hmd pose from view space

Cargo.lock

@@ -2682,6 +2682,7 @@ version = "0.10.0"
 source = "git+https://github.com/galister/openxrs?rev=af4a55d#af4a55df60125491c80c61464c824219c6019b76"
 dependencies = [
  "libc",
+ "mint",
 ]
 
 [[package]]
@@ -4599,6 +4600,7 @@ dependencies = [
  "libmonado-rs",
  "log",
  "log-panics",
+ "mint",
  "once_cell",
  "openxr",
  "ovr_overlay",

Cargo.toml

@@ -34,6 +34,7 @@ log = "0.4.21"
 once_cell = "1.19.0"
 openxr = { git = "https://github.com/galister/openxrs", rev = "af4a55d", features = [
   "linked",
+  "mint",
 ], optional = true }
 ovr_overlay = { features = [
   "ovr_input",
@@ -67,6 +68,7 @@ xcb = { version = "1.4.0", optional = true, features = [
 image_dds = { version = "0.6.0", default-features = false, features = [
   "ddsfile",
 ] }
+mint = "0.5.9"
 
 [features]
 default = ["openvr", "openxr", "osc", "x11", "wayland"]

src/backend/openxr/helpers.rs

@@ -132,21 +132,14 @@ pub(super) unsafe fn create_overlay_session(
     }
 }
 
-pub(super) fn hmd_pose_from_views(views: &[xr::View]) -> (Affine3A, f32) {
-    let ipd;
-    let pos = {
-        let pos0: Vec3 = unsafe { std::mem::transmute(views[0].pose.position) };
-        let pos1: Vec3 = unsafe { std::mem::transmute(views[1].pose.position) };
-        ipd = (pos0.distance(pos1) * 1000.0).round() * 0.1;
-        (pos0 + pos1) * 0.5
-    };
-    let rot = {
-        let rot0: Quat = unsafe { std::mem::transmute(views[0].pose.orientation) };
-        let rot1: Quat = unsafe { std::mem::transmute(views[1].pose.orientation) };
-        rot0.lerp(rot1, 0.5)
-    };
+type Vec3M = mint::Vector3<f32>;
+type QuatM = mint::Quaternion<f32>;
 
-    (Affine3A::from_rotation_translation(rot, pos), ipd)
+pub(super) fn ipd_from_views(views: &[xr::View]) -> f32 {
+    let p0: Vec3 = Vec3M::from(views[0].pose.position).into();
+    let p1: Vec3 = Vec3M::from(views[1].pose.position).into();
+
+    (p0.distance(p1) * 1000.0).round() * 0.1
 }
 
 pub(super) fn transform_to_norm_quat(transform: &Affine3A) -> Quat {
@@ -181,3 +174,9 @@ pub(super) fn transform_to_posef(transform: &Affine3A) -> xr::Posef {
     let rotation = transform_to_norm_quat(transform);
     translation_rotation_to_posef(translation, rotation)
 }
+
+pub(super) fn posef_to_transform(pose: &xr::Posef) -> Affine3A {
+    let rotation = QuatM::from(pose.orientation).into();
+    let translation = Vec3M::from(pose.position).into();
+    Affine3A::from_rotation_translation(rotation, translation)
+}

src/backend/openxr/input.rs

@@ -15,7 +15,7 @@ use crate::{
     state::{AppSession, AppState},
 };
 
-use super::XrState;
+use super::{helpers::posef_to_transform, XrState};
 
 type XrSession = xr::Session<xr::Vulkan>;
 
@@ -204,6 +204,22 @@ impl OpenXrInputSource {
     pub fn update(&mut self, xr: &XrState, state: &mut AppState) -> anyhow::Result<()> {
         xr.session.sync_actions(&[(&self.action_set).into()])?;
 
+        let loc = xr.view.locate(&xr.stage, xr.predicted_display_time)?;
+        let hmd = posef_to_transform(&loc.pose);
+        if loc
+            .location_flags
+            .contains(xr::SpaceLocationFlags::ORIENTATION_VALID)
+        {
+            state.input_state.hmd.matrix3 = hmd.matrix3;
+        }
+
+        if loc
+            .location_flags
+            .contains(xr::SpaceLocationFlags::POSITION_VALID)
+        {
+            state.input_state.hmd.translation = hmd.translation;
+        }
+
         for i in 0..2 {
             self.hands[i].update(&mut state.input_state.pointers[i], xr, &state.session)?;
         }

src/backend/openxr/mod.rs

@@ -49,6 +49,7 @@ struct XrState {
     session: xr::Session<xr::Vulkan>,
     predicted_display_time: xr::Time,
     stage: Arc<xr::Space>,
+    view: Arc<xr::Space>,
     stage_offset: Affine3A,
 }
 
@@ -123,12 +124,15 @@ pub fn openxr_run(running: Arc<AtomicBool>, show_by_default: bool) -> Result<(),
     let stage =
         session.create_reference_space(xr::ReferenceSpaceType::STAGE, xr::Posef::IDENTITY)?;
 
+    let view = session.create_reference_space(xr::ReferenceSpaceType::VIEW, xr::Posef::IDENTITY)?;
+
     let mut xr_state = XrState {
         instance: xr_instance,
         system,
         session,
         predicted_display_time: xr::Time::from_nanos(0),
         stage: Arc::new(stage),
+        view: Arc::new(view),
         stage_offset: Affine3A::IDENTITY,
     };
 
@@ -274,8 +278,7 @@ pub fn openxr_run(running: Arc<AtomicBool>, show_by_default: bool) -> Result<(),
             &xr_state.stage,
         )?;
 
-        let (hmd, ipd) = helpers::hmd_pose_from_views(&views);
-        app_state.input_state.hmd = hmd;
+        let ipd = helpers::ipd_from_views(&views);
         if (app_state.input_state.ipd - ipd).abs() > 0.01 {
             log::info!("IPD changed: {} -> {}", app_state.input_state.ipd, ipd);
             app_state.input_state.ipd = ipd;