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
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
|
/* 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 "compat/euler.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,
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;
}
}
void steamvr::data(double* data)
{
if (vr)
{
using m = float[3][4];
vr::TrackedDevicePose_t devices[vr::k_unMaxTrackedDeviceCount] = {};
vr->GetDeviceToAbsoluteTrackingPose(vr::ETrackingUniverseOrigin::TrackingUniverseStanding, 0,
devices, vr::k_unMaxTrackedDeviceCount);
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 m& M = devices[k].mDeviceToAbsoluteTracking.m;
static constexpr double c[3] { -1, 1, -1 };
for (unsigned i = 0; i < 3; i++)
data[i] = double(M[i][3]) * c[i] * 100;
static constexpr unsigned indices[3] = {Roll, Yaw, Pitch};
rmat r(M[0][0], M[1][0], M[2][0],
M[0][1], M[1][1], M[2][1],
M[0][2], M[1][2], M[2][2]);
euler_t ypr(rmat_to_euler(r));
for (unsigned i = 0; i < 3; i++)
data[indices[i]] = 180/M_PI * ypr(i);
for (unsigned i = 0; i < 3; i++)
data[i+3] *= c[i];
goto done;
}
qDebug() << "steamvr: no device with pose found";
done:
(void)0; // expects statement after label
}
}
void steamvr_dialog::register_tracker(ITracker*) {}
void steamvr_dialog::unregister_tracker() {}
OPENTRACK_DECLARE_TRACKER(steamvr, steamvr_dialog, steamvr_metadata)
|
