Commit 8e0894b5 authored by stoutjesdijk's avatar stoutjesdijk 🎧
Browse files

function prototype for Euler2Quat

parent e96871af

lib_rend/ivas_orient_trk.c

+15 −7
Original line number Diff line number Diff line
@@ -30,6 +30,7 @@ 


*******************************************************************************************************/



#include "common_api_types.h"

#include <stdint.h>

#include "options.h"

#include "ivas_prot.h"
@@ -456,19 +457,26 @@ ivas_error ivas_orient_trk_Process( 
    float alpha = pOTR->alpha;

    float ang;

    ivas_error result;

    IVAS_QUATERNION quat;



    if ( pOTR == NULL || pTrkRot == NULL )

    {

        return IVAS_ERR_UNEXPECTED_NULL_POINTER;

    }



    quat.w = 0.0f;

    quat.x = 0.0f;

    quat.y = 0.0f;

    quat.z = 0.0f;

    /* check for Euler angle signaling */

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

    //{

    //    // convert to quaternion

    //    // port https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles



    //}

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

    {

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

    }

    else

    {

        quat = pOTR->refRot;

    }



    result = IVAS_ERR_OK;
@@ -486,7 +494,7 @@ ivas_error ivas_orient_trk_Process( 
            pOTR->alpha = sinf( 2.0f * EVS_PI * pOTR->centerAdaptationRate / updateRate );



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

            QuaternionInverse( pOTR->refRot, pTrkRot );

            QuaternionInverse( quat, pTrkRot );

            QuaternionProduct( *pTrkRot, *pAbsRot, pTrkRot );

            break;

lib_rend/ivas_prot_rend.h

+11 −0
Original line number Diff line number Diff line
@@ -796,12 +796,23 @@ void ivas_headTrack_close( 
);

#endif



#ifndef FIX_I109_ORIENTATION_TRACKING

void Quat2Euler(

    const IVAS_QUATERNION quat,                                 /* i  : quaternion describing the rotation              */

    float *yaw,                                                 /* o  : yaw                                             */

    float *pitch,                                               /* o  : pitch                                           */

    float *roll                                                 /* o  : roll                                            */

);

#endif



#ifdef FIX_I109_ORIENTATION_TRACKING

void Euler2Quat(

    const float yaw,                                                 /* i  : yaw                                             */

    const float pitch,                                               /* i  : pitch                                           */

    const float roll,                                                /* i  : roll                                            */

    IVAS_QUATERNION *quat                                  /* o  : quaternion describing the rotation              */

);

#endif



void QuatToRotMat(

    const IVAS_QUATERNION quat,                                 /* i  : quaternion describing the rotation              */

lib_rend/ivas_rotation.c

+24 −0
Original line number Diff line number Diff line
@@ -213,6 +213,30 @@ void Quat2Euler( 
}

#endif



#ifdef FIX_I109_ORIENTATION_TRACKING

/*-------------------------------------------------------------------------

 * Euler2Quat()

 *

 * Quaternion handling: calculate corresponding Euler angles

 *------------------------------------------------------------------------*/



void Euler2Quat(

    const float yaw,                 /* i  : yaw                                 */

    const float pitch,               /* i  : pitch                               */

    const float roll,                /* i  : roll                                */

    IVAS_QUATERNION *quat  /* o  : quaternion describing the rotation  */

)

{

    // @TODO implementation here

    quat->w = -3.0f;

    quat->x = yaw;

    quat->y = pitch;

    quat->z = roll;



    return;

}

#endif





/*-------------------------------------------------------------------------

 * rotateAziEle()