Formatting and arrays

[Dudecake]

Notable fixes

Fixed array out-of-range in Normalize

In Normalize an attempt is made te read index 3 of a c-array of length 3

Replaced the c-arrays of std::atomic<float> with std::array<float> guarded by locks

With how the quaternions were copied, race conditions were still possible. Especially in Relativty::HMDDriver::calibrate_quaternion.
Relativty::HMDDriver::qconj was only written to in Relativty::HMDDriver::calibrate_quaternion, so locking that is a waste.

Replaced assignments to quaternion arrays with std::copys and a std::transform

The compiler can optionally optimise std::copys to memcpys or vector operations.

Replaced calls to Relativty::HmdQuaternion_Init with braced initialization

Rename Relativty::ServerDriver::HMDDriver to m_HMDDriver

The distinction between the class and the instance couldn't be made otherwise. No idea how MSVC handled that...

Replaced NULLs with either nullptrs or 0s

Some NULLs imply the arguments are pointers when they are ints

Various formatting changes and renamed Relativty::HMDDriver::new_vector_avaiable to Relativty::HMDDriver::new_vector_available

[okawo80085]

this struct corresponds to the packet send by hardware, it needs to have this structure

struct pak {
  uint8_t id;
  float quat[4];
  uint8_t rest[47];
};

changing float[4] to std::array<float, 4> may be fine(can't tell until i test it), but putting it at the end of this struct is definitely not

[Dudecake]

Thank you for the review. I've reverted the float[4]. Concerning the removal rest: if the struct was used in the hid_read call, it would indeed not be fine. But on line 167 it is only used as an overlay on the contents of packet_buffer, so the trailing data won't matter.

[okawo80085]

fine by me, except the fact that float[4] quat; won't compile, it needs to be float quit[4];

[Dudecake]

Oops. I was on my work laptop, so I used the web editor and clicked save a little too fast.

[okawo80085]

happens to the best of us

[okawo80085]

apart from that struct change, everything else looks ok at first glance, didn't check it with actual hardware yet

i recommend you compile it, and at least test is with real hardware for while before merging this

[okawo80085]

just dropping by, did anyone try this with actual hardware?

[Dudecake]

I haven't had the time to source the components for a unit for me, so I wasn't able to test it. I figured the changes weren't radical enough and the reviewer would still need to test it themselves over trusting me on my (proverbial) blue eyes.