////  SixenseManager.cpp//  interface/src/devices////  Created by Andrzej Kapolka on 11/15/13.//  Copyright 2013 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include <vector> #include <PerfStat.h> #include "Application.h"#include "SixenseManager.h"#include "devices/OculusManager.h"#include "UserActivityLogger.h" #ifdef HAVE_SIXENSE const int CALIBRATION_STATE_IDLE = 0;const int CALIBRATION_STATE_X = 1;const int CALIBRATION_STATE_Y = 2;const int CALIBRATION_STATE_Z = 3;const int CALIBRATION_STATE_COMPLETE = 4; // default (expected) location of neck in sixense spaceconst float NECK_X = 0.25f; // metersconst float NECK_Y = 0.3f;  // metersconst float NECK_Z = 0.3f;  // meters #ifdef __APPLE__typedef int (*SixenseBaseFunction)();typedef int (*SixenseTakeIntFunction)(int);typedef int (*SixenseTakeIntAndSixenseControllerData)(int, sixenseControllerData*);#endif #endif SixenseManager& SixenseManager::getInstance() {    static SixenseManager sharedInstance;    return sharedInstance;} SixenseManager::SixenseManager() :#if defined(HAVE_SIXENSE) && defined(__APPLE__)    _sixenseLibrary(NULL),#endif    _isInitialized(false),    _isEnabled(true),    _hydrasConnected(false){    _triggerPressed[0] = false;    _bumperPressed[0] = false;    _oldX[0] = -1;    _oldY[0] = -1;    _triggerPressed[1] = false;    _bumperPressed[1] = false;    _oldX[1] = -1;    _oldY[1] = -1;} SixenseManager::~SixenseManager() {#ifdef HAVE_SIXENSE_        if (_isInitialized) {#ifdef __APPLE__        SixenseBaseFunction sixenseExit = (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseExit");#endif                sixenseExit();    }    #ifdef __APPLE__    delete _sixenseLibrary;#endif    #endif} void SixenseManager::initialize() {#ifdef HAVE_SIXENSE        if (!_isInitialized) {        _lastMovement = 0;        _amountMoved = glm::vec3(0.0f);        _lowVelocityFilter = false;                _calibrationState = CALIBRATION_STATE_IDLE;        // By default we assume the _neckBase (in orb frame) is as high above the orb        // as the "torso" is below it.        _neckBase = glm::vec3(NECK_X, -NECK_Y, NECK_Z);        #ifdef __APPLE__                if (!_sixenseLibrary) {            #ifdef SIXENSE_LIB_FILENAME            _sixenseLibrary = new QLibrary(SIXENSE_LIB_FILENAME);#else            const QString SIXENSE_LIBRARY_NAME = "libsixense_x64";            QString frameworkSixenseLibrary = QCoreApplication::applicationDirPath() + "/../Frameworks/"                + SIXENSE_LIBRARY_NAME;                    _sixenseLibrary = new QLibrary(frameworkSixenseLibrary);#endif        }                if (_sixenseLibrary->load()){            qDebug() << "Loaded sixense library for hydra support -" << _sixenseLibrary->fileName();        } else {            qDebug() << "Sixense library at" << _sixenseLibrary->fileName() << "failed to load."                << "Continuing without hydra support.";            return;        }                SixenseBaseFunction sixenseInit = (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseInit");#endif        sixenseInit();                _isInitialized = true;    }    #endif} void SixenseManager::setFilter(bool filter) {#ifdef HAVE_SIXENSE     if (_isInitialized) {#ifdef __APPLE__        SixenseTakeIntFunction sixenseSetFilterEnabled = (SixenseTakeIntFunction) _sixenseLibrary->resolve("sixenseSetFilterEnabled");#endif                if (filter) {            sixenseSetFilterEnabled(1);        } else {            sixenseSetFilterEnabled(0);        }    } #endif} void SixenseManager::update(float deltaTime) {#ifdef HAVE_SIXENSE    if (_isInitialized && _isEnabled) {        // if the controllers haven't been moved in a while, disable        const unsigned int MOVEMENT_DISABLE_SECONDS = 3;        if (usecTimestampNow() - _lastMovement > (MOVEMENT_DISABLE_SECONDS * USECS_PER_SECOND)) {            Hand* hand = Application::getInstance()->getAvatar()->getHand();            for (std::vector<PalmData>::iterator it = hand->getPalms().begin(); it != hand->getPalms().end(); it++) {                it->setActive(false);            }            _lastMovement = usecTimestampNow();        }        #ifdef __APPLE__        SixenseBaseFunction sixenseGetNumActiveControllers =        (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetNumActiveControllers");#endif                if (sixenseGetNumActiveControllers() == 0) {            _hydrasConnected = false;            return;        }                PerformanceTimer perfTimer("sixense");        if (!