Merge branch 'master' of github.com:opentrack/opentrack

Conflicts:
	ftnoir_tracker_rift/ftnoir_tracker_rift.cpp

10 files changed, 990 insertions, 66 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f51d38e7..f2b3805c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,7 @@ endif()
 IF(WIN32)
     SET(SDK_SM_FACEAPI_PATH "" CACHE PATH "SeeingMachines FaceAPI SDK path")
     SET(SDK_RIFT "" CACHE PATH "libOVR path")
+    SET(SDK_HYDRA "" CACHE PATH "libSixense path")
     SET(SDK_VJOY "" CACHE PATH "VJoy SDK path")
 ENDIF()
 
@@ -248,7 +249,7 @@ if(NOT SDK_FACEAPI_ONLY)
     QT4_WRAP_UI(opentrack-tracker-hillcrest-uih ${opentrack-tracker-hillcrest-ui})
     QT4_ADD_RESOURCES(opentrack-tracker-hillcrest-rcc ${opentrack-tracker-hillcrest-rc})
 	
-	file(GLOB opentrack-tracker-rift-c "ftnoir_tracker_rift/*.cpp")
+    file(GLOB opentrack-tracker-rift-c "ftnoir_tracker_rift/*.cpp")
     file(GLOB opentrack-tracker-rift-h "ftnoir_tracker_rift/*.h")
     QT4_WRAP_CPP(opentrack-tracker-rift-moc ${opentrack-tracker-rift-h})
     file(GLOB opentrack-tracker-rift-ui "ftnoir_tracker_rift/*.ui")
@@ -256,6 +257,14 @@ if(NOT SDK_FACEAPI_ONLY)
     QT4_WRAP_UI(opentrack-tracker-rift-uih ${opentrack-tracker-rift-ui})
     QT4_ADD_RESOURCES(opentrack-tracker-rift-rcc ${opentrack-tracker-rift-rc})
 
+    file(GLOB opentrack-tracker-hydra-c "ftnoir_tracker_hydra/*.cpp")
+    file(GLOB opentrack-tracker-hydra-h "ftnoir_tracker_hydra/*.h")
+    QT4_WRAP_CPP(opentrack-tracker-hydra-moc ${opentrack-tracker-hydra-h})
+    file(GLOB opentrack-tracker-hydra-ui "ftnoir_tracker_hydra/*.ui")
+    file(GLOB opentrack-tracker-hydra-rc "ftnoir_tracker_hydra/*.qrc")
+    QT4_WRAP_UI(opentrack-tracker-hydra-uih ${opentrack-tracker-hydra-ui})
+    QT4_ADD_RESOURCES(opentrack-tracker-hydra-rcc ${opentrack-tracker-hydra-rc})
+
     file(GLOB opentrack-tracker-faceapi-c "ftnoir_tracker_sm/*.cpp")
     file(GLOB opentrack-tracker-faceapi-h "ftnoir_tracker_sm/*.h")
     QT4_WRAP_CPP(opentrack-tracker-faceapi-moc ${opentrack-tracker-faceapi-h})
@@ -466,6 +475,19 @@ endif()
         endif()
 	endif()
 
+	if(SDK_HYDRA)
+		include_directories("${SDK_HYDRA}/include")
+		include_directories("${SDK_HYDRA}/include/sixense_utils")
+        add_library(opentrack-tracker-hydra SHARED ${opentrack-tracker-hydra-c} ${opentrack-tracker-hydra-moc} ${opentrack-tracker-hydra-uih} ${opentrack-tracker-hydra-rcc})
+        target_link_libraries(opentrack-tracker-hydra ${MY_QT_LIBS})
+		if(WIN32)
+			target_link_libraries(opentrack-tracker-hydra "${SDK_HYDRA}/lib/win32/release_static/sixense_s.lib" "${SDK_HYDRA}/lib/win32/release_static/sixense_utils_s.lib")
+		endif()
+        if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC)
+            SET_TARGET_PROPERTIES(opentrack-tracker-hydra
+                      PROPERTIES LINK_FLAGS "-Wl,--version-script=${CMAKE_SOURCE_DIR}/facetracknoir/posix-version-script.txt")
+        endif()
+	endif()
     if(SDK_HILLCREST)
         include_directories("${SDK_HILLCREST}/include")
         if(WIN32)
@@ -592,6 +614,15 @@ if(NOT SDK_FACEAPI_ONLY)
         )
     endif()
 
