Sixense Plugin fix for OSX - Copy your libs from the Sixense OSX SDK as is to the x86 and x86_64 plugins directories

SixensePlugin.cs

//
// Copyright (C) 2013 Sixense Entertainment Inc.
// All Rights Reserved
//
// Sixense Driver Unity Plugin
// Version 1.0
//

using UnityEngine;
using System.Collections;
using System.Runtime.InteropServices;
#if UNITY_STANDALONE_OSX
using System;
using System.Linq.Expressions;
#endif

/// <summary>
/// The SixensePlugin class provides direct access to the C sixense.dll driver.
/// </summary>
/// <code>
/// #ifndef _SIXENSE_H_
/// #define _SIXENSE_H_
/// 
/// #if defined(WIN32)
///   #ifdef SIXENSE_STATIC_LIB
///     #define SIXENSE_EXPORT 
///   #else
///     #ifdef SIXENSE_BUILDING_DLL
///       #define SIXENSE_EXPORT __declspec(dllexport)
///     #else
///       #define SIXENSE_EXPORT __declspec(dllimport)
///     #endif
///   #endif
/// #else
///   #define SIXENSE_EXPORT 
/// #endif
/// 
/// #define SIXENSE_BUTTON_BUMPER   (0x01<<7)
/// #define SIXENSE_BUTTON_JOYSTICK (0x01<<8)
/// #define SIXENSE_BUTTON_1        (0x01<<5)
/// #define SIXENSE_BUTTON_2        (0x01<<6)
/// #define SIXENSE_BUTTON_3        (0x01<<3)
/// #define SIXENSE_BUTTON_4        (0x01<<4)
/// #define SIXENSE_BUTTON_START    (0x01<<0)
/// 
/// #define SIXENSE_SUCCESS 0
/// #define SIXENSE_FAILURE -1
/// 
/// #define SIXENSE_MAX_CONTROLLERS 4
/// 
/// typedef struct _sixenseControllerData {
///   float pos[3];
///   float rot_mat[3][3];
///   float joystick_x;
///   float joystick_y;
///   float trigger;
///   unsigned int buttons;
///   unsigned char sequence_number;
///   float rot_quat[4];
///   unsigned short firmware_revision;
///   unsigned short hardware_revision;
///   unsigned short packet_type;
///   unsigned short magnetic_frequency;
///   int enabled;
///   int controller_index;
///   unsigned char is_docked;
///   unsigned char which_hand;
///   unsigned char hemi_tracking_enabled;
/// } sixenseControllerData;
/// 
/// typedef struct _sixenseAllControllerData {
///   sixenseControllerData controllers[4];
/// } sixenseAllControllerData;
/// 
/// #if defined(__LANGUAGE_C_PLUS_PLUS)||defined(__cplusplus)||defined(c_plusplus)
/// extern "C" {
/// #endif
/// 
/// SIXENSE_EXPORT int sixenseInit( void );
/// SIXENSE_EXPORT int sixenseExit( void );
/// 
/// SIXENSE_EXPORT int sixenseGetMaxBases();
/// SIXENSE_EXPORT int sixenseSetActiveBase( int i );
/// SIXENSE_EXPORT int sixenseIsBaseConnected( int i );
/// 
/// SIXENSE_EXPORT int sixenseGetMaxControllers( void );
/// SIXENSE_EXPORT int sixenseIsControllerEnabled( int which );
/// SIXENSE_EXPORT int sixenseGetNumActiveControllers();
/// 
/// SIXENSE_EXPORT int sixenseGetHistorySize();
/// 
/// SIXENSE_EXPORT int sixenseGetData( int which, int index_back, sixenseControllerData * );
/// SIXENSE_EXPORT int sixenseGetAllData( int index_back, sixenseAllControllerData * );
/// SIXENSE_EXPORT int sixenseGetNewestData( int which, sixenseControllerData * );
/// SIXENSE_EXPORT int sixenseGetAllNewestData( sixenseAllControllerData * );
/// 
/// SIXENSE_EXPORT int sixenseSetHemisphereTrackingMode( int which_controller, int state );
/// SIXENSE_EXPORT int sixenseGetHemisphereTrackingMode( int which_controller, int *state );
/// 
/// SIXENSE_EXPORT int sixenseAutoEnableHemisphereTracking( int which_controller );
/// 
/// SIXENSE_EXPORT int sixenseSetHighPriorityBindingEnabled( int on_or_off );
/// SIXENSE_EXPORT int sixenseGetHighPriorityBindingEnabled( int *on_or_off );
/// 
/// SIXENSE_EXPORT int sixenseTriggerVibration( int controller_id, int duration_100ms, int pattern_id );
/// 
/// SIXENSE_EXPORT int sixenseSetFilterEnabled( int on_or_off );
/// SIXENSE_EXPORT int sixenseGetFilterEnabled( int *on_or_off );
/// 
/// SIXENSE_EXPORT int sixenseSetFilterParams( float near_range, float near_val, float far_range, float far_val );
/// SIXENSE_EXPORT int sixenseGetFilterParams( float *near_range, float *near_val, float *far_range, float *far_val );
/// 
/// SIXENSE_EXPORT int sixenseSetBaseColor( unsigned char red, unsigned char green, unsigned char blue );
/// SIXENSE_EXPORT int sixenseGetBaseColor( unsigned char *red, unsigned char *green, unsigned char *blue );
/// 
/// #if defined(__LANGUAGE_C_PLUS_PLUS)||defined(__cplusplus)||defined(c_plusplus)
/// }
/// #endif
/// 
/// #endif
/// </code>
public partial class SixensePlugin
{
	[StructLayout( LayoutKind.Sequential )]
	public struct sixenseControllerData
	{
		[MarshalAs( UnmanagedType.ByValArray, SizeConst = 3 )]
		public float[] pos;
		[MarshalAs( UnmanagedType.ByValArray, SizeConst = 9 )]
		public float[] rot_mat;
		public float joystick_x;
		public float joystick_y;
		public float trigger;
		public uint buttons;
		public byte sequence_number;
		[MarshalAs( UnmanagedType.ByValArray, SizeConst = 4 )]
		public float[] rot_quat;
		public ushort firmware_revision;
		public ushort hardware_revision;
		public ushort packet_type;
		public ushort magnetic_frequency;
		public int enabled;
		public int controller_index;
		public byte is_docked;
		public byte which_hand;
		public byte hemi_tracking_enabled;
	}
	
