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SpaceMouse: libspnavdev works with older USB devices.
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Initialize `spndev_event ev = {};` so that older USB devices where the
translation and rotation are in separate HID reports work properly. Before
they caused "wild" movement rotation due to half the members of the
structure being uninitialized.

Add the axis scaling factor to the AxisData structure.

Remap the axis (swap Y and Z and invert Y) so that the movement of the model
matches the movement of the "hat" on the 3Dconnexion device.
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@ruevs
ruevs committed Dec 4, 2024
1 parent bec8b82 commit 7ccc777
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Showing 4 changed files with 58 additions and 18 deletions.
2 changes: 1 addition & 1 deletion .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -28,4 +28,4 @@
url = https://gitlab.com/libeigen/eigen.git
[submodule "extlib/libspnavdev"]
path = extlib/libspnavdev
url = https://github.com/rpavlik/libspnavdev.git
url = https://github.com/ruevs/libspnavdev.git
2 changes: 1 addition & 1 deletion extlib/libspnavdev
Submodule libspnavdev updated 14 files
+3 −0 .gitmodules
+26 −5 CMakeLists.txt
+158 −22 README.md
+1 −1 examples/unix/test.c
+24 −26 examples/win32/test.c
+1 −0 extlib/hidapi
+8 −2 src/dev.h
+360 −33 src/serdev.c
+38 −0 src/serio.h
+57 −0 src/serio_posix.c
+174 −0 src/serio_win32.c
+27 −3 src/spnavdev.c
+7 −1 src/spnavdev.h
+209 −10 src/usbdev.c
69 changes: 54 additions & 15 deletions src/platform/spnavdevice.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,11 +35,11 @@ static double transformIndex(union spndev_event const& ev,
if(axisData.spnavdevIndex < 0) {
return 0;
}
return double(ev.mot.v[axisData.spnavdevIndex]);
return double(ev.mot.v[axisData.spnavdevIndex])*axisData.scale;
}
bool NavDeviceWrapper::process(SolveSpace::Platform::SixDofEvent& event) {
using SolveSpace::Platform::SixDofEvent;
union spndev_event ev;
union spndev_event ev = {};
if(0 == spndev_process(dev, &ev)) {
return false;
}
Expand All @@ -55,9 +55,9 @@ bool NavDeviceWrapper::process(SolveSpace::Platform::SixDofEvent& event) {
event.translationX = transformIndex(ev, axes[0]);
event.translationY = transformIndex(ev, axes[1]);
event.translationZ = transformIndex(ev, axes[2]);
event.rotationX = transformIndex(ev, axes[3]) * 0.001;
event.rotationY = transformIndex(ev, axes[4]) * 0.001;
event.rotationZ = transformIndex(ev, axes[5]) * 0.001;
event.rotationX = transformIndex(ev, axes[3]);
event.rotationY = transformIndex(ev, axes[4]);
event.rotationZ = transformIndex(ev, axes[5]);
return true;
case SPNDEV_BUTTON: {
if(ev.bn.num >= buttons.size()) {
Expand Down Expand Up @@ -93,18 +93,57 @@ bool NavDeviceWrapper::process(SolveSpace::Platform::SixDofEvent& event) {
}

void NavDeviceWrapper::populateAxes() {
// This array remaps the axis and their directions/scaling, so that they match what the standard
// 3Dconnexion driver outputs. In this way SolveSpace will control the object "properly". The
// array may not be requiered if it turns out that all devices use the same axis orientation and
// have similar sensitivities, but it is better if we test them. The ones that are already
// tested and working are marked.
// See also: https://github.com/FreeSpacenav/spacenavd/blob/master/src/dev.c#L38
const struct {
const std::wstring name;
const std::string axis_names[6];
const double axis_scale[6];
} axisRemap[] = {
{L"SpaceMouse Plus XT USB" , {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"CadMan USB", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}}, // Tested
{L"SpaceMouse Classic USB", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceBall 5000 USB", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}}, // Tested
{L"SpaceTraveler USB", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}}, // Tested
{L"SpacePilot", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}}, // Tested
{L"SpaceNavigator", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}}, // Tested
{L"SpaceExplorer", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}}, // Tested
{L"SpaceNavigator for Notebooks", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpacePilot Pro", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Pro", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"NuLOOQ", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"LIPARI", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Wireless (cabled)", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Wireless Receiver", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Pro Wireless (cabled)", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Pro Wireless Receiver", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Enterprise", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Compact", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Module", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
{L"SpaceMouse Universal Receiver", {"Tx", "Tz", "Ty", "Rx", "Rz", "Ry"}, {1.0, 1.0, -1.0, .001, .001, -.001}},
};

using std::begin;
using std::end;
const std::string axis_names[] = {"Tx", "Ty", "Tz", "Rx", "Ry", "Rz"};
const auto b = begin(axis_names);
const auto e = end(axis_names);
const auto num_axes = spndev_num_axes(dev);
for(int axis_idx = 0; axis_idx < num_axes; ++axis_idx) {
auto axis_name = spndev_axis_name(dev, axis_idx);
auto it = std::find_if(b, e, [&](std::string const& name) { return name == axis_name; });
if(it != e) {
ptrdiff_t remapped_index = std::distance(b, it);
axes[remapped_index] = AxisData{axis_idx};

auto da = std::find_if(begin(axisRemap), end(axisRemap),
[&](auto const& devaxis) { return devaxis.name == (wchar_t *)spndev_name(dev); });

if(da != end(axisRemap)) {
const auto b = begin(da->axis_names);
const auto e = end(da->axis_names);
const auto num_axes = spndev_num_axes(dev);
for(int axis_idx = 0; axis_idx < num_axes; ++axis_idx) {
auto axis_name = spndev_axis_name(dev, axis_idx);
auto it = std::find_if(b, e, [&](std::string const& name) { return name == axis_name; });
if(it != e) {
ptrdiff_t remapped_index = std::distance(b, it);
axes[remapped_index] = AxisData{axis_idx, da->axis_scale[axis_idx]};
}
}
}
}
Expand Down
3 changes: 2 additions & 1 deletion src/platform/spnavdevice.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,10 +42,11 @@ class NavDeviceWrapper {
};
struct AxisData {
AxisData() = default;
AxisData(int spnavdevIndex_) : spnavdevIndex(spnavdevIndex_) {
AxisData(int spnavdevIndex_, double scale_) : spnavdevIndex(spnavdevIndex_), scale(scale_) {
}

int spnavdevIndex = -1;
double scale = 1.;
};

private:
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