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RflySimSDK v3.05
RflySimSDK说明文档
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RflySimSDK v3.05
RflySimSDK说明文档
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Device supporting the Razer Hydra game controller as a tracker, analog device, and button device, using the USB HID protocol directly 更多...
#include <vrpn_Tracker_RazerHydra.h>
类 vrpn_Tracker_RazerHydra 继承关系图: vrpn_Tracker_RazerHydra 的协作图:Public 成员函数 | |
| vrpn_Tracker_RazerHydra (const char *name, vrpn_Connection *con=NULL) | |
| vrpn_Tracker_RazerHydra (const char *name, hid_device *ctrl_dev, hid_device *data_dev, vrpn_Connection *con=NULL) | |
| vrpn_Tracker_RazerHydra (const char *name, const char *ctrl_dev_path, const char *data_dev_path, vrpn_Connection *con=NULL) | |
| virtual void | mainloop () |
| virtual bool | reconnect () |
| Public 成员函数 继承自 vrpn_Analog | |
| vrpn_Analog (const char *name, vrpn_Connection *c=NULL) | |
| void | print (void) |
| vrpn_int32 | getNumChannels (void) const |
| Public 成员函数 继承自 vrpn_BaseClass | |
| vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
| Public 成员函数 继承自 vrpn_BaseClassUnique | |
| vrpn_Connection * | connectionPtr () |
| Returns a pointer to the connection this object is using | |
| Public 成员函数 继承自 vrpn_Button_Filter | |
| virtual void | set_momentary (vrpn_int32 which_button) |
| virtual void | set_toggle (vrpn_int32 which_button, vrpn_int32 current_state) |
| virtual void | set_all_momentary (void) |
| virtual void | set_all_toggle (vrpn_int32 default_state) |
| void | set_alerts (vrpn_int32) |
| Public 成员函数 继承自 vrpn_Button | |
| vrpn_Button (const char *name, vrpn_Connection *c=NULL) | |
| void | print (void) |
| Public 成员函数 继承自 vrpn_Tracker | |
| vrpn_Tracker (const char *name, vrpn_Connection *c=NULL, const char *tracker_cfg_file_name=NULL) | |
| int | read_config_file (FILE *config_file, const char *tracker_name) |
| void | print_latest_report (void) |
| int | register_server_handlers (void) |
| void | get_local_t2r (vrpn_float64 *vec, vrpn_float64 *quat) |
| void | get_local_u2s (vrpn_int32 sensor, vrpn_float64 *vec, vrpn_float64 *quat) |
额外继承的成员函数 | |
| 静态 Public 成员函数 继承自 vrpn_Tracker | |
| static int VRPN_CALLBACK | handle_t2r_request (void *userdata, vrpn_HANDLERPARAM p) |
| static int VRPN_CALLBACK | handle_u2s_request (void *userdata, vrpn_HANDLERPARAM p) |
| static int VRPN_CALLBACK | handle_workspace_request (void *userdata, vrpn_HANDLERPARAM p) |
| Public 属性 继承自 vrpn_BaseClassUnique | |
| bool | shutup |
| Public 属性 继承自 vrpn_Button_Filter | |
| vrpn_int32 | buttonstate [vrpn_BUTTON_MAX_BUTTONS] |
| Protected 成员函数 继承自 vrpn_Analog | |
| virtual int | register_types (void) |
| virtual vrpn_int32 | encode_to (char *buf) |
| virtual void | report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW) |
| virtual void | report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW) |
| Protected 成员函数 继承自 vrpn_BaseClass | |
| virtual int | init (void) |
| virtual int | register_senders (void) |
| Protected 成员函数 继承自 vrpn_BaseClassUnique | |
| int | register_autodeleted_handler (vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER) |
| int | send_text_message (const char *msg, struct timeval timestamp, vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL, vrpn_uint32 level=0) |
| Sends a NULL-terminated text message from the device d_sender_id | |
| SendTextMessageBoundCall | send_text_message (vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL) |
| void | server_mainloop (void) |
| void | client_mainloop (void) |
| Protected 成员函数 继承自 vrpn_Button_Filter | |
| vrpn_Button_Filter (const char *, vrpn_Connection *c=NULL) | |
| virtual vrpn_int32 | encode_states_to (char *buf) |
| virtual void | report_changes (void) |
| Protected 成员函数 继承自 vrpn_Button | |
| virtual int | register_types (void) |
| virtual void | report_states (void) |
| virtual vrpn_int32 | encode_to (char *buf, vrpn_int32 button, vrpn_int32 state) |
| Protected 成员函数 继承自 vrpn_Tracker | |
| bool | ensure_enough_unit2sensors (unsigned num) |
| virtual int | register_types (void) |
| virtual int | encode_to (char *buf) |
| virtual int | encode_vel_to (char *buf) |
| virtual int | encode_acc_to (char *buf) |
| virtual int | encode_tracker2room_to (char *buf) |
| virtual int | encode_unit2sensor_to (char *buf) |
| virtual int | encode_workspace_to (char *buf) |
| 静态 Protected 成员函数 继承自 vrpn_BaseClassUnique | |
| static int | encode_text_message_to_buffer (char *buf, vrpn_TEXT_SEVERITY severity, vrpn_uint32 level, const char *msg) |
| static int | decode_text_message_from_buffer (char *msg, vrpn_TEXT_SEVERITY *severity, vrpn_uint32 *level, const char *buf) |
| Decodes the body of the text message from a buffer from the connection | |
| 静态 Protected 成员函数 继承自 vrpn_Button_Filter | |
| static int VRPN_CALLBACK | handle_ping_message (void *userdata, vrpn_HANDLERPARAM p) |
| Protected 属性 继承自 vrpn_Analog | |
