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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_042.h"
#include "opentrack/plugin-api.hpp"
#include "OVR_CAPI.h"
#include "Kernel/OVR_Math.h"
#include <cstdio>
#include <cstring>
#include <cmath>
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);
double yaw_ = 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 d2r = 180 / OPENTRACK_PI;
data[Yaw] = yaw_ * -d2r;
data[Pitch] = double(pitch) * d2r;
data[Roll] = double(roll) * d2r;
data[TX] = double(pose.Position.x) * -1e2;
data[TY] = double(pose.Position.y) * 1e2;
data[TZ] = double(pose.Position.z) * 1e2;
}
}
}
OPENTRACK_DECLARE_TRACKER(Rift_Tracker, TrackerControls, FTNoIR_TrackerDll)
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