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/*
* OpenHMD - Free and Open Source API and drivers for immersive technology.
* Copyright (C) 2013 Fredrik Hultin.
* Copyright (C) 2013 Jakob Bornecrantz.
* Distributed under the Boost 1.0 licence, see LICENSE for full text.
*/
/* Simple Test */
#include <openhmd.h>
#include <stdio.h>
#include <math.h>
#define PI 3.141593654
void ohmd_sleep(double);
int init_ohmd(ohmd_context** ctx_, ohmd_device** hmd_)
{
ohmd_context* ctx = ohmd_ctx_create();
// Probe
int num_devices = ohmd_ctx_probe(ctx);
if(num_devices < 0)
{
printf("device probing failed: %s\n", ohmd_ctx_get_error(ctx));
return -1;
}
printf("i've got %d devices\n\n", num_devices);
ohmd_device* hmd = ohmd_list_open_device(ctx, 0);
if(!hmd)
{
printf("open failed! %s\n", ohmd_ctx_get_error(ctx));
return -1;
}
// Print hardware information for the opened device
int ivals[2];
ohmd_device_geti(hmd, OHMD_SCREEN_HORIZONTAL_RESOLUTION, ivals);
ohmd_device_geti(hmd, OHMD_SCREEN_VERTICAL_RESOLUTION, ivals + 1);
printf("resolution: %i x %i\n", ivals[0], ivals[1]);
*ctx_=ctx;
*hmd_=hmd;
}
int main(int argc, char** argv)
{
ohmd_context* ctx;
ohmd_device* hmd;
init_ohmd(&ctx,&hmd);
// Ask for n rotation quaternions
for(int i = 0; i < 10000; i++){
ohmd_ctx_update(ctx);
float quat[4],quat_[4];
ohmd_device_getf(hmd, OHMD_ROTATION_QUAT, quat_);
quat[0]=quat_[0];
quat[1]=quat_[1];
quat[2]=quat_[3];
quat[3]=quat_[2];
float oculus_yaw = atan2( 2.0* (quat[1]*quat[2]+quat[0]*quat[3]), (quat[0]*quat[0]+quat[1]*quat[1]-quat[2]*quat[2]-quat[3]*quat[3]) );
float oculus_pitch = asin(2.0*(quat[0]*quat[2]-quat[1]*quat[3]));
float oculus_roll = -atan2(2.0*(quat[2]*quat[3]+quat[0]*quat[1]), -(quat[0]*quat[0]-quat[1]*quat[1]-quat[2]*quat[2]+quat[3]*quat[3]));
printf("quat:\t %f\t%f\t%f\t%f\n", quat[0],quat[1],quat[2],quat[3]);
printf("oculus yaw, pitch, roll = \t%f\t%f\t%f\n", oculus_yaw*180/PI, oculus_pitch*180/PI, oculus_roll*180/PI);
ohmd_sleep(.01);
}
ohmd_ctx_destroy(ctx);
return 0;
}
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