Add support for 6DoF (#138)
* Pull in driver and sombrero updates for 6DoF * Update Breezy GNOME to support 6DoF position * Update Breezy KDE to support 6DoF position
This commit is contained in:
Wayne Heaney
GitHub
parent
d9445942c9
commit
054296da56
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@ -21,7 +21,7 @@ const IPC_FILE_PATH = "/dev/shm/breezy_desktop_imu";
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const KEEPALIVE_REFRESH_INTERVAL_SEC = 1;
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// the driver should be using the same data layout version
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const DATA_LAYOUT_VERSION = 4;
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const DATA_LAYOUT_VERSION = 5;
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// DataView info: [offset, size, count]
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const VERSION = [0, UINT8_SIZE, 1];
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@ -34,16 +34,17 @@ const SBS_ENABLED = [dataViewEnd(LENS_DISTANCE_RATIO), BOOL_SIZE, 1];
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const CUSTOM_BANNER_ENABLED = [dataViewEnd(SBS_ENABLED), BOOL_SIZE, 1];
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const SMOOTH_FOLLOW_ENABLED = [dataViewEnd(CUSTOM_BANNER_ENABLED), BOOL_SIZE, 1];
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const SMOOTH_FOLLOW_ORIGIN_DATA = [dataViewEnd(SMOOTH_FOLLOW_ENABLED), FLOAT_SIZE, 16];
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const EPOCH_MS = [dataViewEnd(SMOOTH_FOLLOW_ORIGIN_DATA), UINT_SIZE, 2];
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const IMU_QUAT_DATA = [dataViewEnd(EPOCH_MS), FLOAT_SIZE, 16];
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const IMU_PARITY_BYTE = [dataViewEnd(IMU_QUAT_DATA), UINT8_SIZE, 1];
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const POSE_POSITION = [dataViewEnd(SMOOTH_FOLLOW_ORIGIN_DATA), FLOAT_SIZE, 3];
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const EPOCH_MS = [dataViewEnd(POSE_POSITION), UINT_SIZE, 2];
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const POSE_ORIENTATION = [dataViewEnd(EPOCH_MS), FLOAT_SIZE, 16];
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const IMU_PARITY_BYTE = [dataViewEnd(POSE_ORIENTATION), UINT8_SIZE, 1];
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const DATA_VIEW_LENGTH = dataViewEnd(IMU_PARITY_BYTE);
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function checkParityByte(dataView) {
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const parityByte = dataViewUint8(dataView, IMU_PARITY_BYTE);
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let parity = 0;
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const epochUint8 = dataViewUint8Array(dataView, EPOCH_MS);
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const imuDataUint8 = dataViewUint8Array(dataView, IMU_QUAT_DATA);
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const imuDataUint8 = dataViewUint8Array(dataView, POSE_ORIENTATION);
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for (let i = 0; i < epochUint8.length; i++) {
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parity ^= epochUint8[i];
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}
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@ -210,10 +211,11 @@ export const DeviceDataStream = GObject.registerClass({
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const validData = validKeepAlive && displayFov !== 0.0;
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const version = dataViewUint8(dataView, VERSION);
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const enabled = dataViewUint8(dataView, ENABLED) !== 0 && version === DATA_LAYOUT_VERSION && validData;
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let imuData = dataViewFloatArray(dataView, IMU_QUAT_DATA);
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let poseOrientation = dataViewFloatArray(dataView, POSE_ORIENTATION);
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let posePosition = dataViewFloatArray(dataView, POSE_POSITION);
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let smoothFollowEnabled = !this.legacy_follow_mode && dataViewUint8(dataView, SMOOTH_FOLLOW_ENABLED) !== 0;
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let smoothFollowOrigin = dataViewFloatArray(dataView, SMOOTH_FOLLOW_ORIGIN_DATA);
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const imuResetState = enabled && validData && imuData[0] === 0.0 && imuData[1] === 0.0 && imuData[2] === 0.0 && imuData[3] === 1.0;
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const imuResetState = enabled && validData && poseOrientation[0] === 0.0 && poseOrientation[1] === 0.0 && poseOrientation[2] === 0.0 && poseOrientation[3] === 1.0;
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const customBannerEnabled = dataViewUint8(dataView, CUSTOM_BANNER_ENABLED) !== 0;
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const sbsEnabled = dataViewUint8(dataView, SBS_ENABLED) !== 0;
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@ -261,7 +263,8 @@ export const DeviceDataStream = GObject.registerClass({
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if (checkParityByte(dataView)) {
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this.imu_snapshots = {
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imu_data: imuData,
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pose_orientation: poseOrientation,
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pose_position: posePosition,
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timestamp_ms: imuDateMs,
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smooth_follow_origin: smoothFollowOrigin
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};
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@ -277,7 +280,8 @@ export const DeviceDataStream = GObject.registerClass({
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buffer = new Uint8Array(data[1]).buffer;
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dataView = new DataView(buffer);
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imuDateMs = dataViewBigUint(dataView, EPOCH_MS);
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imuData = dataViewFloatArray(dataView, IMU_QUAT_DATA);
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poseOrientation = dataViewFloatArray(dataView, POSE_ORIENTATION);
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posePosition = dataViewFloatArray(dataView, POSE_POSITION);
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}
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}
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}
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@ -311,15 +315,17 @@ export const DeviceDataStream = GObject.registerClass({
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if (!keepalive_only) {
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this._counter = ((this._counter ?? -1)+1)%COUNTER_MAX;
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const imuDataFirst = nextDebugIMUQuaternion(this._counter);
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const imuData = [
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...imuDataFirst,
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...imuDataFirst,
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...imuDataFirst,
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const poseOrientationFirst = nextDebugIMUQuaternion(this._counter);
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const poseOrientation = [
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...poseOrientationFirst,
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...poseOrientationFirst,
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...poseOrientationFirst,
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2.0, 1.0, 0.0, 0.0
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]
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const posePosition = [0.0, 0.0, 0.0];
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this.imu_snapshots = {
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imu_data: imuData,
