Monado OpenXR Runtime
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Object that oversees and manages spaces, one created for each XR system. More...
#include <xrt/xrt_space.h>
Static Public Member Functions | |
static xrt_result_t | xrt_space_overseer_create_offset_space (struct xrt_space_overseer *xso, struct xrt_space *parent, const struct xrt_pose *offset, struct xrt_space **out_space) |
Create a space with a fixed offset to the parent space. More... | |
static xrt_result_t | xrt_space_overseer_create_pose_space (struct xrt_space_overseer *xso, struct xrt_device *xdev, enum xrt_input_name name, struct xrt_space **out_space) |
Create a space that wraps the xdev input pose described by input name , implicitly make the device's tracking space the parent of the created space. More... | |
static xrt_result_t | xrt_space_overseer_locate_space (struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_space *space, const struct xrt_pose *offset, struct xrt_space_relation *out_relation) |
Locate a space in the base space. More... | |
static xrt_result_t | xrt_space_overseer_locate_spaces (struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_space **spaces, uint32_t space_count, const struct xrt_pose *offsets, struct xrt_space_relation *out_relations) |
Locate spaces in the base space. More... | |
static xrt_result_t | xrt_space_overseer_locate_device (struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_device *xdev, struct xrt_space_relation *out_relation) |
Locate a the origin of the tracking space of a device, this is not the same as the device position. More... | |
static xrt_result_t | xrt_space_overseer_ref_space_inc (struct xrt_space_overseer *xso, enum xrt_reference_space_type type) |
Increment the usage count of a reference space (aka semantic space). More... | |
static xrt_result_t | xrt_space_overseer_ref_space_dec (struct xrt_space_overseer *xso, enum xrt_reference_space_type type) |
Decrement the usage count of a reference space (aka semantic space). More... | |
static xrt_result_t | xrt_space_overseer_recenter_local_spaces (struct xrt_space_overseer *xso) |
Trigger a re-center of the local and local_floor spaces, not all implementations of xrt_space_overseer may support recenter. More... | |
static xrt_result_t | xrt_space_overseer_get_tracking_origin_offset (struct xrt_space_overseer *xso, struct xrt_tracking_origin *xto, struct xrt_pose *out_offset) |
Read the offset from a tracking origin, not all implementations of xrt_space_overseer may support this. More... | |
static xrt_result_t | xrt_space_overseer_set_tracking_origin_offset (struct xrt_space_overseer *xso, struct xrt_tracking_origin *xto, const struct xrt_pose *offset) |
Apply an offset to a tracking origin, not all implementations of xrt_space_overseer may support this. More... | |
static xrt_result_t | xrt_space_overseer_get_reference_space_offset (struct xrt_space_overseer *xso, enum xrt_reference_space_type type, struct xrt_pose *out_offset) |
Read the offset from the given reference space, not all implementations of xrt_space_overseer may support this. More... | |
static xrt_result_t | xrt_space_overseer_set_reference_space_offset (struct xrt_space_overseer *xso, enum xrt_reference_space_type type, const struct xrt_pose *offset) |
Apply an offset to the given reference space, not all implementations of xrt_space_overseer may support this. More... | |
static xrt_result_t | xrt_space_overseer_create_local_space (struct xrt_space_overseer *xso, struct xrt_space **out_local_space, struct xrt_space **out_local_floor_space) |
Create a localspace and a localfloorspace. More... | |
static void | xrt_space_overseer_destroy (struct xrt_space_overseer **xso_ptr) |
Helper for calling through the function pointer: does a null check and sets xc_ptr to null if freed. More... | |
Data Fields | |
struct { | |
struct xrt_space * root | |
Root space, always available. More... | |
struct xrt_space * view | |
View space, may be null (in very rare cases). More... | |
struct xrt_space * local | |
Local space, may be null (in very rare cases). More... | |
struct xrt_space * local_floor | |
Local floor space, may be null. More... | |
struct xrt_space * stage | |
Stage space, may be null. More... | |
struct xrt_space * unbounded | |
Unbounded space, only here for slam trackers. More... | |
} | semantic |
struct xrt_space * | localspace [128] |
Ptrs to the localspace. More... | |
struct xrt_space * | localfloorspace [128] |
Ptrs to the localfloorspace. More... | |
