matrixfurry.com / monado
The open source OpenXR runtime
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matrixfurry.com 0a31ce45 822e93d6

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+3 -10
+3 -10
src/xrt/drivers/steamvr_lh/device.cpp
··· 1061 1061 relation.linear_velocity = copy_vec3(newPose.vecVelocity); 1062 1062 relation.angular_velocity = copy_vec3(newPose.vecAngularVelocity); 1063 1063 1064 - // local transform (head to driver offset) 1064 + math_quat_rotate_vec3(&relation.pose.orientation, &relation.angular_velocity, &relation.angular_velocity); 1065 + 1066 + // apply over local transform 1065 1067 const xrt_pose local = copy_pose(newPose.qDriverFromHeadRotation, newPose.vecDriverFromHeadTranslation); 1066 - 1067 - // IMU linear velocity contribution due to rotation around driver origin (tangential velocity) 1068 - xrt_vec3 tangential_velocity; 1069 - math_vec3_cross(&relation.angular_velocity, &local.position, &tangential_velocity); 1070 - math_quat_rotate_vec3(&relation.pose.orientation, &tangential_velocity, &tangential_velocity); 1071 - math_vec3_accum(&tangential_velocity, &relation.linear_velocity); 1072 - 1073 - // apply local transform 1074 - math_quat_rotate_vec3(&relation.pose.orientation, &relation.angular_velocity, &relation.angular_velocity); 1075 1068 math_pose_transform(&relation.pose, &local, &relation.pose); 1076 1069 1077 1070 // apply world transform