+    if(SDK_HYDRA)
+        install(
+            TARGETS opentrack-tracker-hydra
+            RUNTIME DESTINATION .
+            LIBRARY DESTINATION .
+            NAMELINK_SKIP
+        )
+    endif()
+
     if(WIN32)
         if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_IS_GNUCC)
             file(GLOB mingw-libgcc-s "${SDK_MINGW_PATH}/bin/libgcc_s_*.dll")
diff --git a/facetracknoir/facetracknoir.rc b/facetracknoir/facetracknoir.rc
index fcae12b3..655baa9d 100644
--- a/facetracknoir/facetracknoir.rc
+++ b/facetracknoir/facetracknoir.rc
@@ -1,2 +1,2 @@
-#include "resource.h"

+#include <windows.h>

 IDI_ICON1               ICON                    "facetracknoir.ico"

diff --git a/facetracknoir/rotation.cpp b/facetracknoir/rotation.cpp
index f6d16d2d..1a6e1e8e 100644
--- a/facetracknoir/rotation.cpp
+++ b/facetracknoir/rotation.cpp
@@ -7,42 +7,9 @@
 

 #include "rotation.h"

 

-#include <cmath>

 

-// ----------------------------------------------------------------------------

-Rotation Rotation::inv()

-{

-	return Rotation(a,-b,-c,-d);

-}

 

-// conversions

-// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

-void Rotation::fromEuler(double yaw, double pitch, double roll)

-{

-	double sin_phi = sin(roll/2.0);

-	double cos_phi = cos(roll/2.0);

-	double sin_the = sin(pitch/2.0);

-	double cos_the = cos(pitch/2.0);

-	double sin_psi = sin(yaw/2.0);

-	double cos_psi = cos(yaw/2.0);

+// ----------------------------------------------------------------------------

 

-	a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;

-	b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;

-	c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;

-	d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;

-}

 

-void Rotation::toEuler(volatile double& yaw, volatile double& pitch, volatile double& roll)

-{

-	roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));

-	pitch = asin(2.0*(a*c - b*d));

-	yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));

-}

 

-Rotation operator*(const Rotation& A, const Rotation& B)

-{

-	return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication

-				    A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,

-				    A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,

-				    A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);

-}
\ No newline at end of file
diff --git a/facetracknoir/rotation.h b/facetracknoir/rotation.h
index 9dcea285..a1500969 100644
--- a/facetracknoir/rotation.h
+++ b/facetracknoir/rotation.h
@@ -7,25 +7,66 @@
 

 #ifndef ROTATION_H

 #define ROTATION_H

-

+#include <cmath>

 // ----------------------------------------------------------------------------

 class Rotation {

-	friend Rotation operator*(const Rotation& A, const Rotation& B);

+

 public:

 	Rotation() : a(1.0),b(0.0),c(0.0),d(0.0) {}

 	Rotation(double yaw, double pitch, double roll) { fromEuler(yaw, pitch, roll); }

 	Rotation(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}

 

-	Rotation inv();	// inverse

+	Rotation inv(){	// inverse

+		return Rotation(a,-b,-c,-d);

+	}

+

 

 	// conversions

-	void fromEuler(double yaw, double pitch, double roll);

-	void toEuler(volatile double& yaw, volatile double& pitch, volatile double& roll);

+	// see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

+	void fromEuler(double yaw, double pitch, double roll)

+	{

+		double sin_phi = sin(roll/2.0);

+		double cos_phi = cos(roll/2.0);

+		double sin_the = sin(pitch/2.0);

+		double cos_the = cos(pitch/2.0);

+		double sin_psi = sin(yaw/2.0);

+		double cos_psi = cos(yaw/2.0);

+

+		a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;

+		b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;

+		c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;

+		d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;

+	}

+

+	void toEuler(double& yaw, double& pitch, double& roll)

+	{

+		roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));

+		pitch = asin(2.0*(a*c - b*d));

+		yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));

+	}

 	

+/*	 const Rotation operator*(const Rotation& A, const Rotation& B)

+	{

+		return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication

+						A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,

+						A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,

+						A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);

+	}*/

+

+

+		 const Rotation operator*(const Rotation& B)

+	{

+		const Rotation& A = *this;

