tracking basestation and controllers

src/vr.rs

@@ -1,11 +1,17 @@
 extern crate gfx;
 extern crate gfx_device_gl;
+extern crate nalgebra as na;
+extern crate num_traits;
 extern crate openvr as vr;
 extern crate openvr_sys;
 
 use self::gfx::{tex, Factory, Typed};
 
 pub use self::vr::Eye;
+pub use self::vr::tracking::TrackedDeviceClass;
+use self::na::Inverse;
+use self::num_traits::identities::Zero;
+use self::num_traits::identities::One;
 
 pub struct VR {
     system: vr::IVRSystem,
@@ -40,6 +46,16 @@ impl VR {
     pub fn recommended_render_target_size(&self) -> vr::common::Size {
         self.system.recommended_render_target_size()
     }
+
+    pub fn projection_matrix(self: &Self, eye: Eye, near: f32, far: f32) -> na::Matrix4<f32> {
+        self.system.projection_matrix(eye, near, far).as_matrix4()
+    }
+
+    pub fn head_to_eye_transform(self: &Self, eye: Eye) -> na::Matrix4<f32> {
+        let mut mat = self.system.eye_to_head_transform(eye).as_matrix4();
+        assert!(mat.inverse_mut(), "inverse eye matrix");
+        mat
+    }
 }
 
 impl Drop for VR {
@@ -48,6 +64,28 @@ impl Drop for VR {
     }
 }
 
+pub trait AsMatrix4<N> {
+    fn as_matrix4(self) -> na::Matrix4<N>;
+}
+impl<N: Copy + Zero + One> AsMatrix4<N> for [[N; 4]; 3] {
+    #[inline]
+    fn as_matrix4(self) -> na::Matrix4<N> {
+        na::Matrix4::new(self[0][0], self[0][1], self[0][2], self[0][3],
+                         self[1][0], self[1][1], self[1][2], self[1][3],
+                         self[2][0], self[2][1], self[2][2], self[2][3],
+                         N::zero(),  N::zero(),  N::zero(),  N::one())
+    }
+}
+impl<N: Copy> AsMatrix4<N> for [[N; 4]; 4] {
+    #[inline]
+    fn as_matrix4(self) -> na::Matrix4<N> {
+        na::Matrix4::new(self[0][0], self[0][1], self[0][2], self[0][3],
+                         self[1][0], self[1][1], self[1][2], self[1][3],
+                         self[2][0], self[2][1], self[2][2], self[2][3],
+                         self[3][0], self[3][1], self[3][2], self[3][3])
+    }
+}
+
 pub fn create_eyebuffer<T>(factory: &mut gfx_device_gl::Factory,
                            size: vr::common::Size)
                            -> Result<(gfx::handle::Texture<gfx_device_gl::Resources,