From 84620f4b687c0071d5a9bfbbf8a725c866d7357f Mon Sep 17 00:00:00 2001
From: zmerp <riccardo.zaglia5@gmail.com>
Date: Sun, 15 Dec 2024 13:00:34 +0100
Subject: [PATCH] feat(common): :sparkles: Add `Pose * DeviceMotion` operator
 (#2574)

---
 alvr/common/src/primitives.rs        | 12 ++++++++++++
 alvr/server_core/src/tracking/mod.rs |  6 +-----
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/alvr/common/src/primitives.rs b/alvr/common/src/primitives.rs
index 747c33bbf0..e59ded920a 100644
--- a/alvr/common/src/primitives.rs
+++ b/alvr/common/src/primitives.rs
@@ -55,3 +55,15 @@ pub struct DeviceMotion {
     pub linear_velocity: Vec3,
     pub angular_velocity: Vec3,
 }
+
+impl Mul<DeviceMotion> for Pose {
+    type Output = DeviceMotion;
+
+    fn mul(self, rhs: DeviceMotion) -> DeviceMotion {
+        DeviceMotion {
+            pose: self * rhs.pose,
+            linear_velocity: self.orientation * rhs.linear_velocity,
+            angular_velocity: self.orientation * rhs.angular_velocity,
+        }
+    }
+}
diff --git a/alvr/server_core/src/tracking/mod.rs b/alvr/server_core/src/tracking/mod.rs
index 73e49f4b70..c476ee0963 100644
--- a/alvr/server_core/src/tracking/mod.rs
+++ b/alvr/server_core/src/tracking/mod.rs
@@ -115,11 +115,7 @@ impl TrackingManager {
     }
 
     pub fn recenter_motion(&self, motion: DeviceMotion) -> DeviceMotion {
-        DeviceMotion {
-            pose: self.recenter_pose(motion.pose),
-            linear_velocity: self.inverse_recentering_origin.orientation * motion.linear_velocity,
-            angular_velocity: self.inverse_recentering_origin.orientation * motion.angular_velocity,
-        }
+        self.inverse_recentering_origin * motion
     }
 
     // Performs all kinds of tracking transformations, driven by settings.