1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
|
/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "ftnoir_tracker_rift_042.h"
#include "opentrack/plugin-api.hpp"
#include "OVR_CAPI.h"
#include "Kernel/OVR_Math.h"
#include <cstdio>
#include <cstring>
using namespace OVR;
Rift_Tracker::Rift_Tracker() : old_yaw(0), hmd(nullptr)
{
}
Rift_Tracker::~Rift_Tracker()
{
ovrHmd_Destroy(hmd);
ovr_Shutdown();
}
void Rift_Tracker::start_tracker(QFrame*)
{
ovr_Initialize();
hmd = ovrHmd_Create(0);
if (hmd)
{
ovrHmd_ConfigureTracking(hmd, ovrTrackingCap_Orientation | ovrTrackingCap_MagYawCorrection | ovrTrackingCap_Position, ovrTrackingCap_Orientation);
}
else
{
// XXX need change ITracker et al api to allow for failure reporting
// this qmessagebox doesn't give any relevant details either -sh 20141012
QMessageBox::warning(0,"Error", "Unable to start Rift tracker",QMessageBox::Ok,QMessageBox::NoButton);
}
}
void Rift_Tracker::data(double *data)
{
if (hmd)
{
ovrHSWDisplayState hsw;
std::memset(&hsw, 0, sizeof(hsw));
ovrHmd_GetHSWDisplayState(hmd, &hsw);
if (hsw.Displayed)
ovrHmd_DismissHSWDisplay(hmd);
ovrTrackingState ss = ovrHmd_GetTrackingState(hmd, 0);
if (ss.StatusFlags & ovrStatus_OrientationTracked)
{
auto pose = ss.HeadPose.ThePose;
Quatf quat = pose.Orientation;
float yaw, pitch, roll;
quat.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
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 d2r = 57.295781;
data[Yaw] = yaw * -d2r;
data[Pitch] = pitch * d2r;
data[Roll] = roll * d2r;
data[TX] = pose.Position.x * -1e2;
data[TY] = pose.Position.y * 1e2;
data[TZ] = pose.Position.z * 1e2;
}
}
}
OPENTRACK_DECLARE_TRACKER(Rift_Tracker, TrackerControls, FTNoIR_TrackerDll)
|
