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Properly read the orientation from the SC #5

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Properly read the orientation from the SC #5

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15 changes: 7 additions & 8 deletions steamcontroller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,8 @@ typedef struct { int16_t x, y; } SteamControllerAxisPair;

/** 3 coordinates representing a vector in three dimensional space relative to the controller. */
typedef struct { int16_t x, y, z; } SteamControllerVector;
/** 4 coordinates representing a (unit) quaternion in three dimensional space. */
typedef struct { int16_t w, x, y, z; } SteamControllerQuaternion;

#define STEAMCONTROLLER_BUTTON_RT (1<<0) /**< Right trigger fully pressed. */
#define STEAMCONTROLLER_BUTTON_LT (1<<1) /**< Left trigger fully pressed. */
Expand Down Expand Up @@ -71,14 +73,11 @@ typedef struct {
SteamControllerAxisPair stick; /**< Stick position. */

/**
* Contains some kind of orientation vector?
* When rotating the controller around one axis 360 degrees, the value for that
* axis becomes negative. One further rotation and it becomes positive againg.
* This is probably the imaginary parts of a unit quaternion representing the
* controller orientation in space.
* @todo Figure this out.
* Contains a unit orientation representing the controler's orientation in the world
* that is: the quaternion rotates coordinates from the controller's local coordinate frame to a globally fixed coordinate frame
* FYI, the controller's x-axis points to the right, y to the front and z points upwards
*/
SteamControllerVector orientation;
SteamControllerQuaternion orientation;

/**
* Current acceleration of the controller.
Expand Down Expand Up @@ -116,7 +115,7 @@ typedef struct {
SteamControllerAxisPair leftXY;
SteamControllerAxisPair rightXY;

SteamControllerVector orientation;
SteamControllerQuaternion orientation;
SteamControllerVector acceleration;
SteamControllerVector angularVelocity;
} SteamControllerUpdateEvent;
Expand Down
9 changes: 5 additions & 4 deletions steamcontroller_state.c
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ uint8_t SCAPI SteamController_ReadEvent(const SteamControllerDevice *pDevice, St
0x0018 00 00 00 00 4 bytes Padding?
0x001c xx xx yy yy zz zz 3 sshorts Acceleration along X,Y,Z axes.
0x0022 xx xx yy yy zz zz 3 sshorts Angular velocity (gyro) along X,Y,Z axes.
0x0028 xx xx yy yy zz zz 3 sshorts Orientation vector.
0x0028 ww xx xx yy yy zz zz 4 sshorts Orientation quaternion.
*/
pEvent->update.timeStamp = eventData[0x04] | (eventData[0x05] << 8) | (eventData[0x06] << 16) | (eventData[0x07] << 24);
pEvent->update.buttons = eventData[0x08] | (eventData[0x09] << 8) | (eventData[0x0a] << 16);
Expand All @@ -86,9 +86,10 @@ uint8_t SCAPI SteamController_ReadEvent(const SteamControllerDevice *pDevice, St
pEvent->update.angularVelocity.y = eventData[0x24] | (eventData[0x25] << 8);
pEvent->update.angularVelocity.z = eventData[0x26] | (eventData[0x27] << 8);

pEvent->update.orientation.x = eventData[0x28] | (eventData[0x29] << 8);
pEvent->update.orientation.y = eventData[0x2a] | (eventData[0x2b] << 8);
pEvent->update.orientation.z = eventData[0x2c] | (eventData[0x2d] << 8);
pEvent->update.orientation.w = eventData[0x28] | (eventData[0x29] << 8);
pEvent->update.orientation.x = eventData[0x2a] | (eventData[0x2b] << 8);
pEvent->update.orientation.y = eventData[0x2c] | (eventData[0x2d] << 8);
pEvent->update.orientation.z = eventData[0x2e] | (eventData[0x2f] << 8);
break;

case STEAMCONTROLLER_EVENT_BATTERY:
Expand Down