xrt_result_t(* | create_offset_space )(struct xrt_space_overseer *xso, struct xrt_space *parent, const struct xrt_pose *offset, struct xrt_space **out_space) |
Create a space with a fixed offset to the parent space. More... | |
xrt_result_t(* | create_pose_space )(struct xrt_space_overseer *xso, struct xrt_device *xdev, enum xrt_input_name name, struct xrt_space **out_space) |
Create a space that wraps the xdev input pose described by input name , implicitly make the device's tracking space the parent of the created space. More... | |
xrt_result_t(* | locate_space )(struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_space *space, const struct xrt_pose *offset, struct xrt_space_relation *out_relation) |
Locate a space in the base space. More... | |
xrt_result_t(* | locate_spaces )(struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_space **spaces, uint32_t space_count, const struct xrt_pose *offsets, struct xrt_space_relation *out_relations) |
Locate spaces in the base space. More... | |
xrt_result_t(* | locate_device )(struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_device *xdev, struct xrt_space_relation *out_relation) |
Locate a the origin of the tracking space of a device, this is not the same as the device position. More... | |
xrt_result_t(* | ref_space_inc )(struct xrt_space_overseer *xso, enum xrt_reference_space_type type) |
Increment the usage count of a reference space (aka semantic space). More... | |
xrt_result_t(* | ref_space_dec )(struct xrt_space_overseer *xso, enum xrt_reference_space_type type) |
Decrement the usage count of a reference space (aka semantic space). More... | |
xrt_result_t(* | recenter_local_spaces )(struct xrt_space_overseer *xso) |
Trigger a re-center of the local and local_floor spaces, not all implementations of xrt_space_overseer may support recenter. More... | |
xrt_result_t(* | get_tracking_origin_offset )(struct xrt_space_overseer *xso, struct xrt_tracking_origin *xto, struct xrt_pose *out_offset) |
Read the offset from a tracking origin, not all implementations of xrt_space_overseer may support this. More... | |
xrt_result_t(* | set_tracking_origin_offset )(struct xrt_space_overseer *xso, struct xrt_tracking_origin *xto, const struct xrt_pose *offset) |
Apply an offset to a tracking origin, not all implementations of xrt_space_overseer may support this. More... | |
xrt_result_t(* | get_reference_space_offset )(struct xrt_space_overseer *xso, enum xrt_reference_space_type type, struct xrt_pose *out_offset) |
Read the offset from the given reference space, not all implementations of xrt_space_overseer may support this. More... | |
xrt_result_t(* | set_reference_space_offset )(struct xrt_space_overseer *xso, enum xrt_reference_space_type type, const struct xrt_pose *offset) |
Apply an offset to the given reference space, not all implementations of xrt_space_overseer may support this. More... | |
xrt_result_t(* | create_local_space )(struct xrt_space_overseer *xso, struct xrt_space **out_local_space, struct xrt_space **out_local_floor_space) |
Create a localspace and a localfloorspace. More... | |
void(* | destroy )(struct xrt_space_overseer *xs) |
Destroy function. More... | |
Object that oversees and manages spaces, one created for each XR system.
The space overseer is used by the state tracker to query the poses of spaces and devices in that space system. While the default implementation u_space_overseer implements the spaces as a graph of relatable spaces, that is a implementation detail (the interface also lends itself to that since bases have parents). As such the graph is not exposed in this interface and spaces are technically free floating.
One advantage of the free floating nature is that an overseer implementation has much greater flexibility in configuring the graph to fit the current XR system the best, it also have freedom to reconfigure the graph at runtime should that be needed. Since any potential graph isn't exposed there is no need to synchronise it across the app process and the service process.
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inlinestatic |
Create a localspace and a localfloorspace.
[in] | xso | Owning space overseer. |
[out] | out_local_space | The newly created localspace. |
[out] | out_local_floor_space | The newly created localfloorspace. |
Helper for calling through the function pointer.
References create_local_space.
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inlinestatic |
Create a space with a fixed offset to the parent space.
