TEST(BasicJointClientKitWithInterface, ConstructDestruct) {
auto options = osvrJointClientCreateOptions();
ASSERT_NE(nullptr, options);
ASSERT_EQ(OSVR_RETURN_SUCCESS,
osvrJointClientOptionsLoadPlugin(options, "com_osvr_example_AnalogSync"));
ASSERT_EQ(OSVR_RETURN_SUCCESS,
osvrJointClientOptionsTriggerHardwareDetect(options));
auto ctx = osvrJointClientInit("org.osvr.test.jointclientkit", options);
ASSERT_NE(nullptr, ctx);
ASSERT_EQ(OSVR_RETURN_SUCCESS,
osvrClientUpdate(ctx));
OSVR_ClientInterface eye = nullptr;
ASSERT_EQ(OSVR_RETURN_SUCCESS,
osvrClientGetInterface(ctx, "/com_osvr_example_AnalogSync/MySyncDevice/analog/0", &eye));
ASSERT_EQ(OSVR_RETURN_SUCCESS,
osvrRegisterAnalogCallback(eye, &myAnalogCallback, nullptr));
ASSERT_EQ(OSVR_RETURN_SUCCESS,
osvrClientUpdate(ctx));
ASSERT_EQ(true, reportReceived);
ASSERT_EQ(OSVR_RETURN_SUCCESS,
osvrClientShutdown(ctx));
}
bool OSVRInterface::Init(OSVR_ClientContext OSVRClientContext, const FName& InterfaceName)
{
bool Result(true);
#if OSVR_ENABLED
OSVR_ReturnCode ReturnCode = osvrClientGetInterface(OSVRClientContext, InterfaceName.GetPlainANSIString(), &OSVRClientInterface);
Result = ReturnCode == OSVR_RETURN_SUCCESS;
this->OSVRClientContext = OSVRClientContext;
RefreshCapabilities();
RegisterCallbacks();
#endif // OSVR_ENABLED
Name = InterfaceName;
return Result;
}
int main() {
OSVR_ClientContext ctx =
osvrClientInit("com.osvr.exampleclients.ButtonCallback", 0);
OSVR_ClientInterface button1 = NULL;
/* This is just one of the paths: specifically, the Hydra's left
* controller's button labelled "1". More are in the docs and/or listed on
* startup
*/
osvrClientGetInterface(ctx, "/controller/left/1", &button1);
osvrRegisterButtonCallback(button1, &myButtonCallback, NULL);
/* Pretend that this is your application's mainloop. */
int i;
for (i = 0; i < 1000000; ++i) {
osvrClientUpdate(ctx);
}
osvrClientShutdown(ctx);
printf("Library shut down, exiting.\n");
return 0;
}
FOSVRInputDevice::FOSVRInputDevice(
const TSharedRef< FGenericApplicationMessageHandler >& InMessageHandler,
TSharedPtr<OSVREntryPoint, ESPMode::ThreadSafe> osvrEntryPoint,
TSharedPtr<FOSVRHMD, ESPMode::ThreadSafe> osvrHMD) :
mOSVREntryPoint(osvrEntryPoint), mOSVRHMD(osvrHMD), MessageHandler(InMessageHandler)
{
// make sure OSVR module is loaded.
