mat4 methods

[lightmap]

Hello

trying to use controller to rotate player camera

		// get head position in world coords
		Player player = engine.game.getPlayer();
		Mat4 player_transform = player.getWorldTransform();
		Mat4 hmd_transform = engine.oculus.getDevicePose(OCULUS_DEVICE_HMD);
		Mat4 hmd_transform_world = player_transform * hmd_transform;

			quat i_rotation = player.getWorldRotation();//(1) woking - but no hmd transform 
			//i_rotation = rotation(hmd_transform_world); (2) - not working - and controllers go unresponsible
			//i_rotation = hmd_transform_world;//		  (3) - nothing
			i_rotation = quat(vec3(1, 0, 0), R_thumb.y) * conjugate(i_rotation) * quat(vec3(0, 0, 1), -R_thumb.x);// apply delta pitch/yaw
			quat camera_rotation = conjugate(i_rotation);

		player.setWorldRotation(camera_rotation);

with (1) pitch/yaw changing are working - but rotating around wrong axis if hmd rotated

with (2) or (3) nothing happening - no errors, no controller responces, no vibratiion at button pressing (

how to account hmd rotation matrix for quat axis rotation?

do I incorrectly assign mat4 to quat?

also there no .getRight() .getForward() ... methods in uscript? (

[alexander]

Hi!
 

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but rotating around wrong axis if hmd rotated

First of all, you should rotate player's camera around HMD position (hmd_transform_world.getTranslate()), not Player's position (player_transform.getTranslate()).
Look at our Superposition demo (i changed code to you variables):

quat rot = quat(0, 0, R_thumb.x * 75.0f * Game::get()->getIFps()); // 75 - degress per second at maximum value of R_thumb.x
vec3 offset0 = hmd_transform_world.getTranslate() - player_transform.getTranslate();
vec3 offset1 = rot * offset0;
player->setPosition(player->getPosition() + offset0 - offset1);
player->setRotation(rot * player->getRotation());

 

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do I incorrectly assign mat4 to quat?

I think yes. But you can use explicit quat constructor to it: i_rotation = quat(hmd_transform_world);

 

Quote

also there no .getRight() .getForward() ... methods in uscript? (

Unfortunately, no. But you can use Swizzling in UScript:
getRight() equals to transform.col03;
getForward() equals to transform.col13;
getUp() equals to transform.col23;

 

Best regards,
Alexander

[lightmap]

Thank you Alexander, for detailed answer

in your example (and in demos\superposition_demo_windows_2.5\source\PlayerVRBase.cpp) - as I can see - only yaw rotation (no pitch trough quat)

"but rotating around wrong axis if hmd rotated" related mostly to pitch rotation (I'm was not exact in 0th post)

assuming getTranstation() equals to transform.col33;

and reusing code from your post with change from yaw to pitch only

	//quat rot = quat(0, 0, R_thumb.x * 75.0f * engine.game.getIFps()); // yaw 75 - degress per second at maximum value of R_thumb.x
	quat rot = quat(R_thumb.y * 75.0f * engine.game.getIFps(), 0, 0); // pitch 75 - degress per second at maximum value of R_thumb.y

	vec3 offset0 = hmd_transform_world.col33 - player_transform.col33;
	vec3 offset1 = rot * offset0;
	player.setPosition(player.getPosition() + offset0 - offset1);
	
	//player.setRotation( rot * player.getRotation() );// behaves as roll
	player.setRotation( player.getRotation() * rot );// behaves as pitch, but after hmd.yaw rotation by +-90deg it becomes roll

still same wrong pitch(https://en.wikipedia.org/wiki/Aircraft_principal_axes) rotation if hmd rotated,

[lightmap]

I think I miss something else: I can't revert HMD rotations (as it always applyed somewere, don't know where hmd.transform automaticly applyed when it turned on)

Mat4 player_transform = player.getWorldTransform();
Mat4 hmd_transform = engine.oculus.getDevicePose(OCULUS_DEVICE_HMD);
//player.setRotation(conjugate(quat(hmd_transform))*quat(player_transform));// almost same incriment rotation of player.camera when HMD is on
player.setRotation(quat(player_transform)*conjugate(quat(hmd_transform)));

I'm expected with this code to get static camera rotation(compensate back HMD rotation),

but instead camera rotates with incriment of HMD rotation ... ?

[alexander]

but instead camera rotates with incriment of HMD rotation ... ?
Very strange.
Player has some parent node? You get world rotation (getWorldTransform()), but set local rotation (setRotation instead of setWorldRotation). Try to use player.setWorldRotation.
What if "conjugate" change to "inverse"?

"but rotating around wrong axis if hmd rotated" related mostly to pitch rotation
What type of movement control do you want to implement? Like Aircraft / Space sim? Not like FPS game? When pitch is not equals to 0 and you move forward, player will take off ground (or falling)? Not staying on the ground (XY plane)?

[lightmap]

Player nave no parent nodes - default setup

movement type FPS like space/swim - no gravity

inverse - mat4 only https://developer.unigine.com/en/docs/2.5/api/library/math/math.matrix?rlang=cpp&words=inverse%2Cinvers#inverse_constdmat4n

conjugate - quat only (conjugate == inverse - if only rotations) in uscript "inverse(quat(hmd_transform))" give no errors ....

Edited September 8, 2017 by lightmap

[alexander]

Hi, Lightmap!
 

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inverse - mat4 only https://developer.unigine.com/en/docs/2.5/api/library/math/math.matrix?rlang=cpp&words=inverse%2Cinvers#inverse_constdmat4n

conjugate - quat only (conjugate == inverse - if only rotations) in uscript "inverse(quat(hmd_transform))" give no errors ....

Oops. Thank you for finding error in our documentation. Inverse can work with mat4, dmat4 and quat.

At the moment I can't solve your problem. But, I will try to solve it at the end of the week, when I will make a new VR Template for SDK. If you don't finish with it before - watch this topic.
 

Best regards,
Alexander