[in] | xso | Owning space overseer. |
[in] | parent | The parent space for the new space. |
[in] | offset | Offset to the space. |
[out] | out_space | The newly created space. |
Helper for calling through the function pointer.
References create_offset_space.
Referenced by u_space_overseer::u_space_overseer_create_offset_space().
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inlinestatic |
Create a space that wraps the xdev
input pose described by input name
, implicitly make the device's tracking space the parent of the created space.
The name pose_space was chosen because while most input poses are part of the device, they may also be things tracked by the device. The important part is that the space is following the pose, that it happens to be attached to device is coincidental.
[in] | xso | Owning space overseer. |
[in] | xdev | Device to get the pose from. |
[in] | name | Name of the pose input. |
[out] | out_space | The newly created space. |
Helper for calling through the function pointer.
References create_pose_space.
Referenced by oxr_space_xdev_pose_create(), and u_space_overseer::u_space_overseer_create_pose_space().
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inlinestatic |
Helper for calling through the function pointer: does a null check and sets xc_ptr to null if freed.
References destroy.
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inlinestatic |
Read the offset from the given reference space, not all implementations of xrt_space_overseer may support this.
Outputs are only valid if XRT_SUCCESS is returned.
[in] | xso | The space overseer. |
[in] | type | The reference space. |
[out] | out_offset | Pointer to write the offset to. |
Helper for calling through the function pointer.
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inlinestatic |
Read the offset from a tracking origin, not all implementations of xrt_space_overseer may support this.
Outputs are only valid if XRT_SUCCESS is returned.
[in] | xso | The space overseer. |
[in] | xto | The tracking origin. |
[out] | out_offset | Pointer to an xrt_pose to write the offset to |
Helper for calling through the function pointer.
References get_tracking_origin_offset.
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inlinestatic |
Locate a the origin of the tracking space of a device, this is not the same as the device position.
In other words, what is the position of the space that the device is in, and which it returns its poses in. Needed to use xrt_device::get_view_poses and xrt_device::get_hand_tracking.
[in] | xso | Owning space overseer. |
[in] | base_space | The space that we want the pose in. |
[in] | base_offset | Offset if any to the base space. |
[in] | at_timestamp_ns | At which time. |
[in] | xdev | Device to get the pose from. |
[out] | out_relation | Resulting pose. |
Helper for calling through the function pointer.
References locate_device.
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inlinestatic |
Locate a space in the base space.
[in] | xso | Owning space overseer. |
[in] | base_space | The space that we want the pose in. |
[in] | base_offset | Offset if any to the base space. |
[in] | at_timestamp_ns | At which time. |
[in] | space | The space to be located. |
[in] | offset | Offset if any to the located space. |
[out] | out_relation | Resulting pose. |
Helper for calling through the function pointer.
References locate_space.
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inlinestatic |
Locate spaces in the base space.
[in] | xso | Owning space overseer. |
[in] | base_space | The space that we want the pose in. |
[in] | base_offset | Offset if any to the base space. |
[in] | at_timestamp_ns | At which time. |
[in] | spaces | The array of pointers to spaces to be located. |
[in] | space_count | The number of spaces to locate. |
[in] | offsets | Array of offset if any to the located spaces. |
[out] | out_relations | Array of resulting poses. |
Helper for calling through the function pointer.
References locate_spaces.
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inlinestatic |
Trigger a re-center of the local and local_floor spaces, not all implementations of xrt_space_overseer may support recenter.
The recenter operation will normally mean that the local and local_floor will move to the where the view space currently is.
[in] | xso | The space overseer. |
Helper for calling through the function pointer.
References recenter_local_spaces.
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inlinestatic |
Decrement the usage count of a reference space (aka semantic space).
See xrt_space_overseer::ref_space_inc.
[in] | xso | Owning space overseer. |
[in] | type | Which reference space is being referenced. |
Helper for calling through the function pointer.
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inlinestatic |
Increment the usage count of a reference space (aka semantic space).
This lets the overseer know when different spaces are being used, allowing it to triggering a recenter if the local space is used for the first time, or stopping calculating where the stage space is if it is not used by the current application.
[in] | xso | Owning space overseer. |
[in] | type | Which reference space is being referenced. |
Helper for calling through the function pointer.
