switch to using libmonado-rs
This commit is contained in:
galister
+35
-132
@@ -1,13 +1,12 @@
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use glam::{Affine3A, Quat, Vec3, Vec3A};
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use libloading::{Library, Symbol};
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use std::ffi::c_void;
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use glam::{Affine3A, Quat, Vec3A};
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use libmonado_rs::{Monado, Pose, ReferenceSpaceType};
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use crate::{
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backend::{common::OverlayContainer, input::InputState},
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state::AppState,
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};
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use super::{helpers, overlay::OpenXrOverlayData};
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use super::overlay::OpenXrOverlayData;
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#[repr(C)]
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#[derive(Default, Debug)]
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@@ -16,116 +15,46 @@ struct XrtPose {
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position: [f32; 3],
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}
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const XRT_REFERENCE_TYPE_STAGE: i32 = 3;
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const MND_SUCCESS: i32 = 0;
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const MND_ERROR_BAD_SPACE_TYPE: i32 = -7;
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struct MoverData<T> {
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pose: Affine3A,
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hand: usize,
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hand_pose: T,
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}
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// Legacy implementations
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type PlaySpaceMove = extern "C" fn(*mut c_void, f32, f32, f32) -> i32;
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type ApplyStageOffset = extern "C" fn(*mut c_void, *const XrtPose) -> i32;
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// New implementation
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type GetReferenceSpaceOffset = extern "C" fn(*mut c_void, i32, *mut XrtPose) -> i32;
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type SetReferenceSpaceOffset = extern "C" fn(*mut c_void, i32, *const XrtPose) -> i32;
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// TODO: Clean up after merge into upstream Monado
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enum ApiImpl {
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None,
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PlaySpaceMove(PlaySpaceMove),
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ApplyStageOffset(ApplyStageOffset),
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SpaceOffsetApi {
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get_reference: GetReferenceSpaceOffset,
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set_reference: SetReferenceSpaceOffset,
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},
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}
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pub(super) struct PlayspaceMover {
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last_transform: Affine3A,
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drag: Option<MoverData<Vec3A>>,
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rotate: Option<MoverData<Quat>>,
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libmonado: Library,
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mnd_root: *mut c_void,
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api_impl: ApiImpl,
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}
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impl PlayspaceMover {
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pub fn try_new() -> anyhow::Result<Self> {
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unsafe {
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let libmonado = helpers::find_libmonado()?;
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pub fn new(monado: &mut Monado) -> anyhow::Result<Self> {
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log::info!("Monado: using space offset API");
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let root_create: Symbol<extern "C" fn(*mut *mut c_void) -> i32> =
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libmonado.get(b"mnd_root_create\0")?;
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let Ok(stage) = monado.get_reference_space_offset(ReferenceSpaceType::Stage) else {
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anyhow::bail!("Space offsets not supported.");
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};
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let mut root: *mut c_void = std::ptr::null_mut();
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let ret = root_create(&mut root);
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if ret != 0 {
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anyhow::bail!("Failed to create root, code: {}", ret);
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}
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log::debug!("STAGE is at {:?}, {:?}", stage.position, stage.orientation);
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let mut api_impl = ApiImpl::None;
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let mut initial_offset = Affine3A::IDENTITY;
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// initial offset
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let last_transform =
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Affine3A::from_rotation_translation(stage.orientation.into(), stage.position.into());
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if let (Ok(get_reference), Ok(set_reference)) = (
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libmonado.get(b"mnd_root_get_reference_space_offset\0"),
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libmonado.get(b"mnd_root_set_reference_space_offset\0"),
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) {
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log::info!("Monado: using space offset API");
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Ok(Self {
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last_transform,
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let get_reference: GetReferenceSpaceOffset = *get_reference;
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let set_reference: SetReferenceSpaceOffset = *set_reference;
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let mut stage = XrtPose::default();
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match (get_reference)(root, XRT_REFERENCE_TYPE_STAGE, &mut stage) {
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MND_SUCCESS => {
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log::debug!("STAGE is at {:?}, {:?}", stage.position, stage.orientation);
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initial_offset = Affine3A::from_rotation_translation(
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Quat::from_slice(&stage.orientation),
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Vec3::from_slice(&stage.position),
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);
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}
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_ => anyhow::bail!("Space offsets not supported."),
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};
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api_impl = ApiImpl::SpaceOffsetApi {
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get_reference,
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set_reference,
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};
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} else if let Ok(playspace_move) = libmonado.get(b"mnd_root_playspace_move\0") {
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log::warn!("Monado: using playspace_move, which is obsolete. Consider updating.");
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api_impl = ApiImpl::PlaySpaceMove(*playspace_move);
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} else if let Ok(apply_stage_offset) = libmonado.get(b"mnd_root_apply_stage_offset\0") {
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log::warn!(
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"Monado: using apply_stage_offset, which is obsolete. Consider updating."
