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lbgos
dff6cab92c
Squashed from the working branch. Adds the Basalt patches, constrained constellation pose solver, Rift S optics, world anchor and boundary persistence, SteamVR camera queue and room setup guard, and tests.
40 lines
1.9 KiB
C++
40 lines
1.9 KiB
C++
// Copyright 2026, lbgos
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// SPDX-License-Identifier: BSL-1.0
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#include "catch_amalgamated.hpp"
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#include "rift_s_controller.h"
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#include <cmath>
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enum u_logging_level rift_s_log_level = U_LOGGING_ERROR;
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TEST_CASE("Rift S camera attitude bridges one radio scheduling gap with local gyro")
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{
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rift_s_controller ctrl{};
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ctrl.attitude_history_count = 2;
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xrt_vec3 axis = {.3f, .8f, -.4f};
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math_vec3_normalize(&axis);
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xrt_quat orientation;
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math_quat_from_angle_vector(.7f, &axis, &orientation);
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math_quat_normalize(&orientation);
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ctrl.attitude_history[0] = {1000000000, 2000000000, 2000000000, orientation, {.8f, -1.2f, .4f}, true};
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ctrl.attitude_history[1] = {1002000000, 2002000000, 2002000000, orientation, {.8f, -1.2f, .4f}, true};
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rift_s_attitude_sample result{};
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REQUIRE(rift_s_controller_get_attitude(&ctrl, 2007000000, &result));
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xrt_quat expected;
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math_quat_integrate_velocity(&orientation, &ctrl.attitude_history[1].gyro, .005f, &expected);
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CHECK(result.capture_ns == 2007000000);
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CHECK(result.device_capture_ns == 1007000000);
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CHECK(result.orientation.x == Catch::Approx(expected.x).margin(1e-7));
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CHECK(result.orientation.y == Catch::Approx(expected.y).margin(1e-7));
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CHECK(result.orientation.z == Catch::Approx(expected.z).margin(1e-7));
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CHECK(result.orientation.w == Catch::Approx(expected.w).margin(1e-7));
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CHECK(rift_s_controller_get_attitude(&ctrl, 2022000000, &result));
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CHECK_FALSE(rift_s_controller_get_attitude(&ctrl, 2022000001, &result));
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CHECK(ctrl.diagnostics.last_attitude_reject == RIFT_S_ATTITUDE_TOO_NEW);
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ctrl.attitude_history[0].capture_ns -= 20000000;
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CHECK_FALSE(rift_s_controller_get_attitude(&ctrl, 2007000000, &result));
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ctrl.attitude_history[0].capture_ns += 20000000;
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ctrl.attitude_history[1].tilt_valid = false;
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CHECK_FALSE(rift_s_controller_get_attitude(&ctrl, 2007000000, &result));
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CHECK_FALSE(rift_s_controller_get_attitude(&ctrl, 1999999999, &result));
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}
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