From e490c3c7f7bb5461cfa78a214827aa534fb43a3e Mon Sep 17 00:00:00 2001 From: Sven Gothel Date: Sat, 21 Mar 2015 21:19:34 +0100 Subject: Bump OculusVR RIFT SDK to 0.4.4 --- LibOVR/Src/Tracking/Tracking_PoseState.h | 133 +++++++++++++++++++++++++++++++ 1 file changed, 133 insertions(+) create mode 100644 LibOVR/Src/Tracking/Tracking_PoseState.h (limited to 'LibOVR/Src/Tracking/Tracking_PoseState.h') diff --git a/LibOVR/Src/Tracking/Tracking_PoseState.h b/LibOVR/Src/Tracking/Tracking_PoseState.h new file mode 100644 index 0000000..19e2ee2 --- /dev/null +++ b/LibOVR/Src/Tracking/Tracking_PoseState.h @@ -0,0 +1,133 @@ +/************************************************************************************ + +Filename : Tracking_PoseState.h +Content : Describes the complete pose at a point in time, including derivatives +Created : May 13, 2014 +Authors : Dov Katz + +Copyright : Copyright 2014 Oculus VR, LLC All Rights reserved. + +Licensed under the Oculus VR Rift SDK License Version 3.2 (the "License"); +you may not use the Oculus VR Rift SDK except in compliance with the License, +which is provided at the time of installation or download, or which +otherwise accompanies this software in either electronic or hard copy form. + +You may obtain a copy of the License at + +http://www.oculusvr.com/licenses/LICENSE-3.2 + +Unless required by applicable law or agreed to in writing, the Oculus VR SDK +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. + +*************************************************************************************/ + +#ifndef Tracking_PoseState_h +#define Tracking_PoseState_h + +#include "../Kernel/OVR_Math.h" + +namespace OVR { + +// PoseState describes the complete pose, or a rigid body configuration, at a +// point in time, including first and second derivatives. It is used to specify +// instantaneous location and movement of the headset. +// SensorState is returned as a part of the sensor state. + +template +class PoseState +{ +public: + typedef typename CompatibleTypes >::Type CompatibleType; + + PoseState() : TimeInSeconds(0.0) { } + PoseState(Pose pose, double time) : ThePose(pose), TimeInSeconds(time) { } + + // float <-> double conversion constructor. + explicit PoseState(const PoseState::OtherFloatType> &src) + : ThePose(src.ThePose), + AngularVelocity(src.AngularVelocity), LinearVelocity(src.LinearVelocity), + AngularAcceleration(src.AngularAcceleration), LinearAcceleration(src.LinearAcceleration), + TimeInSeconds(src.TimeInSeconds) + { } + + // C-interop support: PoseStatef <-> ovrPoseStatef + PoseState(const typename CompatibleTypes >::Type& src) + : ThePose(src.ThePose), + AngularVelocity(src.AngularVelocity), LinearVelocity(src.LinearVelocity), + AngularAcceleration(src.AngularAcceleration), LinearAcceleration(src.LinearAcceleration), + TimeInSeconds(src.TimeInSeconds) + { } + + operator typename CompatibleTypes >::Type() const + { + typename CompatibleTypes >::Type result; + result.ThePose = ThePose; + result.AngularVelocity = AngularVelocity; + result.LinearVelocity = LinearVelocity; + result.AngularAcceleration = AngularAcceleration; + result.LinearAcceleration = LinearAcceleration; + result.TimeInSeconds = TimeInSeconds; + return result; + } + + Pose ThePose; + Vector3 AngularVelocity; + Vector3 LinearVelocity; + Vector3 AngularAcceleration; + Vector3 LinearAcceleration; + // Absolute time of this state sample; always a double measured in seconds. + double TimeInSeconds; + + // ***** Helpers for Pose integration + + // Stores and integrates gyro angular velocity reading for a given time step. + void StoreAndIntegrateGyro(Vector3d angVel, double dt); + // Stores and integrates position/velocity from accelerometer reading for a given time step. + void StoreAndIntegrateAccelerometer(Vector3d linearAccel, double dt); + + // Performs integration of state by adding next state delta to it + // to produce a combined state change + void AdvanceByDelta(const PoseState& delta); +}; + + +template +PoseState operator*(const OVR::Pose& trans, const PoseState& poseState) +{ + PoseState result; + result.ThePose = trans * poseState.ThePose; + result.LinearVelocity = trans.Rotate(poseState.LinearVelocity); + result.LinearAcceleration = trans.Rotate(poseState.LinearAcceleration); + result.AngularVelocity = trans.Rotate(poseState.AngularVelocity); + result.AngularAcceleration = trans.Rotate(poseState.AngularAcceleration); + return result; +} + + +// External API returns pose as float, but uses doubles internally for quaternion precision. +typedef PoseState PoseStatef; +typedef PoseState PoseStated; + + +} // namespace OVR::Vision + + +namespace OVR { + + template<> struct CompatibleTypes > { typedef ovrPoseStatef Type; }; + template<> struct CompatibleTypes > { typedef ovrPoseStated Type; }; + + static_assert((sizeof(PoseState) == sizeof(Pose) + 4*sizeof(Vector3) + sizeof(double)), "sizeof(PoseState) failure"); +#ifdef OVR_CPU_X86_64 + static_assert((sizeof(PoseState) == sizeof(Pose) + 4*sizeof(Vector3) + sizeof(uint32_t) + sizeof(double)), "sizeof(PoseState) failure"); //TODO: Manually pad template. +#elif defined(OVR_OS_WIN32) // The Windows 32 bit ABI aligns 64 bit values on 64 bit boundaries + static_assert((sizeof(PoseState) == sizeof(Pose) + 4*sizeof(Vector3) + sizeof(uint32_t) + sizeof(double)), "sizeof(PoseState) failure"); +#else // Else Unix/Apple 32 bit ABI, which aligns 64 bit values on 32 bit boundaries. + static_assert((sizeof(PoseState) == sizeof(Pose) + 4*sizeof(Vector3) + sizeof(double)), "sizeof(PoseState) failure"); +#endif +} + +#endif // Tracking_PoseState_h -- cgit v1.2.3