Commit d0036286 authored by Sandesh Venkatesh's avatar Sandesh Venkatesh
Browse files

Merge branch 'ivas_orient_trk_fxd_conv_5' into 'main' 

Remaining functions in ivas_orient_trk.c converted to fxd

See merge request !129
parents d52004cd acd7138f

lib_com/ivas_cnst.h

+7 −0
Original line number Diff line number Diff line
@@ -53,6 +53,13 @@ 
#define Q31_0_99                                 2126008811

#define Q31_0_01                                 21474836

#endif

#define PI_OVER_4_Q29                            421657440

#define PI_OVER_Q29                              1686629760

#define PI2_C_ADP_RATE_Q31                       449767936 //(2.0f * EVS_PI * pOTR->centerAdaptationRate)//

#define PI2_C_Q28                                1686629760

#define OFF_C_ADP_RATE_Q31                       268435456

#define C_ADP_RATE_Q31                           71582792





#define SQRT2                                   1.414213562373095f

#define SQRT2_FIXED                             1518500250 // Q30

lib_dec/lib_dec_fx.c

+9 −1
Original line number Diff line number Diff line
@@ -1441,10 +1441,17 @@ ivas_error IVAS_DEC_FeedHeadTrackData( 
        Euler2Quat( deg2rad( orientation.x ), deg2rad( orientation.y ), deg2rad( orientation.z ), &orientation );

    }



#ifdef IVAS_FLOAT_FIXED

    IF((error = ivas_orient_trk_Process_fx(hHeadTrackData->OrientationTracker, orientation, FRAMES_PER_SEC * MAX_PARAM_SPATIAL_SUBFRAMES, &hHeadTrackData->Quaternions[subframe_idx])) != IVAS_ERR_OK)

    {

      return error;

    }

#else

    IF( ( error = ivas_orient_trk_Process( hHeadTrackData->OrientationTracker, orientation, FRAMES_PER_SEC * MAX_PARAM_SPATIAL_SUBFRAMES, &hHeadTrackData->Quaternions[subframe_idx] ) ) != IVAS_ERR_OK )

    {

        return error;

    }

#endif 



    hHeadTrackData->Pos[subframe_idx].x = Pos.x;

    hHeadTrackData->Pos[subframe_idx].y = Pos.y;
@@ -1524,12 +1531,13 @@ ivas_error IVAS_DEC_FeedRefVectorData( 
    refPos_fx.y_fx = float_to_fix( refPos.y, refPos_fx.y_qfact );

    refPos_fx.z_fx = float_to_fix( refPos.z, refPos_fx.z_qfact );

    pOTR_fx->orientation_tracking_fx = pOtr->orientation_tracking;

    ivas_orient_trk_SetReferenceVector_fx( pOTR_fx, listenerPos_fx, refPos_fx );

    ivas_error error_fx = ivas_orient_trk_SetReferenceVector_fx( pOTR_fx, listenerPos_fx, refPos_fx );

    pOtr->refRot.w = me2f( pOTR_fx->refRot_fx.w_fx, 31- pOTR_fx->refRot_fx.w_qfact );

    pOtr->refRot.x = me2f( pOTR_fx->refRot_fx.x_fx, 31 -pOTR_fx->refRot_fx.x_qfact );

    pOtr->refRot.y = me2f( pOTR_fx->refRot_fx.y_fx, 31- pOTR_fx->refRot_fx.y_qfact );

    pOtr->refRot.z = me2f( pOTR_fx->refRot_fx.z_fx, 31 -pOTR_fx->refRot_fx.z_qfact );

    free(pOTR_fx);

    return error_fx;

#else

    return ivas_orient_trk_SetReferenceVector( pOtr, listenerPos, refPos );

#endif

lib_rend/ivas_orient_trk.c

+295 −143

File changed.

Preview size limit exceeded, changes collapsed.

lib_rend/ivas_prot_rend.h

+23 −0
Original line number Diff line number Diff line
@@ -1791,6 +1791,13 @@ void QuaternionInverse_fx( 
  const IVAS_QUATERNION_FX q,

  IVAS_QUATERNION_FX *const r

);



void QuaternionSlerp_fx(

  const IVAS_QUATERNION_FX q1,

  const IVAS_QUATERNION_FX q2,

  const Word32 t,

  IVAS_QUATERNION_FX *const r

);

#endif



/*----------------------------------------------------------------------------------*
@@ -1836,6 +1843,15 @@ ivas_error ivas_orient_trk_Process( 


#ifdef IVAS_FLOAT_FIXED



ivas_error ivas_orient_trk_Init_fx(

  ivas_orient_trk_state_t *pOTR                               /* i/o: orientation tracker handle              */

);



ivas_error ivas_orient_trk_SetReferenceRotation_fx(

  ivas_orient_trk_state_t_fx *pOTR_fx,                              /* i/o: orientatoin trakcer handle              */

  const IVAS_QUATERNION_FX refRot                                /* i  : reference rotation                      */

);



ivas_error ivas_orient_trk_SetReferenceVector_fx(

  ivas_orient_trk_state_t_fx *pOTR,                              /* i/o: orientation tracker handle              */

  const IVAS_VECTOR3_FX listenerPos,                             /* i  : Listener position                       */
@@ -1856,6 +1872,13 @@ ivas_error ivas_orient_trk_GetTrackedRotation_fx( 
  ivas_orient_trk_state_t_fx *pOTR,                              /* i/o: orientation tracker handle              */

  IVAS_QUATERNION_FX *pRotation                                  /* i/o: processed rotation                      */

);



ivas_error ivas_orient_trk_Process_fx(

  ivas_orient_trk_state_t *pOTR,                              /* i/o: orientation tracker handle              */

  IVAS_QUATERNION absRot,                                     /* i  : absolute head rotation                  */

  float updateRate,                                           /* i  : rotation update rate [Hz]               */

  IVAS_QUATERNION *pTrkRot                                    /* o  : tracked rotation                        */

);

#endif



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

lib_rend/ivas_rotation.c

+7 −1
Original line number Diff line number Diff line
@@ -136,12 +136,18 @@ ivas_error ivas_headTrack_open( 
    {

      return IVAS_ERROR(IVAS_ERR_FAILED_ALLOC, "Can not allocate memory for Orientation tracking");

    }

#endif



    if ((error = ivas_orient_trk_Init_fx((*hHeadTrackData)->OrientationTracker)) != IVAS_ERR_OK)

    {

      return error;

    }



#else

    if ( ( error = ivas_orient_trk_Init( ( *hHeadTrackData )->OrientationTracker ) ) != IVAS_ERR_OK )

    {

        return error;

    }

#endif



    /* Initialise Rmat_prev to I, Rmat will be computed later */

    for ( i = 0; i < 3; i++ )