contextMutex = mOSVREntryPoint->GetClientContextMutex();
FScopeLock lock(contextMutex);
context = mOSVREntryPoint->GetClientContext();
bContextValid = context && osvrClientCheckStatus(context) == OSVR_RETURN_SUCCESS;
if (bContextValid)
{
const float defaultThreshold = 0.25f;
TSharedPtr<OSVRButton> buttons[] =
{
// left hand
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::SpecialLeft, "/controller/left/middle")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Left_Shoulder, "/controller/left/bumper")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Left_Thumbstick, "/controller/left/joystick/button")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Left_FaceButton1, "/controller/left/1")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Left_FaceButton2, "/controller/left/2")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Left_FaceButton3, "/controller/left/3")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Left_FaceButton4, "/controller/left/4")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::MotionController_Left_Thumbstick_X, "/controller/left/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_GT, defaultThreshold, FGamepadKeyNames::MotionController_Left_Thumbstick_Right, "/controller/left/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_LT, -defaultThreshold, FGamepadKeyNames::MotionController_Left_Thumbstick_Left, "/controller/left/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::MotionController_Left_Thumbstick_Y, "/controller/left/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_GT, defaultThreshold, FGamepadKeyNames::MotionController_Left_Thumbstick_Up, "/controller/left/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_LT, -defaultThreshold, FGamepadKeyNames::MotionController_Left_Thumbstick_Down, "/controller/left/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::MotionController_Left_TriggerAxis, "/controller/left/trigger")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, FGamepadKeyNames::MotionController_Left_Trigger, "/controller/left/trigger")),
// right hand
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::SpecialRight, "/controller/right/middle")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Right_Shoulder, "/controller/right/bumper")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Right_Thumbstick, "/controller/right/joystick/button")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Right_FaceButton1, "/controller/right/1")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Right_FaceButton2, "/controller/right/2")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Right_FaceButton3, "/controller/right/3")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::MotionController_Right_FaceButton4, "/controller/right/4")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::MotionController_Right_Thumbstick_X, "/controller/right/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_GT, defaultThreshold, FGamepadKeyNames::MotionController_Right_Thumbstick_Right, "/controller/right/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_LT, -defaultThreshold, FGamepadKeyNames::MotionController_Right_Thumbstick_Left, "/controller/right/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::MotionController_Right_Thumbstick_Y, "/controller/right/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_GT, defaultThreshold, FGamepadKeyNames::MotionController_Right_Thumbstick_Up, "/controller/right/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_LT, -defaultThreshold, FGamepadKeyNames::MotionController_Right_Thumbstick_Down, "/controller/right/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::MotionController_Right_TriggerAxis, "/controller/right/trigger")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, FGamepadKeyNames::MotionController_Right_Trigger, "/controller/right/trigger")),
// "controller" (like xbox360)
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::RightShoulder, "/controller/right/bumper")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::RightThumb, "/controller/right/joystick/button")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::FaceButtonBottom, "/controller/right/1")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::FaceButtonRight, "/controller/right/2")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::FaceButtonLeft, "/controller/right/3")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::FaceButtonTop, "/controller/right/4")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::LeftShoulder, "/controller/left/bumper")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::LeftThumb, "/controller/left/joystick/button")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::DPadDown, "/controller/left/1")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::DPadRight, "/controller/left/2")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::DPadLeft, "/controller/left/3")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_DIGITAL, FGamepadKeyNames::DPadUp, "/controller/left/4")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::LeftAnalogX, "/controller/left/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_GT, defaultThreshold, FGamepadKeyNames::LeftStickRight, "/controller/left/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_LT, -defaultThreshold, FGamepadKeyNames::LeftStickLeft, "/controller/left/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::LeftAnalogY, "/controller/left/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_GT, defaultThreshold, FGamepadKeyNames::LeftStickUp, "/controller/left/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_LT, -defaultThreshold, FGamepadKeyNames::LeftStickDown, "/controller/left/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::RightAnalogX, "/controller/right/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_GT, defaultThreshold, FGamepadKeyNames::RightStickRight, "/controller/right/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_LT, -defaultThreshold, FGamepadKeyNames::RightStickLeft, "/controller/right/joystick/x")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::RightAnalogY, "/controller/right/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_GT, defaultThreshold, FGamepadKeyNames::RightStickUp, "/controller/right/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, OSVR_THRESHOLD_TYPE_LT, -defaultThreshold, FGamepadKeyNames::RightStickDown, "/controller/right/joystick/y")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::LeftTriggerAnalog, "/controller/left/trigger")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_ANALOG, FGamepadKeyNames::RightTriggerAnalog, "/controller/right/trigger")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, FGamepadKeyNames::LeftTriggerThreshold, "/controller/left/trigger")),
MakeShareable(new OSVRButton(OSVR_BUTTON_TYPE_THRESHOLD, FGamepadKeyNames::RightTriggerThreshold, "/controller/right/trigger")),
};
osvrButtons.Append(buttons, ARRAY_COUNT(buttons));
for (auto& button : osvrButtons)
{
auto ifaceItr = interfaces.Find(button->ifacePath);
OSVR_ClientInterface iface = nullptr;
if (!ifaceItr)
{
if (osvrClientGetInterface(context, TCHAR_TO_ANSI(*(button->ifacePath)), &iface) != OSVR_RETURN_SUCCESS)
{
button->bIsValid = false;
}
else
{
interfaces.Add(button->ifacePath, iface);
}
}
else
{
iface = *ifaceItr;
}
if (button->bIsValid)
{
if (button->type == OSVR_BUTTON_TYPE_DIGITAL)
{
if (osvrRegisterButtonCallback(iface, buttonCallback, button.Get()) == OSVR_RETURN_FAILURE)
{
button->bIsValid = false;
}
}
if (button->type == OSVR_BUTTON_TYPE_ANALOG ||
button->type == OSVR_BUTTON_TYPE_THRESHOLD)
{
if (osvrRegisterAnalogCallback(iface, analogCallback, button.Get()) == OSVR_RETURN_FAILURE)
{
button->bIsValid = false;
}
}
}
}
bLeftHandValid = osvrClientGetInterface(context, "/me/hands/left", &leftHand)
== OSVR_RETURN_SUCCESS;
bRightHandValid = osvrClientGetInterface(context, "/me/hands/right", &rightHand)
== OSVR_RETURN_SUCCESS;
IModularFeatures::Get().RegisterModularFeature(GetModularFeatureName(), this);
#if !OSVR_UNREAL_4_12
// This may need to be removed in a future version of the engine.
