diff options
| -rw-r--r-- | tracker-steamvr/CMakeLists.txt | 4 | ||||
| -rw-r--r-- | tracker-steamvr/dialog.cpp | 5 | ||||
| -rw-r--r-- | tracker-steamvr/dialog.ui | 14 | ||||
| -rw-r--r-- | tracker-steamvr/steamvr.cpp | 49 | ||||
| -rw-r--r-- | tracker-steamvr/steamvr.hpp | 7 |
5 files changed, 41 insertions, 38 deletions
diff --git a/tracker-steamvr/CMakeLists.txt b/tracker-steamvr/CMakeLists.txt index 36be2f13..512a49ff 100644 --- a/tracker-steamvr/CMakeLists.txt +++ b/tracker-steamvr/CMakeLists.txt @@ -27,8 +27,8 @@ endif() if(steamvr-dll) SET(SDK_VALVE_STEAMVR "" CACHE PATH "Valve's SteamVR") if(SDK_VALVE_STEAMVR) - otr_module(tracker-steamvr NO-INSTALL) - #install(FILES "${SDK_VALVE_STEAMVR}/bin/${steamvr-dir}/${steamvr-dll}" DESTINATION "${opentrack-hier-pfx}") + otr_module(tracker-steamvr) + install(FILES "${SDK_VALVE_STEAMVR}/bin/${steamvr-dir}/${steamvr-dll}" DESTINATION "${opentrack-hier-pfx}") target_include_directories(opentrack-tracker-steamvr SYSTEM PUBLIC "${SDK_VALVE_STEAMVR}/headers") target_link_libraries(opentrack-tracker-steamvr "${SDK_VALVE_STEAMVR}/lib/${steamvr-dir}/${steamvr-lib}") diff --git a/tracker-steamvr/dialog.cpp b/tracker-steamvr/dialog.cpp index 1bfa5bcb..bbb8866d 100644 --- a/tracker-steamvr/dialog.cpp +++ b/tracker-steamvr/dialog.cpp @@ -7,11 +7,6 @@ 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 7a5b2f48..9d3b1e85 100644 --- a/tracker-steamvr/dialog.ui +++ b/tracker-steamvr/dialog.ui @@ -9,8 +9,8 @@ <rect> <x>0</x> <y>0</y> - <width>243</width> - <height>67</height> + <width>281</width> + <height>66</height> </rect> </property> <property name="sizePolicy"> @@ -33,9 +33,6 @@ <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"> @@ -49,6 +46,13 @@ </property> </widget> </item> + <item row="0" column="0"> + <widget class="QLabel" name="label"> + <property name="text"> + <string>No settings necessary</string> + </property> + </widget> + </item> </layout> </widget> <resources/> diff --git a/tracker-steamvr/steamvr.cpp b/tracker-steamvr/steamvr.cpp index e6e9952b..93f81f00 100644 --- a/tracker-steamvr/steamvr.cpp +++ b/tracker-steamvr/steamvr.cpp @@ -4,7 +4,6 @@ #include <cstdlib> #include <cmath> -#include <algorithm> #include <QMessageBox> #include <QDebug> @@ -54,7 +53,7 @@ void steamvr::start_tracker(QFrame*) if (!vr) { QMessageBox::warning(nullptr, - QCoreApplication::translate("steamvr", "Valve SteamVR init error"), strerror(e), + tr("Valve SteamVR init error"), strerror(e), QMessageBox::Close, QMessageBox::NoButton); return; } @@ -71,8 +70,8 @@ void steamvr::start_tracker(QFrame*) if (!ok) { QMessageBox::warning(nullptr, - QCoreApplication::translate("steamvr", "Valve SteamVR init warning"), - QCoreApplication::translate("steamvr", "No HMD connected"), + tr("Valve SteamVR init warning"), + tr("No HMD connected"), QMessageBox::Close, QMessageBox::NoButton); return; } @@ -87,41 +86,47 @@ void steamvr::data(double* data) vr->GetDeviceToAbsoluteTrackingPose(vr::ETrackingUniverseOrigin::TrackingUniverseSeated, 0, devices, vr::k_unMaxTrackedDeviceCount); - bool done = false; - 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 auto& result = devices[k].mDeviceToAbsoluteTracking; + const vr::HmdMatrix34_t& result = devices[k].mDeviceToAbsoluteTracking; - static constexpr double c[3] { -1, 1, -1 }; + int c = 10; - for (unsigned i = 0; i < 3; i++) - data[i] = double(result.m[i][3]) * c[i] * 100; + data[TX] = -result.m[0][3] * c; + data[TY] = result.m[1][3] * c; + data[TZ] = result.m[2][3] * c; using std::atan2; using std::asin; - //const euler_t rot = get_ypr(s.order); - - static constexpr double r2d = 180/M_PI; + // transformation matrix to euler angles + if (result.m[0][0] == 1.0f || result.m[0][0] == -1.0f) + { + data[Yaw] = -atan2(result.m[0][2], result.m[2][3]); + data[Pitch] = 0; + data[Roll] = 0; + } + else + { + data[Yaw] = -atan2(-result.m[2][0], result.m[0][0]); + data[Pitch] = atan2(-result.m[1][2], result.m[1][1]); + data[Roll] = asin(result.m[1][0]); + } + + static constexpr double r2d = 180 / M_PI; + + data[Yaw] *= r2d; + data[Pitch] *= r2d; + data[Roll] *= r2d; - //for (unsigned i = 3; i < 6; i++) - // data[i] = r2d * rot[i]; - - done = true; break; } - - if (!done) - qDebug() << "steamvr: no device with pose found"; } } diff --git a/tracker-steamvr/steamvr.hpp b/tracker-steamvr/steamvr.hpp index 4a2bd117..5546d619 100644 --- a/tracker-steamvr/steamvr.hpp +++ b/tracker-steamvr/steamvr.hpp @@ -20,15 +20,14 @@ using namespace options; struct settings : opts { - value<int> order; settings() : - opts("valve-steamvr"), - order(b, "rotation-order", 0) + opts("valve-steamvr") {} }; -class steamvr : public ITracker +class steamvr : public QObject, public ITracker { + Q_OBJECT public: steamvr(); ~steamvr() override; |