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inlinestatic |
Apply an offset to the given reference space, not all implementations of xrt_space_overseer may support this.
[in] | xso | The space overseer. |
[in] | type | The reference space. |
[in] | offset | The offset to apply. |
Helper for calling through the function pointer.
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inlinestatic |
Apply an offset to a tracking origin, not all implementations of xrt_space_overseer may support this.
[in] | xso | The space overseer. |
[in] | xto | The tracking origin. |
[in] | offset | The offset to apply. |
Helper for calling through the function pointer.
References set_tracking_origin_offset.
xrt_result_t(* xrt_space_overseer::create_local_space) (struct xrt_space_overseer *xso, struct xrt_space **out_local_space, struct xrt_space **out_local_floor_space) |
Create a localspace and a localfloorspace.
[in] | xso | Owning space overseer. |
[out] | out_local_space | The newly created localspace. |
[out] | out_local_floor_space | The newly created localfloorspace. |
Referenced by u_space_overseer_create(), and xrt_space_overseer_create_local_space().
xrt_result_t(* xrt_space_overseer::create_offset_space) (struct xrt_space_overseer *xso, struct xrt_space *parent, const struct xrt_pose *offset, struct xrt_space **out_space) |
Create a space with a fixed offset to the parent space.
[in] | xso | Owning space overseer. |
[in] | parent | The parent space for the new space. |
[in] | offset | Offset to the space. |
[out] | out_space | The newly created space. |
Referenced by xrt_space_overseer_create_offset_space().
xrt_result_t(* xrt_space_overseer::create_pose_space) (struct xrt_space_overseer *xso, struct xrt_device *xdev, enum xrt_input_name name, struct xrt_space **out_space) |
Create a space that wraps the xdev
input pose described by input name
, implicitly make the device's tracking space the parent of the created space.
The name pose_space was chosen because while most input poses are part of the device, they may also be things tracked by the device. The important part is that the space is following the pose, that it happens to be attached to device is coincidental.
[in] | xso | Owning space overseer. |
[in] | xdev | Device to get the pose from. |
[in] | name | Name of the pose input. |
[out] | out_space | The newly created space. |
Referenced by xrt_space_overseer_create_pose_space().
void(* xrt_space_overseer::destroy) (struct xrt_space_overseer *xs) |
xrt_result_t(* xrt_space_overseer::get_reference_space_offset) (struct xrt_space_overseer *xso, enum xrt_reference_space_type type, struct xrt_pose *out_offset) |
Read the offset from the given reference space, not all implementations of xrt_space_overseer may support this.
Outputs are only valid if XRT_SUCCESS is returned.
[in] | xso | The space overseer. |
[in] | type | The reference space. |
[out] | out_offset | Pointer to write the offset to. |
xrt_result_t(* xrt_space_overseer::get_tracking_origin_offset) (struct xrt_space_overseer *xso, struct xrt_tracking_origin *xto, struct xrt_pose *out_offset) |
Read the offset from a tracking origin, not all implementations of xrt_space_overseer may support this.
Outputs are only valid if XRT_SUCCESS is returned.
[in] | xso | The space overseer. |
[in] | xto | The tracking origin. |
[out] | out_offset | Pointer to an xrt_pose to write the offset to |
Referenced by xrt_space_overseer_get_tracking_origin_offset().
struct xrt_space* xrt_space_overseer::local |
Local space, may be null (in very rare cases).
struct xrt_space* xrt_space_overseer::local_floor |
Local floor space, may be null.
struct xrt_space* xrt_space_overseer::localfloorspace[128] |
Ptrs to the localfloorspace.
struct xrt_space* xrt_space_overseer::localspace[128] |
Ptrs to the localspace.
xrt_result_t(* xrt_space_overseer::locate_device) (struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_device *xdev, struct xrt_space_relation *out_relation) |
Locate a the origin of the tracking space of a device, this is not the same as the device position.
In other words, what is the position of the space that the device is in, and which it returns its poses in. Needed to use xrt_device::get_view_poses and xrt_device::get_hand_tracking.
