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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_042.h"
#include "api/plugin-api.hpp"
#include <QString>
#include <OVR_CAPI.h>
#include <Kernel/OVR_Math.h>
#include <cstdio>
#include <cstring>
#include <cmath>
using namespace OVR;
rift_tracker_042::rift_tracker_042() : old_yaw(0), hmd(nullptr)
{
}
rift_tracker_042::~rift_tracker_042()
{
ovrHmd_Destroy(hmd);
ovr_Shutdown();
}
void rift_tracker_042::start_tracker(QFrame*)
{
ovr_Initialize();
hmd = ovrHmd_Create(0);
if (hmd)
{
ovrHmd_ConfigureTracking(hmd, ovrTrackingCap_Orientation | ovrTrackingCap_MagYawCorrection | ovrTrackingCap_Position, ovrTrackingCap_Orientation);
}
else
{
QMessageBox::warning(nullptr,
"Error",
QCoreApplication::translate("rift_tracker_042", "Unable to start Rift tracker: %1").arg(ovrHmd_GetLastError(nullptr)),
QMessageBox::Ok,
QMessageBox::NoButton);
}
}
void rift_tracker_042::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)
{
static constexpr float c_mult = 16;
static constexpr float c_div = 1/c_mult;
Vector3f axis;
float angle;
const Posef pose(ss.HeadPose.ThePose);
pose.Rotation.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 d2r = 180 / M_PI;
data[Yaw] = yaw_ * -d2r;
data[Pitch] = double(pitch) * d2r;
data[Roll] = double(roll) * d2r;
data[TX] = double(pose.Translation.x) * -1e2;
data[TY] = double(pose.Translation.y) * 1e2;
data[TZ] = double(pose.Translation.z) * 1e2;
}
}
}
OPENTRACK_DECLARE_TRACKER(rift_tracker_042, dialog_rift_042, rift_042Dll)
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