Revert "Fix linux segfault (#2090)"

This reverts commit de235ea.
alvr-org · May 6, 2024 · 6bba363 · 6bba363
1 parent 989823c
commit 6bba363
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Showing 4 changed files with 38 additions and 56 deletions.
diff --git a/.gitignore b/.gitignore
@@ -67,7 +67,3 @@ node_modules
 .flatpak*
 
 ALVR-Launcher
-
-#allows adding CMake files for some IDEs to parse C++ files correctly
-CMakeLists.txt
-cmake-build-debug/
diff --git a/alvr/server/cpp/alvr_server/ChaperoneUpdater.cpp b/alvr/server/cpp/alvr_server/ChaperoneUpdater.cpp
@@ -2,7 +2,6 @@
 #include "Logger.h"
 #include "bindings.h"
 #include <mutex>
-#include <memory>
 
 #ifndef __APPLE__
 // Workaround symbol clash in openvr.h / openvr_driver.h
@@ -85,19 +84,14 @@ void _SetChaperoneArea(float areaWidth, float areaHeight) {
 }
 
 #ifdef __linux__
-std::unique_ptr<vr::HmdMatrix34_t> GetInvZeroPose() {
-    std::unique_lock<std::mutex> lock(chaperone_mutex);
-    if (!isOpenvrInit)
-    {
-        return nullptr;
-    }
-    std::unique_ptr<vr::HmdMatrix34_t> mat;
+vr::HmdMatrix34_t GetInvZeroPose() {
+    vr::HmdMatrix34_t mat;
     // revert pulls live into working copy
     vr::VRChaperoneSetup()->RevertWorkingCopy();
     if (vr::VRCompositor()->GetTrackingSpace() == vr::TrackingUniverseStanding) {
-        vr::VRChaperoneSetup()->GetWorkingStandingZeroPoseToRawTrackingPose(mat.get());
+        vr::VRChaperoneSetup()->GetWorkingStandingZeroPoseToRawTrackingPose(&mat);
     } else {
-        vr::VRChaperoneSetup()->GetWorkingSeatedZeroPoseToRawTrackingPose(mat.get());
+        vr::VRChaperoneSetup()->GetWorkingSeatedZeroPoseToRawTrackingPose(&mat);
     }
     return mat;
 }

diff --git a/alvr/server/cpp/alvr_server/alvr_server.cpp b/alvr/server/cpp/alvr_server/alvr_server.cpp
@@ -25,15 +25,10 @@
 
 #ifdef __linux__
 #include "include/openvr_math.h"
-std::unique_ptr<vr::HmdMatrix34_t> GetInvZeroPose();
+vr::HmdMatrix34_t GetInvZeroPose();
 
-std::unique_ptr<vr::HmdMatrix34_t> GetRawZeroPose() {
-    auto invZeroPose = GetInvZeroPose();
-    if (invZeroPose == nullptr)
-    {
-        return nullptr;
-    }
-    return vrmath::matInv33(std::move(invZeroPose));
+vr::HmdMatrix34_t GetRawZeroPose() {
+    return vrmath::matInv33(GetInvZeroPose());
 }
 
 bool IsOpenvrClientReady();
@@ -232,11 +227,8 @@ class DriverProvider : public vr::IServerTrackedDeviceProvider {
                 || event.eventType == vr::VREvent_StandingZeroPoseReset
                 || event.eventType == vr::VREvent_SceneApplicationChanged
                 || event.eventType == VendorEvent_ALVRDriverResync) {
-                if (hmd && hmd->m_poseHistory) {
-                    auto rawZeroPose = GetRawZeroPose();
-                    if (rawZeroPose != nullptr) {
-                        hmd->m_poseHistory->SetTransform(*rawZeroPose);
-                    }
+                if (hmd && hmd->m_poseHistory && IsOpenvrClientReady()) {
+                    hmd->m_poseHistory->SetTransform(GetRawZeroPose());
                 }
             }
 #endif

diff --git a/alvr/server/cpp/alvr_server/include/openvr_math.h b/alvr/server/cpp/alvr_server/include/openvr_math.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <cmath>
-#include <memory>
+
 
 inline vr::HmdQuaternion_t operator+(const vr::HmdQuaternion_t& lhs, const vr::HmdQuaternion_t& rhs) {
 	return {
@@ -298,42 +298,42 @@ namespace vrmath {
 		return result;
 	}
 
