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Optional compilation for Sixense.

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This commit is contained in:
Andrzej Kapolka 2013-11-18 12:09:52 -08:00
parent 9c401607b1
commit 0231ed133c
4 changed files with 42 additions and 8 deletions
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4
cmake/modules/FindSixense.cmake
View file

@ -19,9 +19,9 @@ else (SIXENSE_LIBRARIES AND SIXENSE_INCLUDE_DIRS)
find_path(SIXENSE_INCLUDE_DIRS sixense.h ${SIXENSE_ROOT_DIR}/include)
if (APPLE)
find_library(SIXENSE_LIBRARIES libsixense.dylib ${SIXENSE_ROOT_DIR}/lib/MacOS/)
find_library(SIXENSE_LIBRARIES libsixense_x64.dylib ${SIXENSE_ROOT_DIR}/lib/osx_x64/release_dll)
elseif (UNIX)
find_library(SIXENSE_LIBRARIES libsixense_x64.so ${SIXENSE_ROOT_DIR}/lib/UNIX/)
find_library(SIXENSE_LIBRARIES libsixense_x64.so ${SIXENSE_ROOT_DIR}/lib/linux_x64/release)
endif ()
if (SIXENSE_INCLUDE_DIRS AND SIXENSE_LIBRARIES)

10
interface/CMakeLists.txt
View file

@ -108,6 +108,14 @@ if (OPENNI_FOUND AND NOT DISABLE_OPENNI)
target_link_libraries(${TARGET_NAME} ${OPENNI_LIBRARIES})
endif (OPENNI_FOUND AND NOT DISABLE_OPENNI)
# likewise with Sixense library for Razer Hydra
if (SIXENSE_FOUND AND NOT DISABLE_SIXENSE)
add_definitions(-DHAVE_SIXENSE)
include_directories(SYSTEM ${SIXENSE_INCLUDE_DIRS})
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -isystem ${SIXENSE_INCLUDE_DIRS}")
target_link_libraries(${TARGET_NAME} ${SIXENSE_LIBRARIES})
endif (SIXENSE_FOUND AND NOT DISABLE_SIXENSE)
qt5_use_modules(${TARGET_NAME} Core Gui Multimedia Network OpenGL Svg WebKit WebKitWidgets)
# include headers for interface and InterfaceConfig.
@ -127,7 +135,6 @@ include_directories(
${LEAP_INCLUDE_DIRS}
${MOTIONDRIVER_INCLUDE_DIRS}
${OPENCV_INCLUDE_DIRS}
${SIXENSE_INCLUDE_DIRS}
)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -isystem ${OPENCV_INCLUDE_DIRS}")
@ -138,7 +145,6 @@ target_link_libraries(
${MOTIONDRIVER_LIBRARIES}
${OPENCV_LIBRARIES}
${ZLIB_LIBRARIES}
${SIXENSE_LIBRARIES}
)
if (APPLE)

11
interface/external/Sixense/readme.txt vendored Normal file
View file

@ -0,0 +1,11 @@
Instructions for adding the Sixense driver to Interface
Andrzej Kapolka, November 18, 2013
NOTE: Without doing step 2, you will crash at program start time.
1. Copy the Sixense sdk folders (lib, include) into the interface/external/Sixense folder. This readme.txt should be there as well.
2. IMPORTANT: Copy the file interface/external/Leap/lib/libc++/libLeap.dylib to /usr/lib
3. Delete your build directory, run cmake and build, and you should be all set.

25
interface/src/devices/SixenseManager.cpp
View file

@ -6,20 +6,27 @@
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
//
#include "sixense.h"
#ifdef HAVE_SIXENSE
#include "sixense.h"
#endif
#include "Application.h"
#include "SixenseManager.h"
SixenseManager::SixenseManager() {
#ifdef HAVE_SIXENSE
sixenseInit();
#endif
}
SixenseManager::~SixenseManager() {
#ifdef HAVE_SIXENSE
sixenseExit();
#endif
}
void SixenseManager::update() {
#ifdef HAVE_SIXENSE
if (sixenseGetNumActiveControllers() == 0) {
return;
}
@ -33,21 +40,31 @@ void SixenseManager::update() {
}
sixenseControllerData data;
sixenseGetNewestData(i, &data);
// set palm position and normal based on Hydra position/orientation
PalmData palm(&hand);
palm.setActive(true);
glm::vec3 position(-data.pos[0], data.pos[1], -data.pos[2]);
palm.setRawPosition(position);
glm::quat rotation(data.rot_quat[3], -data.rot_quat[0], data.rot_quat[1], -data.rot_quat[2]);
palm.setRawNormal(rotation * glm::vec3(0.0f, -1.0f, 0.0f));
const glm::vec3 PALM_VECTOR(0.0f, -1.0f, 0.0f);
palm.setRawNormal(rotation * PALM_VECTOR);
// initialize the "finger" based on the direction
FingerData finger(&palm, &hand);
finger.setActive(true);
finger.setRawRootPosition(position);
finger.setRawTipPosition(position + rotation * glm::vec3(0.0f, 0.0f, 100.0f));
const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, 100.0f);
finger.setRawTipPosition(position + rotation * FINGER_VECTOR);
// 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);
hand.getPalms().push_back(palm);
}
}
#endif
}