fix 360 goto /set home 2

Author: di57mec

app/src/main/cpp/Other/MatricesManager.cpp

@@ -30,8 +30,9 @@ void MatricesManager::calculateProjectionAndDefaultView(float fov, float ratio)
 
 void MatricesManager::calculateProjectionAndDefaultView360(float fov360Video,float ratio) {
     worldMatrices.projection360=glm::perspective(glm::radians(fov360Video), ratio, 0.1f, MAX_Z_DISTANCE+5);
-    worldMatrices.monoViewTracked360=glm::mat4();
-    worldMatrices.monoForward360=glm::mat4();
+    worldMatrices.monoViewTracked360=glm::mat4(1.0f);
+    worldMatrices.monoForward360=glm::mat4(1.0f);
+    //worldMatrices.monoForward360 = glm::rotate(glm::mat4(1.0f),glm::radians(90.0f), glm::vec3(0,1,0));
 }
 
 void MatricesManager::calculateNewHeadPoseIfNeeded(gvr::GvrApi *gvr_api, const int predictMS) {
@@ -63,24 +64,23 @@ void MatricesManager::calculateNewHeadPose360(gvr::GvrApi *gvr_api, const int pr
     gvr::ClockTimePoint target_time = gvr::GvrApi::GetTimePointNow();
     target_time.monotonic_system_time_nanos+=predictMS*NANO_TO_MS;
     gvr::Mat4f tmpHeadPose = gvr_api->GetHeadSpaceFromStartSpaceRotation(target_time); //we only want rotation, screw the mirage solo
-    tmpHeadPose = MatrixMul(worldMatrices.monoForward360, tmpHeadPose);
-    //gvr_api->ApplyNeckModel(tmpHeadPose,1);
-    worldMatrices.monoViewTracked360=toGLM(tmpHeadPose);
+    gvr_api->ApplyNeckModel(tmpHeadPose,1);
+    const glm::mat4 tmpHeadPoseGLM=toGLM(tmpHeadPose);
+    worldMatrices.monoViewTracked360=tmpHeadPoseGLM*worldMatrices.monoForward360; //multiplication order is important
 }
 
 void MatricesManager::setHomeOrientation360(gvr::GvrApi *gvr_api) {
-    // Get the current start->head transformation
     gvr::Mat4f tmpHeadPose=gvr_api->GetHeadSpaceFromStartSpaceRotation(gvr::GvrApi::GetTimePointNow());
-    //gvr_api->ApplyNeckModel(tmpHeadPose,1); We do not want to apply the neck model here,else the world shifts
+    gvr_api->ApplyNeckModel(tmpHeadPose,1);
     glm::mat4 headView=toGLM(tmpHeadPose);
-    headView=glm::toMat4(glm::quat_cast(headView));
+    //headView=glm::toMat4(glm::quat_cast(headView));
     worldMatrices.monoForward360=worldMatrices.monoForward360*headView;
+    //Reset tracking resets the rotation around the y axis, leaving everything else untouched
     gvr_api->RecenterTracking();
 }
 
 /*if(TEST()){
        LOGD("SUCCESS");
    }else{
        LOGD("FAIL");
-   }*/
-//Reset tracking resets the rotation around the y axis, leaving everything else untouched
+   }*/

app/src/main/cpp/Other/MatrixHelper.h

@@ -7,12 +7,7 @@
 
 #include "vr/gvr/capi/include/gvr.h"
 #include "vr/gvr/capi/include/gvr_types.h"
-
-#include <glm/glm.hpp>
-#include <glm/gtc/matrix_transform.hpp>
-#include <glm/gtc/quaternion.hpp>
-#include <glm/ext.hpp>
-#include <glm/gtx/matrix_decompose.hpp>
+#include "include_glm.h"
 #include <sstream>
 
 
@@ -23,7 +18,7 @@
 //2)glm matrices are stored in column major order (glm manual,section 4.11), as well as OpenGL matrices
 
 static glm::mat4 toGLM(const gvr::Mat4f &gvrMatrix){
-    glm::mat4x4 ret=glm::make_mat4(reinterpret_cast<const float*>(&gvrMatrix.m));
+    glm::mat4 ret=glm::make_mat4(reinterpret_cast<const float*>(&gvrMatrix.m));
     ret=glm::transpose(ret);
     return ret;
 }
@@ -35,7 +30,7 @@ static gvr::Mat4f toGVR(const glm::mat4 &glmMatrix){
     return ret;
 }
 
-static gvr::Mat4f MatrixMul(const glm::mat4x4 &m1, const gvr::Mat4f &m2){
+static gvr::Mat4f MatrixMul(const glm::mat4 &m1, const gvr::Mat4f &m2){
     glm::mat4 m2AsGLM=toGLM(m2);
     return toGVR(m1*m2AsGLM);
 }
@@ -84,11 +79,11 @@ static glm::mat4 removeRotationAroundSpecificAxes(const glm::mat4 mat,const bool
         euler.z=0;
     }
     glm::quat quat=glm::quat(euler);
-    glm::mat4x4 RotationMatrix = glm::toMat4(quat);
+    glm::mat4 RotationMatrix = glm::toMat4(quat);
     return mat*RotationMatrix;
 }
 
-static const std::string toString(const glm::mat4x4 matrix){
+static const std::string toString(const glm::mat4 matrix){
     std::stringstream ss;
     ss<<"\n";
     for (int i = 0; i < 4; ++i) {

app/src/main/cpp/Other/include_glm.h

@@ -0,0 +1,15 @@
+//
+// Created by Consti10 on 21/09/2019.
+//
+
+#ifndef FPV_VR_2018_INCLUDE_GLM_H
+#define FPV_VR_2018_INCLUDE_GLM_H
+
+#include <glm/glm.hpp>
+#include <glm/gtc/matrix_transform.hpp>
+#include <glm/gtc/quaternion.hpp>
+//#include <glm/gtx/quaternion.hpp>
+#include <glm/ext.hpp>
+#include <glm/gtx/matrix_decompose.hpp>
+
+#endif //FPV_VR_2018_INCLUDE_GLM_H