oculusVRSensorData.cpp

Engine/source/platform/input/oculusVR/oculusVRSensorData.cpp

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Detailed Description

  1
  2//-----------------------------------------------------------------------------
  3// Copyright (c) 2012 GarageGames, LLC
  4//
  5// Permission is hereby granted, free of charge, to any person obtaining a copy
  6// of this software and associated documentation files (the "Software"), to
  7// deal in the Software without restriction, including without limitation the
  8// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
  9// sell copies of the Software, and to permit persons to whom the Software is
 10// furnished to do so, subject to the following conditions:
 11//
 12// The above copyright notice and this permission notice shall be included in
 13// all copies or substantial portions of the Software.
 14//
 15// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 16// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 17// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 18// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 19// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 20// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 21// IN THE SOFTWARE.
 22//-----------------------------------------------------------------------------
 23
 24#include "platform/input/oculusVR/oculusVRDevice.h"
 25#include "platform/input/oculusVR/oculusVRSensorData.h"
 26#include "platform/input/oculusVR/oculusVRUtil.h"
 27#include "console/console.h"
 28
 29OculusVRSensorData::OculusVRSensorData()
 30{
 31   reset();
 32}
 33
 34void OculusVRSensorData::reset()
 35{
 36   mDataSet = false;
 37   mStatusFlags = 0;
 38}
 39
 40void OculusVRSensorData::setData(ovrTrackingState& data, const F32& maxAxisRadius)
 41{
 42   // Sensor rotation & position
 43   OVR::Posef pose = data.HeadPose.ThePose;
 44   OVR::Quatf orientation = pose.Rotation;
 45   OVR::Vector3f position = data.HeadPose.ThePose.Position;
 46
 47   mPosition = Point3F(-position.z, position.x, position.y);
 48   mPosition *= OculusVRDevice::smPositionTrackingScale;
 49
 50   OVR::Matrix4f orientMat(orientation);
 51   OculusVRUtil::convertRotation(orientMat.M, mRot);
 52   mRotQuat.set(mRot);
 53
 54   // Sensor rotation in Euler format
 55   OculusVRUtil::convertRotation(orientation, mRotEuler); // mRotEuler == pitch, roll, yaw FROM yaw, pitch, roll
 56
 57   //mRotEuler = EulerF(0,0,0);
 58   float hmdYaw, hmdPitch, hmdRoll;
 59        orientation.GetEulerAngles<OVR::Axis_Y, OVR::Axis_X, OVR::Axis_Z>(&hmdYaw, &hmdPitch, &hmdRoll);
 60
 61   // Sensor rotation as axis
 62   OculusVRUtil::calculateAxisRotation(mRot, maxAxisRadius, mRotAxis);
 63
 64   // Sensor raw values
 65   OVR::Vector3f accel = data.HeadPose.LinearAcceleration;
 66   OculusVRUtil::convertAcceleration(accel, mAcceleration);
 67
 68   OVR::Vector3f angVel = data.HeadPose.AngularVelocity;
 69   OculusVRUtil::convertAngularVelocity(angVel, mAngVelocity);
 70
 71   OVR::Vector3f mag = data.RawSensorData.Magnetometer;
 72   OculusVRUtil::convertMagnetometer(mag, mMagnetometer);
 73
 74   mStatusFlags = data.StatusFlags;
 75   mDataSet = true;
 76}
 77
 78U32 OculusVRSensorData::compare(OculusVRSensorData* other, bool doRawCompare)
 79{
 80   S32 result = DIFF_NONE;
 81
 82   // Check rotation
 83   if(mRotEuler.x != other->mRotEuler.x || mRotEuler.y != other->mRotEuler.y || mRotEuler.z != other->mRotEuler.z || !mDataSet)
 84   {
 85      result |= DIFF_ROT;
 86   }
 87
 88   // Check rotation as axis
 89   if(mRotAxis.x != other->mRotAxis.x || !mDataSet)
 90   {
 91      result |= DIFF_ROTAXISX;
 92   }
 93   if(mRotAxis.y != other->mRotAxis.y || !mDataSet)
 94   {
 95      result |= DIFF_ROTAXISY;
 96   }
 97
 98   // Check raw values
 99   if(doRawCompare)
100   {
101      if(mAcceleration.x != other->mAcceleration.x || mAcceleration.y != other->mAcceleration.y || mAcceleration.z != other->mAcceleration.z || !mDataSet)
102      {
103         result |= DIFF_ACCEL;
104      }
105      if(mAngVelocity.x != other->mAngVelocity.x || mAngVelocity.y != other->mAngVelocity.y || mAngVelocity.z != other->mAngVelocity.z || !mDataSet)
106      {
107         result |= DIFF_ANGVEL;
108      }
109      if(mMagnetometer.x != other->mMagnetometer.x || mMagnetometer.y != other->mMagnetometer.y || mMagnetometer.z != other->mMagnetometer.z || !mDataSet)
110      {
111         result |= DIFF_MAG;
112      }
113   }
114
115   if (other->mStatusFlags != mStatusFlags)
116   {
117      result |= DIFF_STATUS;
118   }
119
120   return result;
121}
122