Monado OpenXR Runtime
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pssense_led_model.h
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1// Copyright 2026, Beyley Cardellio
2// SPDX-License-Identifier: BSL-1.0
3/*!
4 * @file
5 * @brief PlayStation Sense controller LED models. Data extracted from Sony's PC driver.
6 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
7 * @ingroup drv_pssense
8 */
9
10#pragma once
11
12#include "tracking/t_constellation.h"
13
14#include "math/m_api.h"
15
16
17static const float LED_RADIUS_M = 0.004f; // 4mm
18static const float LED_VISIBILITY_ANGLE = DEG_TO_RAD(90);
19
20//! Rotation on X axis from LED -> IMU.
21const float pssense_imu_angle = DEG_TO_RAD(50.27f);
22
23//! The offset from the LED origin -> IMU origin, for the left controller
24static struct xrt_vec3 T_led_imu_left = {
25 .x = 0.0093727f,
26 .y = -0.0122481f,
27 .z = -0.0060039f,
28};
29//! The offset from the LED origin -> IMU origin, for the right controller
30static struct xrt_vec3 T_led_imu_right = {
31 .x = -0.0200727f,
32 .y = -0.0122481f,
33 .z = -0.0060039f,
34};
35
36/*
37 * Intercepted at address 0xdde10 in the driver, within a vector in the first
38 * parameter object.
39 */
40static struct t_constellation_tracker_led pssense_left_leds[] = {
41 {
42 .position = {-0.012054, -0.055213, 0.038152},
43 .normal = {-0.176485, -0.811967, 0.556384},
44 .radius_m = LED_RADIUS_M,
45 .visibility_angle = LED_VISIBILITY_ANGLE,
46 .id = 0,
47 },
48 {
49 .position = {-0.033088, -0.055236, 0.020190},
50 .normal = {-0.426232, -0.891845, -0.151455},
51 .radius_m = LED_RADIUS_M,
52 .visibility_angle = LED_VISIBILITY_ANGLE,
53 .id = 1,
54 },
55 {
56 .position = {-0.053695, -0.031009, 0.028350},
57 .normal = {-0.788493, -0.456350, 0.412339},
58 .radius_m = LED_RADIUS_M,
59 .visibility_angle = LED_VISIBILITY_ANGLE,
60 .id = 2,
61 },
62 {
63 .position = {-0.066986, -0.010505, 0.008679},
64 .normal = {-0.980055, -0.153898, 0.125726},
65 .radius_m = LED_RADIUS_M,
66 .visibility_angle = LED_VISIBILITY_ANGLE,
67 .id = 3,
68 },
69 {
70 .position = {-0.063505, 0.024601, 0.004185},
71 .normal = {-0.930796, 0.360502, 0.060482},
72 .radius_m = LED_RADIUS_M,
73 .visibility_angle = LED_VISIBILITY_ANGLE,
74 .id = 4,
75 },
76 {
77 .position = {-0.047803, 0.044966, 0.018502},
78 .normal = {-0.701817, 0.660177, 0.267618},
79 .radius_m = LED_RADIUS_M,
80 .visibility_angle = LED_VISIBILITY_ANGLE,
81 .id = 5,
82 },
83 {
84 .position = {0.045472, -0.027042, 0.043022},
85 .normal = {0.667492, -0.396842, 0.630056},
86 .radius_m = LED_RADIUS_M,
87 .visibility_angle = LED_VISIBILITY_ANGLE,
88 .id = 6,
89 },
90 {
91 .position = {0.059535, -0.013977, 0.028536},
92 .normal = {0.961512, -0.273488, -0.026435},
93 .radius_m = LED_RADIUS_M,
94 .visibility_angle = LED_VISIBILITY_ANGLE,
95 .id = 7,
96 },
97 {
98 .position = {0.061060, 0.014608, 0.024725},
99 .normal = {0.984435, 0.154641, -0.083507},
100 .radius_m = LED_RADIUS_M,
101 .visibility_angle = LED_VISIBILITY_ANGLE,
