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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_rift_025.h"
#include "api/plugin-api.hpp"
#include <OVR.h>
#include <cstdio>
#include <cmath>
using namespace OVR;
rift_tracker_025::rift_tracker_025()
{
pManager = NULL;
pSensor = NULL;
pSFusion = NULL;
old_yaw = 0;
}
rift_tracker_025::~rift_tracker_025()
{
if (pSensor)
pSensor->Release();
if (pSFusion)
delete pSFusion;
if (pManager)
pManager->Release();
System::Destroy();
}
module_status rift_tracker_025::start_tracker(QFrame*)
{
QString err;
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
err = tr("Unable to create Rift sensor");
}
else
err = tr("Unable to enumerate Rift tracker");
}
else
err = tr("Unable to start Rift tracker");
if (err.isEmpty())
return status_ok();
else
return error(err);
}
void rift_tracker_025::data(double *data)
{
if (pSFusion != NULL && pSensor != NULL)
{
Quatf rot = pSFusion->GetOrientation();
constexpr float c_mult = 8;
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_;
}
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_025, dialog_rift_025, rift_025Dll)
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