[in] | xso | Owning space overseer. |
[in] | base_space | The space that we want the pose in. |
[in] | base_offset | Offset if any to the base space. |
[in] | at_timestamp_ns | At which time. |
[in] | xdev | Device to get the pose from. |
[out] | out_relation | Resulting pose. |
Referenced by xrt_space_overseer_locate_device().
xrt_result_t(* xrt_space_overseer::locate_space) (struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_space *space, const struct xrt_pose *offset, struct xrt_space_relation *out_relation) |
Locate a space in the base space.
[in] | xso | Owning space overseer. |
[in] | base_space | The space that we want the pose in. |
[in] | base_offset | Offset if any to the base space. |
[in] | at_timestamp_ns | At which time. |
[in] | space | The space to be located. |
[in] | offset | Offset if any to the located space. |
[out] | out_relation | Resulting pose. |
Referenced by xrt_space_overseer_locate_space().
xrt_result_t(* xrt_space_overseer::locate_spaces) (struct xrt_space_overseer *xso, struct xrt_space *base_space, const struct xrt_pose *base_offset, int64_t at_timestamp_ns, struct xrt_space **spaces, uint32_t space_count, const struct xrt_pose *offsets, struct xrt_space_relation *out_relations) |
Locate spaces in the base space.
[in] | xso | Owning space overseer. |
[in] | base_space | The space that we want the pose in. |
[in] | base_offset | Offset if any to the base space. |
[in] | at_timestamp_ns | At which time. |
[in] | spaces | The array of pointers to spaces to be located. |
[in] | space_count | The number of spaces to locate. |
[in] | offsets | Array of offset if any to the located spaces. |
[out] | out_relations | Array of resulting poses. |
Referenced by xrt_space_overseer_locate_spaces().
xrt_result_t(* xrt_space_overseer::recenter_local_spaces) (struct xrt_space_overseer *xso) |
Trigger a re-center of the local and local_floor spaces, not all implementations of xrt_space_overseer may support recenter.
The recenter operation will normally mean that the local and local_floor will move to the where the view space currently is.
[in] | xso | The space overseer. |
Referenced by xrt_space_overseer_recenter_local_spaces().
xrt_result_t(* xrt_space_overseer::ref_space_dec) (struct xrt_space_overseer *xso, enum xrt_reference_space_type type) |
Decrement the usage count of a reference space (aka semantic space).
See xrt_space_overseer::ref_space_inc.
[in] | xso | Owning space overseer. |
[in] | type | Which reference space is being referenced. |
xrt_result_t(* xrt_space_overseer::ref_space_inc) (struct xrt_space_overseer *xso, enum xrt_reference_space_type type) |
Increment the usage count of a reference space (aka semantic space).
This lets the overseer know when different spaces are being used, allowing it to triggering a recenter if the local space is used for the first time, or stopping calculating where the stage space is if it is not used by the current application.
[in] | xso | Owning space overseer. |
[in] | type | Which reference space is being referenced. |
struct xrt_space* xrt_space_overseer::root |
Root space, always available.
Referenced by u_space_overseer_legacy_setup().
xrt_result_t(* xrt_space_overseer::set_reference_space_offset) (struct xrt_space_overseer *xso, enum xrt_reference_space_type type, const struct xrt_pose *offset) |
Apply an offset to the given reference space, not all implementations of xrt_space_overseer may support this.
[in] | xso | The space overseer. |
[in] | type | The reference space. |
[in] | offset | The offset to apply. |
xrt_result_t(* xrt_space_overseer::set_tracking_origin_offset) (struct xrt_space_overseer *xso, struct xrt_tracking_origin *xto, const struct xrt_pose *offset) |
Apply an offset to a tracking origin, not all implementations of xrt_space_overseer may support this.
[in] | xso | The space overseer. |
[in] | xto | The tracking origin. |
[in] | offset | The offset to apply. |
Referenced by xrt_space_overseer_set_tracking_origin_offset().
struct xrt_space* xrt_space_overseer::stage |
Stage space, may be null.
struct xrt_space* xrt_space_overseer::unbounded |
Unbounded space, only here for slam trackers.
struct xrt_space* xrt_space_overseer::view |
View space, may be null (in very rare cases).