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pose_orientation: poseOrientation,
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pose_position: posePosition,
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timestamp_ms: Date.now(),
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smooth_follow_origin: [0.0, 0.0, 0.0, 1.0]
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};
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@ -417,7 +417,8 @@ export const VirtualDisplayEffect = GObject.registerClass({
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vfunc_build_pipeline() {
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const declarations = `
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uniform bool u_show_banner;
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uniform mat4 u_imu_data;
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uniform mat4 u_pose_orientation;
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uniform vec3 u_pose_position;
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uniform float u_look_ahead_ms;
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uniform vec4 u_look_ahead_cfg;
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uniform mat4 u_projection_matrix;
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@ -461,6 +462,10 @@ export const VirtualDisplayEffect = GObject.registerClass({
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return vec4(-v.y, v.z, -v.x, v.w);
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}
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vec3 nwuToESU(vec3 v) {
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return vec3(-v.y, v.z, -v.x);
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}
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// returns the rate of change between the two vectors, in same time units as delta_time
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// e.g. if delta_time is in ms, then the rate of change is "per ms"
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vec3 rateOfChange(vec3 v1, vec3 v2, float delta_time) {
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@ -487,14 +492,23 @@ export const VirtualDisplayEffect = GObject.registerClass({
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if (!u_show_banner) {
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float aspect_ratio = u_display_resolution.x / u_display_resolution.y;
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vec4 quat_t0 = nwuToESU(quatConjugate(u_pose_orientation[0]));
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vec3 position_vector = applyQuaternionToVector(nwuToESU(u_pose_position), quat_t0);
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vec3 final_lens_position = u_lens_vector + position_vector;
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vec3 complete_vector = applyXRotationToVector(world_pos.xyz, u_rotation_x_radians);
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complete_vector = applyYRotationToVector(complete_vector, u_rotation_y_radians);
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vec4 quat_t0 = nwuToESU(quatConjugate(u_imu_data[0]));
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vec3 rotated_vector_t0 = applyQuaternionToVector(complete_vector, quat_t0);
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vec3 rotated_vector_t1 = applyQuaternionToVector(complete_vector, nwuToESU(quatConjugate(u_imu_data[1])));
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float delta_time_t0 = u_imu_data[3][0] - u_imu_data[3][1];
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vec3 velocity_t0 = rateOfChange(rotated_vector_t0, rotated_vector_t1, delta_time_t0);
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vec3 rotated_vector_t1 = applyQuaternionToVector(complete_vector, nwuToESU(quatConjugate(u_pose_orientation[1])));
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float delta_time_t0 = u_pose_orientation[3][0] - u_pose_orientation[3][1];
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// how quickly the vertex is moving relative to the camera
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vec3 velocity_t0 = rateOfChange(
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rotated_vector_t0 - final_lens_position,
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rotated_vector_t1 - final_lens_position,
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delta_time_t0
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);
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// compute the capped look ahead with scanline adjustments
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float look_ahead_scanline_ms = u_look_ahead_ms == 0.0 ? 0.0 : vectorToScanline(u_fov_vertical_radians, rotated_vector_t0) * u_look_ahead_cfg[2];
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@ -502,7 +516,7 @@ export const VirtualDisplayEffect = GObject.registerClass({
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vec3 look_ahead_vector = applyLookAhead(rotated_vector_t0, velocity_t0, effective_look_ahead_ms);
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world_pos = vec4(look_ahead_vector - u_lens_vector, world_pos.w);
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world_pos = vec4(look_ahead_vector - final_lens_position, world_pos.w);
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world_pos.z /= aspect_ratio / u_actor_to_display_ratios.y;
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@ -557,9 +571,12 @@ export const VirtualDisplayEffect = GObject.registerClass({
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this.set_uniform_float(this.get_uniform_location('u_look_ahead_ms'), 1, [0.0]);
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lookAheadSet = true;
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}
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this.set_uniform_matrix(this.get_uniform_location("u_imu_data"), false, 4, this.imu_snapshots.imu_data);
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const posePositionPixels = this.imu_snapshots.pose_position.map(coord => coord * this.fov_details.completeScreenDistancePixels);
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this.set_uniform_matrix(this.get_uniform_location("u_pose_orientation"), false, 4, this.imu_snapshots.pose_orientation);
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this.set_uniform_float(this.get_uniform_location("u_pose_position"), 3, posePositionPixels);
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} else {
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this.set_uniform_matrix(this.get_uniform_location("u_imu_data"), false, 4, this.imu_snapshots.smooth_follow_origin);
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this.set_uniform_matrix(this.get_uniform_location("u_pose_orientation"), false, 4, this.imu_snapshots.smooth_follow_origin);
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this.set_uniform_float(this.get_uniform_location("u_pose_position"), 3, [0.0, 0.0, 0.0]);
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}
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if (!lookAheadSet) {
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this.set_uniform_float(this.get_uniform_location('u_look_ahead_ms'), 1, [lookAheadMS(this.imu_snapshots.timestamp_ms, Globals.data_stream.device_data.lookAheadCfg, this.look_ahead_override)]);
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@ -785,12 +785,12 @@ export const VirtualDisplaysActor = GObject.registerClass({
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(!this._smooth_follow_slerping || this.focused_monitor_index === -1)) {
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// if smooth follow is enabled, use the origin IMU data to inform the initial focused monitor
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// since it reflects where the user is looking in relation to the original monitor positions
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const currentPoseQuat = this.smooth_follow_enabled ?
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const currentOrientationQuat = this.smooth_follow_enabled ?
