diff options
| -rw-r--r-- | ftnoir_tracker_rift/ftnoir_tracker_rift.cpp | 97 |
1 files changed, 80 insertions, 17 deletions
diff --git a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp index 9e985444..13336313 100644 --- a/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp +++ b/ftnoir_tracker_rift/ftnoir_tracker_rift.cpp @@ -3,9 +3,20 @@ #include "facetracknoir/global-settings.h" #include "OVR.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> + using namespace OVR; -bool Rift_Tracker::isInitialised = false; Rift_Tracker::Rift_Tracker() { @@ -27,11 +38,26 @@ Rift_Tracker::Rift_Tracker() Rift_Tracker::~Rift_Tracker() { + + sixenseExit(); 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) { @@ -40,11 +66,7 @@ void Rift_Tracker::StartTracker(QFrame* videoFrame) // // Startup the Oculus SDK device handling, use the first Rift sensor we find. // - if(!isInitialised){ - System::Init(Log::ConfigureDefaultLog(LogMask_All)); - isInitialised = true; - } - + System::Init(Log::ConfigureDefaultLog(LogMask_All)); pManager = *DeviceManager::Create(); DeviceEnumerator<HMDDevice>& enumerator = pManager->EnumerateDevices<HMDDevice>(); if (enumerator.IsAvailable()) @@ -58,34 +80,75 @@ 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()); + } + // 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 Rift_Tracker::GiveHeadPoseData(double *data) { if (pHMD.GetPtr() != NULL) { + + 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); + } + } + + // 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_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll); + //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); + //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[RY] =pitch; newHeadPose[RZ] = roll; newHeadPose[RX] = yaw; -#if 0 - if (bEnableX) { + + + sixenseSetActiveBase(0); + sixenseAllControllerData acd; + sixenseGetAllNewestData( &acd ); + //sixenseUtils::getTheControllerManager()->update( &acd ); +#if 1 + 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[RX] = newHeadPose[RX] * 57.295781f; |