1 files changed, 73 insertions, 0 deletions
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
new file mode 100644
index 00000000..70af2893
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
@@ -0,0 +1,73 @@
+/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
+#include "ftnoir_tracker_hydra.h"
+#include "facetracknoir/global-settings.h"
+#include "facetracknoir/rotation.h"
+#include <cstdio>
+#ifdef _WIN32
+#   define SIXENSE_STATIC_LIB
+#   define SIXENSE_UTILS_STATIC_LIB
+#endif
+#include <sixense.h>
+#include <sixense_math.hpp>
+
+Hydra_Tracker::Hydra_Tracker() : should_quit(false)
+{
+    for (int i = 0; i < 6; i++)
+        newHeadPose[i] = 0;
+}
+
+Hydra_Tracker::~Hydra_Tracker()
+{
+	
+	sixenseExit();
+}
+
+void Hydra_Tracker::StartTracker(QFrame*)
+{
+	sixenseInit();
+}
+
+void Hydra_Tracker::GetHeadPoseData(double *data)
+{
+    
+	sixenseSetActiveBase(0);
+	sixenseAllControllerData acd;
+	sixenseGetAllNewestData( &acd );
+    sixenseMath::Matrix4 mat = sixenseMath::Matrix4(acd.controllers[0].rot_mat);
+
+	float ypr[3];
+	
+	mat.getEulerAngles().fill(ypr);
+    newHeadPose[Yaw] = ypr[0];
+    newHeadPose[Pitch] = ypr[1];
+	newHeadPose[Roll] = ypr[2];
+
+	
+	newHeadPose[TX] = acd.controllers[0].pos[0]/50.0f;
+	newHeadPose[TY] = acd.controllers[0].pos[1]/50.0f;
+	newHeadPose[TZ] = acd.controllers[0].pos[2]/50.0f;
+		
+    if (s.bEnableX) {
+        data[TX] = newHeadPose[TX];
+    }
+    if (s.bEnableY) {
+        data[TY] = newHeadPose[TY];
+    }
+    if (s.bEnableY) {
+        data[TZ] = newHeadPose[TZ];
+    }
+    if (s.bEnableYaw) {
+        data[Yaw] = newHeadPose[Yaw] * 57.295781f;
+    }
+    if (s.bEnablePitch) {
+        data[Pitch] = newHeadPose[Pitch] * 57.295781f;
+    }
+    if (s.bEnableRoll) {
+        data[Roll] = newHeadPose[Roll] * 57.295781f;
+    }
+}
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
+{
+    return new Hydra_Tracker;
+}