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/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_hydra.h"
#include "facetracknoir/global-settings.h"
#include "facetracknoir/rotation.h"
#include <cstdio>
#ifdef _WIN32
# define SIXENSE_STATIC_LIB
# define SIXENSE_UTILS_STATIC_LIB
#endif
#include <sixense.h>
#include <sixense_math.hpp>
Hydra_Tracker::Hydra_Tracker() : should_quit(false)
{
for (int i = 0; i < 6; i++)
newHeadPose[i] = 0;
}
Hydra_Tracker::~Hydra_Tracker()
{
sixenseExit();
}
void Hydra_Tracker::StartTracker(QFrame*)
{
sixenseInit();
}
void Hydra_Tracker::GetHeadPoseData(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);
newHeadPose[Yaw] = ypr[0];
newHeadPose[Pitch] = ypr[1];
newHeadPose[Roll] = ypr[2];
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 (s.bEnableX) {
data[TX] = newHeadPose[TX];
}
if (s.bEnableY) {
data[TY] = newHeadPose[TY];
}
if (s.bEnableY) {
data[TZ] = newHeadPose[TZ];
}
if (s.bEnableYaw) {
data[Yaw] = newHeadPose[Yaw] * 57.295781f;
}
if (s.bEnablePitch) {
data[Pitch] = newHeadPose[Pitch] * 57.295781f;
}
if (s.bEnableRoll) {
data[Roll] = newHeadPose[Roll] * 57.295781f;
}
}
extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
{
return new Hydra_Tracker;
}
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