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/*
* Copyright (c) 2017, Benjamin Flegel
* Copyright (c) 2017, Stanislaw Halik
*
* 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" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
* REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
* AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
* INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
* LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
* OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
* PERFORMANCE OF THIS SOFTWARE.
*/
#include "steamvr.hpp"
#include "api/plugin-api.hpp"
#include "compat/util.hpp"
#include <cstdlib>
#include <cmath>
#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,
tr("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,
tr("Valve SteamVR init warning"),
tr("No HMD connected"),
QMessageBox::Close, QMessageBox::NoButton);
return;
}
}
void steamvr::data(double* data)
{
if (vr)
{
vr::TrackedDevicePose_t devices[vr::k_unMaxTrackedDeviceCount] = {};
vr->GetDeviceToAbsoluteTrackingPose(vr::ETrackingUniverseOrigin::TrackingUniverseSeated, 0,
devices, vr::k_unMaxTrackedDeviceCount);
for (unsigned k = 0; k < vr::k_unMaxTrackedDeviceCount; k++)
{
if (!devices[k].bPoseIsValid)
continue;
if (vr->GetTrackedDeviceClass(k) != vr::ETrackedDeviceClass::TrackedDeviceClass_HMD)
continue;
const vr::HmdMatrix34_t& result = devices[k].mDeviceToAbsoluteTracking;
int c = 10;
data[TX] = -result.m[0][3] * c;
data[TY] = result.m[1][3] * c;
data[TZ] = result.m[2][3] * c;
using std::atan2;
using std::asin;
// transformation matrix to euler angles
if (result.m[0][0] == 1.0f || result.m[0][0] == -1.0f)
{
data[Yaw] = -atan2(result.m[0][2], result.m[2][3]);
data[Pitch] = 0;
data[Roll] = 0;
}
else
{
data[Yaw] = -atan2(-result.m[2][0], result.m[0][0]);
data[Pitch] = atan2(-result.m[1][2], result.m[1][1]);
data[Roll] = asin(result.m[1][0]);
}
static constexpr double r2d = 180 / M_PI;
data[Yaw] *= r2d;
data[Pitch] *= r2d;
data[Roll] *= r2d;
break;
}
}
}
void steamvr_dialog::register_tracker(ITracker*) {}
void steamvr_dialog::unregister_tracker() {}
OPENTRACK_DECLARE_TRACKER(steamvr, steamvr_dialog, steamvr_metadata)
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