fix(server_openvr): 🐛 Fix invalid hand skeleton root

alvr-org · Sep 8, 2024 · 33f4e88 · 33f4e88
1 parent 87c32f5
commit 33f4e88
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Showing 2 changed files with 24 additions and 18 deletions.
diff --git a/alvr/server_openvr/cpp/alvr_server/Controller.cpp b/alvr/server_openvr/cpp/alvr_server/Controller.cpp
@@ -27,6 +27,15 @@ Controller::Controller(uint64_t deviceID, vr::EVRSkeletalTrackingLevel skeletonL
     m_pose.qDriverFromHeadRotation = HmdQuaternion_Init(1, 0, 0, 0);
     m_pose.qWorldFromDriverRotation = HmdQuaternion_Init(1, 0, 0, 0);
     m_pose.qRotation = HmdQuaternion_Init(1, 0, 0, 0);
+
+    m_tempHandBones[0].orientation.w = 1;
+    m_tempHandBones[0].orientation.x = 0;
+    m_tempHandBones[0].orientation.y = 0;
+    m_tempHandBones[0].orientation.z = 0;
+    m_tempHandBones[0].position.v[0] = 0;
+    m_tempHandBones[0].position.v[1] = 0;
+    m_tempHandBones[0].position.v[2] = 0;
+    m_tempHandBones[0].position.v[3] = 1;
 }
 
 //
@@ -305,30 +314,28 @@ bool Controller::onPoseUpdate(float predictionS, FfiHandData handData) {
     if (!enabled) {
         return false;
     } else if (handSkeleton != nullptr) {
-        vr::VRBoneTransform_t boneTransform[SKELETON_BONE_COUNT] = {};
-
         // NB: start from index 1 to skip the root bone
         for (int j = 1; j < 31; j++) {
-            boneTransform[j].orientation.w = handSkeleton->jointRotations[j].w;
-            boneTransform[j].orientation.x = handSkeleton->jointRotations[j].x;
-            boneTransform[j].orientation.y = handSkeleton->jointRotations[j].y;
-            boneTransform[j].orientation.z = handSkeleton->jointRotations[j].z;
-            boneTransform[j].position.v[0] = handSkeleton->jointPositions[j][0];
-            boneTransform[j].position.v[1] = handSkeleton->jointPositions[j][1];
-            boneTransform[j].position.v[2] = handSkeleton->jointPositions[j][2];
-            boneTransform[j].position.v[3] = 1.0;
+            m_tempHandBones[j].orientation.w = handSkeleton->jointRotations[j].w;
+            m_tempHandBones[j].orientation.x = handSkeleton->jointRotations[j].x;
+            m_tempHandBones[j].orientation.y = handSkeleton->jointRotations[j].y;
+            m_tempHandBones[j].orientation.z = handSkeleton->jointRotations[j].z;
+            m_tempHandBones[j].position.v[0] = handSkeleton->jointPositions[j][0];
+            m_tempHandBones[j].position.v[1] = handSkeleton->jointPositions[j][1];
+            m_tempHandBones[j].position.v[2] = handSkeleton->jointPositions[j][2];
+            m_tempHandBones[j].position.v[3] = 1.0;
         }
 
         vr_driver_input->UpdateSkeletonComponent(
             m_compSkeleton,
             vr::VRSkeletalMotionRange_WithController,
-            boneTransform,
+            m_tempHandBones,
             SKELETON_BONE_COUNT
         );
         vr_driver_input->UpdateSkeletonComponent(
             m_compSkeleton,
             vr::VRSkeletalMotionRange_WithoutController,
-            boneTransform,
+            m_tempHandBones,
             SKELETON_BONE_COUNT
         );
 
@@ -413,32 +420,30 @@ bool Controller::onPoseUpdate(float predictionS, FfiHandData handData) {
             );
         }
 
-        vr::VRBoneTransform_t boneTransforms[SKELETON_BONE_COUNT];
-
         // Perform whatever logic is necessary to convert your device's input into a
         // skeletal pose, first to create a pose "With Controller", that is as close to the
         // pose of the user's real hand as possible
-        GetBoneTransform(true, boneTransforms);
+        GetBoneTransform(true, m_tempHandBones);
 
         // Then update the WithController pose on the component with those transforms
         vr::EVRInputError err = vr_driver_input->UpdateSkeletonComponent(
             m_compSkeleton,
             vr::VRSkeletalMotionRange_WithController,
-            boneTransforms,
+            m_tempHandBones,
             SKELETON_BONE_COUNT
         );
         if (err != vr::VRInputError_None) {
             // Handle failure case
             Error("UpdateSkeletonComponentfailed.  Error: %i\n", err);
         }
 
-        GetBoneTransform(false, boneTransforms);
+        GetBoneTransform(false, m_tempHandBones);
 
         // Then update the WithoutController pose on the component
         err = vr_driver_input->UpdateSkeletonComponent(
             m_compSkeleton,
             vr::VRSkeletalMotionRange_WithoutController,
-            boneTransforms,
+            m_tempHandBones,
             SKELETON_BONE_COUNT
         );
         if (err != vr::VRInputError_None) {

diff --git a/alvr/server_openvr/cpp/alvr_server/Controller.h b/alvr/server_openvr/cpp/alvr_server/Controller.h
@@ -54,6 +54,7 @@ class Controller : public TrackedDevice, public vr::ITrackedDeviceServerDriver {
     vr::EVRSkeletalTrackingLevel m_skeletonLevel;
 
     vr::DriverPose_t m_pose;
+    vr::VRBoneTransform_t m_tempHandBones[SKELETON_BONE_COUNT];
 
     // These variables are used for controller hand animation
     // todo: move to rust