	[StructLayout( LayoutKind.Sequential )]
	public struct sixenseAllControllerData
	{
		[MarshalAs( UnmanagedType.ByValArray, SizeConst = 4 )]
		public sixenseControllerData[] controllers;
	}

#if UNITY_STANDALONE_OSX
	public const int RTLD_LAZY     = 0x0001;
	public const int RTLD_NOW      = 0x0002;
	public const int RTLD_GLOBAL   = 0x0100;
	public const int RTLD_LOCAL    = 0x0000;
	public const int RTLD_NOSHARE  = 0x1000;
	public const int RTLD_EXE      = 0x2000;
	public const int RTLD_SCRIPT   = 0x4000;
	
	[DllImport("__Internal")]
	public static extern IntPtr dlopen(string filename, int flag);
	
	[DllImport("__Internal")]
	public static extern string dlerror();
	
	[DllImport("__Internal")]
	public static extern IntPtr dlsym(IntPtr handle, string symbol);
	
	[DllImport("__Internal")]
	public static extern int dlclose(IntPtr handle);

	// Ref parameters can't be included in Func<>
	public delegate int sixenseDelegate();
	public delegate int sixenseIntDelegate( int a );
	public delegate int sixenseIntIntDelegate( int a, int b );
	public delegate int sixenseIntIntIntDelegate( int a, int b, int c );
	public delegate int sixenseFloatFloatFloatFloatDelegate( float a, float b, float c, float d );
	public delegate int sixenseByteByteByteDelegate( byte a, byte b, byte c );
	public delegate int sixenseGetDataDelegate( int which, int index_back, ref sixenseControllerData cd );
	public delegate int sixenseGetAllDataDelegate( int index_back, ref sixenseAllControllerData acd );
	public delegate int sixenseGetNewestDataDelegate( int which, ref sixenseControllerData cd );
	public delegate int sixenseGetAllNewestDataDelegate( ref sixenseAllControllerData acd );
	public delegate int sixenseGetHemisphereTrackingModeDelegate(int which_controller,ref int state);
	public delegate int sixenseGetHighPriorityBindingEnabledDelegate( ref int on_or_off );
	public delegate int sixenseGetFilterEnabledDelegate( ref int on_or_off );
	public delegate int sixenseGetFilterParamsDelegate( ref float near_range, ref float near_val, ref float far_range, ref float far_val );
	public delegate int sixenseGetBaseColorDelegate( ref byte red, ref byte green, ref byte blue );

	private static IntPtr handle = IntPtr.Zero;

	private static T GetFunctionPtr<T>(string name) where T : class
	{
		return Marshal.GetDelegateForFunctionPointer(dlsym(handle, name), typeof(T)) as T;
	}

	private static void InitPlugin()
	{
		// HACK: Until Unity adds UNITY_32 and UNITY_64 we have to do this
		if (IntPtr.Size == 4)
		{
			// 32-bit
			handle = dlopen("Assets/Plugins/x86/libsixense.dylib", RTLD_LAZY);
		}
		else if (IntPtr.Size == 8)
		{
