public static Vector3 GetScale(this HmdMatrix34_t pose)
{
float m00 = pose.m0;
float m01 = pose.m1;
float m02 = -pose.m2;
float m10 = pose.m4;
float m11 = pose.m5;
float m12 = -pose.m6;
float m20 = pose.m8;
float m21 = pose.m9;
float m22 = -pose.m10;
float x = (float)Math.Sqrt(m00 * m00 + m01 * m01 + m02 * m02);
float y = (float)Math.Sqrt(m10 * m10 + m11 * m11 + m12 * m12);
float z = (float)Math.Sqrt(m20 * m20 + m21 * m21 + m22 * m22);
return(new Vector3(x, y, z));
}
private Quaternion GetRotation(HmdMatrix34_t rawMatrix)
{
if (IsRotationValid(rawMatrix))
{
float w = Mathf.Sqrt(Mathf.Max(0, 1 + rawMatrix.m0 + rawMatrix.m5 + rawMatrix.m10)) / 2;
float x = Mathf.Sqrt(Mathf.Max(0, 1 + rawMatrix.m0 - rawMatrix.m5 - rawMatrix.m10)) / 2;
float y = Mathf.Sqrt(Mathf.Max(0, 1 - rawMatrix.m0 + rawMatrix.m5 - rawMatrix.m10)) / 2;
float z = Mathf.Sqrt(Mathf.Max(0, 1 - rawMatrix.m0 - rawMatrix.m5 + rawMatrix.m10)) / 2;
CopySign(ref x, rawMatrix.m6 - rawMatrix.m9);
CopySign(ref y, rawMatrix.m8 - rawMatrix.m2);
CopySign(ref z, rawMatrix.m4 - rawMatrix.m1);
return(new Quaternion(x, y, z, w));
}
return(Quaternion.identity);
}
private static HmdMatrix34_t OpenTKMatrixToOpenVRMatrix(Matrix4 matrix)
{
var newmatrix = new HmdMatrix34_t();
newmatrix.m0 = matrix.M11;
newmatrix.m1 = matrix.M21;
newmatrix.m2 = matrix.M31;
newmatrix.m3 = matrix.M41;
newmatrix.m4 = matrix.M12;
newmatrix.m5 = matrix.M22;
newmatrix.m6 = matrix.M32;
newmatrix.m7 = matrix.M42;
newmatrix.m8 = matrix.M13;
newmatrix.m9 = matrix.M23;
newmatrix.m10 = matrix.M33;
newmatrix.m11 = matrix.M43;
return(newmatrix);
}
public static DeviceState GetTrackerPose(int trackerIndex, ref Matrix pose, ref Vector3 velocity, ref Vector3 angVelocity)
{
var index = trackerIndex;
HmdMatrix34_t openVRPose = DevicePoses[index].mDeviceToAbsoluteTracking;
pose.M11 = openVRPose.m0;
pose.M21 = openVRPose.m1;
pose.M31 = openVRPose.m2;
pose.M41 = openVRPose.m3;
pose.M12 = openVRPose.m4;
pose.M22 = openVRPose.m5;
pose.M32 = openVRPose.m6;
pose.M42 = openVRPose.m7;
pose.M13 = openVRPose.m8;
pose.M23 = openVRPose.m9;
pose.M33 = openVRPose.m10;
pose.M43 = openVRPose.m11;
HmdVector3_t vel = DevicePoses[index].vVelocity;
velocity.X = vel.v0;
velocity.Y = vel.v1;
velocity.Z = vel.v2;
HmdVector3_t avel = DevicePoses[index].vAngularVelocity;
angVelocity.X = avel.v0;
angVelocity.Y = avel.v1;
angVelocity.Z = avel.v2;
var state = DeviceState.Invalid;
if (DevicePoses[index].bDeviceIsConnected && DevicePoses[index].bPoseIsValid)
{
state = DeviceState.Valid;
}
else if (DevicePoses[index].bDeviceIsConnected && !DevicePoses[index].bPoseIsValid && DevicePoses[index].eTrackingResult == ETrackingResult.Running_OutOfRange)
{
state = DeviceState.OutOfRange;
}
return(state);
}
private static void Convert(ref HmdMatrix34_t source, ref Matrix destination)
{
destination.M11 = source.m0;
destination.M21 = source.m1;
destination.M31 = source.m2;
destination.M41 = source.m3;
destination.M12 = source.m4;
destination.M22 = source.m5;
destination.M32 = source.m6;
destination.M42 = source.m7;
destination.M13 = source.m8;
destination.M23 = source.m9;
destination.M33 = source.m10;
destination.M43 = source.m11;