// From the SteamVR plugin: "construction of the controller happens after InitializeMotionControllers(), so we manually add this to the array here"
GEngine->MotionControllerDevices.AddUnique(this);
#endif
}
}
CombinedPositionReader::CombinedPositionReader(OSVR_ClientContext ctx, Json::Value position_paths) {
osvrClientGetInterface(ctx, position_paths["x"].asCString(), &(m_positions[0]));
osvrClientGetInterface(ctx, position_paths["y"].asCString(), &(m_positions[1]));
osvrClientGetInterface(ctx, position_paths["z"].asCString(), &(m_positions[2]));
}
SinglePositionReader::SinglePositionReader(OSVR_ClientContext ctx, std::string position_path) {
osvrClientGetInterface(ctx, position_path.c_str(), &m_position);
}
CombinedOrientationReader::CombinedOrientationReader(OSVR_ClientContext ctx, Json::Value orientation_paths) {
osvrClientGetInterface(ctx, orientation_paths["roll"].asCString(), &(m_orientations[0]));
osvrClientGetInterface(ctx, orientation_paths["pitch"].asCString(), &(m_orientations[1]));
osvrClientGetInterface(ctx, orientation_paths["yaw"].asCString(), &(m_orientations[2]));
}
SingleOrientationReader::SingleOrientationReader(OSVR_ClientContext ctx, std::string orientation_path) {
osvrClientGetInterface(ctx, orientation_path.c_str(), &m_orientation);
}
QVRDevice::QVRDevice(int deviceIndex) :
_index(deviceIndex)
{
_internals = new struct QVRDeviceInternals;
#ifdef HAVE_VRPN
_internals->vrpnPositionPtr = &_position;
_internals->vrpnOrientationPtr = &_orientation;
_internals->vrpnButtonsPtr = &_buttons;
_internals->vrpnAnalogsPtr = &_analogs;
_internals->vrpnTrackerRemote = NULL;
_internals->vrpnAnalogRemote = NULL;
_internals->vrpnButtonRemote = NULL;
#endif
#ifdef HAVE_OCULUS
_internals->oculusTrackedEye = -1;
#endif
#ifdef HAVE_OPENVR
_internals->openVrTrackedEntity = -1;
_internals->openVrButtonsEntity = -1;
_internals->openVrAnalogsEntity = -1;
#endif
#ifdef HAVE_OSVR
_internals->osvrTrackedEye = -1;
_internals->osvrTrackingInterface = NULL;
#endif
switch (config().trackingType()) {
case QVR_Device_Tracking_None:
break;
case QVR_Device_Tracking_Static:
{
QStringList args = config().trackingParameters().split(' ', QString::SkipEmptyParts);
if (args.length() == 3 || args.length() == 6)
_position = QVector3D(args[0].toFloat(), args[1].toFloat(), args[2].toFloat());
if (args.length() == 6)
_orientation = QQuaternion::fromEulerAngles(args[3].toFloat(), args[4].toFloat(), args[5].toFloat());
}
break;
case QVR_Device_Tracking_VRPN:
#ifdef HAVE_VRPN
if (QVRManager::processIndex() == config().processIndex()) {
QStringList args = config().trackingParameters().split(' ', QString::SkipEmptyParts);
QString name = (args.length() >= 1 ? args[0] : config().trackingParameters());
int sensor = (args.length() >= 2 ? args[1].toInt() : vrpn_ALL_SENSORS);
_internals->vrpnTrackerRemote = new vrpn_Tracker_Remote(qPrintable(name));
vrpn_System_TextPrinter.set_ostream_to_use(stderr);
_internals->vrpnTrackerRemote->register_change_handler(_internals, QVRVrpnTrackerChangeHandler, sensor);
}
#endif
break;
case QVR_Device_Tracking_Oculus:
#ifdef HAVE_OCULUS
if (QVRManager::processIndex() == config().processIndex()) {
QString arg = config().trackingParameters().trimmed();
if (arg == "head")
_internals->oculusTrackedEye = 0;
