Added vel/acc compensation modes & some bugfixes.

Readme.md

@@ -77,7 +77,11 @@ Redirect mode can be temporarily suspended by pressing the system button on eith
 
 ![Motion Compensation Settings Page](https://raw.githubusercontent.com/matzman666/OpenVR-InputEmulator/master/docs/screenshots/MotionCompensationPage.png)
 
-- **Center Point**: Set the center point of the motion platform.
+- **Vel/Acc Compensation Mode**: How should reported velocities and acceleration values be adjusted. The problem with only adjusting the headset position is that pose prediction also takes velocity and acceleration into accound. As long as the reported values to not differ too much from the real values, pose prediction errors are hardly noticeable. But with fast movements of the motion platform the pose prediction error can be noticeable. Available modes are:
+  - **Disabled**: Do not adjust velocity/acceration values.
+  - **Set Zero**: Set all velocity/acceleration values to zero. Most simple form of velocity/acceleration compensation.
+  - **Use Reference Tracker**: Substract the velocity/acceleration values of the motion compensation reference tracker/controller from the values reported from the headset. Most accurate form of velocity/acceleration compensation. However, it requires that the reference tracker/controller is as closely mounted to the head position as possible. The further away it is from the head position the larger the error.
+  - **Linear Approximation (Experimental)**: Uses linear approximation to estimate the velocity/acceleration values. The used formula is: (current_position - last_position) / time_difference, however the resulting values do cause a lot of jitter and therefore they are divided by four to reduce jitter to an acceptable level.
 
 ## client_commandline commands:
 

client_overlay/bin/win64/res/qml/DeviceManipulationPage.qml

@@ -60,8 +60,7 @@ MyStackViewPage {
                     Layout.preferredWidth: 555
                     Layout.fillWidth: true
                     model: [
-                        "Device Offsets",
-                        "Motion Compensation Settings",
+                        "Device Offsets"
                     ]
                     currentIndex: 0
                 }
@@ -451,7 +450,7 @@ MyStackViewPage {
             deviceSelectionComboBox.currentIndex = -1
             deviceModeSelectionComboBox.enabled = false
             deviceModeApplyButton.enabled = false
-            //motionCompensationButton.enabled = false
+            motionCompensationButton.enabled = false
             deviceManipulationOffsetButton.enabled = false
             deviceIdentifyButton.enabled = false
             deviceRenderModelComboBox.enabled = false
@@ -461,7 +460,7 @@ MyStackViewPage {
         } else {
             deviceModeSelectionComboBox.enabled = true
             deviceManipulationOffsetButton.enabled = true
-            //motionCompensationButton.enabled = true
+            motionCompensationButton.enabled = true
             deviceModeApplyButton.enabled = true
             deviceIdentifyButton.enabled = true
             deviceRenderModelComboBox.enabled = true

client_overlay/bin/win64/res/qml/MotionCompensationPage.qml

@@ -9,17 +9,54 @@ MyStackViewPage {
 
     headerText: "Motion Compensation Settings"
 
+    property bool setupFinished: false
+
     content: ColumnLayout {
         spacing: 18
 
+        RowLayout {
+            spacing: 18
+            Layout.bottomMargin: 64
+
+            MyText {
+                text: "Vel/Acc Compensation Mode:"
+            }
+
+            MyComboBox {
+                id: deviceSelectionComboBox
+                Layout.maximumWidth: 750
+                Layout.minimumWidth: 750
+                Layout.preferredWidth: 750
+                Layout.fillWidth: true
+                model: [
+                    "Disabled",
+                    "Set Zero",
+                    "Use Reference Tracker",
+                    "Linear Approximation (Experimental)"
+                ]
+                onCurrentIndexChanged: {
+                    if (setupFinished) {
+                        DeviceManipulationTabController.setMotionCompensationVelAccMode(currentIndex)
+                    }
+                }
+            }
+        }
+
         Item {
             Layout.fillWidth: true
             Layout.fillHeight: true
         }
 
+
+        Component.onCompleted: {
+            deviceSelectionComboBox.currentIndex = DeviceManipulationTabController.getMotionCompensationVelAccMode()
+            setupFinished = true
+        }
+
         Connections {
             target: DeviceManipulationTabController
-            onDeviceInfoChanged: {
+            onMotionCompensationVelAccModeChanged: {
+                deviceSelectionComboBox.currentIndex = mode
             }
         }
 

client_overlay/src/overlaycontroller.h

@@ -36,7 +36,7 @@ class OverlayController : public QObject {
 public:
 	static constexpr const char* applicationKey = "matzman666.VRInputEmulator";
 	static constexpr const char* applicationName = "VR Input Emulator";
-	static constexpr const char* applicationVersionString = "v1.0";
+	static constexpr const char* applicationVersionString = "v1.0.3";
 
 private:
 	vr::VROverlayHandle_t m_ulOverlayHandle = vr::k_ulOverlayHandleInvalid;

client_overlay/src/tabcontrollers/DeviceManipulationTabController.cpp

@@ -239,6 +239,10 @@ double DeviceManipulationTabController::getDriverTranslationOffset(unsigned inde
 	}
 }
 
