feat(common): ✨ Add Pose * DeviceMotion operator (#2574)

alvr-org · Dec 15, 2024 · 84620f4 · 84620f4
1 parent f79f8ca
commit 84620f4
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Showing 2 changed files with 13 additions and 5 deletions.
diff --git a/alvr/common/src/primitives.rs b/alvr/common/src/primitives.rs
@@ -55,3 +55,15 @@ pub struct DeviceMotion {
     pub linear_velocity: Vec3,
     pub angular_velocity: Vec3,
 }
+
+impl Mul<DeviceMotion> for Pose {
+    type Output = DeviceMotion;
+
+    fn mul(self, rhs: DeviceMotion) -> DeviceMotion {
+        DeviceMotion {
+            pose: self * rhs.pose,
+            linear_velocity: self.orientation * rhs.linear_velocity,
+            angular_velocity: self.orientation * rhs.angular_velocity,
+        }
+    }
+}
diff --git a/alvr/server_core/src/tracking/mod.rs b/alvr/server_core/src/tracking/mod.rs
@@ -115,11 +115,7 @@ impl TrackingManager {
     }
 
     pub fn recenter_motion(&self, motion: DeviceMotion) -> DeviceMotion {
-        DeviceMotion {
-            pose: self.recenter_pose(motion.pose),
-            linear_velocity: self.inverse_recentering_origin.orientation * motion.linear_velocity,
-            angular_velocity: self.inverse_recentering_origin.orientation * motion.angular_velocity,
-        }
+        self.inverse_recentering_origin * motion
     }
 
     // Performs all kinds of tracking transformations, driven by settings.