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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>
#define SIXENSE_STATIC_LIB
#define SIXENSE_UTILS_STATIC_LIB
#include <sixense.h>
#include <sixense_math.hpp>
#ifdef WIN32
#include <sixense_utils/mouse_pointer.hpp>
#endif
#include <sixense_utils/derivatives.hpp>
#include <sixense_utils/button_states.hpp>
#include <sixense_utils/event_triggers.hpp>
#include <sixense_utils/controller_manager/controller_manager.hpp>
using namespace OVR;
Rift_Tracker::Rift_Tracker()
{
pSensor.Clear();
pHMD.Clear();
pManager.Clear();
bEnableRoll = true;
bEnablePitch = true;
bEnableYaw = true;
#if 0
bEnableX = true;
bEnableY = true;
bEnableZ = true;
#endif
should_quit = false;
for (int i = 0; i < 6; i++)
newHeadPose[i] = 0;
}
Rift_Tracker::~Rift_Tracker()
{
sixenseExit();
pSensor.Clear();
pHMD.Clear();
pManager.Clear();
System::Destroy();
}
/*
void controller_manager_setup_callback( sixenseUtils::ControllerManager::setup_step step ) {
QMessageBox::warning(0,"OpenTrack Info", "controller manager callback",QMessageBox::Ok,QMessageBox::NoButton);
if( sixenseUtils::getTheControllerManager()->isMenuVisible() ) {
// Ask the controller manager what the next instruction string should be.
std::string controller_manager_text_string = sixenseUtils::getTheControllerManager()->getStepString();
QMessageBox::warning(0,"OpenTrack Info", controller_manager_text_string.c_str(),QMessageBox::Ok,QMessageBox::NoButton);
// We could also load the supplied controllermanager textures using the filename: sixenseUtils::getTheControllerManager()->getTextureFileName();
}
}*/
void Rift_Tracker::StartTracker(QFrame* videoFrame)
{
//QMessageBox::warning(0,"FaceTrackNoIR Notification", "Tracking loading settings...",QMessageBox::Ok,QMessageBox::NoButton);
loadSettings();
//
// Startup the Oculus SDK device handling, use the first Rift sensor we find.
//
System::Init(Log::ConfigureDefaultLog(LogMask_All));
pManager = *DeviceManager::Create();
DeviceEnumerator<HMDDevice>& enumerator = pManager->EnumerateDevices<HMDDevice>();
if (enumerator.IsAvailable())
{
pHMD = *enumerator.CreateDevice();
pSensor = *pHMD->GetSensor();
if (pSensor){
SFusion.AttachToSensor(pSensor);
}else{
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to find Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
isCalibrated = false;
MagCal.BeginAutoCalibration(SFusion);
SFusion.SetMagReference(SFusion.GetOrientation());
}
// Init sixense
//QMessageBox::warning(0,"OpenTrack Info", "sixense init",QMessageBox::Ok,QMessageBox::NoButton);
sixenseInit();
//QMessageBox::warning(0,"OpenTrack Info", "sixense init complete, setting controller manager",QMessageBox::Ok,QMessageBox::NoButton);
// Init the controller manager. This makes sure the controllers are present, assigned to left and right hands, and that
// the hemisphere calibration is complete.
//sixenseUtils::getTheControllerManager()->setGameType( sixenseUtils::ControllerManager::ONE_PLAYER_TWO_CONTROLLER );
//sixenseUtils::getTheControllerManager()->registerSetupCallback( controller_manager_setup_callback );
//QMessageBox::warning(0,"OpenTrack Info", "controller manager callback registered",QMessageBox::Ok,QMessageBox::NoButton);
return;
}
bool Rift_Tracker::GiveHeadPoseData(double *data)
{
if (pHMD.GetPtr() != NULL) {
if (SFusion.IsMagReady() && !isCalibrated ){
SFusion.SetYawCorrectionEnabled(true);
QMessageBox::warning(0,"OpenTrack Info", "Calibrated magnetic sensor",QMessageBox::Ok,QMessageBox::NoButton);
}else{
if(isCalibrated){
isCalibrated = false;
QMessageBox::warning(0,"OpenTrack Info", "Lost magnetic calibration",QMessageBox::Ok,QMessageBox::NoButton);
}
}
// Magnetometer calibration procedure
MagCal.UpdateAutoCalibration(SFusion);
Quatf hmdOrient = SFusion.GetOrientation();
float yaw = 0.0f;
float pitch = 0.0f;
float roll = 0.0f;
//hmdOrient.GetEulerAngles< Axis_X, Axis_Y, Axis_Z>(&pitch, &yaw, &roll);
//hmdOrient.GetEulerAngles< Axis_X, Axis_Z, Axis_Y>(&pitch, &roll, &yaw);
hmdOrient.GetEulerAngles< Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
//hmdOrient.GetEulerAngles< Axis_Y, Axis_Z, Axis_X>(&yaw, &roll, &pitch);
//hmdOrient.GetEulerAngles< Axis_Z, Axis_X, Axis_Y>(&roll, &pitch, &yaw);
//hmdOrient.GetEulerAngles< Axis_Z, Axis_Y, Axis_X>(&roll, &yaw, &pitch);
newHeadPose[RY] =pitch;
newHeadPose[RZ] = roll;
newHeadPose[RX] = yaw;
sixenseSetActiveBase(0);
sixenseAllControllerData acd;
sixenseGetAllNewestData( &acd );
//sixenseUtils::getTheControllerManager()->update( &acd );
#if 1
sixenseControllerData cd;
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 (bEnableX) {
data[TX] = newHeadPose[TX];
//}
//if (bEnableY) {
data[TY] = newHeadPose[TY];
//}
//if (bEnableY) {
data[TZ] = newHeadPose[TZ];
//}
#endif
if (bEnableYaw) {
data[RX] = newHeadPose[RX] * 57.295781f;
}
if (bEnablePitch) {
data[RY] = newHeadPose[RY] * 57.295781f;
}
if (bEnableRoll) {
data[RZ] = newHeadPose[RZ] * 57.295781f;
}
}
return pHMD.GetPtr() != 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
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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