CHydraHmdLatest::CHydraHmdLatest( vr::IServerDriverHost * pDriverHost, int base, int n ) : m_pDriverHost( pDriverHost ) , m_nBase( base ) , m_nId( n ) , m_ucPoseSequenceNumber( 0 ) , m_eHemisphereTrackingState( k_eHemisphereTrackingDisabled ) , m_bCalibrated( false ) , m_pAlignmentPartner( NULL ) , m_eSystemButtonState( k_eIdle ) , m_unSteamVRTrackedDeviceId( vr::k_unTrackedDeviceIndexInvalid ) { char buf[256]; GenerateSerialNumber( buf, sizeof( buf ), base, n ); m_strSerialNumber = buf; memset( &m_ControllerState, 0, sizeof( m_ControllerState ) ); memset( &m_Pose, 0, sizeof( m_Pose ) ); m_Pose.result = vr::TrackingResult_Calibrating_InProgress; sixenseControllerData cd; sixenseGetNewestData( m_nId, &cd ); m_firmware_revision = cd.firmware_revision; m_hardware_revision = cd.hardware_revision; }
void SixenseManager::update(float deltaTime) { #ifdef HAVE_SIXENSE if (sixenseGetNumActiveControllers() == 0) { return; } MyAvatar* avatar = Application::getInstance()->getAvatar(); Hand* hand = avatar->getHand(); int maxControllers = sixenseGetMaxControllers(); // we only support two controllers sixenseControllerData controllers[2]; int numActiveControllers = 0; for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) { if (!sixenseIsControllerEnabled(i)) { continue; } sixenseControllerData* data = controllers + numActiveControllers; ++numActiveControllers; sixenseGetNewestData(i, data); // Set palm position and normal based on Hydra position/orientation // Either find a palm matching the sixense controller, or make a new one PalmData* palm; bool foundHand = false; for (size_t j = 0; j < hand->getNumPalms(); j++) { if (hand->getPalms()[j].getSixenseID() == data->controller_index) { palm = &(hand->getPalms()[j]); foundHand = true; } } if (!foundHand) { PalmData newPalm(hand); hand->getPalms().push_back(newPalm); palm = &(hand->getPalms()[hand->getNumPalms() - 1]); palm->setSixenseID(data->controller_index); printf("Found new Sixense controller, ID %i\n", data->controller_index); } palm->setActive(true); // Read controller buttons and joystick into the hand palm->setControllerButtons(data->buttons); palm->setTrigger(data->trigger); palm->setJoystick(data->joystick_x, data->joystick_y); glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]); // Transform the measured position into body frame. glm::vec3 neck = _neckBase; // Zeroing y component of the "neck" effectively raises the measured position a little bit. neck.y = 0.f; position = _orbRotation * (position - neck); // Rotation of Palm glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]); rotation = glm::angleAxis(PI, glm::vec3(0.f, 1.f, 0.f)) * _orbRotation * rotation; const glm::vec3 PALM_VECTOR(0.0f, -1.0f, 0.0f); glm::vec3 newNormal = rotation * PALM_VECTOR; palm->setRawNormal(newNormal); palm->setRawRotation(rotation); // Compute current velocity from position change glm::vec3 rawVelocity = (position - palm->getRawPosition()) / deltaTime / 1000.f; palm->setRawVelocity(rawVelocity); // meters/sec palm->setRawPosition(position); // use the velocity to determine whether there's any movement (if the hand isn't new) const float MOVEMENT_SPEED_THRESHOLD = 0.05f; if (glm::length(rawVelocity) > MOVEMENT_SPEED_THRESHOLD && foundHand) { _lastMovement = usecTimestampNow(); } // initialize the "finger" based on the direction FingerData finger(palm, hand); finger.setActive(true); finger.setRawRootPosition(position); const float FINGER_LENGTH = 300.0f; // Millimeters const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH); const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR; finger.setRawTipPosition(position + rotation * FINGER_VECTOR); // Store the one fingertip in the palm structure so we can track velocity glm::vec3 oldTipPosition = palm->getTipRawPosition(); palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime / 1000.f); palm->setTipPosition(newTipPosition); // three fingers indicates to the skeleton that we have enough data to determine direction palm->getFingers().clear(); palm->getFingers().push_back(finger); palm->getFingers().push_back(finger); palm->getFingers().push_back(finger); } if (numActiveControllers == 2) { updateCalibration(controllers); } // if the controllers haven't been moved in a while, disable const unsigned int MOVEMENT_DISABLE_DURATION = 30 * 1000 * 1000; if (usecTimestampNow() - _lastMovement > MOVEMENT_DISABLE_DURATION) { for (std::vector<PalmData>::iterator it = hand->getPalms().begin(); it != hand->getPalms().end(); it++) { it->setActive(false); } } #endif // HAVE_SIXENSE }
