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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_025.h"
#include "api/plugin-api.hpp"
#include <OVR.h>
#include <cstdio>
#include <cmath>
using namespace OVR;
Rift_Tracker::Rift_Tracker()
{
pManager = NULL;
pSensor = NULL;
pSFusion = NULL;
old_yaw = 0;
}
Rift_Tracker::~Rift_Tracker()
{
if (pSensor)
pSensor->Release();
if (pSFusion)
delete pSFusion;
if (pManager)
pManager->Release();
System::Destroy();
}
void Rift_Tracker::start_tracker(QFrame*)
{
System::Init(Log::ConfigureDefaultLog(LogMask_All));
pManager = DeviceManager::Create();
if (pManager != NULL)
{
DeviceEnumerator<OVR::SensorDevice> enumerator = pManager->EnumerateDevices<OVR::SensorDevice>();
if (enumerator.IsAvailable())
{
pSensor = enumerator.CreateDevice();
if (pSensor)
{
pSFusion = new OVR::SensorFusion();
pSFusion->Reset();
pSFusion->AttachToSensor(pSensor);
}
else
{
QMessageBox::warning(0,"Error", "Unable to create Rift sensor",QMessageBox::Ok,QMessageBox::NoButton);
}
}
else
{
QMessageBox::warning(0,"Error", "Unable to enumerate Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
}
else
{
QMessageBox::warning(0,"Error", "Unable to start Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
}
void Rift_Tracker::data(double *data)
{
if (pSFusion != NULL && pSensor != NULL)
{
Quatf rot = pSFusion->GetOrientation();
static constexpr float c_mult = 8;
static constexpr float c_div = 1/c_mult;
Vector3f axis;
float angle;
rot.GetAxisAngle(&axis, &angle);
angle *= c_div;
float yaw, pitch, roll;
Quatf(axis, angle).GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
double yaw_ = double(yaw);
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_;
}
static constexpr double r2d = 180 / M_PI;
data[Yaw] = yaw_ * r2d;
data[Pitch] = double(pitch) * r2d;
data[Roll] = double(roll) * r2d;
}
}
OPENTRACK_DECLARE_TRACKER(Rift_Tracker, TrackerControls, FTNoIR_TrackerDll)
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