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this.imu_snapshots.smooth_follow_origin.splice(0, 4) :
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this.imu_snapshots.imu_data.splice(0, 4);
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this.imu_snapshots.pose_orientation.splice(0, 4);
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const focusedMonitorIndex = findFocusedMonitor(
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currentPoseQuat,
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currentOrientationQuat,
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this.monitor_placements.map(monitorVectors => monitorVectors.centerLook),
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this.focused_monitor_index,
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this.display_distance / this._display_distance_default(),
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@ -98,11 +98,12 @@ namespace DataView
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constexpr int CUSTOM_BANNER_ENABLED[3] = {dataViewEnd(SBS_ENABLED), BOOL_SIZE, 1};
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constexpr int SMOOTH_FOLLOW_ENABLED[3] = {dataViewEnd(CUSTOM_BANNER_ENABLED), BOOL_SIZE, 1};
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constexpr int SMOOTH_FOLLOW_ORIGIN_DATA[3] = {dataViewEnd(SMOOTH_FOLLOW_ENABLED), FLOAT_SIZE, 16};
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constexpr int IMU_DATE_MS[3] = {dataViewEnd(SMOOTH_FOLLOW_ORIGIN_DATA), UINT_SIZE, 2};
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constexpr int IMU_QUAT_ENTRIES = 4;
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constexpr int IMU_QUAT_DATA[3] = {dataViewEnd(IMU_DATE_MS), FLOAT_SIZE, 4 * IMU_QUAT_ENTRIES};
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constexpr int IMU_PARITY_BYTE[3] = {dataViewEnd(IMU_QUAT_DATA), UINT8_SIZE, 1};
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constexpr int LENGTH = dataViewEnd(IMU_PARITY_BYTE);
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constexpr int POSE_POSITION_DATA[3] = {dataViewEnd(SMOOTH_FOLLOW_ORIGIN_DATA), FLOAT_SIZE, 3};
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constexpr int POSE_DATE_MS[3] = {dataViewEnd(POSE_POSITION_DATA), UINT_SIZE, 2};
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constexpr int POSE_ORIENTATION_ENTRIES = 4;
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constexpr int POSE_ORIENTATION_DATA[3] = {dataViewEnd(POSE_DATE_MS), FLOAT_SIZE, 4 * POSE_ORIENTATION_ENTRIES};
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constexpr int POSE_PARITY_BYTE[3] = {dataViewEnd(POSE_ORIENTATION_DATA), UINT8_SIZE, 1};
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constexpr int LENGTH = dataViewEnd(POSE_PARITY_BYTE);
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}
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namespace KWin
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@ -142,7 +143,7 @@ BreezyDesktopEffect::BreezyDesktopEffect()
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setSource(QUrl::fromLocalFile(QStandardPaths::locate(QStandardPaths::GenericDataLocation, QStringLiteral("kwin/effects/breezy_desktop/qml/main.qml"))));
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// Monitor the IMU file for changes, even if it doesn't exist at startup
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// Monitor the IPC file for changes, even if it doesn't exist at startup
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m_shmDirectoryWatcher = new QFileSystemWatcher(this);
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m_shmDirectoryWatcher->addPath(DataView::SHM_DIR);
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@ -151,14 +152,14 @@ BreezyDesktopEffect::BreezyDesktopEffect()
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// Setup file watcher with recreation detection
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auto setupFileWatcher = [this]() {
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if (QFile::exists(DataView::SHM_PATH) && (
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m_imuTimestamp == 0 ||
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QDateTime::currentMSecsSinceEpoch() - m_imuTimestamp > 50 || // file may have been deleted and recreated
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m_poseTimestamp == 0 ||
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QDateTime::currentMSecsSinceEpoch() - m_poseTimestamp > 50 || // file may have been deleted and recreated
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!m_shmFileWatcher->files().contains(DataView::SHM_PATH)
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)) {
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m_shmFileWatcher->removePath(DataView::SHM_PATH);
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disconnect(m_shmFileWatcher, &QFileSystemWatcher::fileChanged, this, &BreezyDesktopEffect::updateImuRotation);
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disconnect(m_shmFileWatcher, &QFileSystemWatcher::fileChanged, this, &BreezyDesktopEffect::updatePoseOrientation);
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m_shmFileWatcher->addPath(DataView::SHM_PATH);
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connect(m_shmFileWatcher, &QFileSystemWatcher::fileChanged, this, &BreezyDesktopEffect::updateImuRotation);
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connect(m_shmFileWatcher, &QFileSystemWatcher::fileChanged, this, &BreezyDesktopEffect::updatePoseOrientation);
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}
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};