102 .id = 8,
103 },
104 {
105 .position = {0.050994, 0.027255, 0.036184},
106 .normal = {0.748123, 0.399672, 0.529693},
107 .radius_m = LED_RADIUS_M,
108 .visibility_angle = LED_VISIBILITY_ANGLE,
109 .id = 9,
110 },
111 {
112 .position = {0.048475, 0.043025, 0.018776},
113 .normal = {0.795992, 0.580182, -0.172584},
114 .radius_m = LED_RADIUS_M,
115 .visibility_angle = LED_VISIBILITY_ANGLE,
116 .id = 10,
117 },
118 {
119 .position = {0.030569, 0.053446, 0.029350},
120 .normal = {0.448555, 0.783814, 0.429458},
121 .radius_m = LED_RADIUS_M,
122 .visibility_angle = LED_VISIBILITY_ANGLE,
123 .id = 11,
124 },
125 {
126 .position = {0.018498, 0.063913, 0.011230},
127 .normal = {0.346695, 0.893406, -0.285708},
128 .radius_m = LED_RADIUS_M,
129 .visibility_angle = LED_VISIBILITY_ANGLE,
130 .id = 12,
131 },
132 {
133 .position = {-0.002748, 0.064260, 0.022718},
134 .normal = {-0.040150, 0.942362, 0.332178},
135 .radius_m = LED_RADIUS_M,
136 .visibility_angle = LED_VISIBILITY_ANGLE,
137 .id = 13,
138 },
139 {
140 .position = {-0.029078, 0.013435, -0.060735},
141 .normal = {-0.417589, 0.258817, -0.870996},
142 .radius_m = LED_RADIUS_M,
143 .visibility_angle = LED_VISIBILITY_ANGLE,
144 .id = 14,
145 },
146 {
147 .position = {0.001067, 0.013435, -0.067327},
148 .normal = {0.014114, 0.258800, -0.965828},
149 .radius_m = LED_RADIUS_M,
150 .visibility_angle = LED_VISIBILITY_ANGLE,
151 .id = 15,
152 },
153 {
154 .position = {0.031783, 0.013435, -0.059270},
155 .normal = {0.458628, 0.258803, -0.850106},
156 .radius_m = LED_RADIUS_M,
157 .visibility_angle = LED_VISIBILITY_ANGLE,
158 .id = 16,
159 },
160};
161
162static struct t_constellation_tracker_led pssense_right_leds[] = {
163 {
164 .position = {0.012054, -0.055213, 0.038152},
165 .normal = {0.176485, -0.811967, 0.556384},
166 .radius_m = LED_RADIUS_M,
167 .visibility_angle = LED_VISIBILITY_ANGLE,
168 .id = 0,
169 },
170 {
171 .position = {0.033088, -0.055236, 0.020190},
172 .normal = {0.426232, -0.891845, -0.151455},
173 .radius_m = LED_RADIUS_M,
174 .visibility_angle = LED_VISIBILITY_ANGLE,
175 .id = 1,
176 },
177 {
178 .position = {0.053695, -0.031009, 0.028350},
179 .normal = {0.788493, -0.456350, 0.412339},
180 .radius_m = LED_RADIUS_M,
181 .visibility_angle = LED_VISIBILITY_ANGLE,
182 .id = 2,
183 },
184 {
185 .position = {0.066986, -0.010505, 0.008679},
186 .normal = {0.980055, -0.153898, 0.125726},
187 .radius_m = LED_RADIUS_M,
188 .visibility_angle = LED_VISIBILITY_ANGLE,
189 .id = 3,
190 },
191 {
192 .position = {0.063505, 0.024601, 0.004185},
193 .normal = {0.930796, 0.360502, 0.060482},
194 .radius_m = LED_RADIUS_M,
195 .visibility_angle = LED_VISIBILITY_ANGLE,
196 .id = 4,
197 },
198 {
199 .position = {0.047803, 0.044966, 0.018502},
200 .normal = {0.701817, 0.660177, 0.267618},
201 .radius_m = LED_RADIUS_M,
202 .visibility_angle = LED_VISIBILITY_ANGLE,
203 .id = 5,
204 },
205 {
206 .position = {-0.045472, -0.027042, 0.043022},
207 .normal = {-0.667492, -0.396842, 0.630056},
