Commit 6fee008f authored by stoutjesdijk's avatar stoutjesdijk 🎧
Browse files

convert reference rotation in ivas_orient_trk_SetReferenceRotation

parent 1f352872

lib_rend/ivas_orient_trk.c

+15 −20
Original line number Diff line number Diff line
@@ -509,7 +509,17 @@ ivas_error ivas_orient_trk_SetReferenceRotation( 
    {

        return IVAS_ERR_UNEXPECTED_NULL_POINTER;

    }



    /* check for Euler angle signaling */

    if ( refRot.w == -3.0f )

    {

        Euler2Quat(deg2rad( refRot.x ), deg2rad( refRot.y ), deg2rad( refRot.z ), &pOTR->refRot );

    }

    else

    {

        pOTR->refRot = refRot;

    }

    

    return IVAS_ERR_OK;

}
@@ -655,7 +665,7 @@ ivas_error ivas_orient_trk_Process( 
    float alpha = pOTR->alpha;

    float ang;

    ivas_error result;

    IVAS_QUATERNION refQuat, absQuat, trkQuat;

    IVAS_QUATERNION absQuat, trkQuat;

    IVAS_QUATERNION trkEuler;



    if ( pOTR == NULL || pTrkRot == NULL )
@@ -663,20 +673,6 @@ ivas_error ivas_orient_trk_Process( 
        return IVAS_ERR_UNEXPECTED_NULL_POINTER;

    }



    refQuat.w = 0.0f;

    refQuat.x = 0.0f;

    refQuat.y = 0.0f;

    refQuat.z = 0.0f;

    /* check for Euler angle signaling */

    if ( pOTR->refRot.w == -3.0f )

    {

        Euler2Quat(deg2rad( pOTR->refRot.x ), deg2rad( pOTR->refRot.y ), deg2rad( pOTR->refRot.z ), &refQuat);

    }

    else

    {

        refQuat = pOTR->refRot;

    }



    absQuat.w = 0.0f;

    absQuat.x = 0.0f;

    absQuat.y = 0.0f;
@@ -721,7 +717,7 @@ ivas_error ivas_orient_trk_Process( 
            pOTR->alpha = sinf( 2.0f * EVS_PI * pOTR->centerAdaptationRate / updateRate );



            /* Compute relative orientation = (absolute orientation) - (reference orientation) */

            QuaternionInverse( refQuat, &trkQuat );

            QuaternionInverse( pOTR->refRot, &trkQuat );

            QuaternionProduct( trkQuat, absQuat, &trkQuat );

            break;
@@ -737,7 +733,7 @@ ivas_error ivas_orient_trk_Process( 
            - low  cutoff (slow adaptation) for small excursions (around center)

            - high cutoff (fast adaptation) for large excursions (off-center)

            */

            ang = QuaternionAngle( absQuat, *pTrkRot );

            ang = QuaternionAngle( absQuat, trkQuat );

            normalizedOrientation = ang * ang;



            relativeOrientationRate = sqrtf( normalizedOrientation ) / pOTR->adaptationAngle;
@@ -766,7 +762,7 @@ ivas_error ivas_orient_trk_Process( 
        case OTR_TRACKING_REF_VEC_LEV:

        {

            /* This processing step of the OTR_TRACKING_REF_VEC/OTR_TRACKING_REF_VEC_LEVEL is identical */

            QuaternionProduct( refQuat, absQuat, &trkQuat );

            QuaternionProduct( pOTR->refRot, absQuat, &trkQuat );

            break;

        }

#endif /* OTR_REFERENCE_VECTOR_TRACKING */
@@ -778,7 +774,6 @@ ivas_error ivas_orient_trk_Process( 
    if ( result == IVAS_ERR_OK )

    {

        pOTR->trkRot = trkQuat;

        pOTR->refRot = refQuat;



        if ( pAbsRot->w == -3.0f )

        {