+		return Rotation(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication

+						A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,

+						A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,

+						A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);

+	}

+

 protected:

 	double a,b,c,d; // quaternion coefficients

 };

 

-Rotation operator*(const Rotation& A, const Rotation& B); // composition of rotations

+

 

 #endif //ROTATION_H

diff --git a/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui
new file mode 100644
index 00000000..0cee05f0
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_hydra_clientcontrols.ui
@@ -0,0 +1,372 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>UIHydraControls</class>
+ <widget class="QWidget" name="UIHydraControls">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>411</width>
+    <height>142</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Sixense Hydra tracker settings FaceTrackNoIR</string>
+  </property>
+  <property name="windowIcon">
+   <iconset>
+    <normaloff>images/FaceTrackNoIR.png</normaloff>images/FaceTrackNoIR.png</iconset>
+  </property>
+  <property name="layoutDirection">
+   <enum>Qt::LeftToRight</enum>
+  </property>
+  <property name="autoFillBackground">
+   <bool>false</bool>
+  </property>
+  <layout class="QVBoxLayout" name="_vertical_layout">
+   <item>
+    <widget class="QGroupBox" name="groupBox_3">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>85</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Enable Axis</string>
+     </property>
+     <widget class="QWidget" name="layoutWidget">
+      <property name="geometry">
+       <rect>
+        <x>10</x>
+        <y>20</y>
+        <width>143</width>
+        <height>60</height>
+       </rect>
+      </property>
+      <layout class="QGridLayout" name="gridLayout_2">
+
+
+
+
+
+
+
+
+        <item row="0" column="0">
+          <widget class="QLabel" name="label_61">
+            <property name="text">
+              <string>Pitch:</string>
+            </property>
+          </widget>
+        </item>
+
+        <item row="0" column="1">
+          <widget class="QCheckBox" name="chkEnablePitch">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="styleSheet">
+              <string notr="true"/>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+        <item row="1" column="0">
+          <widget class="QLabel" name="label_91">
+            <property name="text">
+              <string>Yaw:</string>
+            </property>
+          </widget>
+        </item>
+
+
+        <item row="1" column="1">
+          <widget class="QCheckBox" name="chkEnableYaw">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+
+
+        <item row="2" column="0">
+          <widget class="QLabel" name="label_111">
+            <property name="text">
+              <string>Roll:</string>
+            </property>
+          </widget>
+        </item>
+
+        <item row="2" column="1">
+          <widget class="QCheckBox" name="chkEnableRoll">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+        <item row="0" column="2">
+          <widget class="QLabel" name="label_6">
+            <property name="text">
+              <string>X:</string>
+            </property>
+          </widget>
+        </item>
+
+        <item row="0" column="3">
+          <widget class="QCheckBox" name="chkEnableX">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="styleSheet">
+              <string notr="true"/>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+        <item row="1" column="2">
+          <widget class="QLabel" name="label_9">
+            <property name="text">
+              <string>Y:</string>
+            </property>
+          </widget>
+        </item>
+
+
+        <item row="1" column="3">
+          <widget class="QCheckBox" name="chkEnableY">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+
+
+        <item row="2" column="2">
+          <widget class="QLabel" name="label_11">
+            <property name="text">
+              <string>Z:</string>
+            </property>
+          </widget>
+        </item>
+
+        <item row="2" column="3">
+          <widget class="QCheckBox" name="chkEnableZ">
