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Remove changing acceleration space in hid tracker (#945)

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sctanf
2024-02-19 19:34:57 -06:00
committed by GitHub
parent a74d5aa273
commit 552451cb98
1 changed files with 3 additions and 4 deletions
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7
server/desktop/src/main/java/dev/slimevr/desktop/tracking/trackers/hid/TrackersHID.kt
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@@ -181,17 +181,17 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
val battery_mV = dataReceived[i + 5].toInt() and 255 shl 8 or (dataReceived[i + 4].toInt() and 255)
val q = floatArrayOf(0f, 0f, 0f, 0f)
val a = floatArrayOf(0f, 0f, 0f)
for (j in 0..3) {
for (j in 0..3) { // quat received as fixed 14
var buf =
dataReceived[i + 6 + j * 2 + 1].toInt() and 255 shl 8 or (dataReceived[i + 6 + j * 2].toInt() and 255)
buf -= 32768 // uint to int
q[j] = buf / (1 shl 14).toFloat() // fixed 14 to float
}
for (j in 0..2) {
for (j in 0..2) { // accel received as fixed 7, in m/s
var buf =
dataReceived[i + 14 + j * 2 + 1].toInt() and 255 shl 8 or (dataReceived[i + 14 + j * 2].toInt() and 255)
buf -= 32768 // uint to int
a[j] = buf / (1 shl 10).toFloat() // fixed 10 to float
a[j] = buf / (1 shl 7).toFloat() // fixed 7 to float
}
val trackerId = idCombination and 0b1111
val deviceId = (idCombination shr 4) and 0b1111
@@ -209,7 +209,6 @@ class TrackersHID(name: String, private val trackersConsumer: Consumer<Tracker>)
tracker.setRotation(rot)
// TODO: I think the acceleration is wrong???
var acceleration = Vector3(a[0], a[1], a[2])
acceleration = tracker.getRotation().sandwich(acceleration)
tracker.setAcceleration(acceleration)
tracker.dataTick()
i += 20