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-rw-r--r--opentrack/plugin-api.hpp2
-rw-r--r--opentrack/shortcuts.cpp10
-rw-r--r--opentrack/tracker.cpp123
-rw-r--r--opentrack/tracker.h2
-rw-r--r--opentrack/version.cc9
-rw-r--r--opentrack/win32-shortcuts.cpp11
6 files changed, 115 insertions, 42 deletions
diff --git a/opentrack/plugin-api.hpp b/opentrack/plugin-api.hpp
index 732dbb3d..a57077ab 100644
--- a/opentrack/plugin-api.hpp
+++ b/opentrack/plugin-api.hpp
@@ -61,6 +61,8 @@ struct IFilter
// perform filtering step.
// you have to take care of dt on your own, try "opentrack-compat/timer.hpp"
virtual void filter(const double *input, double *output) = 0;
+ // optionally reset the filter when centering
+ virtual void center() {}
};
struct IFilterDialog : public BaseDialog
diff --git a/opentrack/shortcuts.cpp b/opentrack/shortcuts.cpp
index ba2b7c8e..91480d16 100644
--- a/opentrack/shortcuts.cpp
+++ b/opentrack/shortcuts.cpp
@@ -1,4 +1,4 @@
-/* Copyright (c) 2014, Stanislaw Halik <sthalik@misaki.pl>
+/* Copyright (c) 2014-2015, Stanislaw Halik <sthalik@misaki.pl>
* Permission to use, copy, modify, and/or distribute this
* software for any purpose with or without fee is hereby granted,
@@ -96,9 +96,9 @@ void KeybindingWorker::run() {
case DIK_RALT:
break;
default:
- k.shift = !!(keystate[DIK_LSHIFT] & 0x80);
- k.alt = !!(keystate[DIK_LALT] & 0x80);
- k.ctrl = !!(keystate[DIK_LCONTROL] & 0x80);
+ k.shift = !!(keystate[DIK_LSHIFT] & 0x80) || !!(keystate[DIK_RSHIFT] & 0x80);
+ k.alt = !!(keystate[DIK_LALT] & 0x80) || !!(keystate[DIK_RALT] & 0x80);
+ k.ctrl = !!(keystate[DIK_LCONTROL] & 0x80) || !!(keystate[DIK_RCONTROL] & 0x80);
k.keycode = i;
receiver(k);
break;
@@ -120,6 +120,8 @@ void Shortcuts::bind_keyboard_shortcut(K &key, key_opts& k)
else {
key->setShortcut(QKeySequence::UnknownKey);
key->setEnabled(false);
+ std::shared_ptr<QxtGlobalShortcut> ptr = K();
+ key.swap(ptr);
}
if (k.keycode != "")
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp
index 8a9a0511..1bc28b87 100644
--- a/opentrack/tracker.cpp
+++ b/opentrack/tracker.cpp
@@ -24,6 +24,7 @@
Tracker::Tracker(main_settings& s, Mappings &m, SelectedLibraries &libs) :
s(s),
m(m),
+ newpose {0,0,0, 0,0,0},
centerp(s.center_at_startup),
enabledp(true),
zero_(false),
@@ -62,6 +63,44 @@ void Tracker::t_compensate(const rmat& rmat, const double* xyz, double* output,
output[0] = -ret(1);
}
+static inline bool nanp(double value)
+{
+ return std::isnan(value) || std::isinf(value);
+}
+
+static inline double elide_nan(double value, double def)
+{
+ if (nanp(value))
+ {
+ if (nanp(def))
+ return 0;
+ return def;
+ }
+ return value;
+}
+
+static bool is_nan(const dmat<3,3>& r, const dmat<3, 1>& t)
+{
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ if (nanp(r(i, j)))
+ return true;
+
+ for (int i = 0; i < 3; i++)
+ if (nanp(t(i)))
+ return true;
+
+ return false;
+}
+
+static bool is_nan(const Pose& value)
+{
+ for (int i = 0; i < 6; i++)
+ if (nanp(value(i)))
+ return true;
+ return false;
+}
+
void Tracker::logic()
{
bool inverts[6] = {
@@ -72,12 +111,12 @@ void Tracker::logic()
m(4).opts.invert,
m(5).opts.invert,
};
-
+
static constexpr double pi = 3.141592653;
static constexpr double r2d = 180. / pi;
-
+
Pose value, raw;
-
+
for (int i = 0; i < 6; i++)
{
auto& axis = m(i);
@@ -89,6 +128,9 @@ void Tracker::logic()
raw(i) = newpose[i];
}
+ if (is_nan(raw))
+ raw = last_raw;
+
const double off[] = {
(double)-s.camera_yaw,
(double)-s.camera_pitch,
@@ -97,12 +139,13 @@ void Tracker::logic()
const rmat cam = rmat::euler_to_rmat(off);
rmat r = rmat::euler_to_rmat(&value[Yaw]);
dmat<3, 1> t(value(0), value(1), value(2));
-
+
r = cam * r;
-
+
bool can_center = false;
-
- if (centerp)