			// 64-bit
			handle = dlopen("Assets/Plugins/x86_64/libsixense_x64.dylib", RTLD_LAZY);
		}

		sixenseInitInternal						= GetFunctionPtr<sixenseDelegate>("sixenseInit");
		sixenseExitInternal						= GetFunctionPtr<sixenseDelegate>("sixenseExit");
		sixenseGetMaxBases 						= GetFunctionPtr<sixenseDelegate>("sixenseGetMaxBases");
		sixenseSetActiveBase 					= GetFunctionPtr<sixenseIntDelegate>("sixenseSetActiveBase");
		sixenseIsBaseConnected 					= GetFunctionPtr<sixenseIntDelegate>("sixenseIsBaseConnected");
		sixenseGetMaxControllers				= GetFunctionPtr<sixenseDelegate>("sixenseGetMaxControllers");
		sixenseIsControllerEnabled 				= GetFunctionPtr<sixenseIntDelegate>("sixenseIsControllerEnabled");
		sixenseGetNumActiveControllers 			= GetFunctionPtr<sixenseDelegate>("sixenseGetNumActiveControllers");
		sixenseGetHistorySize 					= GetFunctionPtr<sixenseDelegate>("sixenseGetHistorySize");
		sixenseGetData 							= GetFunctionPtr<sixenseGetDataDelegate>("sixenseGetData");
		sixenseGetAllData						= GetFunctionPtr<sixenseGetAllDataDelegate>("sixenseGetAllData");
		sixenseGetNewestData					= GetFunctionPtr<sixenseGetNewestDataDelegate>("sixenseGetNewestData");
		sixenseGetAllNewestData					= GetFunctionPtr<sixenseGetAllNewestDataDelegate>("sixenseGetAllNewestData");
		sixenseSetHemisphereTrackingMode		= GetFunctionPtr<sixenseIntIntDelegate>("sixenseSetHemisphereTrackingMode");
		sixenseGetHemisphereTrackingMode		= GetFunctionPtr<sixenseGetHemisphereTrackingModeDelegate>("sixenseGetHemisphereTrackingMode");
		sixenseAutoEnableHemisphereTracking		= GetFunctionPtr<sixenseIntDelegate>("sixenseAutoEnableHemisphereTracking");
		sixenseSetHighPriorityBindingEnabled	= GetFunctionPtr<sixenseIntDelegate>("sixenseSetHighPriorityBindingEnabled");
		sixenseGetHighPriorityBindingEnabled	= GetFunctionPtr<sixenseGetHighPriorityBindingEnabledDelegate>("sixenseGetHighPriorityBindingEnabled");
		sixenseTriggerVibration					= GetFunctionPtr<sixenseIntIntIntDelegate>("sixenseTriggerVibration");
		sixenseSetFilterEnabled					= GetFunctionPtr<sixenseIntDelegate>("sixenseSetFilterEnabled");
		sixenseGetFilterEnabled					= GetFunctionPtr<sixenseGetFilterEnabledDelegate>("sixenseGetFilterEnabled");
		sixenseSetFilterParams					= GetFunctionPtr<sixenseFloatFloatFloatFloatDelegate>("sixenseSetFilterParams");
		sixenseGetFilterParams					= GetFunctionPtr<sixenseGetFilterParamsDelegate>("sixenseGetFilterParams");
		sixenseSetBaseColor						= GetFunctionPtr<sixenseByteByteByteDelegate>("sixenseSetBaseColor");
		sixenseGetBaseColor						= GetFunctionPtr<sixenseGetBaseColorDelegate>("sixenseGetBaseColor");
	}

