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OpenXR - Refactor the common math methods
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@@ -12,6 +12,10 @@
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#include <GLES3/gl3.h>
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#include <GLES3/gl3ext.h>
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double FromXrTime(const XrTime time) {
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return (time * 1e-9);
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}
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/*
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================================================================================
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@@ -20,7 +24,6 @@ ovrFramebuffer
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================================================================================
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*/
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void ovrFramebuffer_Clear(ovrFramebuffer* frameBuffer) {
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frameBuffer->Width = 0;
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frameBuffer->Height = 0;
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@@ -343,193 +346,3 @@ int ovrApp_HandleXrEvents(ovrApp* app) {
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}
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return recenter;
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}
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/*
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================================================================================
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ovrMatrix4f
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================================================================================
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*/
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ovrMatrix4f ovrMatrix4f_CreateProjectionFov(
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const float angleLeft,
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const float angleRight,
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const float angleUp,
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const float angleDown,
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const float nearZ,
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const float farZ) {
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const float tanAngleLeft = tanf(angleLeft);
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const float tanAngleRight = tanf(angleRight);
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const float tanAngleDown = tanf(angleDown);
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const float tanAngleUp = tanf(angleUp);
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const float tanAngleWidth = tanAngleRight - tanAngleLeft;
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// Set to tanAngleDown - tanAngleUp for a clip space with positive Y
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// down (Vulkan). Set to tanAngleUp - tanAngleDown for a clip space with
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// positive Y up (OpenGL / D3D / Metal).
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const float tanAngleHeight = tanAngleUp - tanAngleDown;
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// Set to nearZ for a [-1,1] Z clip space (OpenGL / OpenGL ES).
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// Set to zero for a [0,1] Z clip space (Vulkan / D3D / Metal).
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const float offsetZ = nearZ;
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ovrMatrix4f result;
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if (farZ <= nearZ) {
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// place the far plane at infinity
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result.M[0][0] = 2 / tanAngleWidth;
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result.M[0][1] = 0;
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result.M[0][2] = (tanAngleRight + tanAngleLeft) / tanAngleWidth;
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result.M[0][3] = 0;
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result.M[1][0] = 0;
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result.M[1][1] = 2 / tanAngleHeight;
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result.M[1][2] = (tanAngleUp + tanAngleDown) / tanAngleHeight;
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result.M[1][3] = 0;
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result.M[2][0] = 0;
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result.M[2][1] = 0;
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result.M[2][2] = -1;
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result.M[2][3] = -(nearZ + offsetZ);
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result.M[3][0] = 0;
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result.M[3][1] = 0;
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result.M[3][2] = -1;
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result.M[3][3] = 0;
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} else {
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// normal projection
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result.M[0][0] = 2 / tanAngleWidth;
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result.M[0][1] = 0;
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result.M[0][2] = (tanAngleRight + tanAngleLeft) / tanAngleWidth;
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result.M[0][3] = 0;
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result.M[1][0] = 0;
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result.M[1][1] = 2 / tanAngleHeight;
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result.M[1][2] = (tanAngleUp + tanAngleDown) / tanAngleHeight;
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result.M[1][3] = 0;
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result.M[2][0] = 0;
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result.M[2][1] = 0;
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result.M[2][2] = -(farZ + offsetZ) / (farZ - nearZ);
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result.M[2][3] = -(farZ * (nearZ + offsetZ)) / (farZ - nearZ);
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result.M[3][0] = 0;
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result.M[3][1] = 0;
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result.M[3][2] = -1;
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result.M[3][3] = 0;
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}
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return result;
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}
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ovrMatrix4f ovrMatrix4f_CreateFromQuaternion(const XrQuaternionf* q) {
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const float ww = q->w * q->w;
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const float xx = q->x * q->x;
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const float yy = q->y * q->y;
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const float zz = q->z * q->z;
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ovrMatrix4f out;
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out.M[0][0] = ww + xx - yy - zz;
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out.M[0][1] = 2 * (q->x * q->y - q->w * q->z);
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out.M[0][2] = 2 * (q->x * q->z + q->w * q->y);
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out.M[0][3] = 0;
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out.M[1][0] = 2 * (q->x * q->y + q->w * q->z);
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out.M[1][1] = ww - xx + yy - zz;
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out.M[1][2] = 2 * (q->y * q->z - q->w * q->x);
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out.M[1][3] = 0;
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out.M[2][0] = 2 * (q->x * q->z - q->w * q->y);
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out.M[2][1] = 2 * (q->y * q->z + q->w * q->x);
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out.M[2][2] = ww - xx - yy + zz;
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out.M[2][3] = 0;
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out.M[3][0] = 0;
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out.M[3][1] = 0;
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out.M[3][2] = 0;
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out.M[3][3] = 1;
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return out;
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}
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/// Use left-multiplication to accumulate transformations.
