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authorStanislaw Halik <sthalik@misaki.pl>2016-11-03 23:42:02 +0100
committerStanislaw Halik <sthalik@misaki.pl>2016-11-06 12:28:26 +0100
commit049044f181414991a103ace961214c78171c284d (patch)
tree1806ff05675c62df05d9e16623ea8c7a87395ec3 /tracker-steamvr/steamvr.cpp
parentad1e96c576425a4daba20073e99ec0337f193882 (diff)
tracker/steamvr: TO REBASE
Diffstat (limited to 'tracker-steamvr/steamvr.cpp')
-rw-r--r--tracker-steamvr/steamvr.cpp131
1 files changed, 131 insertions, 0 deletions
diff --git a/tracker-steamvr/steamvr.cpp b/tracker-steamvr/steamvr.cpp
new file mode 100644
index 00000000..55eebc37
--- /dev/null
+++ b/tracker-steamvr/steamvr.cpp
@@ -0,0 +1,131 @@
+/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
+#include "steamvr.hpp"
+#include "api/plugin-api.hpp"
+#include "compat/util.hpp"
+#include "compat/simple-mat.hpp"
+
+#include <cstdlib>
+#include <cmath>
+
+#include <QMessageBox>
+#include <QDebug>
+
+void steamvr::vr_deleter()
+{
+ static std::atomic_flag atexit_done = ATOMIC_FLAG_INIT;
+
+ if (atexit_done.test_and_set(std::memory_order_seq_cst))
+ {
+ std::atexit(vr::VR_Shutdown);
+ }
+}
+
+steamvr::vr_t steamvr::vr_init(error_t& error)
+{
+ error = error_t::VRInitError_Unknown;
+
+ // the background type would surely confuse users
+ vr_t vr = vr::VR_Init(&error, vr::EVRApplicationType::VRApplication_Other);
+
+ if (vr)
+ vr_deleter();
+
+ return vr;
+}
+
+QString steamvr::strerror(error_t error)
+{
+ const char* str(vr::VR_GetVRInitErrorAsSymbol(error));
+ return QString(str ? str : "No description");
+}
+
+steamvr::steamvr() : vr(nullptr)
+{
+}
+
+steamvr::~steamvr()
+{
+}
+
+void steamvr::start_tracker(QFrame*)
+{
+ error_t e(error_t::VRInitError_Unknown);
+ vr = vr_init(e);
+
+ if (!vr)
+ {
+ QMessageBox::warning(nullptr, "Valve SteamVR init error", strerror(e), QMessageBox::Close, QMessageBox::NoButton);
+ return;
+ }
+
+ bool ok = false;
+
+ for (unsigned k = 0; k < vr::k_unMaxTrackedDeviceCount; k++)
+ if (vr->GetTrackedDeviceClass(k) == vr::ETrackedDeviceClass::TrackedDeviceClass_HMD)
+ {
+ ok = true;
+ break;
+ }
+
+ if (!ok)
+ {
+ QMessageBox::warning(nullptr, "Valve SteamVR init warning", "No HMD connected", QMessageBox::Close, QMessageBox::NoButton);
+ return;
+ }
+}
+
+void steamvr::data(double* data)
+{
+ if (vr)
+ {
+ using m = float[3][4];
+ vr::TrackedDevicePose_t devices[vr::k_unMaxTrackedDeviceCount] = {};
+
+ vr->GetDeviceToAbsoluteTrackingPose(vr::ETrackingUniverseOrigin::TrackingUniverseStanding, 0,
+ devices, vr::k_unMaxTrackedDeviceCount);
+
+ for (unsigned k = 0; k < vr::k_unMaxTrackedDeviceCount; k++)
+ {
+ using namespace euler;
+
+ if (!devices[k].bPoseIsValid)
+ continue;
+
+ if (vr->GetTrackedDeviceClass(k) != vr::ETrackedDeviceClass::TrackedDeviceClass_HMD)
+ continue;
+
+ const m& M = devices[k].mDeviceToAbsoluteTracking.m;
+
+ static constexpr double c[3] { -1, 1, -1 };
+
+ for (unsigned i = 0; i < 3; i++)
+ data[i] = double(M[i][3]) * c[i] * 100;
+
+ static constexpr unsigned indices[3] = {Roll, Yaw, Pitch};
+
+ rmat r(M[0][0], M[1][0], M[2][0],
+ M[0][1], M[1][1], M[2][1],
+ M[0][2], M[1][2], M[2][2]);
+
+ euler_t ypr(rmat_to_euler(r));
+
+ for (unsigned i = 0; i < 3; i++)
+ data[indices[i]] = 180/M_PI * ypr(i);
+
+ for (unsigned i = 0; i < 3; i++)
+ data[i+3] *= c[i];
+
+ goto done;
+ }
+
+ qDebug() << "steamvr: no device with pose found";
+
+done:
+ (void)0; // expects statement after label
+ }
+}
+
+void dialog::register_tracker(ITracker*) {}
+void dialog::unregister_tracker() {}
+
+OPENTRACK_DECLARE_TRACKER(steamvr, dialog, metadata)