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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_hydra.h"
#include "opentrack/plugin-api.hpp"
#include "opentrack-compat/pi-constant.hpp"
#include <cstdio>
#include <cmath>
#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] = double(acd.controllers[0].pos[0])/50;
data[TY] = double(acd.controllers[0].pos[1])/50;
data[TZ] = double(acd.controllers[0].pos[2])/50;
static constexpr double r2d = 180/OPENTRACK_PI;
data[Yaw] = double(ypr[0]) * r2d;
data[Pitch] = double(ypr[1]) * r2d;
data[Roll] = double(ypr[2]) * r2d;
}
OPENTRACK_DECLARE_TRACKER(Hydra_Tracker, TrackerControls, FTNoIR_TrackerDll)
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