+            <property name="maximumSize">
+              <size>
+                <width>20</width>
+                <height>16777215</height>
+              </size>
+            </property>
+            <property name="layoutDirection">
+              <enum>Qt::LeftToRight</enum>
+            </property>
+            <property name="text">
+              <string/>
+            </property>
+          </widget>
+        </item>
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>40</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout_2">
+       <property name="sizeConstraint">
+        <enum>QLayout::SetDefaultConstraint</enum>
+       </property>
+       <item>
+        <widget class="QPushButton" name="btnOK">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>100</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>100</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>OK</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="btnCancel">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>100</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>100</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="text">
+          <string>Cancel</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>10</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <tabstops>
+  <tabstop>btnOK</tabstop>
+  <tabstop>btnCancel</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+ <slots>
+  <slot>startEngineClicked()</slot>
+  <slot>stopEngineClicked()</slot>
+  <slot>cameraSettingsClicked()</slot>
+ </slots>
+</ui>
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
new file mode 100644
index 00000000..24ffedcd
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.cpp
@@ -0,0 +1,155 @@
+/* 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>
+#define SIXENSE_STATIC_LIB
+#define SIXENSE_UTILS_STATIC_LIB
+#include <sixense.h>
+#include <sixense_math.hpp>
+#ifdef WIN32
+#include <sixense_utils/mouse_pointer.hpp>
+#endif
+#include <sixense_utils/derivatives.hpp>
+#include <sixense_utils/button_states.hpp>
+#include <sixense_utils/event_triggers.hpp>
+#include <sixense_utils/controller_manager/controller_manager.hpp>
+
+Hydra_Tracker::Hydra_Tracker()
+{
+	bEnableRoll = true;
+	bEnablePitch = true;
+	bEnableYaw = true;
+	bEnableX = true;
+	bEnableY = true;
+	bEnableZ = true;
+	should_quit = false;
+    for (int i = 0; i < 6; i++)
+        newHeadPose[i] = 0;
+}
+
+Hydra_Tracker::~Hydra_Tracker()
+{
+	
+	sixenseExit();
+}
+
+/*
+void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_step step ) {
+	
+		QMessageBox::warning(0,"OpenTrack Info", "controller manager callback",QMessageBox::Ok,QMessageBox::NoButton);
+	if( sixenseUtils::getTheControllerManager()->isMenuVisible() ) {
+		// Ask the controller manager what the next instruction string should be.
+		std::string controller_manager_text_string = sixenseUtils::getTheControllerManager()->getStepString();
+		QMessageBox::warning(0,"OpenTrack Info", controller_manager_text_string.c_str(),QMessageBox::Ok,QMessageBox::NoButton);
+		// We could also load the supplied controllermanager textures using the filename: sixenseUtils::getTheControllerManager()->getTextureFileName();
+
+	}
+}*/
+
+void Hydra_Tracker::StartTracker(QFrame* videoFrame)
+{
+	//QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton);
+    loadSettings();
+
+	// Init sixense
+	//QMessageBox::warning(0,"OpenTrack Info", "sixense init",QMessageBox::Ok,QMessageBox::NoButton);
+	sixenseInit();
+	//QMessageBox::warning(0,"OpenTrack Info", "sixense init complete, setting controller manager",QMessageBox::Ok,QMessageBox::NoButton);
+	// Init the controller manager. This makes sure the controllers are present, assigned to left and right hands, and that
+	// the hemisphere calibration is complete.
+	//sixenseUtils::getTheControllerManager()->setGameType( sixenseUtils::ControllerManager::ONE_PLAYER_TWO_CONTROLLER );
+	//sixenseUtils::getTheControllerManager()->registerSetupCallback( controller_manager_setup_callback );
+	//QMessageBox::warning(0,"OpenTrack Info", "controller manager callback registered",QMessageBox::Ok,QMessageBox::NoButton);
+	return;
+}
+
+
+bool Hydra_Tracker::GiveHeadPoseData(double *data)
+{
+    
+	sixenseSetActiveBase(0);
+	sixenseAllControllerData acd;