else if (arg == "eye-left")
_internals->oculusTrackedEye = 1;
else if (arg == "eye-right")
_internals->oculusTrackedEye = 2;
else
QVR_WARNING("device %s: invalid Oculus tracking parameter", qPrintable(id()));
}
#endif
break;
case QVR_Device_Tracking_OpenVR:
#ifdef HAVE_OPENVR
if (QVRManager::processIndex() == config().processIndex()) {
QString arg = config().trackingParameters().trimmed();
if (arg == "head")
_internals->openVrTrackedEntity = 0;
else if (arg == "eye-left")
_internals->openVrTrackedEntity = 1;
else if (arg == "eye-right")
_internals->openVrTrackedEntity = 2;
else if (arg == "controller-0")
_internals->openVrTrackedEntity = 3;
else if (arg == "controller-1")
_internals->openVrTrackedEntity = 4;
else
QVR_WARNING("device %s: invalid OpenVR tracking parameter", qPrintable(id()));
}
#endif
break;
case QVR_Device_Tracking_OSVR:
#ifdef HAVE_OSVR
if (QVRManager::processIndex() == config().processIndex()) {
Q_ASSERT(QVROsvrClientContext);
const QString& osvrPath = config().trackingParameters();
if (osvrPath == "eye-center") {
_internals->osvrTrackedEye = 0;
} else if (osvrPath == "eye-left") {
_internals->osvrTrackedEye = 1;
} else if (osvrPath == "eye-right") {
_internals->osvrTrackedEye = 2;
} else {
osvrClientGetInterface(QVROsvrClientContext, qPrintable(osvrPath), &_internals->osvrTrackingInterface);
if (!_internals->osvrTrackingInterface) {
QVR_WARNING("device %s: OSVR interface path %s does not exist",
qPrintable(id()), qPrintable(osvrPath));
}
}
}
#endif
break;
}
switch (config().buttonsType()) {
case QVR_Device_Buttons_None:
break;
case QVR_Device_Buttons_Static:
{
QStringList args = config().buttonsParameters().split(' ', QString::SkipEmptyParts);
_buttons.resize(args.length());
for (int i = 0; i < _buttons.length(); i++)
_buttons[i] = args[i].toInt();
}
break;
case QVR_Device_Buttons_VRPN:
#ifdef HAVE_VRPN
{
QStringList args = config().buttonsParameters().split(' ', QString::SkipEmptyParts);
QString name = (args.length() >= 1 ? args[0] : config().buttonsParameters());
if (args.length() > 1) {
_buttons.resize(args.length() - 1);
_internals->vrpnButtons.resize(_buttons.length());
for (int i = 0; i < _buttons.length(); i++)
_internals->vrpnButtons[i] = args[i + 1].toInt();
} else {
_buttons.resize(32);
_internals->vrpnButtons.resize(_buttons.length());
for (int i = 0; i < _buttons.length(); i++)
_internals->vrpnButtons[i] = i;
}
for (int i = 0; i < _buttons.length(); i++)
_buttons[i] = false;
if (QVRManager::processIndex() == config().processIndex()) {
_internals->vrpnButtonRemote = new vrpn_Button_Remote(qPrintable(name));
vrpn_System_TextPrinter.set_ostream_to_use(stderr);
_internals->vrpnButtonRemote->register_change_handler(_internals, QVRVrpnButtonChangeHandler);
}
}
#endif
break;
case QVR_Device_Buttons_OpenVR:
#ifdef HAVE_OPENVR
{
QString arg = config().buttonsParameters().trimmed();
if (arg == "controller-0") {
_buttons.resize(6);
if (QVRManager::processIndex() == config().processIndex()) {
Q_ASSERT(QVROpenVRSystem);
_internals->openVrButtonsEntity = 0;
}
} else if (arg == "controller-1") {
_buttons.resize(6);
if (QVRManager::processIndex() == config().processIndex()) {
Q_ASSERT(QVROpenVRSystem);
_internals->openVrButtonsEntity = 1;
}
} else {
