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123 lines
4.2 KiB
C++
123 lines
4.2 KiB
C++
//
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// Sixense.cpp
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// interface
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//
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// Created by Andrzej Kapolka on 11/15/13.
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// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
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//
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#ifdef HAVE_SIXENSE
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#include "sixense.h"
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#endif
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#include "Application.h"
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#include "SixenseManager.h"
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SixenseManager::SixenseManager() {
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#ifdef HAVE_SIXENSE
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sixenseInit();
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#endif
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}
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SixenseManager::~SixenseManager() {
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#ifdef HAVE_SIXENSE
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sixenseExit();
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#endif
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}
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void SixenseManager::setFilter(bool filter) {
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#ifdef HAVE_SIXENSE
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if (filter) {
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qDebug("Sixense Filter ON\n");
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sixenseSetFilterEnabled(1);
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} else {
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qDebug("Sixense Filter OFF\n");
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sixenseSetFilterEnabled(0);
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}
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#endif
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}
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void SixenseManager::update(float deltaTime) {
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#ifdef HAVE_SIXENSE
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if (sixenseGetNumActiveControllers() == 0) {
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return;
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}
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MyAvatar* avatar = Application::getInstance()->getAvatar();
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Hand& hand = avatar->getHand();
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int maxControllers = sixenseGetMaxControllers();
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for (int i = 0; i < maxControllers; i++) {
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if (!sixenseIsControllerEnabled(i)) {
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continue;
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}
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sixenseControllerData data;
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sixenseGetNewestData(i, &data);
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// Set palm position and normal based on Hydra position/orientation
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// Either find a palm matching the sixense controller, or make a new one
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PalmData* palm;
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bool foundHand = false;
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for (int j = 0; j < hand.getNumPalms(); j++) {
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if (hand.getPalms()[j].getSixenseID() == data.controller_index) {
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palm = &hand.getPalms()[j];
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foundHand = true;
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}
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}
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if (!foundHand) {
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PalmData newPalm(&hand);
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hand.getPalms().push_back(newPalm);
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palm = &hand.getPalms()[hand.getNumPalms() - 1];
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palm->setSixenseID(data.controller_index);
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printf("Found new Sixense controller, ID %i\n", data.controller_index);
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}
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palm->setActive(true);
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// Read controller buttons and joystick into the hand
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palm->setControllerButtons(data.buttons);
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palm->setTrigger(data.trigger);
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palm->setJoystick(data.joystick_x, data.joystick_y);
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glm::vec3 position(data.pos[0], data.pos[1], data.pos[2]);
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// Adjust for distance between acquisition 'orb' and the user's torso
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// (distance to the right of body center, distance below torso, distance behind torso)
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const glm::vec3 SPHERE_TO_TORSO(-250.f, -300.f, -300.f);
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position = SPHERE_TO_TORSO + position;
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// Rotation of Palm
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glm::quat rotation(data.rot_quat[3], -data.rot_quat[0], data.rot_quat[1], -data.rot_quat[2]);
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rotation = glm::angleAxis(180.0f, 0.f, 1.f, 0.f) * rotation;
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const glm::vec3 PALM_VECTOR(0.0f, -1.0f, 0.0f);
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glm::vec3 newNormal = rotation * PALM_VECTOR;
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palm->setRawNormal(newNormal);
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palm->setRawRotation(rotation);
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// Compute current velocity from position change
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glm::vec3 rawVelocity = (position - palm->getRawPosition()) / deltaTime / 1000.f;
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palm->setRawVelocity(rawVelocity); // meters/sec
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palm->setRawPosition(position);
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// initialize the "finger" based on the direction
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FingerData finger(palm, &hand);
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finger.setActive(true);
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finger.setRawRootPosition(position);
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const float FINGER_LENGTH = 300.0f; // Millimeters
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const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);
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const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;
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finger.setRawTipPosition(position + rotation * FINGER_VECTOR);
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// temporary for toy ball - store first finger tip velocity
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glm::vec3 oldTipPosition = palm->getTipPosition();
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palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime / 1000.f);
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palm->setTipPosition(newTipPosition);
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// three fingers indicates to the skeleton that we have enough data to determine direction
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palm->getFingers().clear();
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palm->getFingers().push_back(finger);
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palm->getFingers().push_back(finger);
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palm->getFingers().push_back(finger);
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}
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#endif
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}
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