+unsigned DeviceManipulationTabController::getMotionCompensationVelAccMode() {
+	return motionCompensationVelAccMode;
+}
+
 
 #define DEVICEMANIPULATIONSETTINGS_GETTRANSLATIONVECTOR(name) { \
 	double valueX = settings->value(#name ## "_x", 0.0).toDouble(); \
@@ -255,9 +259,10 @@ double DeviceManipulationTabController::getDriverTranslationOffset(unsigned inde
 }
 
 void DeviceManipulationTabController::reloadDeviceManipulationSettings() {
-	/*auto settings = OverlayController::appSettings();
+	auto settings = OverlayController::appSettings();
 	settings->beginGroup("deviceManipulationSettings");
-	settings->endGroup();*/
+	motionCompensationVelAccMode = settings->value("motionCompensationVelAccMode").toUInt();
+	settings->endGroup();
 }
 
 void DeviceManipulationTabController::reloadDeviceManipulationProfiles() {
@@ -286,10 +291,11 @@ void DeviceManipulationTabController::reloadDeviceManipulationProfiles() {
 }
 
 void DeviceManipulationTabController::saveDeviceManipulationSettings() {
-	/*auto settings = OverlayController::appSettings();
+	auto settings = OverlayController::appSettings();
 	settings->beginGroup("deviceManipulationSettings");
+	settings->setValue("motionCompensationVelAccMode", motionCompensationVelAccMode);
 	settings->endGroup();
-	settings->sync();*/
+	settings->sync();
 }
 
 
@@ -410,6 +416,17 @@ void DeviceManipulationTabController::deleteDeviceManipulationProfile(unsigned i
 	}
 }
 
+void DeviceManipulationTabController::setMotionCompensationVelAccMode(unsigned mode, bool notify) {
+	if (motionCompensationVelAccMode != mode) {
+		motionCompensationVelAccMode = mode;
+		vrInputEmulator.setMotionVelAccCompensationMode(mode);
+		saveDeviceManipulationSettings();
+		if (notify) {
+			emit motionCompensationVelAccModeChanged(mode);
+		}
+	}
+}
+
 unsigned DeviceManipulationTabController::getRenderModelCount() {
 	return (unsigned)vr::VRRenderModels()->GetRenderModelCount();
 }
@@ -555,7 +572,7 @@ void DeviceManipulationTabController::setDeviceMode(unsigned index, unsigned mod
 			vrInputEmulator.setDeviceSwapMode(deviceInfos[index]->openvrId, deviceInfos[targedIndex]->openvrId);
 			break;
 		case 4:
-			vrInputEmulator.setDeviceMotionCompensationMode(deviceInfos[index]->openvrId);
+			vrInputEmulator.setDeviceMotionCompensationMode(deviceInfos[index]->openvrId, motionCompensationVelAccMode);
 			break;
 		default:
 			LOG(ERROR) << "Unkown device mode";

client_overlay/src/tabcontrollers/DeviceManipulationTabController.h

@@ -60,6 +60,8 @@ class DeviceManipulationTabController : public QObject {
 
 	std::vector<DeviceManipulationProfile> deviceManipulationProfiles;
 
+	uint32_t motionCompensationVelAccMode = 0;
+
 	unsigned settingsUpdateCounter = 0;
 
 	std::thread identifyThread;
@@ -85,6 +87,7 @@ class DeviceManipulationTabController : public QObject {
 	Q_INVOKABLE double getDriverFromHeadTranslationOffset(unsigned index, unsigned axis);
 	Q_INVOKABLE double getDriverRotationOffset(unsigned index, unsigned axis);
 	Q_INVOKABLE double getDriverTranslationOffset(unsigned index, unsigned axis);
+	Q_INVOKABLE unsigned getMotionCompensationVelAccMode();
 
 	void reloadDeviceManipulationSettings();
 	void reloadDeviceManipulationProfiles();
@@ -116,11 +119,14 @@ public slots:
 	void applyDeviceManipulationProfile(unsigned index, unsigned deviceIndex);
 	void deleteDeviceManipulationProfile(unsigned index);
 
