1 files changed, 46 insertions, 0 deletions
diff --git a/tracker-hydra/ftnoir_tracker_hydra.cpp b/tracker-hydra/ftnoir_tracker_hydra.cpp
new file mode 100644
index 00000000..8d0e6832
--- /dev/null
+++ b/tracker-hydra/ftnoir_tracker_hydra.cpp
@@ -0,0 +1,46 @@
+/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
+#include "ftnoir_tracker_hydra.h"
+#include "opentrack/plugin-api.hpp"
+#include <cstdio>
+#ifdef _WIN32
+#   define SIXENSE_STATIC_LIB
+#   define SIXENSE_UTILS_STATIC_LIB
+#endif
+#include <sixense.h>
+
+Hydra_Tracker::Hydra_Tracker() : should_quit(false) {}
+
+#include <sixense_math.hpp>
+
+Hydra_Tracker::~Hydra_Tracker()
+{
+	
+	sixenseExit();
+}
+
+void Hydra_Tracker::start_tracker(QFrame*)
+{
+	sixenseInit();
+}
+
+void Hydra_Tracker::data(double *data)
+{
+    
+	sixenseSetActiveBase(0);
+	sixenseAllControllerData acd;
+	sixenseGetAllNewestData( &acd );
+    sixenseMath::Matrix4 mat = sixenseMath::Matrix4(acd.controllers[0].rot_mat);
+
+	float ypr[3];
+	
+	mat.getEulerAngles().fill(ypr);
+    data[TX] = acd.controllers[0].pos[0]/50.0;
+    data[TY] = acd.controllers[0].pos[1]/50.0;
+    data[TZ] = acd.controllers[0].pos[2]/50.0;
+    static constexpr double r2d = 57.295781;
+    data[Yaw] = ypr[0] * r2d;
+    data[Pitch] = ypr[1] * r2d;
+    data[Roll] = ypr[2] * r2d;
+}
+
+OPENTRACK_DECLARE_TRACKER(Hydra_Tracker, TrackerControls, FTNoIR_TrackerDll)