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/* Copyright: "i couldn't care less what anyone does with the 5 lines of code i wrote" - mm0zct */
#include "steamvr.hpp"
#include "api/plugin-api.hpp"
#include "compat/util.hpp"
#include <cstdlib>
#include <cmath>
#include <algorithm>
#include <QMessageBox>
#include <QDebug>
void steamvr::vr_deleter()
{
static std::atomic_flag atexit_done = ATOMIC_FLAG_INIT;
if (atexit_done.test_and_set(std::memory_order_seq_cst))
{
std::atexit(vr::VR_Shutdown);
}
}
steamvr::vr_t steamvr::vr_init(error_t& error)
{
error = error_t::VRInitError_Unknown;
// the background type would surely confuse users
vr_t vr = vr::VR_Init(&error, vr::EVRApplicationType::VRApplication_Other);
if (vr)
vr_deleter();
return vr;
}
QString steamvr::strerror(error_t error)
{
const char* str(vr::VR_GetVRInitErrorAsSymbol(error));
return QString(str ? str : "No description");
}
steamvr::steamvr() : vr(nullptr)
{
}
steamvr::~steamvr()
{
}
void steamvr::start_tracker(QFrame*)
{
error_t e(error_t::VRInitError_Unknown);
vr = vr_init(e);
if (!vr)
{
QMessageBox::warning(nullptr,
QCoreApplication::translate("steamvr", "Valve SteamVR init error"), strerror(e),
QMessageBox::Close, QMessageBox::NoButton);
return;
}
bool ok = false;
for (unsigned k = 0; k < vr::k_unMaxTrackedDeviceCount; k++)
if (vr->GetTrackedDeviceClass(k) == vr::ETrackedDeviceClass::TrackedDeviceClass_HMD)
{
ok = true;
break;
}
if (!ok)
{
QMessageBox::warning(nullptr,
QCoreApplication::translate("steamvr", "Valve SteamVR init warning"),
QCoreApplication::translate("steamvr", "No HMD connected"),
QMessageBox::Close, QMessageBox::NoButton);
return;
}
}
quat steamvr::get_quaternion(const vr::HmdMatrix34_t& r)
{
using std::max;
using std::sqrt;
using std::acos;
const auto& m = r.m;
float qw = sqrt(max(0.f, 1 + m[0][0] + m[1][1] + m[2][2])) / 2;
float qx = sqrt(max(0.f, 1 + m[0][0] - m[1][1] - m[2][2])) / 2;
float qy = sqrt(max(0.f, 1 - m[0][0] + m[1][1] - m[2][2])) / 2;
float qz = sqrt(max(0.f, 1 - m[0][0] - m[1][1] + m[2][2])) / 2;
qx = (m[1][2] - m[2][1]) < 0 ? -qx : qx;
qy = (m[2][0] - m[0][2]) < 0 ? -qy : qy;
qz = (m[0][1] - m[1][0]) < 0 ? -qz : qz;
float s = sqrt(1 - qw * qw);
s = s < .001 ? 1 : s;
return quat(2 * acos(qw), qx/s, qy/s, qz/s);
}
void steamvr::data(double* data)
{
if (vr)
{
vr::TrackedDevicePose_t devices[vr::k_unMaxTrackedDeviceCount] = {};
vr->GetDeviceToAbsoluteTrackingPose(vr::ETrackingUniverseOrigin::TrackingUniverseStanding, 0,
devices, vr::k_unMaxTrackedDeviceCount);
bool done = false;
for (unsigned k = 0; k < vr::k_unMaxTrackedDeviceCount; k++)
{
using namespace euler;
if (!devices[k].bPoseIsValid)
continue;
if (vr->GetTrackedDeviceClass(k) != vr::ETrackedDeviceClass::TrackedDeviceClass_HMD)
continue;
const auto& result = devices[k].mDeviceToAbsoluteTracking;
static constexpr double c[3] { -1, 1, -1 };
for (unsigned i = 0; i < 3; i++)
data[i] = double(result.m[i][3]) * c[i] * 100;
const quat q = get_quaternion(result);
static constexpr double r2d = 180/M_PI;
using std::atan2;
using std::asin;
data[Roll] = r2d * atan2(2*(q(0)*q(1) + q(2)*q(3)), 1 - 2*(q(1)*q(1) + q(2)*q(2)));
data[Pitch] = r2d * asin(2*(q(0)*q(2) - q(3)*q(1)));
data[Yaw] = r2d * atan2(2*(q(0)*q(3) + q(1)*q(2)), 1 - 2*(q(2)*q(2) + q(3)*q(3)));
done = true;
break;
}
if (!done)
qDebug() << "steamvr: no device with pose found";
}
}
void steamvr_dialog::register_tracker(ITracker*) {}
void steamvr_dialog::unregister_tracker() {}
OPENTRACK_DECLARE_TRACKER(steamvr, steamvr_dialog, steamvr_metadata)
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