Updating to cmake, glew, xrandr

2 files changed, 0 insertions, 365 deletions

diff --git a/LibOVR/Src/Util/Util_MagCalibration.cpp b/LibOVR/Src/Util/Util_MagCalibration.cpp
deleted file mode 100644
index 58b8c45..0000000
--- a/LibOVR/Src/Util/Util_MagCalibration.cpp
+++ /dev/null
@@ -1,227 +0,0 @@
-/************************************************************************************
-
-Filename    :   Util_MagCalibration.cpp
-Content     :   Procedures for calibrating the magnetometer
-Created     :   April 16, 2013
-Authors     :   Steve LaValle, Andrew Reisse
-
-Copyright   :   Copyright 2013 Oculus VR, Inc. All Rights reserved.
-
-Use of this software is subject to the terms of the Oculus license
-agreement provided at the time of installation or download, or which
-otherwise accompanies this software in either electronic or hard copy form.
-
-*************************************************************************************/
-
-#include "Util_MagCalibration.h"
-
-namespace OVR { namespace Util {
-
-void MagCalibration::BeginAutoCalibration(SensorFusion& sf)
-{
-    Stat = Mag_AutoCalibrating;
-    // This is a "hard" reset of the mag, so need to clear stored values
-    sf.ClearMagCalibration();
-    SampleCount = 0;
-
-    // reset the statistics
-    MinMagValues = Vector3f(10000.0f,10000.0f,10000.0f);
-    MaxMagValues = Vector3f(-10000.0f,-10000.0f,-10000.0f);
-	MinQuatValues = Quatf(1.0f,1.0f,1.0f,1.0f);
-	MaxQuatValues = Quatf(0.0f,0.0f,0.0f,0.0f);
-}
-
-unsigned MagCalibration::UpdateAutoCalibration(SensorFusion& sf)
-{
-    if (Stat != Mag_AutoCalibrating)
-        return Stat;
-
-    Quatf q = sf.GetOrientation();
-    Vector3f m = sf.GetMagnetometer();
-
-    InsertIfAcceptable(q, m);
-
-    if ((SampleCount == 4) && (Stat == Mag_AutoCalibrating))
-	{
-		//LogText("Magnetometer Output Spread: %f %f %f\n",MagSpread.x,MagSpread.y,MagSpread.z);
-		//LogText("Quaternion Spread: %f %f %f %f\n",QuatSpread.x,QuatSpread.y,QuatSpread.z,QuatSpread.w);
-        SetCalibration(sf);
-	}
-
-    return Stat;
-
-}
-
-void MagCalibration::BeginManualCalibration(SensorFusion& sf)
-{
-    Stat = Mag_ManuallyCalibrating;
-    sf.ClearMagCalibration();
-    SampleCount = 0;
-}
-
-bool MagCalibration::IsAcceptableSample(const Quatf& q, const Vector3f& m)
-{
-    switch (SampleCount)
-    {
-        // Initial sample is always acceptable
-    case 0:
-        return true;
-        break;
-    case 1:
-        return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
-               ((m - MagSamples[0]).LengthSq() > MinMagDistanceSq);
-        break;
-    case 2:
-        return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
-               (q.DistanceSq(QuatSamples[1]) > MinQuatDistanceSq)&&
-               ((m - MagSamples[0]).LengthSq() > MinMagDistanceSq)&&
-               ((m - MagSamples[1]).LengthSq() > MinMagDistanceSq);
-        break;
-    case 3:
-        return (q.DistanceSq(QuatSamples[0]) > MinQuatDistanceSq)&&
-               (q.DistanceSq(QuatSamples[1]) > MinQuatDistanceSq)&&
-               (q.DistanceSq(QuatSamples[2]) > MinQuatDistanceSq)&&
-               ((PointToPlaneDistance(MagSamples[0],MagSamples[1],MagSamples[2],m) > MinMagDistance)||
-                (PointToPlaneDistance(MagSamples[1],MagSamples[2],m,MagSamples[0]) > MinMagDistance)||
-                (PointToPlaneDistance(MagSamples[2],m,MagSamples[0],MagSamples[1]) > MinMagDistance)||
-                (PointToPlaneDistance(m,MagSamples[0],MagSamples[1],MagSamples[2]) > MinMagDistance));
-    }
-
-    return false;
-}
-
-
-bool MagCalibration::InsertIfAcceptable(const Quatf& q, const Vector3f& m)
-{
-	// Update some statistics
-	if (m.x < MinMagValues.x)
-		MinMagValues.x = m.x;
-	if (m.y < MinMagValues.y)
-		MinMagValues.y = m.y;
-	if (m.z < MinMagValues.z)
-		MinMagValues.z = m.z;
-	if (m.x > MaxMagValues.x)
-		MaxMagValues.x = m.x;
-	if (m.y > MaxMagValues.y)
-		MaxMagValues.y = m.y;
-	if (m.z > MaxMagValues.z)
