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Added Knuckles FloorFix feature (prelim) (#100)

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* added early knuckles support to floor fix.

* removed commented out code

* formatted
This commit is contained in:
ykeara
2019-03-15 14:52:48 -05:00
committed by GitHub
parent 09b8458a57
commit 55b6d5de66
2 changed files with 103 additions and 4 deletions
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src/tabcontrollers/FixFloorTabController.cpp
+92 -4
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@@ -74,6 +74,7 @@ void FixFloorTabController::eventLoopTick(
{
// The controller with the lowest y-pos is the floor fix
// reference
if ( leftPose->mDeviceToAbsoluteTracking.m[1][3]
< rightPose->mDeviceToAbsoluteTracking.m[1][3] )
{
@@ -89,6 +90,7 @@ void FixFloorTabController::eventLoopTick(
tempOffsetX = static_cast<double>( m[0][3] );
tempOffsetY = static_cast<double>( m[1][3] );
tempOffsetZ = static_cast<double>( m[2][3] );
/*
| Intrinsic y-x'-z" rotation matrix:
| cr*cy+sp*sr*sy | cr*sp*sy-cy*sr | cp*sy |
@@ -133,15 +135,60 @@ void FixFloorTabController::eventLoopTick(
if ( measurementCount >= 25 )
{
int type = 0;
if ( std::abs( tempRoll ) <= M_PI_2 )
{
floorOffsetY = static_cast<float>( tempOffsetY )
- controllerUpOffsetCorrection;
type = getControllerType( referenceController );
if ( type == Controller_Wand )
{
floorOffsetY = static_cast<float>( tempOffsetY )
- controllerUpOffsetCorrection;
}
else if ( type == Controller_Knuckles )
{
// Production
floorOffsetY = static_cast<float>( tempOffsetY )
- knucklesUpOffsetCorrection;
// Generate Offset
// Comment out production and un-comment this.
// Only if Floor is known to be good (zero with wand)
/*
floorOffsetY = static_cast<float>(tempOffsetY);
LOG(INFO) << "Offset For Knuckles up is: " <<
floorOffsetY;
*/
}
floorOffsetY = static_cast<float>( tempOffsetY );
}
else
{
floorOffsetY = static_cast<float>( tempOffsetY )
- controllerDownOffsetCorrection;
type = getControllerType( referenceController );
if ( type == Controller_Wand )
{
floorOffsetY = static_cast<float>( tempOffsetY )
- controllerDownOffsetCorrection;
}
else if ( type == Controller_Knuckles )
{
// Production
floorOffsetY = static_cast<float>( tempOffsetY )
- knucklesDownOffsetCorrection;
// Generate Offset
// Comment out production and un-comment this.
// Only if Floor is known to be good (zero with wand)
/*
floorOffsetY = static_cast<float>(tempOffsetY);
LOG(INFO) << "Offset For Knuckles up is: " <<
floorOffsetY;
*/
}
floorOffsetY = static_cast<float>( tempOffsetY );
}
floorOffsetX = static_cast<float>( tempOffsetX );
@@ -172,6 +219,47 @@ void FixFloorTabController::eventLoopTick(
}
}
int FixFloorTabController::getControllerType(
vr::TrackedDeviceIndex_t controllerRole )
{
int maxLength = 64;
/*
vr::k_unMaxPropertyStringSize is Theoretical Max Size, however it is
1024*32, and its pretty unrealistic to expect a controller name to be that
big. We are just going to set 64 as an arbitrary size, and print error to
log if too small
*/
char* controllerTypeString = new char[maxLength];
vr::ETrackedPropertyError error;
auto stringLength = vr::VRSystem()->GetStringTrackedDeviceProperty(
controllerRole,
vr::Prop_ControllerType_String,
controllerTypeString,
maxLength,
&error );
if ( error != vr::TrackedProp_Success )
{
LOG( ERROR ) << "Error With Controller Type: "
<< vr::VRSystem()->GetPropErrorNameFromEnum( error );
}
else if ( stringLength == 0 )
{
LOG( ERROR ) << "Device Index not valid";
}
else if ( strcmp( controllerTypeString, "knuckles" ) == 0 )
{
delete[] controllerTypeString;
return Controller_Knuckles;
}
else if ( strcmp( controllerTypeString, "vive_controller" ) == 0 )
{
delete[] controllerTypeString;
return Controller_Wand;
}
delete[] controllerTypeString;
return Controller_Unknown;
}
QString FixFloorTabController::currentStatusMessage()
{
return statusMessage;