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
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
|
/* 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_080.h"
#include "api/plugin-api.hpp"
#include <QString>
#include <Extras/OVR_Math.h>
#include <OVR_CAPI_0_8_0.h>
using namespace OVR;
rift_tracker_080::rift_tracker_080() : old_yaw(0), hmd(nullptr)
{
}
rift_tracker_080::~rift_tracker_080()
{
if (hmd)
ovr_Destroy(hmd);
ovr_Shutdown();
}
module_status rift_tracker_080::start_tracker(QFrame*)
{
ovrResult code;
ovrGraphicsLuid luid = {{0}};
code = ovr_Initialize(nullptr);
if (!OVR_SUCCESS(code))
goto error;
code = ovr_Create(&hmd, &luid);
if (!OVR_SUCCESS(code))
goto error;
ovr_ConfigureTracking(hmd,
ovrTrackingCap_Orientation | ovrTrackingCap_MagYawCorrection | ovrTrackingCap_Position,
ovrTrackingCap_Orientation);
return status_ok();
error:
ovrErrorInfo err;
err.Result = code;
err.ErrorString[0] = '\0';
ovr_GetLastErrorInfo(&err);
QString strerror(err.ErrorString);
if (strerror.size() == 0)
strerror = "Unknown reason";
return error(strerror);
}
void rift_tracker_080::data(double *data)
{
if (hmd)
{
ovrTrackingState ss = ovr_GetTrackingState(hmd, 0, false);
if (ss.StatusFlags & ovrStatus_OrientationTracked)
{
constexpr float c_mult = 16;
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).GetYawPitchRoll(&yaw, &pitch, &roll);
yaw *= c_mult;
pitch *= c_mult;
roll *= c_mult;
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 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_080, dialog_rift_080, rift_080Dll)
|
