Remove universe calculation.

Author: Sebane1

src/TrackerDevice.cpp

@@ -151,7 +151,7 @@ void SlimeVRDriver::TrackerDevice::Update() {
                                                 system_click_value, 0);
   }
 
-  // Target pose: controllers always use SlimeVR + active correction (position + rotation); trackers use last SlimeVR pose.
+  // Target pose: controllers use SlimeVR + offset; trackers use last SlimeVR pose.
   vr::DriverPose_t target = last_pose_atomic_.load();
   if (is_controller_) {
     auto offset = GetDriver()->GetHandPositionOffsetInDriverSpace(is_left_hand_);
@@ -161,10 +161,8 @@ void SlimeVRDriver::TrackerDevice::Update() {
     }
     vr::HmdQuaternion_t corr =
         GetDriver()->GetHandRotationCorrectionInDriverSpace(is_left_hand_);
-    // target.qRotation = SlimeVR_rot * correction (apply correction after SlimeVR)
     target.qRotation = QuatMultiply(target.qRotation, corr);
   }
-  // Lerp from current toward target to reduce jitter and smooth transitions.
   if (!smoothed_pose_.has_value())
     smoothed_pose_ = target;
   else
@@ -192,21 +190,6 @@ void SlimeVRDriver::TrackerDevice::PositionMessage(
   pose.qRotation.y = position.qy();
   pose.qRotation.z = position.qz();
 
-  auto current_universe = GetDriver()->GetCurrentUniverse();
-  if (current_universe.has_value()) {
-    auto trans = current_universe.value();
-
-    // TODO: set this once, somewhere?
-    pose.vecWorldFromDriverTranslation[0] = -trans.translation.v[0];
-    pose.vecWorldFromDriverTranslation[1] = -trans.translation.v[1];
-    pose.vecWorldFromDriverTranslation[2] = -trans.translation.v[2];
-
-    pose.qWorldFromDriverRotation.w = cos(trans.yaw / 2);
-    pose.qWorldFromDriverRotation.x = 0;
-    pose.qWorldFromDriverRotation.y = sin(trans.yaw / 2);
-    pose.qWorldFromDriverRotation.z = 0;
-  }
-
   bool double_tap = false;
   bool triple_tap = false;
 

src/VRDriver.cpp

@@ -612,9 +612,6 @@ SlimeVRDriver::VRDriver::GetHandPositionOffsetInDriverSpace(bool left_hand) {
     tracking = &hand_offset_right_tracking_;
   if (!tracking)
     return std::nullopt;
-  // Return offset in the same space as the pose we add it to. The controller
-  // pose is in tracking space when universe is set (device uses worldFromDriver),
-  // else driver space; we store offset in that same space, so return as-is.
   return std::array<float, 3>{{(*tracking)[0], (*tracking)[1], (*tracking)[2]}};
 }
 
@@ -873,7 +870,6 @@ bool SlimeVRDriver::VRDriver::ExternalHandNearEdgeOfFov(
 void SlimeVRDriver::VRDriver::UpdateHandCorrectionFromPoses(
     bool left_hand, const vr::DriverPose_t &vd_pose,
     const vr::DriverPose_t &slimevr_pose) {
-  // 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_) {