OSVR_ReturnCode osvrClientSetRoomRotationUsingHead(OSVR_ClientContext ctx) {
if (nullptr == ctx) {
/// Return failure if given a null context
return OSVR_RETURN_FAILURE;
}
auto xform = ctx->getRoomToWorldTransform();
auto iface = osvr::client::InternalInterfaceOwner{ctx, "/me/head"};
OSVR_OrientationState state;
OSVR_TimeValue t;
/// Give ourselves 200 milliseconds to get a head tracker report.
using std::chrono::system_clock;
const auto deadline = system_clock::now() + std::chrono::milliseconds(200);
do {
if (OSVR_RETURN_SUCCESS ==
osvrGetOrientationState(&(*iface), &t, &state)) {
// OK, we've gotten state successfully: extract yaw, update
// transform, and return success.
auto q = osvr::util::eigen_interop::map(state);
auto yaw = osvr::util::extractYaw(q);
Eigen::AngleAxisd correction(-yaw, Eigen::Vector3d::UnitY());
xform.concatPost(Eigen::Isometry3d(correction).matrix());
ctx->setRoomToWorldTransform(xform);
return OSVR_RETURN_SUCCESS;
}
ctx->update();
} while (system_clock::now() < deadline);
return OSVR_RETURN_FAILURE;
}