void Sixense_MotionController::Update() { sixenseGetNewestData(m_ControllerIndex, &m_ControllerData); }
void SixenseManager::update(float deltaTime) { #ifdef HAVE_SIXENSE // if the controllers haven't been moved in a while, disable const unsigned int MOVEMENT_DISABLE_SECONDS = 3; if (usecTimestampNow() - _lastMovement > (MOVEMENT_DISABLE_SECONDS * USECS_PER_SECOND)) { Hand* hand = Application::getInstance()->getAvatar()->getHand(); for (std::vector<PalmData>::iterator it = hand->getPalms().begin(); it != hand->getPalms().end(); it++) { it->setActive(false); } _lastMovement = usecTimestampNow(); } if (sixenseGetNumActiveControllers() == 0) { _hydrasConnected = false; return; } PerformanceTimer perfTimer("sixense"); if (!_hydrasConnected) { _hydrasConnected = true; UserActivityLogger::getInstance().connectedDevice("spatial_controller", "hydra"); } MyAvatar* avatar = Application::getInstance()->getAvatar(); Hand* hand = avatar->getHand(); int maxControllers = sixenseGetMaxControllers(); // we only support two controllers sixenseControllerData controllers[2]; int numActiveControllers = 0; for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) { if (!sixenseIsControllerEnabled(i)) { continue; } sixenseControllerData* data = controllers + numActiveControllers; ++numActiveControllers; sixenseGetNewestData(i, data); // Set palm position and normal based on Hydra position/orientation // Either find a palm matching the sixense controller, or make a new one PalmData* palm; bool foundHand = false; for (size_t j = 0; j < hand->getNumPalms(); j++) { if (hand->getPalms()[j].getSixenseID() == data->controller_index) { palm = &(hand->getPalms()[j]); foundHand = true; } } if (!foundHand) { PalmData newPalm(hand); hand->getPalms().push_back(newPalm); palm = &(hand->getPalms()[hand->getNumPalms() - 1]); palm->setSixenseID(data->controller_index); qDebug("Found new Sixense controller, ID %i", data->controller_index); } palm->setActive(true); // Read controller buttons and joystick into the hand palm->setControllerButtons(data->buttons); palm->setTrigger(data->trigger); palm->setJoystick(data->joystick_x, data->joystick_y); // Emulate the mouse so we can use scripts if (Menu::getInstance()->isOptionChecked(MenuOption::SixenseMouseInput)) { emulateMouse(palm, numActiveControllers - 1); } // NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters. glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]); position *= METERS_PER_MILLIMETER; // Transform the measured position into body frame. glm::vec3 neck = _neckBase; // Zeroing y component of the "neck" effectively raises the measured position a little bit. neck.y = 0.f; position = _orbRotation * (position - neck); // Rotation of Palm glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]); rotation = glm::angleAxis(PI, glm::vec3(0.f, 1.f, 0.f)) * _orbRotation * rotation; // Compute current velocity from position change glm::vec3 rawVelocity; if (deltaTime > 0.f) { rawVelocity = (position - palm->getRawPosition()) / deltaTime; } else { rawVelocity = glm::vec3(0.0f); } palm->setRawVelocity(rawVelocity); // meters/sec // adjustment for hydra controllers fit into hands float sign = (i == 0) ? -1.0f : 1.0f; rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f)); if (_lowVelocityFilter) { // Use a velocity sensitive filter to damp small motions and preserve large ones with // no latency. float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f); position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter); rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter); palm->setRawPosition(position); palm->setRawRotation(rotation); } else { palm->setRawPosition(position); palm->setRawRotation(rotation); } // use the velocity to determine whether there's any movement (if the hand isn't new) const float MOVEMENT_DISTANCE_THRESHOLD = 0.003f; _amountMoved += rawVelocity * deltaTime; if (glm::length(_amountMoved) > MOVEMENT_DISTANCE_THRESHOLD && foundHand) { _lastMovement = usecTimestampNow(); _amountMoved = glm::vec3(0.0f); } // Store the one fingertip in the palm structure so we can track velocity const float FINGER_LENGTH = 0.3f; // meters const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH); const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR; glm::vec3 oldTipPosition = palm->getTipRawPosition(); if (deltaTime > 0.f) { palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime); } else { palm->setTipVelocity(glm::vec3(0.f)); } palm->setTipPosition(newTipPosition); } if (numActiveControllers == 2) { updateCalibration(controllers); } #endif // HAVE_SIXENSE }