Optional compilation for Sixense.

cmake/modules/FindSixense.cmake

@@ -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)

interface/CMakeLists.txt

@@ -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)

interface/external/Sixense/readme.txt

@@ -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.

interface/src/devices/SixenseManager.cpp

@@ -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
 }