_hydrasConnected) {            _hydrasConnected = true;            UserActivityLogger::getInstance().connectedDevice("spatial_controller", "hydra");        }        MyAvatar* avatar = Application::getInstance()->getAvatar();        Hand* hand = avatar->getHand();        #ifdef __APPLE__        SixenseBaseFunction sixenseGetMaxControllers =        (SixenseBaseFunction) _sixenseLibrary->resolve("sixenseGetMaxControllers");#endif                int maxControllers = sixenseGetMaxControllers();                // we only support two controllers        sixenseControllerData controllers[2];        #ifdef __APPLE__        SixenseTakeIntFunction sixenseIsControllerEnabled =        (SixenseTakeIntFunction) _sixenseLibrary->resolve("sixenseIsControllerEnabled");                SixenseTakeIntAndSixenseControllerData sixenseGetNewestData =        (SixenseTakeIntAndSixenseControllerData) _sixenseLibrary->resolve("sixenseGetNewestData");#endif                int numActiveControllers = 0;        for (int i = 0; i < maxControllers && numActiveControllers < 2; i++) {            if (!sixenseIsControllerEnabled(i)) {                continue;            }            sixenseControllerData* data = controllers + numActiveControllers;            ++numActiveControllers;            sixenseGetNewestData(i, data);                        //  Set palm position and normal based on Hydra position/orientation                        // Either find a palm matching the sixense controller, or make a new one            PalmData* palm;            bool foundHand = false;            for (size_t j = 0; j < hand->getNumPalms(); j++) {                if (hand->getPalms()[j].getSixenseID() == data->controller_index) {                    palm = &(hand->getPalms()[j]);                    foundHand = true;                }            }            if (!foundHand) {                PalmData newPalm(hand);                hand->getPalms().push_back(newPalm);                palm = &(hand->getPalms()[hand->getNumPalms() - 1]);                palm->setSixenseID(data->controller_index);                qDebug("Found new Sixense controller, ID %i", data->controller_index);            }                        palm->setActive(true);                        //  Read controller buttons and joystick into the hand            palm->setControllerButtons(data->buttons);            palm->setTrigger(data->trigger);            palm->setJoystick(data->joystick_x, data->joystick_y);                                    // Emulate the mouse so we can use scripts            if (Menu::getInstance()->isOptionChecked(MenuOption::SixenseMouseInput)) {                emulateMouse(palm, numActiveControllers - 1);            }                        // NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.            glm::vec3 position(data->pos[0], data->pos[1], data->pos[2]);            position *= METERS_PER_MILLIMETER;                        // Transform the measured position into body frame.            glm::vec3 neck = _neckBase;            // Zeroing y component of the "neck" effectively raises the measured position a little bit.            neck.y = 0.0f;            position = _orbRotation * (position - neck);                        //  Rotation of Palm            glm::quat rotation(data->rot_quat[3], -data->rot_quat[0], data->rot_quat[1], -data->rot_quat[2]);            rotation = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f)) * _orbRotation * rotation;                        //  Compute current velocity from position change            glm::vec3 rawVelocity;            if (deltaTime > 0.0f) {                rawVelocity = (position - palm->getRawPosition()) / deltaTime;            } else {                rawVelocity = glm::vec3(0.0f);            }            palm->setRawVelocity(rawVelocity);   //  meters/sec                        // adjustment for hydra controllers fit into hands            float sign = (i == 0) ? -1.0f : 1.0f;            rotation *= glm::angleAxis(sign * PI/4.0f, glm::vec3(0.0f, 0.0f, 1.0f));                        if (_lowVelocityFilter) {                //  Use a velocity sensitive filter to damp small motions and preserve large ones with                //  no latency.                float velocityFilter = glm::clamp(1.0f - glm::length(rawVelocity), 0.0f, 1.0f);                position = palm->getRawPosition() * velocityFilter + position * (1.0f - velocityFilter);                rotation = safeMix(palm->getRawRotation(), rotation, 1.0f - velocityFilter);                palm->setRawPosition(position);                palm->setRawRotation(rotation);            } else {                palm->setRawPosition(position);                palm->setRawRotation(rotation);            }                        // use the velocity to determine whether there's any movement (if the hand isn't new)            const float MOVEMENT_DISTANCE_THRESHOLD = 0.003f;            _amountMoved += rawVelocity * deltaTime;            if (glm::length(_amountMoved) > MOVEMENT_DISTANCE_THRESHOLD && foundHand) {                _lastMovement = usecTimestampNow();                _amountMoved = glm::vec3(0.0f);            }                        // Store the one fingertip in the palm structure so we can track velocity            const float FINGER_LENGTH = 0.3f;   //  meters            const glm::vec3 FINGER_VECTOR(0.0f, 0.0f, FINGER_LENGTH);            const glm::vec3 newTipPosition = position + rotation * FINGER_VECTOR;            glm::vec3 oldTipPosition = palm->getTipRawPosition();            if (deltaTime > 0.0f) {                palm->setTipVelocity((newTipPosition - oldTipPosition) / deltaTime);            } else {                palm->setTipVelocity(glm::vec3(0.0f));            }            palm->setTipPosition(newTipPosition);        }                if (numActiveControllers == 2) {            updateCalibration(controllers);        }     }#endif  // HAVE_SIXENSE} //Constants for getCursorPixelRangeMultiplier()const float MIN_PIXEL_RANGE_MULT = 0.4f;const float MAX_PIXEL_RANGE_MULT = 2.0f;const float RANGE_MULT = (MAX_PIXEL_RANGE_MULT - MIN_PIXEL_RANGE_MULT) * 0.01; //Returns a multiplier to be applied to the cursor range for the controllersfloat SixenseManager::getCursorPixelRangeMult() const {    //scales (0,100) to (MINIMUM_PIXEL_RANGE_MULT, MAXIMUM_PIXEL_RANGE_MULT)    return Menu::getInstance()->getSixenseReticleMoveSpeed() * RANGE_MULT + MIN_PIXEL_RANGE_MULT;} #ifdef HAVE_SIXENSE // the calibration sequence is:// (1) press BUTTON_FWD on both hands// (2) reach arm straight out to the side (X)// (3) lift arms staight up above head (Y)// (4) move arms a bit forward (Z)// (5) release BUTTON_FWD on both hands const float MINIMUM_ARM_REACH = 0.3f; // metersconst float MAXIMUM_NOISE_LEVEL = 0.05f; // metersconst quint64 LOCK_DURATION = USECS_PER_SECOND / 4;     // time for lock to be acquired void SixenseManager::updateCalibration(const sixenseControllerData* controllers) {    const sixenseControllerData* dataLeft = controllers;    const sixenseControllerData* dataRight = controllers + 1;     // calibration only happpens while both hands are holding BUTTON_FORWARD    if (dataLeft->buttons != BUTTON_FWD || dataRight->buttons != BUTTON_FWD) {        if (_calibrationState == CALIBRATION_STATE_IDLE) {            return;        }        switch (_calibrationState) {            case CALIBRATION_STATE_Y:            case CALIBRATION_STATE_Z:            case CALIBRATION_STATE_COMPLETE:            {                // compute calibration results                // ATM we only handle the case where the XAxis has been measured, and we assume the rest                // (i.e. that the orb is on a level surface)                // TODO: handle COMPLETE state where all three axes have been defined.  This would allow us                // to also handle the case where left and right controllers have been reversed.                _neckBase = 0.5f * (_reachLeft + _reachRight); // neck is midway between right and left reaches                glm::vec3 xAxis = glm::normalize(_reachRight - _reachLeft);                glm::vec3 yAxis(0.0f, 1.0f, 0.0f);                glm::vec3 zAxis = glm::normalize(glm::cross(xAxis, yAxis));                xAxis = glm::normalize(glm::cross(yAxis, zAxis));                _orbRotation = glm::inverse(glm::quat_cast(glm::mat3(xAxis, yAxis, zAxis)));                qDebug("succeess: sixense calibration");            }            break;            default:                qDebug("failed: sixense calibration");                break;        }         _calibrationState = CALIBRATION_STATE_IDLE;        return;    }     // NOTE: Sixense API returns pos data in millimeters but we IMMEDIATELY convert to meters.    const float* pos = dataLeft->pos;    glm::vec3 positionLeft(pos[0], pos[1], pos[2]);    positionLeft *= METERS_PER_MILLIMETER;    pos = dataRight->pos;    glm::vec3 positionRight(pos[0], pos[1], pos[2]);    positionRight *= METERS_PER_MILLIMETER;     if (_calibrationState == CALIBRATION_STATE_IDLE) {        float reach = glm::distance(positionLeft, positionRight);        if (reach > 2.0f * MINIMUM_ARM_REACH) {            qDebug("started: sixense calibration");            _averageLeft = positionLeft;            _averageRight = positionRight;            _reachLeft = _averageLeft;            _reachRight = _averageRight;            _lastDistance = reach;            _lockExpiry = usecTimestampNow() + LOCK_DURATION;            // move to next state            _calibrationState = CALIBRATION_STATE_X;        }        return;    }      quint64 now = usecTimestampNow() + LOCK_DURATION;    // these are weighted running averages    _averageLeft = 0.9f * _averageLeft + 0.1f * positionLeft;    _averageRight = 0.9f * _averageRight + 0.1f * positionRight;     