aux/vive: Add vive_poses

src/xrt/auxiliary/vive/CMakeLists.txt

@@ -1,7 +1,15 @@
 # Copyright 2019-2022, Collabora, Ltd.
 # SPDX-License-Identifier: BSL-1.0
 
-add_library(aux_vive STATIC vive_config.h vive_config.c vive_bindings.c vive_bindings.h)
+add_library(
+	aux_vive STATIC
+	vive_config.h
+	vive_config.c
+	vive_bindings.c
+	vive_bindings.h
+	vive_poses.h
+	vive_poses.c
+	)
 target_link_libraries(
 	aux_vive
 	PRIVATE

src/xrt/auxiliary/vive/vive_poses.c

@@ -0,0 +1,86 @@
+// Copyright 2019-2021, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Vive poses implementation
+ * @author Daniel Willmott <web@dan-w.com>
+ * @ingroup drv_vive
+ */
+
+#include "vive_poses.h"
+
+#include "math/m_mathinclude.h"
+#include "math/m_api.h"
+
+#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.)
+
+void
+vive_poses_apply_right_transform(struct xrt_vec3 *out_transform_position, struct xrt_vec3 *out_transform_rotation)
+{
+	out_transform_rotation->y *= -1.f;
+	out_transform_rotation->z *= -1.f;
+
+	out_transform_position->x *= -1.f;
+}
+
+void
+vive_poses_get_index_offset_transforms(enum xrt_input_name input_name,
+                                       enum xrt_device_type device_type,
+                                       struct xrt_vec3 *out_transform_position,
+                                       struct xrt_vec3 *out_transform_rotation)
+{
+	switch (input_name) {
+	case XRT_INPUT_INDEX_GRIP_POSE:
+		out_transform_position->x = 0.f;
+		out_transform_position->y = -0.015f;
+		out_transform_position->z = 0.13f;
+
+		out_transform_rotation->x = DEG_TO_RAD(15.392f);
+		out_transform_rotation->y = DEG_TO_RAD(-2.071f);
+		out_transform_rotation->z = DEG_TO_RAD(0.303);
+
+		break;
+	case XRT_INPUT_INDEX_AIM_POSE:
+		out_transform_position->x = 0.006f;
+		out_transform_position->y = -0.015f;
+		out_transform_position->z = 0.02f;
+
+		out_transform_rotation->x = DEG_TO_RAD(-40.f);
+		out_transform_rotation->y = DEG_TO_RAD(-5.f);
+		out_transform_rotation->z = 0.f;
+
+		break;
+	default:
+		*out_transform_position = (struct xrt_vec3)XRT_VEC3_ZERO;
+		*out_transform_rotation = (struct xrt_vec3)XRT_VEC3_ZERO;
+
+		break;
+	}
+
+	if (device_type == XRT_DEVICE_TYPE_RIGHT_HAND_CONTROLLER) {
+		vive_poses_apply_right_transform(out_transform_position, out_transform_rotation);
+	}
+}
+
+
+
+void
+vive_poses_get_pose_offset(enum xrt_device_name device_name,
+                           enum xrt_device_type device_type,
+                           enum xrt_input_name input_name,
+                           struct xrt_pose *out_offset_pose)
+{
+	struct xrt_vec3 transform_position = XRT_VEC3_ZERO;
+	struct xrt_vec3 transform_rotation = XRT_VEC3_ZERO;
+
+	switch (device_name) {
+	case XRT_DEVICE_INDEX_CONTROLLER:
+		vive_poses_get_index_offset_transforms(input_name, device_type, &transform_position,
+		                                       &transform_rotation);
+		break;
+	default: break;
+	}
+
+	math_quat_from_euler_angles(&transform_rotation, &out_offset_pose->orientation);
+	out_offset_pose->position = transform_position;
+}

src/xrt/auxiliary/vive/vive_poses.h

@@ -0,0 +1,19 @@
+// Copyright 2019-2021, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  vive poses header
+ * @author Daniel Willmott <web@dan-w.com>
+ * @ingroup drv_vive
+ */
+
+#pragma once
+
+#include "xrt/xrt_defines.h"
+#include "vive_config.h"
+
+void
+vive_poses_get_pose_offset(enum xrt_device_name device_name,
+                           enum xrt_device_type device_type,
+                           enum xrt_input_name input_name,
+                           struct xrt_pose *out_offset_pose);