tracker/steamvr: TO REBASE

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)