Added positional tracking?!

perhaps, perhaps not.. to be tested
-mm0zct

4 files changed, 148 insertions, 9 deletions

diff --git a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui
index e868a9c3..8250580d 100644
--- a/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui
+++ b/ftnoir_tracker_rift/ftnoir_rift_clientcontrols.ui
@@ -150,9 +150,136 @@
         </property>
        </widget>
       </item>
+    </layout>
+   </widget>
+   </item>
+
+
+   <item row="0" column="1">
+    <widget class="QGroupBox" name="groupBox_tx3">
+     <property name="title">
+      <string>Enable Translation Axis</string>
+     </property>
+     <property name="flat">
+      <bool>false</bool>
+     </property>
+     <layout class="QFormLayout" name="formLayout_tx2">
+      <item row="0" column="0">
+       <widget class="QLabel" name="label_tx6">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>TX:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="1">
+       <widget class="QCheckBox" name="chkEnableX">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <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_tx9">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>TY:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QCheckBox" name="chkEnableY">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <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_tx11">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="text">
+         <string>TZ:</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QCheckBox" name="chkEnableZ">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <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>
    </item>
+
+
+
+
+
    <item row="1" column="0">
     <widget class="QGroupBox" name="groupBox">
      <property name="title">
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
index dd78bf9f..45c02cfb 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp
@@ -88,11 +88,23 @@ bool Rift_Tracker::GiveHeadPoseData(double *data)
             if(newHeadPose[Yaw]<-deadzone)newHeadPose[Yaw]+= constant_drift;
             old_yaw=yaw;
         }
-#if 0
-        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 1
+
+        double dt = 0.015;
+
+        OVR::Vector3f acc = pSFusion->GetAcceleration();
+	old_x = old_x*persistence + vx*dt + 0.5*(acc.x*acc.x);
+	vx = vx*persistence + acc.x*dt;
+        newHeadPose[TX] = old_x;
+
+        old_y = old_y*persistence + vy*dt + 0.5*(acc.y*acc.y);
+	vy = vy*persistence + acc.y*dt;
+        newHeadPose[TY] = old_y;
+
+        old_z = old_z*persistence + vz*dt + 0.5*(acc.z*acc.z);
+	vz = vz*persistence + acc.z*dt;
+        newHeadPose[TZ] = old_z;
+
         if (bEnableX) {
             data[TX] = newHeadPose[TX];
         }
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.h b/ftnoir_tracker_rift/ftnoir_tracker_rift.h
index b76d8d09..787f16b9 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift.h
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.h
@@ -29,13 +29,13 @@ private:
 	bool bEnableRoll;
 	bool bEnablePitch;
 	bool bEnableYaw;
-#if 0
+#if 1
 	bool bEnableX;
 	bool bEnableY;
 	bool bEnableZ;
 #endif
     bool useYawSpring;
-    double old_yaw, constant_drift, persistence, deadzone;
+    double old_yaw, constant_drift, persistence, deadzone, old_x, old_y, old_z, vx, vy, vz;
 };
 
 // Widget that has controls for FTNoIR protocol client-settings.
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp
index 2efefbb3..901a0192 100644
--- a/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp
+++ b/ftnoir_tracker_rift/ftnoir_tracker_rift_dialog.cpp
@@ -112,7 +112,7 @@ void TrackerControls::loadSettings() {
 	ui.chkEnableRoll->setChecked(iniFile.value ( "EnableRoll", 1 ).toBool());
 	ui.chkEnablePitch->setChecked(iniFile.value ( "EnablePitch", 1 ).toBool());
 	ui.chkEnableYaw->setChecked(iniFile.value ( "EnableYaw", 1 ).toBool());
-#if 0
+#if 1
 	ui.chkEnableX->setChecked(iniFile.value ( "EnableX", 1 ).toBool());
 	ui.chkEnableY->setChecked(iniFile.value ( "EnableY", 1 ).toBool());
 	ui.chkEnableZ->setChecked(iniFile.value ( "EnableZ", 1 ).toBool());
@@ -139,7 +139,7 @@ void TrackerControls::save() {
 	iniFile.setValue ( "EnableRoll", ui.chkEnableRoll->isChecked() );
 	iniFile.setValue ( "EnablePitch", ui.chkEnablePitch->isChecked() );
 	iniFile.setValue ( "EnableYaw", ui.chkEnableYaw->isChecked() );
-#if 0
+#if 1
 	iniFile.setValue ( "EnableX", ui.chkEnableX->isChecked() );
 	iniFile.setValue ( "EnableY", ui.chkEnableY->isChecked() );
 	iniFile.setValue ( "EnableZ", ui.chkEnableZ->isChecked() );