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Tracking rewrite #2481

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Tracking rewrite #2481

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30 changes: 24 additions & 6 deletions alvr/server_core/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -258,6 +258,22 @@ impl ServerCoreContext {
.get_device_motion(device_id, sample_timestamp)
}

pub fn get_predicted_device_motion(
&self,
device_id: u64,
sample_timestamp: Duration,
target_timestamp: Duration,
) -> Option<DeviceMotion> {
dbg_server_core!(
"get_predicted_device_motion: dev={device_id} sample_ts={sample_timestamp:?} target_ts={target_timestamp:?}"
);

self.connection_context
.tracking_manager
.read()
.get_predicted_device_motion(device_id, sample_timestamp, target_timestamp)
}

pub fn get_hand_skeleton(
&self,
hand_type: HandType,
Expand Down Expand Up @@ -288,12 +304,14 @@ impl ServerCoreContext {
pub fn get_tracker_pose_time_offset(&self) -> Duration {
dbg_server_core!("get_tracker_pose_time_offset");

self.connection_context
.statistics_manager
.read()
.as_ref()
.map(|stats| stats.tracker_pose_time_offset())
.unwrap_or_default()
// self.connection_context
// .statistics_manager
// .read()
// .as_ref()
// .map(|stats| stats.tracker_pose_time_offset())
// .unwrap_or_default()

Duration::from_millis(0)
}

pub fn send_haptics(&self, haptics: Haptics) {
Expand Down
29 changes: 29 additions & 0 deletions alvr/server_core/src/tracking/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -245,6 +245,35 @@ impl TrackingManager {
})
}

pub fn get_predicted_device_motion(
&self,
device_id: u64,
sample_timestamp: Duration,
target_timestamp: Duration,
) -> Option<DeviceMotion> {
let motion = self.get_device_motion(device_id, sample_timestamp)?;

// There is no simple sub for Duration, this is needed to get signed difference
let delta_time_s = target_timestamp
.saturating_sub(sample_timestamp)
.as_secs_f32()
- sample_timestamp
.saturating_sub(target_timestamp)
.as_secs_f32();

let delta_position = motion.linear_velocity * delta_time_s;
let delta_orientation = Quat::from_scaled_axis(motion.angular_velocity * delta_time_s);

Some(DeviceMotion {
pose: Pose {
orientation: delta_orientation * motion.pose.orientation,
position: motion.pose.position + delta_position,
},
linear_velocity: motion.linear_velocity,
angular_velocity: motion.angular_velocity,
})
}

pub fn report_hand_skeleton(
&mut self,
hand_type: HandType,
Expand Down
12 changes: 8 additions & 4 deletions alvr/server_openvr/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -121,17 +121,21 @@ extern "C" fn driver_ready_idle(set_default_chap: bool) {
.unwrap_or(false);

if let Some(context) = &*SERVER_CORE_CONTEXT.read() {
let target_timestamp =
sample_timestamp + context.get_motion_to_photon_latency();
let controllers_pose_time_offset = context.get_tracker_pose_time_offset();
let controllers_timestamp =
target_timestamp.saturating_sub(controllers_pose_time_offset);

let ffi_head_motion = context
.get_device_motion(*HEAD_ID, sample_timestamp)
.get_device_motion(*HEAD_ID, target_timestamp)
.map(|m| tracking::to_ffi_motion(*HEAD_ID, m))
.unwrap_or_else(FfiDeviceMotion::default);
let ffi_left_controller_motion = context
.get_device_motion(*HAND_LEFT_ID, sample_timestamp)
.get_device_motion(*HAND_LEFT_ID, controllers_timestamp)
.map(|m| tracking::to_ffi_motion(*HAND_LEFT_ID, m));
let ffi_right_controller_motion = context
.get_device_motion(*HAND_RIGHT_ID, sample_timestamp)
.get_device_motion(*HAND_RIGHT_ID, controllers_timestamp)
.map(|m| tracking::to_ffi_motion(*HAND_RIGHT_ID, m));

let (
Expand Down Expand Up @@ -222,7 +226,7 @@ extern "C" fn driver_ready_idle(set_default_chap: bool) {
// independently. Selection is done by setting deviceIsConnected.
unsafe {
SetTracking(
sample_timestamp.as_nanos() as _,
target_timestamp.as_nanos() as _,
controllers_pose_time_offset.as_secs_f32(),
ffi_head_motion,
ffi_left_hand_data,
Expand Down
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