QVR_WARNING("device %s: invalid OpenVR buttons parameter", qPrintable(id()));
}
}
#endif
break;
case QVR_Device_Buttons_OSVR:
#ifdef HAVE_OSVR
{
QStringList args = config().buttonsParameters().split(' ', QString::SkipEmptyParts);
_buttons.resize(args.length());
if (QVRManager::processIndex() == config().processIndex()) {
Q_ASSERT(QVROsvrClientContext);
for (int i = 0; i < _buttons.length(); i++) {
const QString& osvrPath = args[i];
OSVR_ClientInterface osvrInterface;
osvrClientGetInterface(QVROsvrClientContext, qPrintable(osvrPath), &osvrInterface);
if (!osvrInterface) {
QVR_WARNING("device %s: OSVR interface path %s does not exist",
qPrintable(id()), qPrintable(osvrPath));
}
_internals->osvrButtonsInterfaces.append(osvrInterface);
}
}
}
#endif
break;
}
switch (config().analogsType()) {
case QVR_Device_Analogs_None:
break;
case QVR_Device_Analogs_Static:
{
QStringList args = config().analogsParameters().split(' ', QString::SkipEmptyParts);
_analogs.resize(args.length());
for (int i = 0; i < _analogs.length(); i++)
_analogs[i] = args[i].toFloat();
}
break;
case QVR_Device_Analogs_VRPN:
#ifdef HAVE_VRPN
{
QStringList args = config().analogsParameters().split(' ', QString::SkipEmptyParts);
QString name = (args.length() >= 1 ? args[0] : config().analogsParameters());
if (args.length() > 1) {
_analogs.resize(args.length() - 1);
_internals->vrpnAnalogs.resize(_analogs.length());
for (int i = 0; i < _analogs.length(); i++)
_internals->vrpnAnalogs[i] = args[i + 1].toInt();
} else {
_analogs.resize(8);
_internals->vrpnAnalogs.resize(_analogs.length());
for (int i = 0; i < _analogs.length(); i++)
_internals->vrpnAnalogs[i] = i;
}
for (int i = 0; i < _analogs.length(); i++)
_analogs[i] = 0.0f;
if (QVRManager::processIndex() == config().processIndex()) {
_internals->vrpnAnalogRemote = new vrpn_Analog_Remote(qPrintable(name));
vrpn_System_TextPrinter.set_ostream_to_use(stderr);
_internals->vrpnAnalogRemote->register_change_handler(_internals, QVRVrpnAnalogChangeHandler);
}
}
#endif
break;
case QVR_Device_Analogs_OpenVR:
#ifdef HAVE_OPENVR
{
QString arg = config().analogsParameters().trimmed();
if (arg == "controller-0") {
_analogs.resize(3);
if (QVRManager::processIndex() == config().processIndex()) {
Q_ASSERT(QVROpenVRSystem);
_internals->openVrAnalogsEntity = 0;
}
} else if (arg == "controller-1") {
_analogs.resize(3);
if (QVRManager::processIndex() == config().processIndex()) {
Q_ASSERT(QVROpenVRSystem);
_internals->openVrAnalogsEntity = 1;
}
} else {
QVR_WARNING("device %s: invalid OpenVR analogs parameter", qPrintable(id()));
}
}
#endif
break;
case QVR_Device_Analogs_OSVR:
#ifdef HAVE_OSVR
{
QStringList args = config().analogsParameters().split(' ', QString::SkipEmptyParts);
_analogs.resize(args.length());
if (QVRManager::processIndex() == config().processIndex()) {
Q_ASSERT(QVROsvrClientContext);
for (int i = 0; i < _analogs.length(); i++) {
const QString& osvrPath = args[i];
OSVR_ClientInterface osvrInterface;
osvrClientGetInterface(QVROsvrClientContext, qPrintable(osvrPath), &osvrInterface);
if (!osvrInterface) {
QVR_WARNING("device %s: OSVR interface path %s does not exist",
qPrintable(id()), qPrintable(osvrPath));
}
_internals->osvrAnalogsInterfaces.append(osvrInterface);
}
}
}
#endif
break;
}
}
/**
* Handle OSVR tracking.