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@ -168,13 +169,13 @@ BreezyDesktopEffect::BreezyDesktopEffect()
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// Initial setup
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setupFileWatcher();
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m_imuWatchdogTimer = new QTimer(this);
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m_imuWatchdogTimer->setInterval(1000);
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connect(m_imuWatchdogTimer, &QTimer::timeout, this, [this]() {
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m_watchdogTimer = new QTimer(this);
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m_watchdogTimer->setInterval(1000);
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connect(m_watchdogTimer, &QTimer::timeout, this, [this]() {
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if (!m_enabled) return;
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this->updateImuRotation();
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this->updatePoseOrientation();
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});
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m_imuWatchdogTimer->start();
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m_watchdogTimer->start();
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m_cursorUpdateTimer = new QTimer(this);
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connect(m_cursorUpdateTimer, &QTimer::timeout, this, &BreezyDesktopEffect::updateCursorPos);
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@ -206,10 +207,10 @@ BreezyDesktopEffect::~BreezyDesktopEffect()
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m_shmDirectoryWatcher->deleteLater();
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m_shmDirectoryWatcher = nullptr;
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}
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if (m_imuWatchdogTimer) {
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m_imuWatchdogTimer->stop();
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m_imuWatchdogTimer->deleteLater();
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m_imuWatchdogTimer = nullptr;
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if (m_watchdogTimer) {
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m_watchdogTimer->stop();
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m_watchdogTimer->deleteLater();
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m_watchdogTimer = nullptr;
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}
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deactivate();
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}
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@ -439,20 +440,24 @@ void BreezyDesktopEffect::toggleSmoothFollow() {
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XRDriverIPC::instance().writeControlFlags(flags);
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}
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bool BreezyDesktopEffect::imuResetState() const {
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return m_imuResetState;
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bool BreezyDesktopEffect::poseResetState() const {
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return m_poseResetState;
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}
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QList<QQuaternion> BreezyDesktopEffect::imuRotations() const {
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return m_imuRotations;
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QList<QQuaternion> BreezyDesktopEffect::poseOrientations() const {
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return m_poseOrientations;
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}
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quint32 BreezyDesktopEffect::imuTimeElapsedMs() const {
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return m_imuTimeElapsedMs;
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QVector3D BreezyDesktopEffect::posePosition() const {
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return m_posePosition;
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}
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quint64 BreezyDesktopEffect::imuTimestamp() const {
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return m_imuTimestamp;
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quint32 BreezyDesktopEffect::poseTimeElapsedMs() const {
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return m_poseTimeElapsedMs;
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}
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quint64 BreezyDesktopEffect::poseTimestamp() const {
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return m_poseTimestamp;
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}
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QList<qreal> BreezyDesktopEffect::lookAheadConfig() const {
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@ -581,17 +586,17 @@ bool BreezyDesktopEffect::smoothFollowEnabled() const {
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}
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bool BreezyDesktopEffect::checkParityByte(const char* data) {
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const uint8_t parityByte = static_cast<uint8_t>(data[DataView::IMU_PARITY_BYTE[DataView::OFFSET_INDEX]]);
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const uint8_t parityByte = static_cast<uint8_t>(data[DataView::POSE_PARITY_BYTE[DataView::OFFSET_INDEX]]);
