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Driver Scale Parameter #65

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merged 3 commits into from
Nov 8, 2021
Merged

Driver Scale Parameter #65

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bd50a8c
Driver Scale Parameter
brian-armstrong Oct 31, 2021
e599ac1
make the steps smaller
brian-armstrong Nov 2, 2021
c6eb49d
scale vecPosition
brian-armstrong Nov 2, 2021
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5 changes: 3 additions & 2 deletions OpenVR-SpaceCalibrator/Calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -269,7 +269,7 @@ void ResetAndDisableOffsets(uint32_t id)
zeroQ.x = 0; zeroQ.y = 0; zeroQ.z = 0; zeroQ.w = 1;

protocol::Request req(protocol::RequestSetDeviceTransform);
req.setDeviceTransform = { id, false, zeroV, zeroQ };
req.setDeviceTransform = { id, false, zeroV, zeroQ, 1.0 };
Driver.SendBlocking(req);
}

Expand Down Expand Up @@ -338,7 +338,8 @@ void ScanAndApplyProfile(CalibrationContext &ctx)
id,
true,
VRTranslationVec(ctx.calibratedTranslation),
VRRotationQuat(ctx.calibratedRotation)
VRRotationQuat(ctx.calibratedRotation),
ctx.calibratedScale
};
Driver.SendBlocking(req);
}
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2 changes: 2 additions & 0 deletions OpenVR-SpaceCalibrator/Calibration.h
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Expand Up @@ -20,6 +20,7 @@ struct CalibrationContext

Eigen::Vector3d calibratedRotation;
Eigen::Vector3d calibratedTranslation;
double calibratedScale;

std::string referenceTrackingSystem;
std::string targetTrackingSystem;
Expand Down Expand Up @@ -57,6 +58,7 @@ struct CalibrationContext

calibratedRotation = Eigen::Vector3d();
calibratedTranslation = Eigen::Vector3d();
calibratedScale = 1.0;
referenceTrackingSystem = "";
targetTrackingSystem = "";
enabled = false;
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6 changes: 6 additions & 0 deletions OpenVR-SpaceCalibrator/Configuration.cpp
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Expand Up @@ -54,6 +54,11 @@ static void ParseProfile(CalibrationContext &ctx, std::istream &stream)
ctx.calibratedTranslation(1) = obj["y"].get<double>();
ctx.calibratedTranslation(2) = obj["z"].get<double>();

if (obj["scale"].is<double>())
ctx.calibratedScale = obj["scale"].get<double>();
else
ctx.calibratedScale = 1.0;

if (obj["calibration_speed"].is<double>())
ctx.calibrationSpeed = (CalibrationContext::Speed)(int) obj["calibration_speed"].get<double>();

Expand Down Expand Up @@ -101,6 +106,7 @@ static void WriteProfile(CalibrationContext &ctx, std::ostream &out)
profile["x"].set<double>(ctx.calibratedTranslation(0));
profile["y"].set<double>(ctx.calibratedTranslation(1));
profile["z"].set<double>(ctx.calibratedTranslation(2));
profile["scale"].set<double>(ctx.calibratedScale);

double speed = (int) ctx.calibrationSpeed;
profile["calibration_speed"].set<double>(speed);
Expand Down
4 changes: 4 additions & 0 deletions OpenVR-SpaceCalibrator/UserInterface.cpp
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Expand Up @@ -489,6 +489,10 @@ void BuildProfileEditor()
ImGui::InputDouble("##Y", &CalCtx.calibratedTranslation(1), 1.0, 10.0, "%.8f");
ImGui::SameLine();
ImGui::InputDouble("##Z", &CalCtx.calibratedTranslation(2), 1.0, 10.0, "%.8f");

TextWithWidth("ScaleLabel", "Scale", width);

ImGui::InputDouble("##Scale", &CalCtx.calibratedScale, 0.0001, 0.01, "%.8f");
ImGui::PopItemWidth();
}

