angular velocity

"JeffBail" wrote:
I'm wondering if I could use VRDevice.GetNativePtr to in order to use a angular velocity accessor at the OVR SDK level.

#include "OVR_CAPI.h"
#define _USE_MATH_DEFINES // for C++
#include <cmath>

#if _MSC_VER // this is defined when compiling with Visual Studio
#define EXPORT_API __declspec(dllexport) // Visual Studio needs annotating exported functions with this
#else
#define EXPORT_API // XCode does not need annotating exported functions, so define is empty
#endif

extern "C" {
    // Although Unity may have already called ovr_Initialize the plug-in also needs to call
	// it otherwise the accessors will return zero values. 
	bool EXPORT_API InitializeOVR()
	{
		ovrResult result = ovr_Initialize(NULL);
		if (OVR_FAILURE(result))
		{
			return false;
		}
		return true;
	}

	/*
	Leaving this commented out for future reference; premature shutdown will crash Unity!
	void EXPORT_API ShutdownOVR()
	{
		ovr_Shutdown();
	}
	*/

	// Gets the raw sensor data for yaw, pitch and roll from ovr_GetTrackingState in degrees.
	void EXPORT_API GetOVRAngularVelocity(void* sessionPtr, float& yaw, float& pitch, float& roll)
	{
		if (!sessionPtr)
		{
			return;
		}
		ovrSession session = (ovrSession)sessionPtr;
		ovrTrackingState state = ovr_GetTrackingState(session, 0, false);

		if (state.StatusFlags & ovrStatus_OrientationTracked)
		{
			// OVR seems to have yaw & pitch switched
			yaw = (float)(state.RawSensorData.Gyro.y * (180.0 / M_PI));
			pitch = (float)(state.RawSensorData.Gyro.x * (180.0 / M_PI));
			roll = (float)(state.RawSensorData.Gyro.z * (180.0 / M_PI));
			// yaw needs to be reversed to get a right turn to be positive to match unity
			yaw *= -1;
			// pitch needs to be reversed to get pitch up to be negative to match unity
			pitch *= -1;
		}
		else
		{
			yaw = 0.0f;
			pitch = 0.0f;
			roll = 0.0f;
		}
	}
}

        //
        // Oculus (LibOVR) functions wrapped in UnityOVRPlugin to allow access to the raw sensor data
        //
        [DllImport("UnityOVRPlugin")]
        private static extern bool InitializeOVR();

        [DllImport("UnityOVRPlugin")]
        private static extern void GetOVRAngularVelocity(IntPtr ovrSessionPtr, out float yaw, out float pitch, out float roll);

        void Start () 
        {
            // OVR initialization
            if (!InitializeOVR())
            {
                Debug.Log("OVR initialization failed!");
            }
        }

        void FixedUpdate ()
        {
            // Test code for reading raw YPR directly from the Oculus sensor
            float yaw = 0.0f;
            float pitch = 0.0f;
            float roll = 0.0f;
            GetOVRAngularVelocity(UnityEngine.VR.VRDevice.GetNativePtr(), out yaw, out pitch, out roll);
         }