matrixfurry.com
The open source OpenXR runtime
testing
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src/xrt/drivers/steamvr_lh/device.cpp
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src/xrt/drivers/steamvr_lh/device.cpp
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relation.linear_velocity = copy_vec3(newPose.vecVelocity);
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relation.angular_velocity = copy_vec3(newPose.vecAngularVelocity);
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// local transform (head to driver offset)
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math_quat_rotate_vec3(&relation.pose.orientation, &relation.angular_velocity, &relation.angular_velocity);
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// apply over local transform
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const xrt_pose local = copy_pose(newPose.qDriverFromHeadRotation, newPose.vecDriverFromHeadTranslation);
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// IMU linear velocity contribution due to rotation around driver origin (tangential velocity)
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xrt_vec3 tangential_velocity;
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math_vec3_cross(&relation.angular_velocity, &local.position, &tangential_velocity);
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math_quat_rotate_vec3(&relation.pose.orientation, &tangential_velocity, &tangential_velocity);
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math_vec3_accum(&tangential_velocity, &relation.linear_velocity);
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// apply local transform
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math_quat_rotate_vec3(&relation.pose.orientation, &relation.angular_velocity, &relation.angular_velocity);
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math_pose_transform(&relation.pose, &local, &relation.pose);
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// apply world transform