Implementing Dr Beefs HL solution for Head movement
Fixes issue when looking downward / upward
This commit is contained in:
Grant Bagwell
parent
dec6e69594
commit
af84bfbdfc
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@ -1,145 +1,16 @@
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@ -1044,31 +1044,106 @@ static void ovrRenderer_Destroy( ovrRenderer * renderer )
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renderer->ProjectionMatrix = ovrMatrix4f_CreateIdentity();
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}
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void QuatToYawPitchRoll(ovrQuatf q, vec3_t out) {
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float sqw = q.w*q.w;
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float sqx = q.x*q.x;
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float sqy = q.y*q.y;
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float sqz = q.z*q.z;
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float unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
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float test = q.x*q.y + q.z*q.w;
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if( test > 0.49999*unit ) { // singularity at north pole
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out[YAW] = 2 * atan2f(q.x,q.w) / ((float)M_PI / 180.0f);
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out[ROLL] = -(float)M_PI/2 / ((float)M_PI / 180.0f) ;
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out[PITCH] = 0;
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}
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else if( test < -0.49999*unit ) { // singularity at south pole
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out[YAW] = -2 * atan2f(q.x,q.w) / ((float)M_PI / 180.0f);
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out[ROLL] = (float)M_PI/2 / ((float)M_PI / 180.0f);
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out[PITCH] = 0;
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}
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else {
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//out[YAW] = atan2(2*q.y*q.w-2*q.x*q.z , sqx - sqy - sqz + sqw) / (M_PI / 180.0f);
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out[YAW] = atan2f(2*q.y*q.w-2*q.x*q.z , 1 - 2*sqy - 2*sqz) / ((float)M_PI / 180.0f);
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out[ROLL] = -asinf(2*test/unit) / ((float)M_PI / 180.0f);
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//out[PITCH] = -atan2(2*q.x*q.w-2*q.y*q.z , -sqx + sqy - sqz + sqw) / (M_PI / 180.0f);
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out[PITCH] = -atan2f(2*q.x*q.w-2*q.y*q.z , 1 - 2*sqx - 2*sqz) / ((float)M_PI / 180.0f);
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#ifndef EPSILON
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#define EPSILON 0.001f
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#endif
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static ovrVector3f normalizeVec(ovrVector3f vec) {
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//NOTE: leave w-component untouched
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//@@const float EPSILON = 0.000001f;
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float xxyyzz = vec.x*vec.x + vec.y*vec.y + vec.z*vec.z;
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//@@if(xxyyzz < EPSILON)
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//@@ return *this; // do nothing if it is zero vector
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//float invLength = invSqrt(xxyyzz);
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ovrVector3f result;
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float invLength = 1.0f / sqrtf(xxyyzz);
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result.x = vec.x * invLength;
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result.y = vec.y * invLength;
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result.z = vec.z * invLength;
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return result;
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}
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void NormalizeAngles(vec3_t angles)
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{
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while (angles[0] >= 90) angles[0] -= 360;
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while (angles[1] >= 180) angles[1] -= 360;
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while (angles[2] >= 180) angles[2] -= 360;
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while (angles[0] < -90) angles[0] += 360;
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while (angles[1] < -180) angles[1] += 360;
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while (angles[2] < -180) angles[2] += 360;
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}
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void GetAnglesFromVectors(const ovrVector3f forward, const ovrVector3f right, const ovrVector3f up, vec3_t angles)
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{
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float sr, sp, sy, cr, cp, cy;
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sp = -forward.z;
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float cp_x_cy = forward.x;
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float cp_x_sy = forward.y;
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float cp_x_sr = -right.z;
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float cp_x_cr = up.z;
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float yaw = atan2(cp_x_sy, cp_x_cy);
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float roll = atan2(cp_x_sr, cp_x_cr);
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cy = cos(yaw);
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sy = sin(yaw);
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cr = cos(roll);
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sr = sin(roll);
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if (fabs(cy) > EPSILON)
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{
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cp = cp_x_cy / cy;
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}
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else if (fabs(sy) > EPSILON)
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{
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cp = cp_x_sy / sy;
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}
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else if (fabs(sr) > EPSILON)
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{
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cp = cp_x_sr / sr;
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}
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else if (fabs(cr) > EPSILON)
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{
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cp = cp_x_cr / cr;
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}
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else
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{
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cp = cos(asin(sp));
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}
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float pitch = atan2(sp, cp);
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angles[0] = pitch / (M_PI*2.f / 360.f);
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angles[1] = yaw / (M_PI*2.f / 360.f);
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angles[2] = roll / (M_PI*2.f / 360.f);
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NormalizeAngles(angles);
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}
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void QuatToYawPitchRoll(ovrQuatf q, vec3_t out) {
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ovrMatrix4f mat = ovrMatrix4f_CreateFromQuaternion( &q );
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ovrVector4f v1 = {0, 0, -1, 0};
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ovrVector4f v2 = {1, 0, 0, 0};
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ovrVector4f v3 = {0, 1, 0, 0};
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ovrVector4f forwardInVRSpace = ovrVector4f_MultiplyMatrix4f(&mat, &v1);
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ovrVector4f rightInVRSpace = ovrVector4f_MultiplyMatrix4f(&mat, &v2);
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ovrVector4f upInVRSpace = ovrVector4f_MultiplyMatrix4f(&mat, &v3);
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ovrVector3f forward = {-forwardInVRSpace.z, -forwardInVRSpace.x, forwardInVRSpace.y};
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ovrVector3f right = {-rightInVRSpace.z, -rightInVRSpace.x, rightInVRSpace.y};
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ovrVector3f up = {-upInVRSpace.z, -upInVRSpace.x, upInVRSpace.y};
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ovrVector3f forwardNormal = normalizeVec(forward);
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ovrVector3f rightNormal = normalizeVec(right);
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ovrVector3f upNormal = normalizeVec(up);
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GetAnglesFromVectors(forwardNormal, rightNormal, upNormal, out);
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return;
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}
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static void adjustYaw(float adjustment, float* out)
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