffset;
parent->AddOffsetToUniverseCenter(vr::TrackingUniverseStanding, 1, floorOffset, false);
statusMessage = "Fixing ... OK";
statusMessageTimeout = 1.0;
emit statusMessageSignal();
emit measureEndSignal();
setCanUndo(true);
state = 0;
}
}
}
}