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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_rift.h"
#include "facetracknoir/global-settings.h"
#include "OVR.h"
#include <cstdio>
using namespace OVR;
Rift_Tracker::Rift_Tracker()
{
bEnableRoll = true;
bEnablePitch = true;
bEnableYaw = true;
#if 0
bEnableX = true;
bEnableY = true;
bEnableZ = true;
#endif
should_quit = false;
pManager = NULL;
pSensor = NULL;
pSFusion = NULL;
old_yaw = 0;
}
Rift_Tracker::~Rift_Tracker()
{
if (pSensor)
pSensor->Release();
if (pSFusion)
delete pSFusion;
if (pManager)
pManager->Release();
System::Destroy();
}
void Rift_Tracker::StartTracker(QFrame*)
{
loadSettings();
//
// Startup the Oculus SDK device handling, use the first Rift sensor we find.
//
System::Init(Log::ConfigureDefaultLog(LogMask_All));
pManager = DeviceManager::Create();
if (pManager != NULL)
{
DeviceEnumerator<OVR::SensorDevice> enumerator = pManager->EnumerateDevices<OVR::SensorDevice>();
if (enumerator.IsAvailable())
{
pSensor = enumerator.CreateDevice();
if (pSensor){
pSFusion = new OVR::SensorFusion();
pSFusion->Reset();
pSFusion->AttachToSensor(pSensor);
}else{
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to create Rift sensor",QMessageBox::Ok,QMessageBox::NoButton);
}
}else{
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to enumerate Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
}else{
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to start Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
}
bool Rift_Tracker::GiveHeadPoseData(double *data)
{
if (pSFusion != NULL) {
Quatf hmdOrient = pSFusion->GetOrientation();
double newHeadPose[6];
float yaw = 0.0f;
float pitch = 0.0f;
float roll = 0.0f;
hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch , &roll);
newHeadPose[Pitch] = pitch;
newHeadPose[Roll] = roll;
newHeadPose[Yaw] = yaw;
if (useYawSpring)
{
newHeadPose[Yaw] = old_yaw*persistence + (yaw-old_yaw);
if(newHeadPose[Yaw]>deadzone)newHeadPose[Yaw]-= constant_drift;
if(newHeadPose[Yaw]<-deadzone)newHeadPose[Yaw]+= constant_drift;
old_yaw=yaw;
}
#if 1
double dt = 0.015;
OVR::Vector3f acc = pSFusion->GetAcceleration();
old_x = old_x*persistence + vx*dt + 0.5*(acc.x*acc.x);
vx = vx*persistence + acc.x*dt;
newHeadPose[TX] = old_x;
old_y = old_y*persistence + vy*dt + 0.5*(acc.y*acc.y);
vy = vy*persistence + acc.y*dt;
newHeadPose[TY] = old_y;
old_z = old_z*persistence + vz*dt + 0.5*(acc.z*acc.z);
vz = vz*persistence + acc.z*dt;
newHeadPose[TZ] = old_z;
if (bEnableX) {
data[TX] = newHeadPose[TX];
}
if (bEnableY) {
data[TY] = newHeadPose[TY];
}
if (bEnableY) {
data[TZ] = newHeadPose[TZ];
}
#endif
if (bEnableYaw) {
data[Yaw] = newHeadPose[Yaw] * 57.295781f;
}
if (bEnablePitch) {
data[Pitch] = newHeadPose[Pitch] * 57.295781f;
}
if (bEnableRoll) {
data[Roll] = newHeadPose[Roll] * 57.295781f;
}
}
return pSensor != NULL;
}
//
// Load the current Settings from the currently 'active' INI-file.
//
void Rift_Tracker::loadSettings() {
qDebug() << "FTNoIR_Tracker::loadSettings says: Starting ";
QSettings settings("opentrack"); // Registry settings (in HK_USER)
QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
qDebug() << "FTNoIR_Tracker::loadSettings says: iniFile = " << currentFile;
iniFile.beginGroup ( "Rift" );
bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool();
bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool();
bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool();
#if 0
bEnableX = iniFile.value ( "EnableX", 1 ).toBool();
bEnableY = iniFile.value ( "EnableY", 1 ).toBool();
bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool();
#endif
useYawSpring = iniFile.value("yaw-spring", false).toBool();
constant_drift = iniFile.value("constant-drift", 0.000005).toDouble();
persistence = iniFile.value("persistence", 0.99999).toDouble();
deadzone = iniFile.value("deadzone", 0.02).toDouble();
iniFile.endGroup ();
}
////////////////////////////////////////////////////////////////////////////////
// Factory function that creates instances if the Tracker object.
// Export both decorated and undecorated names.
// GetTracker - Undecorated name, which can be easily used with GetProcAddress
// Win32 API function.
// _GetTracker@0 - Common name decoration for __stdcall functions in C language.
//#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
{
return new Rift_Tracker;
}
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