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uint8_t parity = 0;
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const int dateBytes = DataView::IMU_DATE_MS[DataView::COUNT_INDEX] * DataView::IMU_DATE_MS[DataView::SIZE_INDEX];
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const int dateBytes = DataView::POSE_DATE_MS[DataView::COUNT_INDEX] * DataView::POSE_DATE_MS[DataView::SIZE_INDEX];
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for (int i = 0; i < dateBytes; ++i) {
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parity ^= static_cast<uint8_t>(data[DataView::IMU_DATE_MS[DataView::OFFSET_INDEX] + i]);
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parity ^= static_cast<uint8_t>(data[DataView::POSE_DATE_MS[DataView::OFFSET_INDEX] + i]);
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}
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const int quatBytes = DataView::IMU_QUAT_DATA[DataView::COUNT_INDEX] * DataView::IMU_QUAT_DATA[DataView::SIZE_INDEX];
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const int quatBytes = DataView::POSE_ORIENTATION_DATA[DataView::COUNT_INDEX] * DataView::POSE_ORIENTATION_DATA[DataView::SIZE_INDEX];
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for (int i = 0; i < quatBytes; ++i) {
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parity ^= static_cast<uint8_t>(data[DataView::IMU_QUAT_DATA[DataView::OFFSET_INDEX] + i]);
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parity ^= static_cast<uint8_t>(data[DataView::POSE_ORIENTATION_DATA[DataView::OFFSET_INDEX] + i]);
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}
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return parityByte == parity;
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@ -599,15 +604,15 @@ bool BreezyDesktopEffect::checkParityByte(const char* data) {
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static qint64 lastConfigUpdate = 0;
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static qint64 activatedAt = 0;
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void BreezyDesktopEffect::updateImuRotation() {
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void BreezyDesktopEffect::updatePoseOrientation() {
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// Reentrancy guard: if an update is already in progress, skip
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bool expected = false;
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if (!m_imuUpdateInProgress.compare_exchange_strong(expected, true)) {
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||||
if (!m_poseUpdateInProgress.compare_exchange_strong(expected, true)) {
|
||||
return;
|
||||
}
|
||||
|
||||
// destructor called on function exit, triggers reset of the flag
|
||||
struct ResetFlag { std::atomic<bool>* f; ~ResetFlag(){ f->store(false); } } reset{&m_imuUpdateInProgress};
|
||||
struct ResetFlag { std::atomic<bool>* f; ~ResetFlag(){ f->store(false); } } reset{&m_poseUpdateInProgress};
|
||||
|
||||
const QString shmPath = QStringLiteral("/dev/shm/breezy_desktop_imu");
|
||||
QFile shmFile(shmPath);
|
||||
|
|
@ -623,9 +628,9 @@ void BreezyDesktopEffect::updateImuRotation() {
|
|||
|
||||
uint8_t version = static_cast<uint8_t>(data[DataView::VERSION[DataView::OFFSET_INDEX]]);
|
||||
uint8_t enabledFlag = static_cast<uint8_t>(data[DataView::ENABLED[DataView::OFFSET_INDEX]]);
|
||||
uint64_t imuDateMs;
|
||||
memcpy(&imuDateMs, data + DataView::IMU_DATE_MS[DataView::OFFSET_INDEX], sizeof(imuDateMs));
|
||||
imuDateMs = qFromLittleEndian(imuDateMs);
|
||||
uint64_t poseDateMs;
|
||||
memcpy(&poseDateMs, data + DataView::POSE_DATE_MS[DataView::OFFSET_INDEX], sizeof(poseDateMs));
|
||||
poseDateMs = qFromLittleEndian(poseDateMs);
|
||||
|
||||
const qint64 currentTimeMs = QDateTime::currentMSecsSinceEpoch();
|
||||
const bool updateConfig = lastConfigUpdate == 0 || currentTimeMs - lastConfigUpdate > 1000;
|
||||
|
|
@ -664,9 +669,9 @@ void BreezyDesktopEffect::updateImuRotation() {
|
|||
lastConfigUpdate = currentTimeMs;
|
||||
}
|
||||
|
||||
const bool validKeepAlive = (currentTimeMs - imuDateMs) < 5000;
|
||||
const bool validKeepAlive = (currentTimeMs - poseDateMs) < 5000;
|
||||
const bool validData = validKeepAlive && m_diagonalFOV != 0.0f;
|
||||
const uint8_t expectedVersion = 4;
|
||||
const uint8_t expectedVersion = 5;
|
||||
bool enabledFlagSet = (enabledFlag != 0);
|
||||
bool validVersion = (version == expectedVersion);
|
||||
const bool wasEnabled = m_enabled;
|
||||
|
|
@ -675,7 +680,7 @@ void BreezyDesktopEffect::updateImuRotation() {
|
|||
// give a grace period after enabling the effect
|
||||
if (wasEnabled && (currentTimeMs - activatedAt > 1000)) {
|
||||
qCCritical(KWIN_XR) << "\t\t\tBreezy - disabling effect; currentTimeMs:" << currentTimeMs
|
||||
<< "imuDateMs:" << imuDateMs
|
||||
<< "poseDateMs:" << poseDateMs
|
||||
<< "enabledFlag:" << enabledFlag
|
||||
<< "version:" << version
|
||||
<< "diagonalFOV:" << m_diagonalFOV;
|
||||
|
|
@ -686,7 +691,7 @@ void BreezyDesktopEffect::updateImuRotation() {
|
|||
}
|
||||
} else if (!wasEnabled) {
|
||||
qCCritical(KWIN_XR) << "\t\t\tBreezy - enabling effect; currentTimeMs:" << currentTimeMs
|
||||
<< "imuDateMs:" << imuDateMs
|
||||
<< "poseDateMs:" << poseDateMs
|
||||
<< "enabledFlag:" << enabledFlag
|
||||
<< "version:" << version
|
||||
<< "diagonalFOV:" << m_diagonalFOV;
|
||||
|
|
@ -698,50 +703,56 @@ void BreezyDesktopEffect::updateImuRotation() {
|
|||
|
||||
if (updateConfig) Q_EMIT devicePropertiesChanged();
|
||||
|
||||
float imuData[4 * DataView::IMU_QUAT_ENTRIES]; // 4 quaternion-sized rows
|
||||
memcpy(imuData, data + DataView::IMU_QUAT_DATA[DataView::OFFSET_INDEX], sizeof(imuData));
|
||||