	private static void DeinitPlugin()
	{
		if (handle != IntPtr.Zero)
		{
			dlclose(handle);
			handle = IntPtr.Zero;

			sixenseInitInternal						= null;
			sixenseExitInternal						= null;
			sixenseGetMaxBases 						= null;
			sixenseSetActiveBase 					= null;
			sixenseIsBaseConnected 					= null;
			sixenseGetMaxControllers				= null;
			sixenseIsControllerEnabled 				= null;
			sixenseGetNumActiveControllers 			= null;
			sixenseGetHistorySize 					= null;
			sixenseGetData 							= null;
			sixenseGetAllData						= null;
			sixenseGetNewestData					= null;
			sixenseGetAllNewestData					= null;
			sixenseSetHemisphereTrackingMode		= null;
			sixenseGetHemisphereTrackingMode		= null;
			sixenseAutoEnableHemisphereTracking		= null;
			sixenseSetHighPriorityBindingEnabled	= null;
			sixenseGetHighPriorityBindingEnabled	= null;
			sixenseTriggerVibration					= null;
			sixenseSetFilterEnabled					= null;
			sixenseGetFilterEnabled					= null;
			sixenseSetFilterParams					= null;
			sixenseGetFilterParams					= null;
			sixenseSetBaseColor						= null;
			sixenseGetBaseColor						= null;
		}
	}
	
	public static int sixenseInit()
	{
		InitPlugin();
		return sixenseInitInternal();
	}
	private static sixenseDelegate sixenseInitInternal = null;
	public static int sixenseExit()
	{
		int result = sixenseExitInternal();
		DeinitPlugin();
		return result;
	}
	private static sixenseDelegate sixenseExitInternal = null;

	public static sixenseDelegate sixenseGetMaxBases = null;
	public static sixenseIntDelegate sixenseSetActiveBase = null;
	public static sixenseIntDelegate sixenseIsBaseConnected = null;
	public static sixenseDelegate sixenseGetMaxControllers = null;
	public static sixenseIntDelegate sixenseIsControllerEnabled = null;
	public static sixenseDelegate sixenseGetNumActiveControllers = null;
	public static sixenseDelegate sixenseGetHistorySize = null;
	public static sixenseGetDataDelegate sixenseGetData = null;
	public static sixenseGetAllDataDelegate sixenseGetAllData = null;
	public static sixenseGetNewestDataDelegate sixenseGetNewestData = null;
	public static sixenseGetAllNewestDataDelegate sixenseGetAllNewestData = null;
	public static sixenseIntIntDelegate sixenseSetHemisphereTrackingMode = null;
	public static sixenseGetHemisphereTrackingModeDelegate sixenseGetHemisphereTrackingMode = null;
	public static sixenseIntDelegate sixenseAutoEnableHemisphereTracking = null;
	public static sixenseIntDelegate sixenseSetHighPriorityBindingEnabled = null;
	public static sixenseGetHighPriorityBindingEnabledDelegate sixenseGetHighPriorityBindingEnabled = null;
	public static sixenseIntIntIntDelegate sixenseTriggerVibration = null;
	public static sixenseIntDelegate sixenseSetFilterEnabled = null;
	public static sixenseGetFilterEnabledDelegate sixenseGetFilterEnabled = null;
	public static sixenseFloatFloatFloatFloatDelegate sixenseSetFilterParams = null;
	public static sixenseGetFilterParamsDelegate sixenseGetFilterParams = null;
	public static sixenseByteByteByteDelegate sixenseSetBaseColor = null;
	public static sixenseGetBaseColorDelegate sixenseGetBaseColor = null;
#else
	[DllImport( "sixense", EntryPoint = "sixenseInit" )]
	public static extern int sixenseInit();
	
