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/* Copyright (c) 2013 mm0zct
*
* 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.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
#include "ftnoir_tracker_hydra.h"
#include "api/plugin-api.hpp"
#include <cstdio>
#include <cmath>
#ifdef _WIN32
# define SIXENSE_STATIC_LIB
# define SIXENSE_UTILS_STATIC_LIB
#endif
#include <sixense.h>
Hydra_Tracker::Hydra_Tracker() = default;
#include <sixense_math.hpp>
Hydra_Tracker::~Hydra_Tracker()
{
sixenseExit();
}
module_status Hydra_Tracker::start_tracker(QFrame*)
{
sixenseInit();
return status_ok();
}
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;
constexpr double r2d = 180/M_PI;
data[Yaw] = double(ypr[0]) * r2d;
data[Pitch] = double(ypr[1]) * r2d;
data[Roll] = double(ypr[2]) * r2d;
}
OPENTRACK_DECLARE_TRACKER(Hydra_Tracker, dialog_hydra, hydraDll)
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