bool wasImuResetState = m_imuResetState;
|
||||
m_imuResetState = (imuData[0] == 0.0f && imuData[1] == 0.0f && imuData[2] == 0.0f && imuData[3] == 1.0f);
|
||||
if (m_imuResetState != wasImuResetState) {
|
||||
if (m_imuResetState) recenter();
|
||||
Q_EMIT imuResetStateChanged();
|
||||
float posePositionData[3];
|
||||
memcpy(posePositionData, data + DataView::POSE_POSITION_DATA[DataView::OFFSET_INDEX], sizeof(posePositionData));
|
||||
|
||||
// convert NWU to EUS by passing position values: -y, z, -x
|
||||
m_posePosition = QVector3D(-posePositionData[1], posePositionData[2], -posePositionData[0]);
|
||||
|
||||
float poseOrientationData[4 * DataView::POSE_ORIENTATION_ENTRIES]; // 4 quaternion-sized rows
|
||||
memcpy(poseOrientationData, data + DataView::POSE_ORIENTATION_DATA[DataView::OFFSET_INDEX], sizeof(poseOrientationData));
|
||||
bool wasPoseResetState = m_poseResetState;
|
||||
m_poseResetState = (poseOrientationData[0] == 0.0f && poseOrientationData[1] == 0.0f && poseOrientationData[2] == 0.0f && poseOrientationData[3] == 1.0f);
|
||||
if (m_poseResetState != wasPoseResetState) {
|
||||
if (m_poseResetState) recenter();
|
||||
Q_EMIT poseResetStateChanged();
|
||||
}
|
||||
|
||||
// convert NWU to EUS by passing root.rotation values: -y, z, -x
|
||||
QQuaternion quatT0(imuData[3], -imuData[1], imuData[2], -imuData[0]);
|
||||
// convert NWU to EUS by passing orientation values: -y, z, -x
|
||||
QQuaternion quatT0(poseOrientationData[3], -poseOrientationData[1], poseOrientationData[2], -poseOrientationData[0]);
|
||||
|
||||
int imuDataOffset = DataView::IMU_QUAT_ENTRIES;
|
||||
QQuaternion quatT1(imuData[imuDataOffset + 3], -imuData[imuDataOffset + 1], imuData[imuDataOffset + 2], -imuData[imuDataOffset + 0]);
|
||||
int orientationDataOffset = DataView::POSE_ORIENTATION_ENTRIES;
|
||||
QQuaternion quatT1(poseOrientationData[orientationDataOffset + 3], -poseOrientationData[orientationDataOffset + 1], poseOrientationData[orientationDataOffset + 2], -poseOrientationData[orientationDataOffset + 0]);
|
||||
|
||||
imuDataOffset += DataView::IMU_QUAT_ENTRIES;
|
||||
orientationDataOffset += DataView::POSE_ORIENTATION_ENTRIES;
|
||||
|
||||
// skip the 3rd quaternion
|
||||
imuDataOffset += DataView::IMU_QUAT_ENTRIES;
|
||||
orientationDataOffset += DataView::POSE_ORIENTATION_ENTRIES;
|
||||
|
||||
// set imuRotations to the last two rotations, leave out the elapsed time
|
||||
m_imuRotations.clear();
|
||||
m_imuRotations.append(quatT0);
|
||||
m_imuRotations.append(quatT1);
|
||||
// set poseOrientations to the last two rotations, leave out the elapsed time
|
||||
m_poseOrientations.clear();
|
||||
m_poseOrientations.append(quatT0);
|
||||
m_poseOrientations.append(quatT1);
|
||||
|
||||
// 4th row isn't actually a quaternion, it contains the timestamps for each of the 3 quaternions
|
||||
// elapsed time between T0 and T1 is: imuData[0] - imuData[1]
|
||||
m_imuTimeElapsedMs = static_cast<quint32>(imuData[imuDataOffset + 0] - imuData[imuDataOffset + 1]);
|
||||
// elapsed time between T0 and T1 is: poseOrientationData[0] - poseOrientationData[1]
|
||||
m_poseTimeElapsedMs = static_cast<quint32>(poseOrientationData[orientationDataOffset + 0] - poseOrientationData[orientationDataOffset + 1]);
|
||||
|
||||
m_imuTimestamp = imuDateMs;
|
||||
m_poseTimestamp = poseDateMs;
|
||||
|
||||
float originData[4 * DataView::IMU_QUAT_ENTRIES]; // 4 quaternion-sized rows
|
||||
float originData[4 * DataView::POSE_ORIENTATION_ENTRIES]; // 4 quaternion-sized rows
|
||||
memcpy(originData, data + DataView::SMOOTH_FOLLOW_ORIGIN_DATA[DataView::OFFSET_INDEX], sizeof(originData));
|
||||
|
||||
// convert NWU to EUS by passing root.rotation values: -y, z, -x
|
||||
QQuaternion sfQuatT0(originData[3], -originData[1], originData[2], -originData[0]);
|
||||
|
||||
int originDataOffset = DataView::IMU_QUAT_ENTRIES;
|
||||
int originDataOffset = DataView::POSE_ORIENTATION_ENTRIES;
|
||||
QQuaternion sfQuatT1(originData[originDataOffset + 3], -originData[originDataOffset + 1], originData[originDataOffset + 2], -originData[originDataOffset + 0]);
|
||||
|
||||
originDataOffset += DataView::IMU_QUAT_ENTRIES;
|
||||
originDataOffset += DataView::POSE_ORIENTATION_ENTRIES;
|
||||
|
||||
// skip the 3rd quaternion
|
||||
originDataOffset += DataView::IMU_QUAT_ENTRIES;
|
||||
originDataOffset += DataView::POSE_ORIENTATION_ENTRIES;
|
||||
|
||||
// set smoothFollowOrigin to the last two rotations, leave out the elapsed time
|
||||
m_smoothFollowOrigin.clear();
|
||||
|
|
@ -878,9 +889,9 @@ void BreezyDesktopEffect::evaluateCursorOnScreenState(const QPointF &prevPos, co
|
|||
const bool onScreen =
|
||||
m_effectOnScreenExpandedGeometry.contains(newPos.toPoint()) ||
|
||||
m_effectOnScreenExpandedGeometry.contains(predicted.toPoint());
|
||||
if (m_enabled && !m_imuResetState && !m_cursorHidden && onScreen) {
|
||||
if (m_enabled && !m_poseResetState && !m_cursorHidden && onScreen) {
|
||||
hideCursor();
|
||||
} else if (m_cursorHidden && (!m_enabled || m_imuResetState || !onScreen)) {
|
||||
} else if (m_cursorHidden && (!m_enabled || m_poseResetState || !onScreen)) {
|
||||
showCursor();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -24,10 +24,11 @@ namespace KWin
|
|||
Q_PROPERTY(int effectTargetScreenIndex READ effectTargetScreenIndex WRITE setEffectTargetScreenIndex)
|
||||
Q_PROPERTY(bool zoomOnFocusEnabled READ isZoomOnFocusEnabled WRITE setZoomOnFocusEnabled NOTIFY zoomOnFocusChanged)
|
||||
Q_PROPERTY(int lookingAtScreenIndex READ lookingAtScreenIndex WRITE setLookingAtScreenIndex)
|
||||
Q_PROPERTY(bool imuResetState READ imuResetState NOTIFY imuResetStateChanged)
|
||||
Q_PROPERTY(QList<QQuaternion> imuRotations READ imuRotations)
|