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);
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api_impl = ApiImpl::ApplyStageOffset(*apply_stage_offset);
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}
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if let ApiImpl::None = api_impl {
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anyhow::bail!("Monado does not support playspace mover.");
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}
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Ok(Self {
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last_transform: initial_offset,
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drag: None,
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rotate: None,
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libmonado,
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mnd_root: root,
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api_impl,
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})
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}
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drag: None,
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rotate: None,
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})
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}
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pub fn update(&mut self, overlays: &mut OverlayContainer<OpenXrOverlayData>, state: &AppState) {
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pub fn update(
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&mut self,
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overlays: &mut OverlayContainer<OpenXrOverlayData>,
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state: &AppState,
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monado: &mut Monado,
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) {
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if let Some(mut data) = self.rotate.take() {
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let pointer = &state.input_state.pointers[data.hand];
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if !pointer.now.space_rotate {
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@@ -164,7 +93,7 @@ impl PlayspaceMover {
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data.pose *= space_transform;
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data.hand_pose = new_hand;
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self.apply_offset(data.pose);
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self.apply_offset(data.pose, monado);
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self.rotate = Some(data);
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} else {
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for (i, pointer) in state.input_state.pointers.iter().enumerate() {
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@@ -213,7 +142,7 @@ impl PlayspaceMover {
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data.pose.translation += relative_pos;
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data.hand_pose = new_hand;
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self.apply_offset(data.pose);
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self.apply_offset(data.pose, monado);
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self.drag = Some(data);
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} else {
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for (i, pointer) in state.input_state.pointers.iter().enumerate() {
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@@ -233,7 +162,7 @@ impl PlayspaceMover {
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}
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}
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pub fn reset_offset(&mut self) {
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pub fn reset_offset(&mut self, monado: &mut Monado) {
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if self.drag.is_some() {
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log::info!("Space drag interrupted by manual reset");
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self.drag = None;
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@@ -244,10 +173,10 @@ impl PlayspaceMover {
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}
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self.last_transform = Affine3A::IDENTITY;
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self.apply_offset(self.last_transform);
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self.apply_offset(self.last_transform, monado);
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}
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pub fn fix_floor(&mut self, input: &InputState) {
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pub fn fix_floor(&mut self, input: &InputState, monado: &mut Monado) {
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if self.drag.is_some() {
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log::info!("Space drag interrupted by fix floor");
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self.drag = None;
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@@ -261,40 +190,14 @@ impl PlayspaceMover {
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let y2 = input.pointers[1].pose.translation.y;
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let delta = y1.min(y2) - 0.03;
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self.last_transform.translation.y += delta;
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self.apply_offset(self.last_transform);
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self.apply_offset(self.last_transform, monado);
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}
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fn apply_offset(&self, transform: Affine3A) {
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match self.api_impl {
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ApiImpl::PlaySpaceMove(playspace_move) => {
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(playspace_move)(
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self.mnd_root,
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transform.translation.x,
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transform.translation.y,
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transform.translation.z,
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);
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}
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ApiImpl::ApplyStageOffset(apply_stage_offset) => {
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let xrt_pose = XrtPose {
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orientation: Quat::from_affine3(&transform).into(),
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position: transform.translation.into(),
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};
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(apply_stage_offset)(self.mnd_root, &xrt_pose);
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}
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ApiImpl::SpaceOffsetApi { set_reference, .. } => {
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let xrt_pose = XrtPose {
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orientation: Quat::from_affine3(&transform).into(),
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position: transform.translation.into(),
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};
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let mnd_result =
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(set_reference)(self.mnd_root, XRT_REFERENCE_TYPE_STAGE, &xrt_pose);
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//let mnd_result = (set_offset)(self.mnd_root, 0, &xrt_pose);
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if mnd_result != MND_SUCCESS {
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log::warn!("Cannot move playspace: MND result code {}", mnd_result);
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}
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}
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ApiImpl::None => {}
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}
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fn apply_offset(&self, transform: Affine3A, monado: &mut Monado) {
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let pose = Pose {
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position: transform.translation.into(),
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orientation: Quat::from_affine3(&transform).into(),
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};
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let _ = monado.set_reference_space_offset(ReferenceSpaceType::Stage, pose);
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}
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}
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