| vrpn_float64 | channel [vrpn_CHANNEL_MAX] |
| vrpn_float64 | last [vrpn_CHANNEL_MAX] |
| vrpn_int32 | num_channel |
| struct timeval | timestamp |
| vrpn_int32 | channel_m_id |
| int | status |
| Protected 属性 继承自 vrpn_BaseClassUnique | |
| vrpn_Connection * | d_connection |
| Connection that this object talks to | |
| char * | d_servicename |
| vrpn_int32 | d_sender_id |
| part | |
| vrpn_int32 | d_text_message_id |
| ID for text messages | |
| vrpn_int32 | d_ping_message_id |
| Ask the server if they are there | |
| vrpn_int32 | d_pong_message_id |
| Server telling that it is there | |
| Protected 属性 继承自 vrpn_Button_Filter | |
| int | send_alerts |
| vrpn_int32 | alert_message_id |
| Protected 属性 继承自 vrpn_Button | |
| unsigned char | buttons [vrpn_BUTTON_MAX_BUTTONS] |
| unsigned char | lastbuttons [vrpn_BUTTON_MAX_BUTTONS] |
| vrpn_int32 | minrate [vrpn_BUTTON_MAX_BUTTONS] |
| vrpn_int32 | num_buttons |
| struct timeval | timestamp |
| vrpn_int32 | change_message_id |
| vrpn_int32 | states_message_id |
| vrpn_int32 | admin_message_id |
| Protected 属性 继承自 vrpn_Tracker | |
| vrpn_int32 | position_m_id |
| vrpn_int32 | velocity_m_id |
| vrpn_int32 | accel_m_id |
| vrpn_int32 | tracker2room_m_id |
| vrpn_int32 | unit2sensor_m_id |
| vrpn_int32 | request_t2r_m_id |
| vrpn_int32 | request_u2s_m_id |
| vrpn_int32 | request_workspace_m_id |
| vrpn_int32 | workspace_m_id |
| vrpn_int32 | update_rate_id |
| vrpn_int32 | connection_dropped_m_id |
| vrpn_int32 | reset_origin_m_id |
| vrpn_int32 | d_sensor |
| vrpn_float64 | pos [3] |
| vrpn_float64 | d_quat [4] |
| vrpn_float64 | vel [3] |
| vrpn_float64 | vel_quat [4] |
| vrpn_float64 | vel_quat_dt |
| vrpn_float64 | acc [3] |
| vrpn_float64 | acc_quat [4] |
| vrpn_float64 | acc_quat_dt |
| struct timeval | timestamp |
| vrpn_int32 | frame_count |
| struct timeval | watchdog_timestamp |
| vrpn_float64 | tracker2room [3] |
| vrpn_float64 | tracker2room_quat [4] |
| vrpn_int32 | num_sensors |
| vrpn_Tracker_Pos * | unit2sensor |
| vrpn_Tracker_Quat * | unit2sensor_quat |
| unsigned | num_unit2sensors |
| vrpn_float64 | workspace_min [3] |
| vrpn_float64 | workspace_max [3] |
| int | status |
Device supporting the Razer Hydra game controller as a tracker, analog device, and button device, using the USB HID protocol directly
The left wand (the one with LB and LT on its "end" buttons - look from above) is sensor 0, and the right wand (with RB and RT on it) is sensor 1. The "front" of the base is the side opposite the cables: there's a small logo on it. You can have the base in any orientation you want, but the info that follows assumes you have the base sitting on a desk, with the front toward you. If you have the base in a different coordinate frame in the world, please make the appropriate mental transformations yourself. :)
When starting the VRPN server, make sure that the left wand is somewhere to the left of the base, and the right wand somewhere right of the base - they do not need to be placed on the base or any more complicated homing/calibration procedure. This is for the hemisphere tracking: it needs to have an "initial state" that is roughly known, so it uses the sign of the X coordinate position.
(If you can't do this for whatever reason, modification of the driver code for an alternate calibration procedure is possible.)
If using the Hydra on Windows, the server will work with or without the official Razer Hydra drivers installed. If you are only using the device with VRPN, don't install the official drivers. However, if you do have them installed, make sure that the "Hydra Configurator" and the Hydra system tray icon are closed to avoid unexpected failure (their software can switch the device out of the mode that VRPN uses).
Works great on Linux (regardless of endianness) - no drivers needed, thanks to USB HID.
The base coordinate system is right-handed with the axes: X - out the right of the base Y - out the front of the base Z - down
The wand coordinates are also right-handed, with the tracked point somewhere near the cable entry to the controller. When held with the joystick vertical, the axes are: X - to the right Y - out the front of the controller (trigger buttons) Z - Up, along the joystick
Buttons are as follows, with the right controller's button channels starting at 7 instead of 0: 0 - "middle" button below joystick 1-4 - numbered buttons 5 - "bumper" button (above trigger) 6 - joystick button (if you push straight down on the joystick)
Analog channels are as follows, with the right controller starting at 3 instead of 0: 0 - joystick left/right: centered at 0, right is positive, in [-1, 1] 1 - joystick up/down: centered at 0, up is positive, in [-1, 1] 2 - analog trigger, in range 0 (not pressed) to 1 (fully pressed).
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virtual |
Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop().
实现了 vrpn_BaseClass.
1.11.0