ht_ctrl_emu.cpp File Reference

Driver to emulate controllers from hand-tracking input. More...

#include "xrt/xrt_defines.h"
#include "xrt/xrt_device.h"
#include "os/os_time.h"
#include "math/m_api.h"
#include "math/m_space.h"
#include "math/m_vec3.h"
#include "util/u_var.h"
#include "util/u_time.h"
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_distortion_mesh.h"
#include "util/u_config_json.h"
#include "ht_ctrl_emu_interface.h"
#include <assert.h>
#include <stdio.h>

Include dependency graph for ht_ctrl_emu.cpp:

Data Structures
struct	cemu_system
struct	cemu_device

Macros
#define	CEMU_TRACE(d, ...)   U_LOG_XDEV_IFL_T(&d->base, d->sys->log_level, __VA_ARGS__)
#define	CEMU_DEBUG(d, ...)   U_LOG_XDEV_IFL_D(&d->base, d->sys->log_level, __VA_ARGS__)
#define	CEMU_INFO(d, ...)   U_LOG_XDEV_IFL_I(&d->base, d->sys->log_level, __VA_ARGS__)
#define	CEMU_WARN(d, ...)   U_LOG_XDEV_IFL_W(&d->base, d->sys->log_level, __VA_ARGS__)
#define	CEMU_ERROR(d, ...)   U_LOG_XDEV_IFL_E(&d->base, d->sys->log_level, __VA_ARGS__)

Enumerations
enum	cemu_input_index {   CEMU_INDEX_HAND_TRACKING , CEMU_INDEX_SELECT , CEMU_INDEX_MENU , CEMU_INDEX_GRIP ,   CEMU_INDEX_AIM , CEMU_NUM_INPUTS }

Functions
xrt_quat	wct_to_quat (float waggle, float curl, float twist)
static struct cemu_device *	cemu_device (struct xrt_device *xdev)
static void	cemu_device_destroy (struct xrt_device *xdev)
static void	cemu_device_get_hand_tracking (struct xrt_device *xdev, enum xrt_input_name name, int64_t requested_timestamp_ns, struct xrt_hand_joint_set *out_value, int64_t *out_timestamp_ns)
static xrt_vec3	joint_position_global (xrt_hand_joint_set *joint_set, xrt_hand_joint joint)
static xrt_pose	joint_pose_global (xrt_hand_joint_set *joint_set, xrt_hand_joint joint)
static xrt_result_t	do_grip_pose (struct xrt_hand_joint_set *joint_set, struct xrt_space_relation *out_relation, float grip_offset_from_palm, bool is_right)
static xrt_result_t	get_other_two (struct cemu_device *dev, int64_t head_timestamp_ns, int64_t hand_timestamp_ns, xrt_pose *out_head, xrt_hand_joint_set *out_secondary)
static xrt_result_t	do_aim_pose (struct cemu_device *dev, struct xrt_hand_joint_set *joint_set_primary, int64_t head_timestamp_ns, int64_t hand_timestamp_ns, struct xrt_space_relation *out_relation)
static xrt_result_t	cemu_device_get_tracked_pose (struct xrt_device *xdev, enum xrt_input_name name, int64_t at_timestamp_ns, struct xrt_space_relation *out_relation)
static void	cemu_device_set_output (struct xrt_device *xdev, enum xrt_output_name name, const union xrt_output_value *value)
static void	decide (xrt_vec3 one, xrt_vec3 two, bool *out)
static xrt_result_t	cemu_device_update_inputs (struct xrt_device *xdev)
int	cemu_devices_create (struct xrt_device *head, struct xrt_device *hands, struct xrt_device **out_xdevs)

Variables
static const float	cm2m = 0.01f
static enum xrt_space_relation_flags	valid_flags

Detailed Description

Driver to emulate controllers from hand-tracking input.

Author

Moses Turner moses.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Nick Klingensmith progr.nosp@m.amme.nosp@m.rpich.nosp@m.u@gm.nosp@m.ail.c.nosp@m.om

Function Documentation

decide()

static void decide ( xrt_vec3  one, xrt_vec3  two, bool *  out  )

static

Todo:

This is flickery; investigate once we get better hand tracking

Variable Documentation

valid_flags

enum xrt_space_relation_flags valid_flags

static

Initial value:

= (enum xrt_space_relation_flags)(
    XRT_SPACE_RELATION_ORIENTATION_VALID_BIT | XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT |
    XRT_SPACE_RELATION_POSITION_VALID_BIT | XRT_SPACE_RELATION_POSITION_TRACKED_BIT)