-		MaxMagValues.z = m.z;
-	if (q.x < MinQuatValues.x)
-		MinQuatValues.x = q.x;
-	if (q.y < MinQuatValues.y)
-		MinQuatValues.y = q.y;
-	if (q.z < MinQuatValues.z)
-		MinQuatValues.z = q.z;
-	if (q.w < MinQuatValues.w)
-		MinQuatValues.w = q.w;
-	if (q.x > MaxQuatValues.x)
-		MaxQuatValues.x = q.x;
-	if (q.y > MaxQuatValues.y)
-		MaxQuatValues.y = q.y;
-	if (q.z > MaxQuatValues.z)
-		MaxQuatValues.z = q.z;
-	if (q.w > MaxQuatValues.w)
-		MaxQuatValues.w = q.w;
-	MagSpread = MaxMagValues - MinMagValues;
-	QuatSpread = MaxQuatValues - MinQuatValues;
-
-	if (IsAcceptableSample(q, m))
-    {
-        MagSamples[SampleCount] = m;
-        QuatSamples[SampleCount] = q;
-        SampleCount++;
-        return true;
-    }
-
-    return false;
-}
-
-Matrix4f MagCalibration::GetMagCalibration() const
-{
-    Matrix4f calMat = Matrix4f();
-    calMat.M[0][3] = -MagCenter.x;
-    calMat.M[1][3] = -MagCenter.y;
-    calMat.M[2][3] = -MagCenter.z;
-    return calMat;
-}
-
-bool MagCalibration::SetCalibration(SensorFusion& sf)
-{
-    if (SampleCount < 4)
-        return false;
-
-    MagCenter = CalculateSphereCenter(MagSamples[0],MagSamples[1],MagSamples[2],MagSamples[3]);
-    Matrix4f calMat = GetMagCalibration();
-    sf.SetMagCalibration(calMat);
-    Stat = Mag_Calibrated;
-    //LogText("MagCenter: %f %f %f\n",MagCenter.x,MagCenter.y,MagCenter.z);
-
-    return true;
-}
-
-
-// Calculate the center of a sphere that passes through p1, p2, p3, p4
-Vector3f MagCalibration::CalculateSphereCenter(const Vector3f& p1, const Vector3f& p2,
-                                               const Vector3f& p3, const Vector3f& p4) 
-{
-    Matrix4f A;
-    int i;
-    Vector3f p[4];
-    p[0] = p1;
-    p[1] = p2;
-    p[2] = p3;
-    p[3] = p4;
-
-    for (i = 0; i < 4; i++) 
-    {
-        A.M[i][0] = p[i].x;
-        A.M[i][1] = p[i].y;
-        A.M[i][2] = p[i].z;
-        A.M[i][3] = 1.0f;
-    }
-    float m11 = A.Determinant();
-    OVR_ASSERT(m11 != 0.0f);
-
-    for (i = 0; i < 4; i++) 
-    {
-        A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
-        A.M[i][1] = p[i].y;
-        A.M[i][2] = p[i].z;
-        A.M[i][3] = 1.0f;
-    }
-    float m12 = A.Determinant();
-
-    for (i = 0; i < 4; i++) 
-    {
-        A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
-        A.M[i][1] = p[i].x;
-        A.M[i][2] = p[i].z;
-        A.M[i][3] = 1.0f;
-    }
-    float m13 = A.Determinant();
-
-    for (i = 0; i < 4; i++) 
-    {
-        A.M[i][0] = p[i].x*p[i].x + p[i].y*p[i].y + p[i].z*p[i].z;
-        A.M[i][1] = p[i].x;
-        A.M[i][2] = p[i].y;
-        A.M[i][3] = 1.0f;
-    }
-    float m14 = A.Determinant();
-
-    float c = 0.5f / m11;
-    return Vector3f(c*m12, -c*m13, c*m14);
-}
-
-// Distance from p4 to the nearest point on a plane through p1, p2, p3
-float MagCalibration::PointToPlaneDistance(const Vector3f& p1, const Vector3f& p2,
-                                           const Vector3f& p3, const Vector3f& p4) 
-{
-    Vector3f v1 = p1 - p2;
-    Vector3f v2 = p1 - p3;
-    Vector3f planeNormal = v1.Cross(v2);
-    planeNormal.Normalize();
-    return (fabs((planeNormal * p4) - planeNormal * p1));
-}
-
-}}
diff --git a/LibOVR/Src/Util/Util_MagCalibration.h b/LibOVR/Src/Util/Util_MagCalibration.h
deleted file mode 100644
index 1f8e8cb..0000000
--- a/LibOVR/Src/Util/Util_MagCalibration.h
+++ /dev/null
@@ -1,138 +0,0 @@
-/************************************************************************************
-
-PublicHeader:   OVR.h
-Filename    :   Util_MagCalibration.h
-Content     :   Procedures for calibrating the magnetometer
-Created     :   April 16, 2013
-Authors     :   Steve LaValle, Andrew Reisse
-
-Copyright   :   Copyright 2013 Oculus VR, Inc. All Rights reserved.
-
-Use of this software is subject to the terms of the Oculus license
-agreement provided at the time of installation or download, or which
-otherwise accompanies this software in either electronic or hard copy form.
