diff options
Diffstat (limited to 'include/libsurvive')
| -rw-r--r-- | include/libsurvive/poser.h | 22 | ||||
| -rw-r--r-- | include/libsurvive/survive.h | 10 | ||||
| -rw-r--r-- | include/libsurvive/survive_types.h | 3 |
3 files changed, 23 insertions, 12 deletions
diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h index ccd36ce..b0b1a7b 100644 --- a/include/libsurvive/poser.h +++ b/include/libsurvive/poser.h @@ -8,18 +8,19 @@ extern "C" { #endif -typedef enum PoserType_t -{ +typedef enum PoserType_t { POSERDATA_NONE = 0, POSERDATA_IMU, - POSERDATA_LIGHT, //Single lighting event. - POSERDATA_FULL_SCENE, //Full, statified X, Y sweep data for both lighthouses. - POSERDATA_DISASSOCIATE, //If you get this, it doesn't contain data. It just tells you to please disassociate from the current SurviveObject and delete your poserdata. - POSERDATA_SYNC, //Sync pulse. + POSERDATA_LIGHT, // Single lighting event. + POSERDATA_FULL_SCENE, // Full, statified X, Y sweep data for both lighthouses. + POSERDATA_DISASSOCIATE, // If you get this, it doesn't contain data. It just tells you to please disassociate from + // the current SurviveObject and delete your poserdata. + POSERDATA_SYNC, // Sync pulse. } PoserType; typedef void (*poser_raw_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose, void *user); -typedef void (*poser_lighthouse_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose, void *user); +typedef void (*poser_lighthouse_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *lighthouse_pose, + SurvivePose *object_pose, void *user); typedef struct { @@ -30,10 +31,11 @@ typedef struct } PoserData; void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose); -void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose); +void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, + /* OUTPARAM */ SurvivePose *objUp2world, SurvivePose *lighthouse_poses, + SurvivePose *object_pose); -typedef struct -{ +typedef struct PoserDataIMU { PoserData hdr; uint8_t datamask; //0 = accel present, 1 = gyro present, 2 = mag present. FLT accel[3]; diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h index 180d83c..747d076 100644 --- a/include/libsurvive/survive.h +++ b/include/libsurvive/survive.h @@ -16,14 +16,21 @@ extern "C" { typedef struct { FLT angles[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // 2 Axes (Angles in LH space) uint32_t timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks + + FLT accel[3]; + FLT gyro[3]; + FLT mag[3]; } SurviveSensorActivations; struct PoserDataLight; +struct PoserDataIMU; /** * Adds a lightData packet to the table. */ void SurviveSensorActivations_add(SurviveSensorActivations *self, struct PoserDataLight *lightData); +void SurviveSensorActivations_add_imu(SurviveSensorActivations *self, struct PoserDataIMU *imuData); + /** * Returns true iff both angles for the given sensor and lighthouse were seen at most `tolerance` ticks before the given * `timecode_now`. @@ -252,7 +259,8 @@ void survive_default_imu_process( SurviveObject * so, int mode, FLT * accelgyro, void survive_default_angle_process( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh ); void survive_default_button_process(SurviveObject * so, uint8_t eventType, uint8_t buttonId, uint8_t axis1Id, uint16_t axis1Val, uint8_t axis2Id, uint16_t axis2Val); void survive_default_raw_pose_process(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose); -void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose); +void survive_default_lighthouse_pose_process(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lh_pose, + SurvivePose *obj_pose); int survive_default_htc_config_process(SurviveObject *so, char *ct0conf, int len); diff --git a/include/libsurvive/survive_types.h b/include/libsurvive/survive_types.h index 5f5dd1f..7253df0 100644 --- a/include/libsurvive/survive_types.h +++ b/include/libsurvive/survive_types.h @@ -53,7 +53,8 @@ typedef void (*imu_process_func)( SurviveObject * so, int mask, FLT * accelgyro, typedef void (*angle_process_func)( SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh); typedef void(*button_process_func)(SurviveObject * so, uint8_t eventType, uint8_t buttonId, uint8_t axis1Id, uint16_t axis1Val, uint8_t axis2Id, uint16_t axis2Val); typedef void (*raw_pose_func)(SurviveObject *so, uint8_t lighthouse, SurvivePose *pose); -typedef void (*lighthouse_pose_func)(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *pose); +typedef void (*lighthouse_pose_func)(SurviveContext *ctx, uint8_t lighthouse, SurvivePose *lighthouse_pose, + SurvivePose *object_pose); typedef int(*haptic_func)(SurviveObject * so, uint8_t reserved, uint16_t pulseHigh , uint16_t pulseLow, uint16_t repeatCount); |