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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/plugin-support.h"
#include "OVR_CAPI.h"
#include "Kernel/OVR_Math.h"
#include <cstdio>
using namespace OVR;
Rift_Tracker::Rift_Tracker() :
should_quit(false), old_yaw(0), hmd(nullptr)
{
}
Rift_Tracker::~Rift_Tracker()
{
ovrHmd_Destroy(hmd);
ovr_Shutdown();
}
void Rift_Tracker::StartTracker(QFrame*)
{
ovr_Initialize();
hmd = ovrHmd_Create(0);
if (hmd)
{
ovrHmd_ConfigureTracking(hmd, ovrTrackingCap_Orientation | ovrTrackingCap_MagYawCorrection | ovrTrackingCap_Position, ovrTrackingCap_Orientation);
}
else
{
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to start Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
}
void Rift_Tracker::GetHeadPoseData(double *data)
{
if (hmd)
{
ovrHSWDisplayState hsw;
if (ovrHmd_GetHSWDisplayState(hmd, &hsw), hsw.Displayed)
ovrHmd_DismissHSWDisplay(hmd);
ovrTrackingState ss = ovrHmd_GetTrackingState(hmd, 0);
if(ss.StatusFlags & ovrStatus_OrientationTracked) {
auto pose = ss.HeadPose.ThePose;
Quatf quat = pose.Orientation;
float yaw, pitch, roll;
quat.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
if (s.useYawSpring)
{
yaw = old_yaw*s.persistence + (yaw-old_yaw);
if(yaw > s.deadzone)
yaw -= s.constant_drift;
if(yaw < -s.deadzone)
yaw += s.constant_drift;
old_yaw=yaw;
}
if (s.bEnableYaw)
data[Yaw] = yaw * -57.295781;
if (s.bEnablePitch)
data[Pitch] = pitch * -57.295781;
if (s.bEnableRoll)
data[Roll] = roll * 57.295781;
if (s.bEnableX)
data[TX] = pose.Position.x * 1e2;
if (s.bEnableY)
data[TY] = pose.Position.y * 1e2;
if (s.bEnableX)
data[TZ] = pose.Position.z * 1e2;
}
}
}
extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
{
return new Rift_Tracker;
}
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