blob: 8d0e68327b672da92a22794fff9151d74eaeff16 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
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)
|