***/
void* OSVR_Tracker::Provoke(void* pThis, int eD3D, int eD3DInterface, int eD3DMethod, DWORD dwNumberConnected, int& nProvokerIndex)
{
// update game timer
m_cGameTimer.Tick();
static UINT unFrameSkip = 200;
if (unFrameSkip > 0)
{
unFrameSkip--;
return nullptr;
}
if ((!m_psOSVR_ClientContext) || (!m_psOSVR_ClientInterface))
{
// create client context handle
m_psOSVR_ClientContext =
osvrClientInit("com.mtbs3d.vireio.osvr.tracker", 0);
// get client interface
osvrClientGetInterface(m_psOSVR_ClientContext, "/me/head", &m_psOSVR_ClientInterface);
}
else
{
// update the client context
osvrClientUpdate(m_psOSVR_ClientContext);
// let's read the tracker state.
OSVR_ReturnCode cRet =
osvrGetPoseState(m_psOSVR_ClientInterface, &m_sTimestamp, &m_sState);
if (cRet != OSVR_RETURN_SUCCESS)
{
OutputDebugStringA("No pose state!\n");
}
else
{
m_bControlUpdate = true;
// backup old euler angles and velocity
float afEulerOld[3];
float afEulerVelocityOld[3];
memcpy(&afEulerOld[0], &m_afEuler[0], sizeof(float)* 3);
memcpy(&afEulerVelocityOld[0], &m_afEulerVelocity[0], sizeof(float)* 3);
// quaternion -> euler angles
const float w = (float)m_sState.rotation.data[0];
const float x = (float)m_sState.rotation.data[1];
const float y = (float)m_sState.rotation.data[2];
const float z = (float)m_sState.rotation.data[3];
float sqw = w*w;
float sqx = x*x;
float sqy = y*y;
float sqz = z*z;
float unit = sqx + sqy + sqz + sqw;
float test = x*y + z*w;
if (test > 0.499*unit)
{
// singularity at north pole
m_afEuler[1] = 2 * atan2(x, w);
m_afEuler[2] = FLOAT_PI / 2;
m_afEuler[0] = 0;
}
else if (test < -0.499*unit)
{
// singularity at south pole
m_afEuler[1] = -2 * atan2(x, w);
m_afEuler[2] = -FLOAT_PI / 2;
m_afEuler[0] = 0;
}
else
{
m_afEuler[1] = atan2(2 * y*w - 2 * x*z, sqx - sqy - sqz + sqw);
m_afEuler[2] = asin(2 * test / unit);
m_afEuler[0] = atan2(2 * x * w - 2 * y * z, -sqx + sqy - sqz + sqw);
}
// PITCH = atan2(2.0 * (x * y + w * z), w * w + x * x - y * y - z * z);
// ROLL = atan2(2 * y * w - 2 * x * z, 1 - 2 * y * y - 2 * z * z);
// get euler velocity + acceleration
float afEulerAcceleration[3];
for (UINT unI = 0; unI < 3; unI++)
{
// get the velocity
m_afEulerVelocity[unI] = (m_afEuler[unI] - afEulerOld[unI]) / (float)m_cGameTimer.DeltaTime();
// get the acceleration
afEulerAcceleration[unI] = (m_afEulerVelocity[unI] - afEulerVelocityOld[unI]) / (float)m_cGameTimer.DeltaTime();
}
// get predicted euler
for (UINT unI = 0; unI < 3; unI++)
{
// compute predicted euler
m_afEulerPredicted[unI] = (0.5f * afEulerAcceleration[unI] * ((float)m_cGameTimer.DeltaTime() * (float)m_cGameTimer.DeltaTime())) + (m_afEulerVelocity[unI] * (float)m_cGameTimer.DeltaTime()) + m_afEuler[unI];
}
// set position
m_afPosition[0] = (float)m_sState.translation.data[0];
m_afPosition[1] = (float)m_sState.translation.data[1];
m_afPosition[2] = (float)m_sState.translation.data[2];
#ifdef _DEBUG
// output debug data
std::wstringstream szPose;
szPose << L"Got POSE state: Position = ("
<< m_sState.translation.data[0] << L", "
<< m_sState.translation.data[1] << L", "
<< m_sState.translation.data[2] << L"), orientation = ("
<< osvrQuatGetW(&(m_sState.rotation)) << L", "
<< osvrQuatGetX(&(m_sState.rotation)) << L", "
<< osvrQuatGetY(&(m_sState.rotation)) << L", "
<< osvrQuatGetZ(&(m_sState.rotation)) << L")";
OutputDebugString(szPose.str().c_str());
#endif
}
}
return nullptr;
}