+ const bool nan = is_nan(r, t);
+
+ if (centerp && !nan)
{
for (int i = 0; i < 6; i++)
if (fabs(newpose[i]) != 0)
@@ -111,15 +154,17 @@ void Tracker::logic()
break;
}
}
-
+
if (can_center)
{
+ if (libs.pFilter)
+ libs.pFilter->center();
centerp = false;
for (int i = 0; i < 3; i++)
t_b[i] = t(i);
r_b = r;
}
-
+
{
double tmp[3] = { t(0) - t_b[0], t(1) - t_b[1], t(2) - t_b[2] };
t_compensate(cam, tmp, tmp, false);
@@ -141,32 +186,54 @@ void Tracker::logic()
value(i+3) = euler(i) * r2d;
}
}
-
+
+ bool nan_ = false;
+ // we're checking NaNs after every block of numeric ops
+ if (is_nan(value))
+ {
+ nan_ = true;
+ }
+ else
{
Pose tmp = value;
-
+
if (libs.pFilter)
libs.pFilter->filter(tmp, value);
- }
- for (int i = 0; i < 6; i++)
- value(i) = map(value(i), m(i));
-
- if (s.tcomp_p)
- t_compensate(rmat::euler_to_rmat(&value[Yaw]),
- value,
- value,
- s.tcomp_tz);
+ for (int i = 0; i < 6; i++)
+ value(i) = map(value(i), m(i));
- for (int i = 0; i < 6; i++)
- value[i] *= inverts[i] ? -1. : 1.;
+ if (s.tcomp_p)
+ t_compensate(rmat::euler_to_rmat(&value[Yaw]),
+ value,
+ value,
+ s.tcomp_tz);
- if (zero_)
for (int i = 0; i < 6; i++)
- value(i) = 0;
+ value[i] *= inverts[i] ? -1. : 1.;
+
+ if (zero_)
+ for (int i = 0; i < 6; i++)
+ value(i) = 0;
+
+ if (is_nan(value))
+ nan_ = true;
+ }
+
+ if (nan_)
+ {
+ value = last_mapped;
+
+ // for widget last value display
+ for (int i = 0; i < 6; i++)
+ (void) map(value(i), m(i));
+ }
libs.pProtocol->pose(value);
+ last_mapped = value;
+ last_raw = raw;
+
QMutexLocker foo(&mtx);
output_pose = value;
raw_6dof = raw;
@@ -174,7 +241,7 @@ void Tracker::logic()
void Tracker::run() {
const int sleep_ms = 3;
-
+
#if defined(_WIN32)
(void) timeBeginPeriod(1);
#endif
@@ -182,14 +249,14 @@ void Tracker::run() {
while (!should_quit)
{
t.start();
-
+
double tmp[6] {0,0,0, 0,0,0};
libs.pTracker->data(tmp);
if (enabledp)
for (int i = 0; i < 6; i++)
- newpose[i] = tmp[i];
-
+ newpose[i] = elide_nan(tmp[i], newpose[i]);
+
logic();
long q = sleep_ms * 1000L - t.elapsed()/1000L;
diff --git a/opentrack/tracker.h b/opentrack/tracker.h
index c5c39797..b0e89455 100644
--- a/opentrack/tracker.h
+++ b/opentrack/tracker.h
@@ -48,7 +48,7 @@ private:
Mappings& m;
Timer t;
- Pose output_pose, raw_6dof;
+ Pose output_pose, raw_6dof, last_mapped, last_raw;
double newpose[6];
volatile bool centerp;
diff --git a/opentrack/version.cc b/opentrack/version.cc
deleted file mode 100644
index 9e75a336..00000000
--- a/opentrack/version.cc
+++ /dev/null
@@ -1,9 +0,0 @@
-#include "opentrack-compat/export.hpp"
-
-#ifdef __cplusplus
-extern "C"
-#endif
-OPENTRACK_EXPORT
-const char* opentrack_version;
-
-const char* opentrack_version = OPENTRACK_VERSION;
diff --git a/opentrack/win32-shortcuts.cpp b/opentrack/win32-shortcuts.cpp
index bd51ae88..96232631 100644
--- a/opentrack/win32-shortcuts.cpp
+++ b/opentrack/win32-shortcuts.cpp
@@ -1,3 +1,11 @@
+/* Copyright (c) 2015, Stanislaw Halik <sthalik@misaki.pl>
+
+ * Permission to use, copy, modify, and/or distribute this
+ * software for any purpose with or without fee is hereby granted,
+ * provided that the above copyright notice and this permission
+ * notice appear in all copies.
+ */
+
#if defined(_WIN32)
# ifndef DIRECTINPUT_VERSION
# define DIRECTINPUT_VERSION 0x800
@@ -109,6 +117,9 @@ QList<win_key> windows_key_sequences =
win_key(DIK_RETURN, Qt::Key::Key_Return),
win_key(DIK_INSERT, Qt::Key::Key_Insert),
win_key(DIK_SPACE, Qt::Key::Key_Space),
+ win_key(DIK_SYSRQ, Qt::Key::Key_Print),
+ win_key(DIK_SCROLL, Qt::Key::Key_ScrollLock),
+ win_key(DIK_PAUSE, Qt::Key::Key_Pause),
});
bool win_key::to_qt(const Key& k, QKeySequence& qt_, Qt::KeyboardModifiers &mods)
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-27 09:19:00 +0000