-
-*************************************************************************************/
-
-#ifndef OVR_Util_MagCalibration_h
-#define OVR_Util_MagCalibration_h
-
-#include "../OVR_SensorFusion.h"
-#include "../Kernel/OVR_String.h"
-#include "../Kernel/OVR_Log.h"
-
-namespace OVR { namespace Util {
-
-class MagCalibration
-{
-public:
-    enum MagStatus
-    {
-        Mag_Uninitialized = 0,
-        Mag_AutoCalibrating = 1,
-        Mag_ManuallyCalibrating = 2,
-        Mag_Calibrated  = 3
-    };
-
-    MagCalibration() :
-        Stat(Mag_Uninitialized),
-        MinMagDistance(0.2f), MinQuatDistance(0.5f),
-        SampleCount(0)
-    {
-        MinMagDistanceSq = MinMagDistance * MinMagDistance;
-        MinQuatDistanceSq = MinQuatDistance * MinQuatDistance;
-        MinMagValues = Vector3f(10000.0f,10000.0f,10000.0f);
-        MaxMagValues = Vector3f(-10000.0f,-10000.0f,-10000.0f);
-		MinQuatValues = Quatf(1.0f,1.0f,1.0f,1.0f);
-		MaxQuatValues = Quatf(0.0f,0.0f,0.0f,0.0f);
-		}
-
-    // Methods that are useful for either auto or manual calibration
-    bool     IsUnitialized() const       { return Stat == Mag_Uninitialized; }
-    bool     IsCalibrated() const        { return Stat == Mag_Calibrated; }
-    int      NumberOfSamples() const     { return SampleCount; }
-    int      RequiredSampleCount() const { return 4; }
-	void     AbortCalibration()
-	{
-        Stat = Mag_Uninitialized;
-        SampleCount = 0;
-	}
-
-    void     ClearCalibration(SensorFusion& sf) 
-    {
-        Stat = Mag_Uninitialized;
-        SampleCount = 0;
-        sf.ClearMagCalibration();
-	};
-  
-    // Methods for automatic magnetometer calibration
-    void     BeginAutoCalibration(SensorFusion& sf);
-    unsigned UpdateAutoCalibration(SensorFusion& sf);
-    bool     IsAutoCalibrating() const { return Stat == Mag_AutoCalibrating; }
-
-    // Methods for building a manual (user-guided) calibraton procedure
-    void     BeginManualCalibration(SensorFusion& sf);
-    bool     IsAcceptableSample(const Quatf& q, const Vector3f& m);
-    bool     InsertIfAcceptable(const Quatf& q, const Vector3f& m);
-    // Returns true if successful, requiring that SampleCount = 4
-    bool     SetCalibration(SensorFusion& sf);
-    bool     IsManuallyCalibrating() const { return Stat == Mag_ManuallyCalibrating; }
-
-    // This is the minimum acceptable distance (Euclidean) between raw
-    // magnetometer values to be acceptable for usage in calibration.
-    void SetMinMagDistance(float dist) 
-    { 
-        MinMagDistance = dist; 
-        MinMagDistanceSq = MinMagDistance * MinMagDistance;
-    }
-
-    // The minimum acceptable distance (4D Euclidean) between orientations
-    // to be acceptable for calibration usage.
-    void SetMinQuatDistance(float dist) 
-    { 
-        MinQuatDistance = dist; 
-        MinQuatDistanceSq = MinQuatDistance * MinQuatDistance;
-    }
-
-    // A result of the calibration, which is the center of a sphere that 
-    // roughly approximates the magnetometer data.
-    Vector3f GetMagCenter() const { return MagCenter; }
-    // Retrieves the full magnetometer calibration matrix
-    Matrix4f GetMagCalibration() const;
-    // Retrieves the range of each quaternion term during calibration
-    Quatf GetCalibrationQuatSpread() const { return QuatSpread; }
-    // Retrieves the range of each magnetometer term during calibration
-    Vector3f GetCalibrationMagSpread() const { return MagSpread; }
-
-private:
-    // Determine the unique sphere through 4 non-coplanar points
-    Vector3f CalculateSphereCenter(const Vector3f& p1, const Vector3f& p2,
-                                   const Vector3f& p3, const Vector3f& p4);
-
-    // Distance from p4 to the nearest point on a plane through p1, p2, p3
-    float PointToPlaneDistance(const Vector3f& p1, const Vector3f& p2,
-                               const Vector3f& p3, const Vector3f& p4);
-
-    Vector3f MagCenter;
-    unsigned Stat;
-    float    MinMagDistance;
-    float    MinQuatDistance;
-    float    MinMagDistanceSq;
-    float    MinQuatDistanceSq;
-	// For gathering statistics during calibration
-	Vector3f    MinMagValues;
-	Vector3f    MaxMagValues;
-	Vector3f    MagSpread;
-	Quatf		MinQuatValues;
-	Quatf		MaxQuatValues;
-	Quatf       QuatSpread;
-
-    unsigned SampleCount;
-    Vector3f MagSamples[4];
-    Quatf    QuatSamples[4];
-
-};
-
-}}
-
-#endif