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7 changes: 7 additions & 0 deletions OpenVR-SpaceCalibratorDriver/ServerTrackedDeviceProvider.cpp
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Expand Up @@ -49,6 +49,9 @@ void ServerTrackedDeviceProvider::SetDeviceTransform(const protocol::SetDeviceTr

if (newTransform.updateRotation)
tf.rotation = newTransform.rotation;

if (newTransform.updateScale)
tf.scale = newTransform.scale;
}

bool ServerTrackedDeviceProvider::HandleDevicePoseUpdated(uint32_t openVRID, vr::DriverPose_t &pose)
Expand All @@ -58,6 +61,10 @@ bool ServerTrackedDeviceProvider::HandleDevicePoseUpdated(uint32_t openVRID, vr:
{
pose.qWorldFromDriverRotation = tf.rotation * pose.qWorldFromDriverRotation;

pose.vecPosition[0] *= tf.scale;
pose.vecPosition[1] *= tf.scale;
pose.vecPosition[2] *= tf.scale;

vr::HmdVector3d_t rotatedTranslation = quaternionRotateVector(tf.rotation, pose.vecWorldFromDriverTranslation);
pose.vecWorldFromDriverTranslation[0] = rotatedTranslation.v[0] + tf.translation.v[0];
pose.vecWorldFromDriverTranslation[1] = rotatedTranslation.v[1] + tf.translation.v[1];
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1 change: 1 addition & 0 deletions OpenVR-SpaceCalibratorDriver/ServerTrackedDeviceProvider.h
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Expand Up @@ -46,6 +46,7 @@ class ServerTrackedDeviceProvider : public vr::IServerTrackedDeviceProvider
bool enabled = false;
vr::HmdVector3d_t translation;
vr::HmdQuaternion_t rotation;
double scale;
};

DeviceTransform transforms[vr::k_unMaxTrackedDeviceCount];
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18 changes: 13 additions & 5 deletions Protocol.h
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Expand Up @@ -10,7 +10,7 @@

namespace protocol
{
const uint32_t Version = 1;
const uint32_t Version = 2;
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Seemed like the cleanest way to handle this was to just break backwards compat on the IPC

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I agree, that's fine. It would be possible to preserve backwards compatibility by making a new message, and using it only if both sides support version 2, but there isn't much of a reason to implement that since there's only one client (that I'm aware of) and it's installed at the same time as the driver.


enum RequestType
{
Expand All @@ -37,20 +37,28 @@ namespace protocol
bool enabled;
bool updateTranslation;
bool updateRotation;
bool updateScale;
vr::HmdVector3d_t translation;
vr::HmdQuaternion_t rotation;
double scale;

SetDeviceTransform(uint32_t id, bool enabled) :
openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(false) { }
openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(false), updateScale(false) { }

SetDeviceTransform(uint32_t id, bool enabled, vr::HmdVector3d_t translation) :
openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(false), translation(translation) { }
openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(false), updateScale(false), translation(translation) { }

SetDeviceTransform(uint32_t id, bool enabled, vr::HmdQuaternion_t rotation) :
openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(true), rotation(rotation) { }
openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(true), updateScale(false), rotation(rotation) { }

SetDeviceTransform(uint32_t id, bool enabled, double scale) :
openVRID(id), enabled(enabled), updateTranslation(false), updateRotation(false), updateScale(true), scale(scale) { }

SetDeviceTransform(uint32_t id, bool enabled, vr::HmdVector3d_t translation, vr::HmdQuaternion_t rotation) :
openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(true), translation(translation), rotation(rotation) { }
openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(true), updateScale(false), translation(translation), rotation(rotation) { }

SetDeviceTransform(uint32_t id, bool enabled, vr::HmdVector3d_t translation, vr::HmdQuaternion_t rotation, double scale) :
openVRID(id), enabled(enabled), updateTranslation(true), updateRotation(true), updateScale(true), translation(translation), rotation(rotation), scale(scale) { }
};

struct Request
Expand Down