ovrd_driver.cpp File Reference

Main driver code for SteamVR driver provider. More...

#include <cstring>
#include <thread>
#include "math/m_api.h"
#include "ovrd_log.hpp"
#include "openvr_driver.h"
#include "ovrd_interface.h"
#include <math.h>
#include <math/m_space.h>
#include "os/os_time.h"
#include "util/u_debug.h"
#include "util/u_device.h"
#include "util/u_builders.h"
#include "util/u_hand_tracking.h"
#include "xrt/xrt_space.h"
#include "xrt/xrt_system.h"
#include "xrt/xrt_defines.h"
#include "xrt/xrt_device.h"
#include "xrt/xrt_instance.h"
#include "bindings/b_generated_bindings.h"
#include "math/m_vec3.h"

Include dependency graph for ovrd_driver.cpp:

Data Structures
struct	MonadoInputComponent
struct	SteamVRDriverControl
struct	SteamVRDriverControlInput
struct	SteamVRDriverControlOutput
class	CDeviceDriver_Monado_Controller
class	CDeviceDriver_Monado
class	CServerDriver_Monado
class	CWatchdogDriver_Monado

Macros
#define	MODELNUM_LEN   (XRT_DEVICE_NAME_LEN + 9)
	When set, all controllers pretend to be Index controllers. More...
#define	OPENVR_BONE_COUNT   31
#define	OPENVR_BONE_COUNT   31
#define	NUM_XDEVS   16

Functions
static void	copy_vec3 (struct xrt_vec3 *from, double *to)
static void	copy_quat (struct xrt_quat *from, vr::HmdQuaternion_t *to)
static void	apply_pose (struct xrt_space_relation *rel, vr::DriverPose_t *m_pose)
template<class T , class U >
void	convert_quaternion (const T &p_quatA, U &p_quatB)
xrt_quat	apply_bone_hand_transform (xrt_quat p_rot, xrt_hand hand)
void	metacarpal_joints_to_bone_transform (struct xrt_hand_joint_set *hand_joint_set, vr::VRBoneTransform_t *out_bone_transforms, xrt_hand hand)
void	flexion_joints_to_bone_transform (struct xrt_hand_joint_set *hand_joint_set, vr::VRBoneTransform_t *out_bone_transforms, xrt_hand hand)
void	hand_joint_set_to_bone_transform (struct xrt_hand_joint_set hand_joint_set, vr::VRBoneTransform_t *out_bone_transforms, xrt_hand hand)
static void	create_translation_rotation_matrix (struct xrt_pose *pose, struct vr::HmdMatrix34_t *res)
static vr::HmdQuaternion_t	HmdQuaternion_Init (double w, double x, double y, double z)
void	WatchdogThreadFunction ()
void *	ovrd_hmd_driver_impl (const char *pInterfaceName, int *pReturnCode)
	Implementation of the HmdDriverFactory function. More...

Variables
vr::VRBoneTransform_t	rightOpenPose [31]
vr::VRBoneTransform_t	leftOpenPose [31]
CServerDriver_Monado	g_serverDriverMonado
CWatchdogDriver_Monado	g_watchdogDriverMonado
bool	g_bExiting = false

Detailed Description

Main driver code for SteamVR driver provider.

Author

Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Christoph Haag chris.nosp@m.toph.nosp@m..haag.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Daniel Willmott web@d.nosp@m.an-w.nosp@m..com

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

Korcan Hussein korca.nosp@m.n.hu.nosp@m.ssein.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Macro Definition Documentation

MODELNUM_LEN

#define MODELNUM_LEN   (XRT_DEVICE_NAME_LEN + 9)

When set, all controllers pretend to be Index controllers.

Provides best compatibility with legacy games due to steamvr's legacy binding for Index controllers, but input mapping may be incomplete or not ideal.

Function Documentation

metacarpal_joints_to_bone_transform()

void metacarpal_joints_to_bone_transform	(	struct xrt_hand_joint_set *	hand_joint_set,
		vr::VRBoneTransform_t *	out_bone_transforms,
		xrt_hand	hand
	)

• if you try applying the metacarpal transforms without the magic quaternion, everything from the metacarpals onwards is rotated 90 degrees. In the neutral pose sample, all the metacarpals have a rotation relatively close to {w=0.5, x=0.5, y=-0.5, z=0.5} which is an Important Quaternion because it probably represents some 90 degree rotation. Maybe, and this was just a random guess, if I took the regular metacarpal orientations and rotated them by that quat, everything would work.