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authorStanislaw Halik <sthalik@misaki.pl>2016-12-30 04:40:06 +0100
committerStanislaw Halik <sthalik@misaki.pl>2016-12-30 04:40:06 +0100
commit64250f9bb6f5d95f14a8d7f3329d018679710540 (patch)
tree878cab73aa45dea75d05fdf95f2e2c72091a7393
parente712a6eea96d381d2f1e3c0f8328d870321b31de (diff)
tracker/steamvr: broken, but we already know the right rotation order
-rw-r--r--tracker-steamvr/dialog.cpp5
-rw-r--r--tracker-steamvr/dialog.ui14
-rw-r--r--tracker-steamvr/steamvr.cpp36
-rw-r--r--tracker-steamvr/steamvr.hpp12
4 files changed, 25 insertions, 42 deletions
diff --git a/tracker-steamvr/dialog.cpp b/tracker-steamvr/dialog.cpp
index bbb8866d..1bfa5bcb 100644
--- a/tracker-steamvr/dialog.cpp
+++ b/tracker-steamvr/dialog.cpp
@@ -7,6 +7,11 @@ steamvr_dialog::steamvr_dialog()
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
+
+ for (unsigned i = 0; i < 6; i++)
+ ui.rotation_order->addItem(QStringLiteral("order #%1").arg(i));
+
+ tie_setting(s.order, ui.rotation_order);
}
void steamvr_dialog::doOK()
diff --git a/tracker-steamvr/dialog.ui b/tracker-steamvr/dialog.ui
index c3fa36c0..7a5b2f48 100644
--- a/tracker-steamvr/dialog.ui
+++ b/tracker-steamvr/dialog.ui
@@ -9,8 +9,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>184</width>
- <height>58</height>
+ <width>243</width>
+ <height>67</height>
</rect>
</property>
<property name="sizePolicy">
@@ -33,6 +33,9 @@
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <widget class="QComboBox" name="rotation_order"/>
+ </item>
<item row="1" column="0">
<widget class="QDialogButtonBox" name="buttonBox">
<property name="sizePolicy">
@@ -46,13 +49,6 @@
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>No options so far</string>
- </property>
- </widget>
- </item>
</layout>
</widget>
<resources/>
diff --git a/tracker-steamvr/steamvr.cpp b/tracker-steamvr/steamvr.cpp
index 9ceb5db2..360ba3d2 100644
--- a/tracker-steamvr/steamvr.cpp
+++ b/tracker-steamvr/steamvr.cpp
@@ -79,35 +79,13 @@ void steamvr::start_tracker(QFrame*)
}
}
-quat steamvr::get_quaternion(const vr::HmdMatrix34_t& r)
-{
- using std::max;
- using std::sqrt;
- using std::acos;
-
- const auto& m = r.m;
-
- float qw = sqrt(max(0.f, 1 + m[0][0] + m[1][1] + m[2][2])) / 2;
- float qx = sqrt(max(0.f, 1 + m[0][0] - m[1][1] - m[2][2])) / 2;
- float qy = sqrt(max(0.f, 1 - m[0][0] + m[1][1] - m[2][2])) / 2;
- float qz = sqrt(max(0.f, 1 - m[0][0] - m[1][1] + m[2][2])) / 2;
- qx = (m[1][2] - m[2][1]) < 0 ? -qx : qx;
- qy = (m[2][0] - m[0][2]) < 0 ? -qy : qy;
- qz = (m[0][1] - m[1][0]) < 0 ? -qz : qz;
-
- float s = sqrt(1 - qw * qw);
- s = s < .001 ? 1 : s;
-
- return quat(2 * acos(qw), qx/s, qy/s, qz/s);
-}
-
void steamvr::data(double* data)
{
if (vr)
{
vr::TrackedDevicePose_t devices[vr::k_unMaxTrackedDeviceCount] = {};
- vr->GetDeviceToAbsoluteTrackingPose(vr::ETrackingUniverseOrigin::TrackingUniverseStanding, 0,
+ vr->GetDeviceToAbsoluteTrackingPose(vr::ETrackingUniverseOrigin::TrackingUniverseSeated, 0,
devices, vr::k_unMaxTrackedDeviceCount);
bool done = false;
@@ -129,15 +107,15 @@ void steamvr::data(double* data)
for (unsigned i = 0; i < 3; i++)
data[i] = double(result.m[i][3]) * c[i] * 100;
- const quat q = get_quaternion(result);
- static constexpr double r2d = 180/M_PI;
-
using std::atan2;
using std::asin;
- data[Roll] = r2d * atan2(2*(q(0)*q(1) + q(2)*q(3)), 1 - 2*(q(1)*q(1) + q(2)*q(2)));
- data[Pitch] = r2d * asin(2*(q(0)*q(2) - q(3)*q(1)));
- data[Yaw] = r2d * atan2(2*(q(0)*q(3) + q(1)*q(2)), 1 - 2*(q(2)*q(2) + q(3)*q(3)));
+ //const euler_t rot = get_ypr(s.order);
+
+ static constexpr double r2d = 180/M_PI;
+
+ //for (unsigned i = 3; i < 6; i++)
+ // data[i] = r2d * rot[i];
done = true;
break;
diff --git a/tracker-steamvr/steamvr.hpp b/tracker-steamvr/steamvr.hpp
index 1adb40b1..4a2bd117 100644
--- a/tracker-steamvr/steamvr.hpp
+++ b/tracker-steamvr/steamvr.hpp
@@ -18,11 +18,13 @@
using namespace options;
-using quat = Mat<float, 4, 1>;
-
struct settings : opts
{
- settings() : opts("valve-steamvr") {}
+ value<int> order;
+ settings() :
+ opts("valve-steamvr"),
+ order(b, "rotation-order", 0)
+ {}
};
class steamvr : public ITracker
@@ -41,7 +43,9 @@ private:
settings s;
- static quat get_quaternion(const vr::HmdMatrix34_t& r);
+ using rmat = euler::rmat;
+ using euler_t = euler::euler_t;
+
static void vr_deleter();
static vr_t vr_init(error_t& error);
static QString strerror(error_t error);