summaryrefslogtreecommitdiffhomepage
path: root/tracker-hydra/ftnoir_tracker_hydra.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'tracker-hydra/ftnoir_tracker_hydra.cpp')
-rw-r--r--tracker-hydra/ftnoir_tracker_hydra.cpp39
1 files changed, 22 insertions, 17 deletions
diff --git a/tracker-hydra/ftnoir_tracker_hydra.cpp b/tracker-hydra/ftnoir_tracker_hydra.cpp
index 8d0e6832..1e3c1189 100644
--- a/tracker-hydra/ftnoir_tracker_hydra.cpp
+++ b/tracker-hydra/ftnoir_tracker_hydra.cpp
@@ -2,45 +2,50 @@
#include "ftnoir_tracker_hydra.h"
#include "opentrack/plugin-api.hpp"
#include <cstdio>
+#include <cmath>
#ifdef _WIN32
# define SIXENSE_STATIC_LIB
# define SIXENSE_UTILS_STATIC_LIB
#endif
#include <sixense.h>
+#ifndef M_PI
+# define M_PI 3.14159265358979323846
+#endif
+
Hydra_Tracker::Hydra_Tracker() : should_quit(false) {}
#include <sixense_math.hpp>
Hydra_Tracker::~Hydra_Tracker()
{
-
- sixenseExit();
+
+ sixenseExit();
}
void Hydra_Tracker::start_tracker(QFrame*)
{
- sixenseInit();
+ sixenseInit();
}
void Hydra_Tracker::data(double *data)
{
-
- sixenseSetActiveBase(0);
- sixenseAllControllerData acd;
- sixenseGetAllNewestData( &acd );
+
+ 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;
+ float ypr[3];
+
+ mat.getEulerAngles().fill(ypr);
+ data[TX] = double(acd.controllers[0].pos[0])/50;
+ data[TY] = double(acd.controllers[0].pos[1])/50;
+ data[TZ] = double(acd.controllers[0].pos[2])/50;
+ static constexpr double r2d = 180/M_PI;
+ data[Yaw] = double(ypr[0]) * r2d;
+ data[Pitch] = double(ypr[1]) * r2d;
+ data[Roll] = double(ypr[2]) * r2d;
}
OPENTRACK_DECLARE_TRACKER(Hydra_Tracker, TrackerControls, FTNoIR_TrackerDll)