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ovrMatrix4f ovrMatrix4f_Multiply(const ovrMatrix4f* a, const ovrMatrix4f* b) {
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ovrMatrix4f out;
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out.M[0][0] = a->M[0][0] * b->M[0][0] + a->M[0][1] * b->M[1][0] + a->M[0][2] * b->M[2][0] +
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a->M[0][3] * b->M[3][0];
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out.M[1][0] = a->M[1][0] * b->M[0][0] + a->M[1][1] * b->M[1][0] + a->M[1][2] * b->M[2][0] +
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a->M[1][3] * b->M[3][0];
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out.M[2][0] = a->M[2][0] * b->M[0][0] + a->M[2][1] * b->M[1][0] + a->M[2][2] * b->M[2][0] +
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a->M[2][3] * b->M[3][0];
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out.M[3][0] = a->M[3][0] * b->M[0][0] + a->M[3][1] * b->M[1][0] + a->M[3][2] * b->M[2][0] +
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a->M[3][3] * b->M[3][0];
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out.M[0][1] = a->M[0][0] * b->M[0][1] + a->M[0][1] * b->M[1][1] + a->M[0][2] * b->M[2][1] +
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a->M[0][3] * b->M[3][1];
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out.M[1][1] = a->M[1][0] * b->M[0][1] + a->M[1][1] * b->M[1][1] + a->M[1][2] * b->M[2][1] +
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a->M[1][3] * b->M[3][1];
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out.M[2][1] = a->M[2][0] * b->M[0][1] + a->M[2][1] * b->M[1][1] + a->M[2][2] * b->M[2][1] +
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a->M[2][3] * b->M[3][1];
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out.M[3][1] = a->M[3][0] * b->M[0][1] + a->M[3][1] * b->M[1][1] + a->M[3][2] * b->M[2][1] +
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a->M[3][3] * b->M[3][1];
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out.M[0][2] = a->M[0][0] * b->M[0][2] + a->M[0][1] * b->M[1][2] + a->M[0][2] * b->M[2][2] +
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a->M[0][3] * b->M[3][2];
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out.M[1][2] = a->M[1][0] * b->M[0][2] + a->M[1][1] * b->M[1][2] + a->M[1][2] * b->M[2][2] +
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a->M[1][3] * b->M[3][2];
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out.M[2][2] = a->M[2][0] * b->M[0][2] + a->M[2][1] * b->M[1][2] + a->M[2][2] * b->M[2][2] +
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a->M[2][3] * b->M[3][2];
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out.M[3][2] = a->M[3][0] * b->M[0][2] + a->M[3][1] * b->M[1][2] + a->M[3][2] * b->M[2][2] +
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a->M[3][3] * b->M[3][2];
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out.M[0][3] = a->M[0][0] * b->M[0][3] + a->M[0][1] * b->M[1][3] + a->M[0][2] * b->M[2][3] +
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a->M[0][3] * b->M[3][3];
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out.M[1][3] = a->M[1][0] * b->M[0][3] + a->M[1][1] * b->M[1][3] + a->M[1][2] * b->M[2][3] +
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a->M[1][3] * b->M[3][3];
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out.M[2][3] = a->M[2][0] * b->M[0][3] + a->M[2][1] * b->M[1][3] + a->M[2][2] * b->M[2][3] +
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a->M[2][3] * b->M[3][3];
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out.M[3][3] = a->M[3][0] * b->M[0][3] + a->M[3][1] * b->M[1][3] + a->M[3][2] * b->M[2][3] +
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a->M[3][3] * b->M[3][3];
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return out;
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}
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ovrMatrix4f ovrMatrix4f_CreateRotation(const float radiansX, const float radiansY, const float radiansZ) {
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const float sinX = sinf(radiansX);
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const float cosX = cosf(radiansX);
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const ovrMatrix4f rotationX = {
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{{1, 0, 0, 0}, {0, cosX, -sinX, 0}, {0, sinX, cosX, 0}, {0, 0, 0, 1}}};
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const float sinY = sinf(radiansY);
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const float cosY = cosf(radiansY);
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const ovrMatrix4f rotationY = {
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{{cosY, 0, sinY, 0}, {0, 1, 0, 0}, {-sinY, 0, cosY, 0}, {0, 0, 0, 1}}};
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const float sinZ = sinf(radiansZ);
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const float cosZ = cosf(radiansZ);
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const ovrMatrix4f rotationZ = {
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{{cosZ, -sinZ, 0, 0}, {sinZ, cosZ, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}};
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const ovrMatrix4f rotationXY = ovrMatrix4f_Multiply(&rotationY, &rotationX);
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return ovrMatrix4f_Multiply(&rotationZ, &rotationXY);
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}
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XrVector4f XrVector4f_MultiplyMatrix4f(const ovrMatrix4f* a, const XrVector4f* v) {
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XrVector4f out;
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out.x = a->M[0][0] * v->x + a->M[0][1] * v->y + a->M[0][2] * v->z + a->M[0][3] * v->w;
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out.y = a->M[1][0] * v->x + a->M[1][1] * v->y + a->M[1][2] * v->z + a->M[1][3] * v->w;
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out.z = a->M[2][0] * v->x + a->M[2][1] * v->y + a->M[2][2] * v->z + a->M[2][3] * v->w;
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out.w = a->M[3][0] * v->x + a->M[3][1] * v->y + a->M[3][2] * v->z + a->M[3][3] * v->w;
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return out;
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}
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/*
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================================================================================
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ovrTrackedController
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================================================================================
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*/
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void ovrTrackedController_Clear(ovrTrackedController* controller) {
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controller->Active = false;
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controller->Pose = XrPosef_Identity();
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}
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