||||
Q_PROPERTY(quint32 imuTimeElapsedMs READ imuTimeElapsedMs)
|
||||
Q_PROPERTY(quint64 imuTimestamp READ imuTimestamp)
|
||||
Q_PROPERTY(bool poseResetState READ poseResetState NOTIFY poseResetStateChanged)
|
||||
Q_PROPERTY(QList<QQuaternion> poseOrientations READ poseOrientations)
|
||||
Q_PROPERTY(QVector3D posePosition READ posePosition)
|
||||
Q_PROPERTY(quint32 poseTimeElapsedMs READ poseTimeElapsedMs)
|
||||
Q_PROPERTY(quint64 poseTimestamp READ poseTimestamp)
|
||||
Q_PROPERTY(QString cursorImageSource READ cursorImageSource NOTIFY cursorImageSourceChanged)
|
||||
Q_PROPERTY(QSize cursorImageSize READ cursorImageSize NOTIFY cursorImageSourceChanged)
|
||||
Q_PROPERTY(QPointF cursorPos READ cursorPos NOTIFY cursorPosChanged)
|
||||
|
|
@ -73,10 +74,11 @@ namespace KWin
|
|||
void setZoomOnFocusEnabled(bool enabled);
|
||||
int lookingAtScreenIndex() const { return m_lookingAtScreenIndex; }
|
||||
void setLookingAtScreenIndex(int index);
|
||||
QList<QQuaternion> imuRotations() const;
|
||||
quint32 imuTimeElapsedMs() const;
|
||||
quint64 imuTimestamp() const;
|
||||
bool imuResetState() const;
|
||||
QList<QQuaternion> poseOrientations() const;
|
||||
QVector3D posePosition() const;
|
||||
quint32 poseTimeElapsedMs() const;
|
||||
quint64 poseTimestamp() const;
|
||||
bool poseResetState() const;
|
||||
QList<qreal> lookAheadConfig() const;
|
||||
qreal lookAheadOverride() const;
|
||||
void setLookAheadOverride(qreal override);
|
||||
|
|
@ -112,7 +114,7 @@ namespace KWin
|
|||
void disableDriver();
|
||||
void toggle();
|
||||
void addVirtualDisplay(QSize size);
|
||||
void updateImuRotation();
|
||||
void updatePoseOrientation();
|
||||
void updateCursorImage();
|
||||
void updateCursorPos();
|
||||
QVariantList listVirtualDisplays() const;
|
||||
|
|
@ -129,7 +131,7 @@ namespace KWin
|
|||
void displayWrappingSchemeChanged();
|
||||
void enabledStateChanged();
|
||||
void zoomOnFocusChanged();
|
||||
void imuResetStateChanged();
|
||||
void poseResetStateChanged();
|
||||
void sbsEnabledChanged();
|
||||
void smoothFollowEnabledChanged();
|
||||
void devicePropertiesChanged();
|
||||
|
|
@ -165,10 +167,11 @@ namespace KWin
|
|||
bool m_zoomOnFocusEnabled = false;
|
||||
int m_lookingAtScreenIndex = -1;
|
||||
int m_effectTargetScreenIndex = -1;
|
||||
bool m_imuResetState;
|
||||
QList<QQuaternion> m_imuRotations;
|
||||
quint32 m_imuTimeElapsedMs;
|
||||
quint64 m_imuTimestamp = 0;
|
||||
bool m_poseResetState;
|
||||
QList<QQuaternion> m_poseOrientations;
|
||||
QVector3D m_posePosition;
|
||||
quint32 m_poseTimeElapsedMs;
|
||||
quint64 m_poseTimestamp = 0;
|
||||
QList<qreal> m_lookAheadConfig;
|
||||
qreal m_lookAheadOverride = -1.0; // -1 = use device default
|
||||
QList<quint32> m_displayResolution;
|
||||
|
|
@ -183,8 +186,8 @@ namespace KWin
|
|||
bool m_cursorHidden = false;
|
||||
QPointF m_cursorPos;
|
||||
QTimer *m_cursorUpdateTimer = nullptr;
|
||||
QTimer *m_imuWatchdogTimer = nullptr;
|
||||
std::atomic<bool> m_imuUpdateInProgress{false};
|
||||
QTimer *m_watchdogTimer = nullptr;
|
||||
std::atomic<bool> m_poseUpdateInProgress{false};
|
||||
qreal m_focusedDisplayDistance = 0.85;
|
||||
qreal m_allDisplaysDistance = 1.05;
|
||||
qreal m_displaySpacing = 0.0;
|
||||
|
|
|
|||
|
|
@ -26,11 +26,11 @@ Node {
|
|||
}
|
||||
|
||||
function updateFocus(smoothFollowEnabledChanged = false) {
|
||||
const rotations = smoothFollowEnabled ? effect.smoothFollowOrigin : effect.imuRotations;
|
||||
if (rotations && rotations.length > 0) {
|
||||
const orientations = smoothFollowEnabled ? effect.smoothFollowOrigin : effect.poseOrientations;
|
||||
if (orientations && orientations.length > 0) {
|
||||
let focusedIndex = -1;
|
||||
const lookingAtIndex = displays.findFocusedMonitor(
|
||||
displays.eusToNwuQuat(rotations[0]),
|
||||
displays.eusToNwuQuat(orientations[0]),
|
||||
breezyDesktop.monitorPlacements.map(monitorVectors => monitorVectors.centerLook),
|
||||
breezyDesktop.focusedMonitorIndex,
|
||||
smoothFollowEnabled,
|
||||
|
|
@ -120,10 +120,10 @@ Node {
|
|||
}
|
||||
|
||||
// smoothFollowOrigin is the rotation away from the original placement of the displays
|
||||
// imuRotations is the smooth follow rotation relative to the camera (very near an identity quat)
|
||||
// poseOrientations is the smooth follow rotation relative to the camera (very near an identity quat)
|
||||
// subtract the latter from the former to get the complete rotation
|
||||
function smoothFollowQuat() {
|
||||
return effect.smoothFollowOrigin[0].times(effect.imuRotations[0].conjugated());
|
||||
return effect.smoothFollowOrigin[0].times(effect.poseOrientations[0].conjugated());
|
||||
}
|
||||
|
||||
function displaySmoothFollowVector(display, smoothFollowRotation) {
|
||||
|
|
@ -192,9 +192,9 @@ Node {
|
|||
}
|
||||
}
|
||||
|
||||
// smoothFollowEnabled gets cleared before the IMU begins slerping back to the origin so we can't just
|
||||
// smoothFollowEnabled gets cleared before the orientation begins slerping back to the origin so we can't just
|
||||
// switch off smooth follow logic based on this flag. Instead, we have to rely on
|
||||
// smoothFollowTransitionProgress to determine how much of the IMU positions to apply.
|
||||
// smoothFollowTransitionProgress to determine how much of the orientations to apply.
|
||||
onSmoothFollowEnabledChanged: {
|
||||
updateFocus(true);
|
||||
}
|
||||
|
|
@ -218,7 +218,7 @@ Node {
|
|||
|
||||
// When smooth follow is running, we're updating the position of the display manually
|
||||
// on every frame (avoid binding to a function that uses non-notify effect properties
|
||||
// imuRotations and smoothFollowOrigin).
|
||||
// poseOrientations and smoothFollowOrigin).