-  inline std::unique_ptr<vr::HmdMatrix34_t> matInv33(std::unique_ptr<vr::HmdMatrix34_t> matrix) {
-    std::unique_ptr<vr::HmdMatrix34_t> result;
-    float cofac00 = matrix->m[1][1] * matrix->m[2][2] - matrix->m[1][2] * matrix->m[2][1];
-    float cofac10 = matrix->m[1][2] * matrix->m[2][0] - matrix->m[1][0] * matrix->m[2][2];
-    float cofac20 = matrix->m[1][0] * matrix->m[2][1] - matrix->m[1][1] * matrix->m[2][0];
+  inline vr::HmdMatrix34_t matInv33(const vr::HmdMatrix34_t &matrix) {
+    vr::HmdMatrix34_t result;
+    float cofac00 = matrix.m[1][1] * matrix.m[2][2] - matrix.m[1][2] * matrix.m[2][1];
+    float cofac10 = matrix.m[1][2] * matrix.m[2][0] - matrix.m[1][0] * matrix.m[2][2];
+    float cofac20 = matrix.m[1][0] * matrix.m[2][1] - matrix.m[1][1] * matrix.m[2][0];
 
-    float det = matrix->m[0][0] * cofac00 + matrix->m[0][1] * cofac10 + matrix->m[0][2] * cofac20;
+    float det = matrix.m[0][0] * cofac00 + matrix.m[0][1] * cofac10 + matrix.m[0][2] * cofac20;
 
     if (det == 0) {
         vr::HmdMatrix34_t result = { { { 1.0, 0.0, 0.0, 0.0 }, { 0.0, 1.0, 0.0, 0.0 }, { 0.0, 0.0, 1.0, 0.0 } } };
-        return std::make_unique<vr::HmdMatrix34_t>(result);
+        return result;
     }
 
     float invDet = 1.0f / det;
 
-    float cofac01 = matrix->m[0][2] * matrix->m[2][1] - matrix->m[0][1] * matrix->m[2][2];
-    float cofac02 = matrix->m[0][1] * matrix->m[1][2] - matrix->m[0][2] * matrix->m[1][1];
-    float cofac11 = matrix->m[0][0] * matrix->m[2][2] - matrix->m[0][2] * matrix->m[2][0];
-    float cofac12 = matrix->m[0][2] * matrix->m[1][0] - matrix->m[0][0] * matrix->m[1][2];
-    float cofac21 = matrix->m[0][1] * matrix->m[2][0] - matrix->m[0][0] * matrix->m[2][1];
-    float cofac22 = matrix->m[0][0] * matrix->m[1][1] - matrix->m[0][1] * matrix->m[1][0];
-
-    result->m[0][0] = invDet * cofac00;
-    result->m[0][1] = invDet * cofac01;
-    result->m[0][2] = invDet * cofac02;
-    result->m[0][3] = 0.0f;
-
-    result->m[1][0] = invDet * cofac10;
-    result->m[1][1] = invDet * cofac11;
-    result->m[1][2] = invDet * cofac12;
-    result->m[1][3] = 0.0f;
-
-    result->m[2][0] = invDet * cofac20;
-    result->m[2][1] = invDet * cofac21;
-    result->m[2][2] = invDet * cofac22;
-    result->m[2][3] = 0.0f;
+    float cofac01 = matrix.m[0][2] * matrix.m[2][1] - matrix.m[0][1] * matrix.m[2][2];
+    float cofac02 = matrix.m[0][1] * matrix.m[1][2] - matrix.m[0][2] * matrix.m[1][1];
+    float cofac11 = matrix.m[0][0] * matrix.m[2][2] - matrix.m[0][2] * matrix.m[2][0];
+    float cofac12 = matrix.m[0][2] * matrix.m[1][0] - matrix.m[0][0] * matrix.m[1][2];
+    float cofac21 = matrix.m[0][1] * matrix.m[2][0] - matrix.m[0][0] * matrix.m[2][1];
+    float cofac22 = matrix.m[0][0] * matrix.m[1][1] - matrix.m[0][1] * matrix.m[1][0];
+
+    result.m[0][0] = invDet * cofac00;
+    result.m[0][1] = invDet * cofac01;
+    result.m[0][2] = invDet * cofac02;
+    result.m[0][3] = 0.0f;
+
+    result.m[1][0] = invDet * cofac10;
+    result.m[1][1] = invDet * cofac11;
+    result.m[1][2] = invDet * cofac12;
+    result.m[1][3] = 0.0f;
+
+    result.m[2][0] = invDet * cofac20;
+    result.m[2][1] = invDet * cofac21;
+    result.m[2][2] = invDet * cofac22;
+    result.m[2][3] = 0.0f;
 
     return result;
   }