+	void setMotionCompensationVelAccMode(unsigned mode, bool notify = true);
+
 signals:
 	void deviceCountChanged(unsigned deviceCount);
 	void deviceInfoChanged(unsigned index);
 	void motionCompensationSettingsChanged();
 	void deviceManipulationProfilesChanged();
+	void motionCompensationVelAccModeChanged(unsigned mode);
 };
 
 } // namespace inputemulator

driver_vrinputemulator/src/com/shm/driver_ipc_shm.cpp

@@ -812,6 +812,7 @@ void IpcShmCommunicator::_ipcThreadFunc(IpcShmCommunicator* _this, CServerDriver
 									} else {
 										auto serverDriver = CServerDriver::getInstance();
 										if (serverDriver) {
+											serverDriver->setMotionCompensationVelAccMode(message.msg.dm_MotionCompensationMode.velAccCompensationMode);
 											info->setMotionCompensationMode();
 											resp.status = ipc::ReplyStatus::Ok;
 										} else {
@@ -897,6 +898,7 @@ void IpcShmCommunicator::_ipcThreadFunc(IpcShmCommunicator* _this, CServerDriver
 							resp.messageId = message.msg.dm_SetMotionCompensationProperties.messageId;
 							auto serverDriver = CServerDriver::getInstance();
 							if (serverDriver) {
+								serverDriver->setMotionCompensationVelAccMode(message.msg.dm_SetMotionCompensationProperties.velAccCompensationMode);
 								resp.status = ipc::ReplyStatus::Ok;
 							} else {
 								resp.status = ipc::ReplyStatus::UnknownError;

driver_vrinputemulator/src/driver_deviceinfo.cpp

@@ -73,23 +73,7 @@ void OpenvrDeviceManipulationInfo::handleNewDevicePose(vr::IVRServerDriverHost*
 		}
 		auto serverDriver = CServerDriver::getInstance();
 		if (serverDriver) {
-			if (serverDriver->_applyMotionCompensation(newPose, this)) {
-				/*auto now = std::chrono::duration_cast <std::chrono:: microseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
-				if (m_lastDriverPoseValid) {
-					double tdiff = (double)(now - m_lastDriverPoseTime) / 500000.0;
-					newPose.vecVelocity[0] = (newPose.vecPosition[0] - m_lastDriverPose.vecPosition[0]) / tdiff;
-					newPose.vecVelocity[1] = (newPose.vecPosition[1] - m_lastDriverPose.vecPosition[1]) / tdiff;
-					newPose.vecVelocity[2] = (newPose.vecPosition[2] - m_lastDriverPose.vecPosition[2]) / tdiff;
-				}
-				m_lastDriverPose = newPose;
-				m_lastDriverPoseTime = now;
-				m_lastDriverPoseValid = true;
-				newPose.vecAcceleration[0] = 0.0;
-				newPose.vecAcceleration[1] = 0.0;
-				newPose.vecAcceleration[2] = 0.0;*/
-			} else {
-				m_lastDriverPoseValid = false;
-			}
+			serverDriver->_applyMotionCompensation(newPose, this);
 		}
 		if (m_deviceMode == 2 && !m_redirectSuspended) { // redirect source
 			if (!_disconnectedMsgSend) {
@@ -227,7 +211,7 @@ int OpenvrDeviceManipulationInfo::setMotionCompensationMode() {
 	auto serverDriver = CServerDriver::getInstance();
 	if (res == 0 && serverDriver) {
 		_disconnectedMsgSend = false;
-		serverDriver->_enableMotionCompensation(true);
+		serverDriver->enableMotionCompensation(true);
 		m_deviceMode = 5;
 	}
 	return 0;
@@ -248,11 +232,18 @@ int OpenvrDeviceManipulationInfo::_disableOldMode(int newMode) {
 		if (m_deviceMode == 5) {
 			auto serverDriver = CServerDriver::getInstance();
 			if (serverDriver) {
-				serverDriver->_enableMotionCompensation(false);
+				serverDriver->enableMotionCompensation(false);
 			}
 		} else if (m_deviceMode == 3 || m_deviceMode == 2 || m_deviceMode == 4) {
 			m_redirectRef->m_deviceMode = 0;
 		}
+		if (newMode == 5) {
+			auto serverDriver = CServerDriver::getInstance();
+			if (serverDriver) {
+				serverDriver->disableMotionCompensationOnAllDevices();
+				serverDriver->enableMotionCompensation(false);
+			}
+		} 
 	}
 	return 0;
 }