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/* This is free and unencumbered software released into the public domain.
* Anyone is free to copy, modify, publish, use, compile, sell, or
* distribute this software, either in source code form or as a compiled
* binary, for any purpose, commercial or non-commercial, and by any
* means.
*
* In jurisdictions that recognize copyright laws, the author or authors
* of this software dedicate any and all copyright interest in the
* software to the public domain. We make this dedication for the benefit
* of the public at large and to the detriment of our heirs and
* successors. We intend this dedication to be an overt act of
* relinquishment in perpetuity of all present and future rights to this
* software under copyright law.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
* IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
* OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
* ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
* OTHER DEALINGS IN THE SOFTWARE.
*/
#include <stdlib.h>
#include <stdio.h>
/* this is unfortunately necessary as the API is Windows-only */
#include <windows.h>
#ifdef __cplusplus
# define MY_EXTERN extern "C"
#else
# define MY_EXTERN
#define MY_EXPORT(ret) MY_EXTERN ret __declspec(dllexport) __cdecl
#endif
#pragma pack(push, 1)
typedef struct {
__int16 status; /* zero means success, it's easy to forget! */
__int16 frame; /* if idempotent, device paused */
__int32 padding;
float roll, pitch, yaw; /* divide by 8191 when received, in radians */
float x, y, z; /* between -16383 and 16383 */
float padding2[9];
} tir_headpose_t;
#pragma pack(pop)
typedef struct {
HMODULE hlibrary;
__int32 (__stdcall* tir_reghwnd)(HWND hwnd);
__int32 (__stdcall* tir_regprogid)(__int16 progid);
__int32 (__stdcall* tir_queryver)(__int16* version);
__int32 (__stdcall* tir_reqdata)(__int16 bitmask);
__int32 (__stdcall* tir_stopcurs)(void);
__int32 (__stdcall* tir_startxmit)(void);
__int32 (__stdcall* tir_getdata)(tir_headpose_t* pose);
/* there are more functions, especially for cleaning up
* but the library is typically called on startup
* and unloaded on exit. if you really must add them,
* you can either extract them from NPClient.dll or
* google for it. for instance I once found symbols
* and some constants in Doxygen format...
* if you REALLY need them I can finish the damn thing
* but it's so much boilerplate :(
*/
} tir_state_t;
MY_EXPORT(tir_state_t*) mytir_init(void)
{
HKEY hkey = NULL;
tir_state_t* ret;
int i;
DWORD sz = 1900;
/* Windows paths are limited to 260 characters */
char buf[2048];
ret = malloc(sizeof(tir_state_t));
if (ret == NULL)
return NULL;
memset(ret, 0, sizeof(tir_state_t));
RegOpenKeyExA(HKEY_CURRENT_USER, "Software\\NaturalPoint\\NATURALPOINT\\NPClient Location", 0, KEY_QUERY_VALUE, &hkey);
if (!hkey)
goto error;
buf[0] = '\0';
if (RegQueryValueExA(hkey, "Path", NULL, NULL, buf, &sz) != ERROR_SUCCESS)
goto error;
(void) RegCloseKey(hkey);
hkey = NULL;
buf[2047] = '\0';
for (i = 0; buf[i]; i++)
if (buf[i] == '/')
buf[i] = '\\';
/* in the registry path there's normally a trailing slash already */
#ifdef MY_BUILD_AMD64
strcat(buf, "NPClient64.dll");
#else
strcat(buf, "NPClient.dll");
#endif
ret->hlibrary = LoadLibraryA(buf);
if (ret->hlibrary == NULL)
goto error;
if ((ret->tir_reghwnd = GetProcAddress(ret->hlibrary, "NP_RegisterWindowHandle")) == NULL)
goto error;
if ((ret->tir_regprogid = GetProcAddress(ret->hlibrary, "NP_RegisterProgramProfileID")) == NULL)
goto error;
if ((ret->tir_queryver = GetProcAddress(ret->hlibrary, "NP_QueryVersion")) == NULL)
goto error;
if ((ret->tir_reqdata = GetProcAddress(ret->hlibrary, "NP_RequestData")) == NULL)
goto error;
if ((ret->tir_stopcurs = GetProcAddress(ret->hlibrary, "NP_StopCursor")) == NULL)
goto error;
if ((ret->tir_startxmit = GetProcAddress(ret->hlibrary, "NP_StartDataTransmission")) == NULL)
goto error;
if ((ret->tir_getdata = GetProcAddress(ret->hlibrary, "NP_GetData")) == NULL)
goto error;
return ret;
error:
if (hkey)
(void) RegCloseKey(hkey);
free(ret);
/* sorry but I don't know anything about unloading DLLs. unless you do, there's a handle leak */
/* if you unload it, no need to touch function pointers, they just become invalid */
return NULL;
}
MY_EXPORT(void) mytir_start(tir_state_t* state, HWND window_handle)
{
__int16 tmp;
/* while you have to call it, can pass anything valid, like desktop handle I suppose? */
(void) state->tir_reghwnd(window_handle);
(void) state->tir_regprogid(1901); /* Falcon 4, an old flight simulation. Need to pass valid Id */
(void) state->tir_queryver(&tmp); /* better to call it, even if we don't care about it! */
(void) state->tir_reqdata(119); /* specifies which elements of the pose structure to return */
(void) state->tir_stopcurs(); /* better to call it */
(void) state->tir_startxmit(); /* idem */
}
MY_EXPORT(void) mytir_get_pose(tir_state_t* state, tir_headpose_t* ret)
{
memset(ret, 0, sizeof(tir_headpose_t));
ret->status = 1; /* if the call fails for some reason, at least we shouldn't think we have a valid pose when we don't */
(void) state->tir_getdata(ret);
}
#define MY_DEMO
#ifdef MY_DEMO
int main(void)
{
tir_state_t* state;
int i;
tir_headpose_t ret;
state = mytir_init();
if (!state)
return 1;
mytir_start(state, GetDesktopWindow());
for (i = 0; i < 3600; i++)
{
mytir_get_pose(state, &ret);
if (ret.status)
return 1;
printf("%f %f %f ~ %f %f %f\n", ret.yaw * 180 / 3.14 / 8191, ret.pitch * 180 / 3.14 / 8191, ret.roll * 180 / 3.14 / 8191, ret.x, ret.y, ret.z);
Sleep(35);
}
return 0;
}
#endif
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