	[DllImport( "sixense", EntryPoint = "sixenseExit" )]
	public static extern int sixenseExit();
	
	[DllImport( "sixense", EntryPoint = "sixenseGetMaxBases" )]
	public static extern int sixenseGetMaxBases();
	
	[DllImport( "sixense", EntryPoint = "sixenseSetActiveBase" )]
	public static extern int sixenseSetActiveBase( int i );
	
	[DllImport( "sixense", EntryPoint = "sixenseIsBaseConnected" )]
	public static extern int sixenseIsBaseConnected( int i );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetMaxControllers" )]
	public static extern int sixenseGetMaxControllers();
	
	[DllImport( "sixense", EntryPoint = "sixenseIsControllerEnabled" )]
	public static extern int sixenseIsControllerEnabled( int which );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetNumActiveControllers" )]
	public static extern int sixenseGetNumActiveControllers();
	
	[DllImport( "sixense", EntryPoint = "sixenseGetHistorySize" )]
	public static extern int sixenseGetHistorySize();
	
	[DllImport( "sixense", EntryPoint = "sixenseGetData" )]
	public static extern int sixenseGetData( int which, int index_back, ref sixenseControllerData cd );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetAllData" )]
	public static extern int sixenseGetAllData( int index_back, ref sixenseAllControllerData acd );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetNewestData" )]
	public static extern int sixenseGetNewestData( int which, ref sixenseControllerData cd );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetAllNewestData" )]
	public static extern int sixenseGetAllNewestData( ref sixenseAllControllerData acd );
	
	[DllImport( "sixense", EntryPoint = "sixenseSetHemisphereTrackingMode" )]
	public static extern int sixenseSetHemisphereTrackingMode( int which_controller, int state );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetHemisphereTrackingMode" )]
	public static extern int sixenseGetHemisphereTrackingMode( int which_controller, ref int state );
	
	[DllImport( "sixense", EntryPoint = "sixenseAutoEnableHemisphereTracking" )]
	public static extern int sixenseAutoEnableHemisphereTracking( int which_controller );
	
	[DllImport( "sixense", EntryPoint = "sixenseSetHighPriorityBindingEnabled" )]
	public static extern int sixenseSetHighPriorityBindingEnabled( int on_or_off );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetHighPriorityBindingEnabled" )]
	public static extern int sixenseGetHighPriorityBindingEnabled( ref int on_or_off );
	
	[DllImport( "sixense", EntryPoint = "sixenseTriggerVibration" )]
	public static extern int sixenseTriggerVibration( int controller_id, int duration_100ms, int pattern_id );
	
	[DllImport( "sixense", EntryPoint = "sixenseSetFilterEnabled" )]
	public static extern int sixenseSetFilterEnabled( int on_or_off );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetFilterEnabled" )]
	public static extern int sixenseGetFilterEnabled( ref int on_or_off );
	
	[DllImport( "sixense", EntryPoint = "sixenseSetFilterParams" )]
	public static extern int sixenseSetFilterParams( float near_range, float near_val, float far_range, float far_val );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetFilterParams" )]
	public static extern int sixenseGetFilterParams( ref float near_range, ref float near_val, ref float far_range, ref float far_val );
	
	[DllImport( "sixense", EntryPoint = "sixenseSetBaseColor" )]
	public static extern int sixenseSetBaseColor( byte red, byte green, byte blue );
	
	[DllImport( "sixense", EntryPoint = "sixenseGetBaseColor" )]
	public static extern int sixenseGetBaseColor( ref byte red, ref byte green, ref byte blue );
#endif
}

What configuration did you test this with? I am still seeing it crash on OSX 64 10.10.5 running Unity 5.3.0f4.