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/* Copyright (c) 2014-2015, Stanislaw Halik <sthalik@misaki.pl>
* Permission to use, copy, modify, and/or distribute this
* software for any purpose with or without fee is hereby granted,
* provided that the above copyright notice and this permission
* notice appear in all copies.
*/
#pragma once
#include <vector>
#include "compat/timer.hpp"
#include "api/plugin-support.hpp"
#include "mappings.hpp"
#include "compat/euler.hpp"
#include "runtime-libraries.hpp"
#include "extensions.hpp"
#include "spline/spline.hpp"
#include "main-settings.hpp"
#include "options/options.hpp"
#include "tracklogger.hpp"
#include <QMutex>
#include <QThread>
#include <atomic>
#include <cmath>
#include "export.hpp"
namespace gui_tracker_impl {
using rmat = euler::rmat;
using euler_t = euler::euler_t;
using vec6_bool = Mat<bool, 6, 1>;
using vec3_bool = Mat<bool, 6, 1>;
class reltrans
{
euler_t interp_pos, last_value;
Timer interp_timer;
bool cur = false;
bool in_zone = false;
public:
reltrans();
warn_result_unused
euler_t rotate(const rmat& rmat, const euler_t& in, vec3_bool disable) const;
warn_result_unused
Pose apply_pipeline(reltrans_state cur, const Pose& value, const vec6_bool& disable);
warn_result_unused
euler_t apply_neck(const Pose& value, bool enable, int nz) const;
};
using namespace time_units;
struct OTR_LOGIC_EXPORT bits
{
enum flags : unsigned {
f_center = 1 << 0,
f_enabled_h = 1 << 1,
f_enabled_p = 1 << 2,
f_zero = 1 << 3,
};
std::atomic<unsigned> b;
void set(flags flag_, bool val_);
void negate(flags flag_);
bool get(flags flag);
bits();
};
class OTR_LOGIC_EXPORT pipeline : private QThread, private bits
{
Q_OBJECT
private:
QMutex mtx;
main_settings s;
Mappings& m;
event_handler& ev;
Timer t;
Pose output_pose, raw_6dof, last_mapped, last_raw;
Pose newpose;
runtime_libraries const& libs;
// The owner of the reference is the main window.
// This design might be useful if we decide later on to swap out
// the logger while the tracker is running.
TrackLogger& logger;
struct state
{
rmat inv_rot_center;
rmat rotation;
state() : inv_rot_center(rmat::eye())
{}
};
reltrans rel;
state rotation;
euler_t t_center;
ns backlog_time = ns(0);
bool tracking_started = false;
double map(double pos, Map& axis);
void logic();
void run() override;
bool maybe_enable_center_on_tracking_started();
void maybe_set_center_pose(const Pose& value, bool own_center_logic);
Pose clamp_value(Pose value) const;
Pose apply_center(Pose value) const;
std::tuple<Pose, Pose, vec6_bool> get_selected_axis_value(const Pose& newpose) const;
Pose maybe_apply_filter(const Pose& value) const;
Pose apply_reltrans(Pose value, vec6_bool disabled);
Pose apply_zero_pos(Pose value) const;
// reminder: float exponent base is 2
//static constexpr inline double c_mult = 16;
//static constexpr inline double c_div = 1./c_mult;
public:
pipeline(Mappings& m, runtime_libraries& libs, event_handler& ev, TrackLogger& logger);
~pipeline();
void raw_and_mapped_pose(double* mapped, double* raw) const;
void start() { QThread::start(QThread::HighPriority); }
void toggle_zero();
void toggle_enabled();
void set_center();
void set_enabled(bool value);
void set_zero(bool value);
};
} // ns impl
using gui_tracker_impl::pipeline;
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