if (_calibrationState == CALIBRATION_STATE_X) {        // compute new sliding average        float distance = glm::distance(_averageLeft, _averageRight);        if (fabs(distance - _lastDistance) > MAXIMUM_NOISE_LEVEL) {            // distance is increasing so acquire the data and push the expiry out            _reachLeft = _averageLeft;            _reachRight = _averageRight;            _lastDistance = distance;            _lockExpiry = now + LOCK_DURATION;        } else if (now > _lockExpiry) {            // lock has expired so clamp the data and move on            _lockExpiry = now + LOCK_DURATION;            _lastDistance = 0.0f;            _reachUp = 0.5f * (_reachLeft + _reachRight);            _calibrationState = CALIBRATION_STATE_Y;            qDebug("success: sixense calibration: left");        }    }    else if (_calibrationState == CALIBRATION_STATE_Y) {        glm::vec3 torso = 0.5f * (_reachLeft + _reachRight);        glm::vec3 averagePosition = 0.5f * (_averageLeft + _averageRight);        float distance = (averagePosition - torso).y;        if (fabs(distance) > fabs(_lastDistance) + MAXIMUM_NOISE_LEVEL) {            // distance is increasing so acquire the data and push the expiry out            _reachUp = averagePosition;            _lastDistance = distance;            _lockExpiry = now + LOCK_DURATION;        } else if (now > _lockExpiry) {            if (_lastDistance > MINIMUM_ARM_REACH) {                // lock has expired so clamp the data and move on                _reachForward = _reachUp;                _lastDistance = 0.0f;                _lockExpiry = now + LOCK_DURATION;                _calibrationState = CALIBRATION_STATE_Z;                qDebug("success: sixense calibration: up");            }        }    }    else if (_calibrationState == CALIBRATION_STATE_Z) {        glm::vec3 xAxis = glm::normalize(_reachRight - _reachLeft);        glm::vec3 torso = 0.5f * (_reachLeft + _reachRight);        //glm::vec3 yAxis = glm::normalize(_reachUp - torso);        glm::vec3 yAxis(0.0f, 1.0f, 0.0f);        glm::vec3 zAxis = glm::normalize(glm::cross(xAxis, yAxis));         glm::vec3 averagePosition = 0.5f * (_averageLeft + _averageRight);        float distance = glm::dot((averagePosition - torso), zAxis);        if (fabs(distance) > fabs(_lastDistance)) {            // distance is increasing so acquire the data and push the expiry out            _reachForward = averagePosition;            _lastDistance = distance;            _lockExpiry = now + LOCK_DURATION;        } else if (now > _lockExpiry) {            if (fabs(_lastDistance) > 0.05f * MINIMUM_ARM_REACH) {                // lock has expired so clamp the data and move on                _calibrationState = CALIBRATION_STATE_COMPLETE;                qDebug("success: sixense calibration: forward");                // TODO: it is theoretically possible to detect that the controllers have been                 // accidentally switched (left hand is holding right controller) and to swap the order.            }        }    }} //Injecting mouse movements and clicksvoid SixenseManager::emulateMouse(PalmData* palm, int index) {    Application* application = Application::getInstance();    MyAvatar* avatar = application->getAvatar();    GLCanvas* widget = application->getGLWidget();    QPoint pos;        Qt::MouseButton bumperButton;    Qt::MouseButton triggerButton;     unsigned int deviceID = index == 0 ? CONTROLLER_0_EVENT : CONTROLLER_1_EVENT;     if (Menu::getInstance()->getInvertSixenseButtons()) {        bumperButton = Qt::LeftButton;        triggerButton = Qt::RightButton;    } else {        bumperButton = Qt::RightButton;        triggerButton = Qt::LeftButton;    }     if (Menu::getInstance()->isOptionChecked(MenuOption::SixenseLasers)         || Menu::getInstance()->isOptionChecked(MenuOption::EnableVRMode)) {        pos = application->getApplicationOverlay().getPalmClickLocation(palm);    } else {        // Get directon relative to avatar orientation        glm::vec3 direction = glm::inverse(avatar->getOrientation()) * palm->getFingerDirection();         // Get the angles, scaled between (-0.5,0.5)        float xAngle = (atan2(direction.z, direction.x) + M_PI_2);        float yAngle = 0.5f - ((atan2(direction.z, direction.y) + M_PI_2));         // Get the pixel range over which the xAngle and yAngle are scaled        float cursorRange = widget->width() * getCursorPixelRangeMult();         pos.setX(widget->width() / 2.0f + cursorRange * xAngle);        pos.setY(widget->height() / 2.0f + cursorRange * yAngle);     }     //If we are off screen then we should stop processing, and if a trigger or bumper is pressed,    //we should unpress them.

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