208 .radius_m = LED_RADIUS_M,
209 .visibility_angle = LED_VISIBILITY_ANGLE,
210 .id = 6,
211 },
212 {
213 .position = {-0.059535, -0.013977, 0.028536},
214 .normal = {-0.961512, -0.273488, -0.026435},
215 .radius_m = LED_RADIUS_M,
216 .visibility_angle = LED_VISIBILITY_ANGLE,
217 .id = 7,
218 },
219 {
220 .position = {-0.061060, 0.014608, 0.024725},
221 .normal = {-0.984435, 0.154641, -0.083507},
222 .radius_m = LED_RADIUS_M,
223 .visibility_angle = LED_VISIBILITY_ANGLE,
224 .id = 8,
225 },
226 {
227 .position = {-0.050994, 0.027255, 0.036184},
228 .normal = {-0.748123, 0.399672, 0.529693},
229 .radius_m = LED_RADIUS_M,
230 .visibility_angle = LED_VISIBILITY_ANGLE,
231 .id = 9,
232 },
233 {
234 .position = {-0.048475, 0.043025, 0.018776},
235 .normal = {-0.795992, 0.580182, -0.172584},
236 .radius_m = LED_RADIUS_M,
237 .visibility_angle = LED_VISIBILITY_ANGLE,
238 .id = 10,
239 },
240 {
241 .position = {-0.030569, 0.053446, 0.029350},
242 .normal = {-0.448555, 0.783814, 0.429458},
243 .radius_m = LED_RADIUS_M,
244 .visibility_angle = LED_VISIBILITY_ANGLE,
245 .id = 11,
246 },
247 {
248 .position = {-0.018498, 0.063913, 0.011230},
249 .normal = {-0.346695, 0.893406, -0.285708},
250 .radius_m = LED_RADIUS_M,
251 .visibility_angle = LED_VISIBILITY_ANGLE,
252 .id = 12,
253 },
254 {
255 .position = {0.002748, 0.064260, 0.022718},
256 .normal = {0.040150, 0.942362, 0.332178},
257 .radius_m = LED_RADIUS_M,
258 .visibility_angle = LED_VISIBILITY_ANGLE,
259 .id = 13,
260 },
261 {
262 .position = {0.029078, 0.013435, -0.060735},
263 .normal = {0.417589, 0.258817, -0.870996},
264 .radius_m = LED_RADIUS_M,
265 .visibility_angle = LED_VISIBILITY_ANGLE,
266 .id = 14,
267 },
268 {
269 .position = {-0.001067, 0.013435, -0.067327},
270 .normal = {-0.014114, 0.258800, -0.965828},
271 .radius_m = LED_RADIUS_M,
272 .visibility_angle = LED_VISIBILITY_ANGLE,
273 .id = 15,
274 },
275 {
276 .position = {-0.031783, 0.013435, -0.059270},
277 .normal = {-0.458628, 0.258803, -0.850106},
278 .radius_m = LED_RADIUS_M,
279 .visibility_angle = LED_VISIBILITY_ANGLE,
280 .id = 16,
281 },
282};
DEG_TO_RAD
#define DEG_TO_RAD(DEG)
Degrees to radians conversion.
Definition m_api.h:87
m_api.h
C interface to math library.
pssense_imu_angle
const float pssense_imu_angle
Rotation on X axis from LED -> IMU.
Definition pssense_led_model.h:21
T_led_imu_right
static struct xrt_vec3 T_led_imu_right
The offset from the LED origin -> IMU origin, for the right controller.
Definition pssense_led_model.h:30
T_led_imu_left
static struct xrt_vec3 T_led_imu_left
The offset from the LED origin -> IMU origin, for the left controller.
Definition pssense_led_model.h:24
t_constellation_tracker_led
Definition t_constellation.h:245
t_constellation_tracker_led::position
struct xrt_vec3 position
The position of the LED in the model.
Definition t_constellation.h:247
xrt_vec3
A 3 element vector with single floats.
Definition xrt_defines.h:289
t_constellation.h
Header defining the tracking system integration in Monado.