+	sixenseGetAllNewestData( &acd );
+	//sixenseUtils::getTheControllerManager()->update( &acd );
+
+	//sixenseControllerData cd;
+	Rotation quat = Rotation(acd.controllers[0].rot_quat[0],acd.controllers[0].rot_quat[1],acd.controllers[0].rot_quat[2],acd.controllers[0].rot_quat[3]);
+    double yaw =  0.0f;
+    double pitch = 0.0f;
+    double roll = 0.0f;
+
+	quat.toEuler(yaw, pitch, roll);
+
+    newHeadPose[RY] = pitch;
+    newHeadPose[RZ] = roll;
+    newHeadPose[RX] = yaw;
+
+
+	
+	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 (bEnableX) {
+        data[TX] = newHeadPose[TX];
+    //}
+    //if (bEnableY) {
+        data[TY] = newHeadPose[TY];
+    //}
+    //if (bEnableY) {
+        data[TZ] = newHeadPose[TZ];
+    //}
+
+    if (bEnableYaw) {
+        data[RX] = newHeadPose[RX] * 57.295781f;
+    }
+    if (bEnablePitch) {
+        data[RY] = newHeadPose[RY] * 57.295781f;
+    }
+    if (bEnableRoll) {
+        data[RZ] = newHeadPose[RZ] * 57.295781f;
+    }
+    
+	return true;
+}
+
+
+//
+// Load the current Settings from the currently 'active' INI-file.
+//
+void Hydra_Tracker::loadSettings() {
+
+	qDebug() << "FTNoIR_Tracker::loadSettings says: Starting ";
+	QSettings settings("opentrack");	// Registry settings (in HK_USER)
+
+	QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+	qDebug() << "FTNoIR_Tracker::loadSettings says: iniFile = " << currentFile;
+
+	iniFile.beginGroup ( "Hydra" );
+	bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool();
+	bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool();
+	bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool();
+	bEnableX = iniFile.value ( "EnableX", 1 ).toBool();
+	bEnableY = iniFile.value ( "EnableY", 1 ).toBool();
+	bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool();
+
+	iniFile.endGroup ();
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker object.
+
+// Export both decorated and undecorated names.
+//   GetTracker     - Undecorated name, which can be easily used with GetProcAddress
+//                Win32 API function.
+//   _GetTracker@0  - Common name decoration for __stdcall functions in C language.
+//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
+{
+    return new Hydra_Tracker;
+}
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
new file mode 100644
index 00000000..3f7bf0a8
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra.h
@@ -0,0 +1,89 @@
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "ui_ftnoir_hydra_clientcontrols.h"
+#include <QMessageBox>
+#include <QSettings>
+#include <QWaitCondition>
+#include <math.h>
+#include "facetracknoir/global-settings.h"
+class Hydra_Tracker : public ITracker
+{
+public:
+	Hydra_Tracker();
+	~Hydra_Tracker();
+
+    void StartTracker( QFrame *videoframe );
+    bool GiveHeadPoseData(double *data);
+	void loadSettings();
+    volatile bool should_quit;
+	void WaitForExit() {
+		return;
+    }
+protected:
+	void run();												// qthread override run method
+
+private:
+	bool isCalibrated;
+
+    double newHeadPose[6];								// Structure with new headpose
+	bool bEnableRoll;
+	bool bEnablePitch;
+	bool bEnableYaw;
+
+	bool bEnableX;
+	bool bEnableY;
+	bool bEnableZ;
+
+    QMutex mutex;
+};
+
+// Widget that has controls for FTNoIR protocol client-settings.
+class TrackerControls: public QWidget, public ITrackerDialog
+{
+    Q_OBJECT
+public:
+
+	explicit TrackerControls();
+    ~TrackerControls();
+	void showEvent ( QShowEvent * event );
+
+    void Initialize(QWidget *parent);
+	void registerTracker(ITracker *tracker) {};
+	void unRegisterTracker() {};
+
+private:
+	Ui::UIHydraControls ui;
+	void loadSettings();
+	void save();
+
+	/** helper **/
+	bool settingsDirty;
+
+private slots:
+	void doOK();
+	void doCancel();
+	void settingChanged() { settingsDirty = true; };
+	void settingChanged(int) { settingsDirty = true; };
+};
+
+//*******************************************************************************************************
+// FaceTrackNoIR Tracker DLL. Functions used to get general info on the Tracker
+//*******************************************************************************************************
+class FTNoIR_TrackerDll : public Metadata
+{
+public:
+	FTNoIR_TrackerDll();
+	~FTNoIR_TrackerDll();
+
+    void Initialize();
