fix: send full view config to openvr

alvr/client_core/src/lib.rs

@@ -217,8 +217,8 @@ impl ClientCoreContext {
         if let Some(sender) = &mut *self.connection_context.control_sender.lock() {
             sender
                 .send(&ClientControlPacket::ViewsConfig(ViewsConfig {
+                    pose: [views[0].pose, views[1].pose],
                     fov: [views[0].fov, views[1].fov],
-                    ipd_m: (views[0].pose.position - views[1].pose.position).length(),
                 }))
                 .ok();
         }

alvr/packets/src/lib.rs

@@ -216,8 +216,7 @@ pub enum ServerControlPacket {
 
 #[derive(Serialize, Deserialize, Clone)]
 pub struct ViewsConfig {
-    // Note: the head-to-eye transform is always a translation along the x axis
-    pub ipd_m: f32,
+    pub pose: [Pose; 2],
     pub fov: [Fov; 2],
 }
 

alvr/server_core/src/connection.rs

@@ -10,12 +10,12 @@ use crate::{
 use alvr_adb::{WiredConnection, WiredConnectionStatus};
 use alvr_common::{
     con_bail, dbg_connection, debug, error,
-    glam::{Quat, UVec2, Vec2, Vec3},
+    glam::{UVec2, Vec2},
     info,
     parking_lot::{Condvar, Mutex, RwLock},
     settings_schema::Switch,
-    warn, AnyhowToCon, ConResult, ConnectionError, ConnectionState, LifecycleState, Pose,
-    BUTTON_INFO, CONTROLLER_PROFILE_INFO, QUEST_CONTROLLER_PROFILE_PATH,
+    warn, AnyhowToCon, ConResult, ConnectionError, ConnectionState, LifecycleState, BUTTON_INFO,
+    CONTROLLER_PROFILE_INFO, QUEST_CONTROLLER_PROFILE_PATH,
 };
 use alvr_events::{AdbEvent, ButtonEvent, EventType};
 use alvr_packets::{
@@ -1214,16 +1214,7 @@ fn connection_pipeline(
                     ClientControlPacket::ViewsConfig(config) => {
                         ctx.events_sender
                             .send(ServerCoreEvent::ViewsConfig(ViewsConfig {
-                                local_view_transforms: [
-                                    Pose {
-                                        position: Vec3::new(-config.ipd_m / 2., 0., 0.),
-                                        orientation: Quat::IDENTITY,
-                                    },
-                                    Pose {
-                                        position: Vec3::new(config.ipd_m / 2., 0., 0.),
-                                        orientation: Quat::IDENTITY,
-                                    },
-                                ],
+                                local_view_transforms: config.pose,
                                 fov: config.fov,
                             }))
                             .ok();

alvr/server_openvr/cpp/alvr_server/HMD.cpp

@@ -18,9 +18,6 @@
 #include "platform/linux/CEncoder.h"
 #endif
 
-const vr::HmdMatrix34_t MATRIX_IDENTITY
-    = { { { 1.0, 0.0, 0.0, 0.0 }, { 0.0, 1.0, 0.0, 0.0 }, { 0.0, 0.0, 1.0, 0.0 } } };
-
 vr::HmdRect2_t fov_to_projection(FfiFov fov) {
     auto proj_bounds = vr::HmdRect2_t {};
     proj_bounds.vTopLeft.v[0] = tanf(fov.left);
@@ -31,6 +28,17 @@ vr::HmdRect2_t fov_to_projection(FfiFov fov) {
     return proj_bounds;
 }
 
+vr::HmdMatrix34_t pose_to_transform(FfiPose pose) {
+    vr::HmdMatrix34_t transform;
+    HmdMatrix_QuatToMat(
+        pose.orientation.w, pose.orientation.x, pose.orientation.y, pose.orientation.z, &transform
+    );
+    transform.m[0][3] = pose.position[0];
+    transform.m[1][3] = pose.position[1];
+    transform.m[2][3] = pose.position[2];
+    return transform;
+}
+
 Hmd::Hmd()
     : TrackedDevice(
           HEAD_ID,
@@ -42,11 +50,13 @@ Hmd::Hmd()
     Debug("Hmd::constructor");
 
     auto dummy_fov = FfiFov { -1.0, 1.0, 1.0, -1.0 };
+    auto identity_pose = FfiPose { { 0, 0, 0, 1 }, { 0, 0, 0 } };
 
     this->views_config = FfiViewsConfig {};
-    this->views_config.ipd_m = 0.063;
     this->views_config.fov[0] = dummy_fov;
     this->views_config.fov[1] = dummy_fov;
+    this->views_config.pose[0] = identity_pose;
+    this->views_config.pose[1] = identity_pose;
 
     m_poseHistory = std::make_shared<PoseHistory>();
 
@@ -286,10 +296,9 @@ void Hmd::SetViewsConfig(FfiViewsConfig config) {
     // The OpenXR spec defines the HMD position as the midpoint
     // between the eyes, so conversion to this is handled by the
     // client.
-    auto left_transform = MATRIX_IDENTITY;
-    left_transform.m[0][3] = -config.ipd_m / 2.0;
-    auto right_transform = MATRIX_IDENTITY;
-    right_transform.m[0][3] = config.ipd_m / 2.0;
+    auto left_transform = pose_to_transform(config.pose[0]);
+    auto right_transform = pose_to_transform(config.pose[1]);
+
     vr::VRServerDriverHost()->SetDisplayEyeToHead(object_id, left_transform, right_transform);
 
     auto left_proj = fov_to_projection(config.fov[0]);

alvr/server_openvr/cpp/alvr_server/bindings.h

@@ -14,6 +14,11 @@ struct FfiQuat {
     float w;
 };
 
+struct FfiPose {
+    FfiQuat orientation;
+    float position[3];
+};
+
 struct FfiHandSkeleton {
     float jointPositions[31][3];
     FfiQuat jointRotations[31];
@@ -62,7 +67,7 @@ struct FfiOpenvrProperty {
 
 struct FfiViewsConfig {
     FfiFov fov[2];
-    float ipd_m;
+    FfiPose pose[2];
 };
 
 enum FfiButtonType {

alvr/server_openvr/src/lib.rs

@@ -84,9 +84,20 @@ fn event_loop(events_receiver: mpsc::Receiver<ServerCoreEvent>) {
                                 down: config.fov[1].down,
                             },
                         ],
-                        // todo: send full matrix to steamvr
-                        ipd_m: config.local_view_transforms[1].position.x
-                            - config.local_view_transforms[0].position.x,
+                        pose: [
+                            FfiPose {
+                                orientation: tracking::to_ffi_quat(
+                                    config.local_view_transforms[0].orientation,
+                                ),
+                                position: config.local_view_transforms[0].position.to_array(),
+                            },
+                            FfiPose {
+                                orientation: tracking::to_ffi_quat(
+                                    config.local_view_transforms[1].orientation,
+                                ),
+                                position: config.local_view_transforms[1].position.to_array(),
+                            },
+                        ],
                     });
                 },
                 ServerCoreEvent::Tracking { sample_timestamp } => {

alvr/server_openvr/src/tracking.rs

@@ -26,7 +26,7 @@ pub static BODY_TRACKER_IDS: Lazy<[u64; 8]> = Lazy::new(|| {
     ]
 });
 
-fn to_ffi_quat(quat: Quat) -> FfiQuat {
+pub fn to_ffi_quat(quat: Quat) -> FfiQuat {
     FfiQuat {
         x: quat.x,
         y: quat.y,