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hmd pose from view space

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galister
2024-08-09 07:53:27 +09:00
parent b6a07c43a5
commit 50c3f49989
5 changed files with 39 additions and 17 deletions
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27
src/backend/openxr/helpers.rs
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@@ -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)
}