Adjust offset logic, again.

Author: Sebane1

src/VRDriver.cpp

@@ -873,42 +873,19 @@ bool SlimeVRDriver::VRDriver::ExternalHandNearEdgeOfFov(
 void SlimeVRDriver::VRDriver::UpdateHandCorrectionFromPoses(
     bool left_hand, const vr::DriverPose_t &vd_pose,
     const vr::DriverPose_t &slimevr_pose) {
-  // VD pose is in room space (from GetRawTrackedDevicePoses). SlimeVR pose is
-  // from protobuf (GetPose()); in tracking space when universe set, else room.
-  // Express both in room, then offset_room = VD - SlimeVR_room.
-  float slimevr_room[3];
-  if (current_universe_.has_value()) {
-    TrackingToRoomPosition(current_universe_.value().second,
-                           slimevr_pose.vecPosition, slimevr_room);
-  } else {
-    for (int i = 0; i < 3; i++)
-      slimevr_room[i] = static_cast<float>(slimevr_pose.vecPosition[i]);
-  }
-  float offset_room[3];
-  for (int i = 0; i < 3; i++) {
-    offset_room[i] =
-        static_cast<float>(vd_pose.vecPosition[i]) - slimevr_room[i];
-    if (i == 1) offset_room[i] *= config_hand_offset_height_scale_;
-  }
+  // No conversion: offset = VD - SlimeVR (same space as raw pose swap used).
   float alpha = config_hand_offset_ema_alpha_;
   if (left_hand) {
     if (!hand_offset_left_valid_) {
       alpha = 0.f;
       hand_offset_left_valid_ = true;
     }
-    if (current_universe_.has_value()) {
-      const auto &trans = current_universe_.value().second;
-      double qw = std::cos(trans.yaw / 2.0);
-      double qy = std::sin(trans.yaw / 2.0);
-      float delta[3];
-      RotateVectorByQuaternion(qw, 0.0, qy, 0.0, offset_room, delta);
-      for (int i = 0; i < 3; i++)
-        hand_offset_left_tracking_[i] =
-            alpha * hand_offset_left_tracking_[i] + (1.f - alpha) * delta[i];
-    } else {
-      for (int i = 0; i < 3; i++)
-        hand_offset_left_tracking_[i] =
-            alpha * hand_offset_left_tracking_[i] + (1.f - alpha) * offset_room[i];
+    for (int i = 0; i < 3; i++) {
+      float delta = static_cast<float>(vd_pose.vecPosition[i]) -
+                    static_cast<float>(slimevr_pose.vecPosition[i]);
+      if (i == 1) delta *= config_hand_offset_height_scale_;
+      hand_offset_left_tracking_[i] =
+          alpha * hand_offset_left_tracking_[i] + (1.f - alpha) * delta;
     }
     vr::HmdQuaternion_t new_correction =
         QuatMultiply(QuatConjugate(slimevr_pose.qRotation), vd_pose.qRotation);
@@ -919,19 +896,12 @@ void SlimeVRDriver::VRDriver::UpdateHandCorrectionFromPoses(
       alpha = 0.f;
       hand_offset_right_valid_ = true;
     }
-    if (current_universe_.has_value()) {
-      const auto &trans = current_universe_.value().second;
-      double qw = std::cos(trans.yaw / 2.0);
-      double qy = std::sin(trans.yaw / 2.0);
-      float delta[3];
-      RotateVectorByQuaternion(qw, 0.0, qy, 0.0, offset_room, delta);
-      for (int i = 0; i < 3; i++)
-        hand_offset_right_tracking_[i] =
-            alpha * hand_offset_right_tracking_[i] + (1.f - alpha) * delta[i];
-    } else {
-      for (int i = 0; i < 3; i++)
-        hand_offset_right_tracking_[i] =
-            alpha * hand_offset_right_tracking_[i] + (1.f - alpha) * offset_room[i];
+    for (int i = 0; i < 3; i++) {
+      float delta = static_cast<float>(vd_pose.vecPosition[i]) -
+                    static_cast<float>(slimevr_pose.vecPosition[i]);
+      if (i == 1) delta *= config_hand_offset_height_scale_;
+      hand_offset_right_tracking_[i] =
+          alpha * hand_offset_right_tracking_[i] + (1.f - alpha) * delta;
     }
     vr::HmdQuaternion_t new_correction =
         QuatMultiply(QuatConjugate(slimevr_pose.qRotation), vd_pose.qRotation);