+
+	void getFullName(QString *strToBeFilled);
+	void getShortName(QString *strToBeFilled);
+	void getDescription(QString *strToBeFilled);
+	void getIcon(QIcon *icon);
+
+private:
+	QString trackerFullName;									// Trackers' name and description
+	QString trackerShortName;
+	QString trackerDescription;
+};
+
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp
new file mode 100644
index 00000000..77d4963b
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dialog.cpp
@@ -0,0 +1,180 @@
+/********************************************************************************
+* FaceTrackNoIR		This program is a private project of some enthusiastic		*
+*					gamers from Holland, who don't like to pay much for			*
+*					head-tracking.												*
+*																				*
+* Copyright (C) 2012	Wim Vriend (Developing)									*
+*						Ron Hendriks (Researching and Testing)					*
+*																				*
+* Homepage:			http://facetracknoir.sourceforge.net/home/default.htm		*
+*																				*
+* This program is free software; you can redistribute it and/or modify it		*
+* under the terms of the GNU General Public License as published by the			*
+* Free Software Foundation; either version 3 of the License, or (at your		*
+* option) any later version.													*
+*																				*
+* This program is distributed in the hope that it will be useful, but			*
+* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY	*
+* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for	*
+* more details.																	*
+*																				*
+* You should have received a copy of the GNU General Public License along		*
+* with this program; if not, see <http://www.gnu.org/licenses/>.				*
+*																				*
+********************************************************************************/
+#include "ftnoir_tracker_hydra.h"
+#include "facetracknoir/global-settings.h"
+
+//*******************************************************************************************************
+// FaceTrackNoIR Client Settings-dialog.
+//*******************************************************************************************************
+
+//
+// Constructor for server-settings-dialog
+//
+TrackerControls::TrackerControls() :
+QWidget()
+{
+	ui.setupUi( this );
+
+	// Connect Qt signals to member-functions
+	connect(ui.btnOK, SIGNAL(clicked()), this, SLOT(doOK()));
+	connect(ui.btnCancel, SIGNAL(clicked()), this, SLOT(doCancel()));
+
+	connect(ui.chkEnableRoll, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.chkEnablePitch, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.chkEnableYaw, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+#if 0
+	connect(ui.chkEnableX, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.chkEnableY, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+	connect(ui.chkEnableZ, SIGNAL(stateChanged(int)), this, SLOT(settingChanged(int)));
+#endif
+	// Load the settings from the current .INI-file
+	loadSettings();
+}
+
+//
+// Destructor for server-dialog
+//
+TrackerControls::~TrackerControls() {
+	qDebug() << "~TrackerControls() says: started";
+}
+
+//
+// Initialize tracker-client-dialog
+//
+void TrackerControls::Initialize(QWidget *parent) {
+
+	QPoint offsetpos(100, 100);
+	if (parent) {
+		this->move(parent->pos() + offsetpos);
+	}
+	show();
+}
+
+//
+// OK clicked on server-dialog
+//
+void TrackerControls::doOK() {
+	save();
+	this->close();
+}
+
+// override show event
+void TrackerControls::showEvent ( QShowEvent * event ) {
+	loadSettings();
+}
+
+//
+// Cancel clicked on server-dialog
+//
+void TrackerControls::doCancel() {
+	//
+	// Ask if changed Settings should be saved
+	//
+	if (settingsDirty) {
+		int ret = QMessageBox::question ( this, "Settings have changed", "Do you want to save the settings?", QMessageBox::Save | QMessageBox::Discard | QMessageBox::Cancel, QMessageBox::Discard );
+
+		qDebug() << "doCancel says: answer =" << ret;
+
+		switch (ret) {
+			case QMessageBox::Save:
+				save();
+				this->close();
+				break;
+			case QMessageBox::Discard:
+				this->close();
+				break;
+			case QMessageBox::Cancel:
+				// Cancel was clicked
+				break;
+			default:
+				// should never be reached
+			break;
+		}
+	}
+	else {
+		this->close();
+	}
+}