|
||||
focusedDisplay.position = displayPosition(focusedDisplay, smoothFollowRotation);
|
||||
} else {
|
||||
focusedDisplay.rotation = Qt.quaternion(1, 0, 0, 0);
|
||||
|
|
|
|||
|
|
@ -22,17 +22,17 @@ Item {
|
|||
aspectRatio
|
||||
);
|
||||
|
||||
// if true, then smoothFollowEnabled just cleared and the IMU data is slerping back,
|
||||
// if true, then smoothFollowEnabled just cleared and the orientation data is slerping back,
|
||||
// continue to use the origin data for the duration of the Timer
|
||||
property bool smoothFollowDisabling: false
|
||||
|
||||
property real clipNear: 10.0
|
||||
property real clipFar: 10000.0
|
||||
|
||||
function ratesOfChange(rotations) {
|
||||
const e0 = rotations[0].toEulerAngles();
|
||||
const e1 = rotations[1].toEulerAngles();
|
||||
const dt = effect.imuTimeElapsedMs;
|
||||
function ratesOfChange(orientations) {
|
||||
const e0 = orientations[0].toEulerAngles();
|
||||
const e1 = orientations[1].toEulerAngles();
|
||||
const dt = effect.poseTimeElapsedMs;
|
||||
const yawDegrees = (e0.y - e1.y) / dt;
|
||||
const pitchDegrees = (e0.x - e1.x) / dt;
|
||||
const rollDegrees = (e0.z - e1.z) / dt;
|
||||
|
|
@ -49,22 +49,22 @@ Item {
|
|||
};
|
||||
}
|
||||
|
||||
function updateCamera(rotations, rates) {
|
||||
function updateCamera(orientations, position, rates) {
|
||||
camera.eulerRotation = applyLookAhead(
|
||||
rates,
|
||||
lookAheadMS(
|
||||
effect.imuTimestamp,
|
||||
effect.poseTimestamp,
|
||||
effect.lookAheadConfig,
|
||||
effect.lookAheadOverride
|
||||
)
|
||||
);
|
||||
camera.position = rotations[0].times(Qt.vector3d(0, 0, -fovDetails.lensDistancePixels));
|
||||
camera.position = position.times(fovDetails.completeScreenDistancePixels).plus(orientations[0].times(Qt.vector3d(0, 0, -fovDetails.lensDistancePixels)));
|
||||
}
|
||||
|
||||
// how far to look ahead is how old the IMU data is plus a constant that is either the default for this device or an override
|
||||
function lookAheadMS(imuDateMs, lookAheadConfig, override) {
|
||||
// how stale the imu data is
|
||||
const dataAge = Date.now() - imuDateMs;
|
||||
// how far to look ahead is how old the pose data is plus a constant that is either the default for this device or an override
|
||||
function lookAheadMS(poseDateMs, lookAheadConfig, override) {
|
||||
// how stale the pose data is
|
||||
const dataAge = Date.now() - poseDateMs;
|
||||
|
||||
const lookAheadConstant = lookAheadConfig[0];
|
||||
const lookAheadMultiplier = lookAheadConfig[1];
|
||||
|
|
@ -148,10 +148,10 @@ Item {
|
|||
FrameAnimation {
|
||||
running: true
|
||||
onTriggered: {
|
||||
const rotations = (effect.smoothFollowEnabled || smoothFollowDisabling) ? effect.smoothFollowOrigin : effect.imuRotations;
|
||||
if (rotations && rotations.length > 0) {
|
||||
const rates = ratesOfChange(rotations);
|
||||
updateCamera(rotations, rates);
|
||||
const orientations = (effect.smoothFollowEnabled || smoothFollowDisabling) ? effect.smoothFollowOrigin : effect.poseOrientations;
|
||||
if (orientations && orientations.length > 0) {
|
||||
const rates = ratesOfChange(orientations);
|
||||
updateCamera(orientations, effect.posePosition, rates);
|
||||
applyRollingShutterShear(rates);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -93,14 +93,14 @@ Item {
|
|||
|
||||
property bool targetScreenSupported: supportedModels.some(model => root.targetScreen.model.includes(model))
|
||||
property bool targetScreenIsVirtual: targetScreen.name.includes("BreezyDesktop")
|
||||
property bool imuResetState: effect.imuResetState
|
||||
property bool poseResetState: effect.poseResetState
|
||||
property bool isEnabled: effect.isEnabled
|
||||
|
||||
Component {
|
||||
id: desktopViewComponent
|
||||
SingleDesktopView {
|
||||
supportsXR: targetScreenSupported
|
||||
showCalibratingBanner: isEnabled && imuResetState
|
||||
showCalibratingBanner: isEnabled && poseResetState
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -141,8 +141,8 @@ Item {
|
|||
}
|
||||
|
||||
function checkLoadedComponent() {
|
||||
console.log(`Breezy - checking screen ${targetScreen.model}: ${targetScreenSupported} ${targetScreenIsVirtual} ${isEnabled} ${imuResetState}`);
|
||||
const show3DView = targetScreenSupported && isEnabled && !imuResetState;
|
||||
console.log(`Breezy - checking screen ${targetScreen.model}: ${targetScreenSupported} ${targetScreenIsVirtual} ${isEnabled} ${poseResetState}`);
|
||||
const show3DView = targetScreenSupported && isEnabled && !poseResetState;
|
||||
if (!targetScreenIsVirtual) viewLoader.sourceComponent = show3DView ? view3DComponent : desktopViewComponent;
|
||||
if (targetScreenSupported) effect.effectTargetScreenIndex = KWinComponents.Workspace.screens.indexOf(targetScreen);
|
||||
}
|
||||
|
|
@ -151,7 +151,7 @@ Item {
|
|||
checkLoadedComponent();
|
||||
}
|
||||
|
||||
onImuResetStateChanged: {
|
||||
onPoseResetStateChanged: {
|
||||
checkLoadedComponent();
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
Subproject commit 3bab088768849a3068146586fed60ef0cc7d506d
|
||||
Subproject commit 6432928fe013298b82ce69f466cef615d3aad0dd
|
||||
|
|
@ -1 +1 @@
|
|||
Subproject commit 712497b4795dbcbaa4c6fdb60a82144cfde26086
|
||||
Subproject commit 40326b9ec0266352f24500f47693c06f39832509
|
||||
|
|
@ -1 +1 @@
|
|||
Subproject commit 0eb04ff4429ce7a025f126843cd0d3b24bc0d73e
|
||||
Subproject commit da173bd9e0392aaeb2cb68a332e5d4a20dd4dae1
|
||||
Loading…
Reference in New Issue