Razer Hydra integration

Engine/source/platform/input/razerHydra/razerHydraUtil.cpp

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+//-----------------------------------------------------------------------------
+// Copyright (c) 2012 GarageGames, LLC
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+//-----------------------------------------------------------------------------
+
+#include "platform/input/razerHydra/razerHydraUtil.h"
+
+namespace RazerHydraUtil
+{
+
+enum Components
+{
+   X = 0,
+   Y = 1,
+   Z = 2,
+};
+
+void convertPosition(const F32 inPosition[3], F32& x, F32& y, F32& z)
+{
+   // Convert to Torque coordinates.  The conversion is:
+   //
+   // Motion       Torque
+   // x y z   -->  x -z y
+   x = inPosition[X];    // x = x
+   y = -inPosition[Z];   // y = -z
+   z = inPosition[Y];    // z = y;
+}
+
+void convertPosition(const F32 inPosition[3], Point3F& outPosition)
+{
+   // Convert to Torque coordinates.  The conversion is:
+   //
+   // Motion       Torque
+   // x y z   -->  x -z y
+   outPosition.x = inPosition[X];    // x = x
+   outPosition.y = -inPosition[Z];   // y = -z
+   outPosition.z = inPosition[Y];    // z = y;
+}
+
+void convertRotation(const F32 inRotMat[3][3], MatrixF& outRotation)
+{
+   // Set rotation.  We need to convert from sixense coordinates to
+   // Torque coordinates.  The conversion is:
+   //
+   // Sixense                      Torque
+   // a b c         a  b  c        a -c  b
+   // d e f   -->  -g -h -i  -->  -g  i -h
+   // g h i         d  e  f        d -f  e
+   outRotation.setColumn(0, Point4F( inRotMat[0][0], -inRotMat[0][2],  inRotMat[0][1], 0.0f));
+   outRotation.setColumn(1, Point4F(-inRotMat[2][0],  inRotMat[2][2], -inRotMat[2][1], 0.0f));
+   outRotation.setColumn(2, Point4F( inRotMat[1][0], -inRotMat[1][2],  inRotMat[1][1], 0.0f));
+   outRotation.setPosition(Point3F::Zero);
+}
+
+void calculateAxisRotation(const MatrixF& inRotation, const F32& maxAxisRadius, Point2F& outRotation)
+{
+   const VectorF& controllerUp = inRotation.getUpVector();
+   Point2F axis(0,0);
+   axis.x = controllerUp.x;
+   axis.y = controllerUp.y;
+
+   // Limit the axis angle to that given to us
+   if(axis.len() > maxAxisRadius)
+   {
+      axis.normalize(maxAxisRadius);
+   }
+
+   // Renormalize to the range of 0..1
+   if(maxAxisRadius != 0.0f)
+   {
+      axis /= maxAxisRadius;
+   }
+
+   outRotation.x = axis.x;
+   outRotation.y = axis.y;
+}
+
+}