+
+
+//
+// Load the current Settings from the currently 'active' INI-file.
+//
+void TrackerControls::loadSettings() {
+
+//	qDebug() << "loadSettings says: Starting ";
+	QSettings settings("opentrack");	// Registry settings (in HK_USER)
+
+	QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+//	qDebug() << "loadSettings says: iniFile = " << currentFile;
+
+	iniFile.beginGroup ( "Hydra" );
+	ui.chkEnableRoll->setChecked(iniFile.value ( "EnableRoll", 1 ).toBool());
+	ui.chkEnablePitch->setChecked(iniFile.value ( "EnablePitch", 1 ).toBool());
+	ui.chkEnableYaw->setChecked(iniFile.value ( "EnableYaw", 1 ).toBool());
+	ui.chkEnableX->setChecked(iniFile.value ( "EnableX", 1 ).toBool());
+	ui.chkEnableY->setChecked(iniFile.value ( "EnableY", 1 ).toBool());
+	ui.chkEnableZ->setChecked(iniFile.value ( "EnableZ", 1 ).toBool());
+
+	iniFile.endGroup ();
+
+	settingsDirty = false;
+}
+
+//
+// Save the current Settings to the currently 'active' INI-file.
+//
+void TrackerControls::save() {
+	QSettings settings("opentrack");	// Registry settings (in HK_USER)
+
+	QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
+	QSettings iniFile( currentFile, QSettings::IniFormat );		// Application settings (in INI-file)
+
+	iniFile.beginGroup ( "Hydra" );
+	iniFile.setValue ( "EnableRoll", ui.chkEnableRoll->isChecked() );
+	iniFile.setValue ( "EnablePitch", ui.chkEnablePitch->isChecked() );
+	iniFile.setValue ( "EnableYaw", ui.chkEnableYaw->isChecked() );
+	iniFile.setValue ( "EnableX", ui.chkEnableX->isChecked() );
+	iniFile.setValue ( "EnableY", ui.chkEnableY->isChecked() );
+	iniFile.setValue ( "EnableZ", ui.chkEnableZ->isChecked() );
+	iniFile.endGroup ();
+
+	settingsDirty = false;
+}
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker-settings dialog object.
+
+// Export both decorated and undecorated names.
+//   GetTrackerDialog     - Undecorated name, which can be easily used with GetProcAddress
+//                          Win32 API function.
+//   _GetTrackerDialog@0  - Common name decoration for __stdcall functions in C language.
+//#pragma comment(linker, "/export:GetTrackerDialog=_GetTrackerDialog@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDialog( )
+{
+    return new TrackerControls;
+}
diff --git a/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp
new file mode 100644
index 00000000..4f5d8b10
--- /dev/null
+++ b/ftnoir_tracker_hydra/ftnoir_tracker_hydra_dll.cpp
@@ -0,0 +1,55 @@
+/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
+#include "ftnoir_tracker_hydra.h"
+#include <QDebug>
+#include "facetracknoir/global-settings.h"
+
+FTNoIR_TrackerDll::FTNoIR_TrackerDll() {
+	//populate the description strings
+	trackerFullName = "Hydra";
+	trackerShortName = "Hydra";
+	trackerDescription = "Hydra";
+}
+
+FTNoIR_TrackerDll::~FTNoIR_TrackerDll()
+{
+
+}
+
+void FTNoIR_TrackerDll::Initialize()
+{
+	return;
+}
+
+void FTNoIR_TrackerDll::getFullName(QString *strToBeFilled)
+{
+	*strToBeFilled = trackerFullName;
+};
+
+void FTNoIR_TrackerDll::getShortName(QString *strToBeFilled)
+{
+	*strToBeFilled = trackerShortName;
+};
+
+void FTNoIR_TrackerDll::getDescription(QString *strToBeFilled)
+{
+	*strToBeFilled = trackerDescription;
+};
+
+void FTNoIR_TrackerDll::getIcon(QIcon *icon)
+{
+    *icon = QIcon(":/images/facetracknoir.png");
+};
+
+////////////////////////////////////////////////////////////////////////////////
+// Factory function that creates instances if the Tracker object.
+
+// Export both decorated and undecorated names.
+//   GetTrackerDll     - Undecorated name, which can be easily used with GetProcAddress
+//						Win32 API function.
+//   _GetTrackerDll@0  - Common name decoration for __stdcall functions in C language.
+//#pragma comment(linker, "/export:GetTrackerDll=_GetTrackerDll@0")
+
+extern "C" FTNOIR_TRACKER_BASE_EXPORT Metadata* CALLING_CONVENTION GetMetadata()
+{
+	return new FTNoIR_TrackerDll;
+}
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
index 0e023bde..3ef68260 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
@@ -1,11 +1,10 @@
 /* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
 #include "ftnoir_tracker_rift.h"
 #include "facetracknoir/global-settings.h"
-	#include "OVR.h"
+#include "OVR.h"
 #include <cstdio>
-using namespace OVR;
 
-bool Rift_Tracker::isInitialised = false;
+using namespace OVR;
 
 Rift_Tracker::Rift_Tracker()
 {
@@ -30,27 +29,36 @@ Rift_Tracker::~Rift_Tracker()
     pSensor.Clear();
 	pHMD.Clear();
 	pManager.Clear();
+	System::Destroy();
 }
 
+/*
+void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_step step ) {
+
+		QMessageBox::warning(0,"OpenTrack Info", "controller manager callback",QMessageBox::Ok,QMessageBox::NoButton);
+	if( sixenseUtils::getTheControllerManager()->isMenuVisible() ) {
+		// Ask the controller manager what the next instruction string should be.
+		std::string controller_manager_text_string = sixenseUtils::getTheControllerManager()->getStepString();
+		QMessageBox::warning(0,"OpenTrack Info", controller_manager_text_string.c_str(),QMessageBox::Ok,QMessageBox::NoButton);
+		// We could also load the supplied controllermanager textures using the filename: sixenseUtils::getTheControllerManager()->getTextureFileName();
+
+	}
+}*/
 
 void Rift_Tracker::StartTracker(QFrame* videoFrame)
 {
-	//QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton);
+    //QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton);
     loadSettings();
     //
     // Startup the Oculus SDK device handling, use the first Rift sensor we find.
     //
-	if(!isInitialised){
-	    System::Init(Log::ConfigureDefaultLog(LogMask_All));
-		isInitialised = true;
-	}
-
-	pManager = *DeviceManager::Create();
+    System::Init(Log::ConfigureDefaultLog(LogMask_All));
+    pManager = *DeviceManager::Create();
     DeviceEnumerator<HMDDevice>& enumerator = pManager->EnumerateDevices<HMDDevice>();
     if (enumerator.IsAvailable())
     {
         pHMD = *enumerator.CreateDevice();
-    
+        
         pSensor = *pHMD->GetSensor();
         
         if (pSensor){
@@ -58,34 +66,60 @@ void Rift_Tracker::StartTracker(QFrame* videoFrame)
         }else{
             QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to find Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
         }
-        SFusion.SetYawCorrectionEnabled(true);
-        SFusion.SetMagReference();
+        isCalibrated = false;
+        MagCal.BeginAutoCalibration(SFusion);
+        SFusion.SetMagReference(SFusion.GetOrientation());
     }
-
-	return;
 }
 
+
 bool Rift_Tracker::GiveHeadPoseData(double *data)
 {
     if (pHMD.GetPtr() != NULL) {
+#if 0
+		 if (SFusion.IsMagReady() && !isCalibrated ){
+            SFusion.SetYawCorrectionEnabled(true);
+			QMessageBox::warning(0,"OpenTrack Info", "Calibrated magnetic sensor",QMessageBox::Ok,QMessageBox::NoButton);
+		}else{
+			if(isCalibrated){
+				isCalibrated = false;
+				QMessageBox::warning(0,"OpenTrack Info", "Lost magnetic calibration",QMessageBox::Ok,QMessageBox::NoButton);
+			}
+        }
+#endif
+
+		// Magnetometer calibration procedure
+		MagCal.UpdateAutoCalibration(SFusion);
         Quatf hmdOrient = SFusion.GetOrientation();
         float yaw = 0.0f;
         float pitch = 0.0f;
         float roll = 0.0f;
+        //hmdOrient.GetEulerAngles< Axis_X, Axis_Y, Axis_Z>(&pitch, &yaw, &roll);
+		//hmdOrient.GetEulerAngles< Axis_X, Axis_Z, Axis_Y>(&pitch, &roll, &yaw);
         hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
-        newHeadPose[Pitch] =pitch;
-        newHeadPose[Roll] = roll;
-        newHeadPose[Yaw] = yaw;
+		//hmdOrient.GetEulerAngles< Axis_Y, Axis_Z, Axis_X>(&yaw, &roll, &pitch);
+		//hmdOrient.GetEulerAngles< Axis_Z, Axis_X, Axis_Y>(&roll, &pitch, &yaw);
+		//hmdOrient.GetEulerAngles< Axis_Z, Axis_Y, Axis_X>(&roll, &yaw, &pitch);
+        newHeadPose[Pitch] = pitch;
+        newHeadPose[Roll]  = roll;
+        newHeadPose[Yaw]   = yaw;
+
 #if 0
-        if (bEnableX) {
+		sixenseControllerData cd;
+	
+		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 (bEnableX) {
             data[TX] = newHeadPose[TX];
-        }
-        if (bEnableY) {
+        //}
+        //if (bEnableY) {
             data[TY] = newHeadPose[TY];
-        }
-        if (bEnableY) {
+        //}
+        //if (bEnableY) {
             data[TZ] = newHeadPose[TZ];
-        }
+        //}
 #endif
         if (bEnableYaw) {
             data[Yaw] = newHeadPose[Yaw] * 57.295781f;