//destination.M14 = 0.0f;
//destination.M24 = 0.0f;
//destination.M34 = 0.0f;
//destination.M44 = 1.0f;
}
// Token: 0x06005FD4 RID: 24532 RVA: 0x0021B510 File Offset: 0x00219910
public RigidTransform(HmdMatrix34_t pose)
{
Matrix4x4 identity = Matrix4x4.identity;
identity[0, 0] = pose.m0;
identity[0, 1] = pose.m1;
identity[0, 2] = -pose.m2;
identity[0, 3] = pose.m3;
identity[1, 0] = pose.m4;
identity[1, 1] = pose.m5;
identity[1, 2] = -pose.m6;
identity[1, 3] = pose.m7;
identity[2, 0] = -pose.m8;
identity[2, 1] = -pose.m9;
identity[2, 2] = pose.m10;
identity[2, 3] = -pose.m11;
this.pos = identity.GetPosition();
this.rot = identity.GetRotation();
}
private static void PoseToViewMatrix(ref Matrix mat, ref HmdMatrix34_t pose)
{
mat.M11 = pose.m[0];
mat.M12 = pose.m[1];
mat.M13 = pose.m[2];
mat.M43 = pose.m[3];
mat.M21 = pose.m[4];
mat.M22 = pose.m[5];
mat.M23 = pose.m[6];
mat.M42 = pose.m[7];
mat.M31 = pose.m[8];
mat.M32 = pose.m[9];
mat.M33 = pose.m[10];
mat.M41 = pose.m[11];
mat.M44 = 1;
}
public void SetDeviceAttachment(uint index, Vector3 position, Vector3 rotation)
{
if (!_ingame)
{
throw new Exception("Cannot set attachment for dashboard overlay");
}
_position = position;
_rotation = rotation;
HmdMatrix34_t matrix = GetMatrixFromPositionAndRotation(position, rotation);
EVROverlayError err = NexHudEngine.OverlayManager.SetOverlayTransformTrackedDeviceRelative(_handle, index, ref matrix);
if (err != EVROverlayError.None)
{
NexHudEngine.Log("Failed to attach " + Key + " to Device " + index + " failed: " + err.ToString());
}
}
public static unsafe void SetOverlayParams(ulong overlayId, Matrix transform, bool followsHead, Vector2 surfaceSize)
{
Valve.VR.OpenVR.Overlay.SetOverlayWidthInMeters(overlayId, 1.0f);
transform = Matrix.Scaling(new Vector3(surfaceSize.X, surfaceSize.Y, 1.0f)) * transform;
if (followsHead)
{
HmdMatrix34_t pose = new HmdMatrix34_t();
Utilities.CopyMemory((IntPtr)Interop.Fixed(ref pose), (IntPtr)Interop.Fixed(ref transform), Utilities.SizeOf <HmdMatrix34_t>());
Valve.VR.OpenVR.Overlay.SetOverlayTransformTrackedDeviceRelative(overlayId, 0, ref pose);
}
else
{
HmdMatrix34_t pose = new HmdMatrix34_t();
Utilities.CopyMemory((IntPtr)Interop.Fixed(ref pose), (IntPtr)Interop.Fixed(ref transform), Utilities.SizeOf <HmdMatrix34_t>());
Valve.VR.OpenVR.Overlay.SetOverlayTransformAbsolute(overlayId, ETrackingUniverseOrigin.TrackingUniverseSeated, ref pose);
}
}
public RigidTransform(HmdMatrix34_t pose)
{
Matrix4x4 identity = Matrix4x4.identity;
identity.m00 = pose.m0;
identity.m01 = pose.m1;
identity.m02 = -pose.m2;
identity.m03 = pose.m3;
identity.m10 = pose.m4;
identity.m11 = pose.m5;
identity.m12 = -pose.m6;
identity.m13 = pose.m7;
identity.m20 = -pose.m8;
identity.m21 = -pose.m9;
identity.m22 = pose.m10;
identity.m23 = -pose.m11;
this.pos = identity.GetPosition();
this.rot = identity.GetRotation();
}
/// <summary>
/// Set the overlay transform in SteamVR
/// </summary>
/// <param name="newPos">The new position</param>
/// <param name="newRot">The new rotation</param>
/// <param name="setTarget">Should this be the new target position, or is this temporary?</param>
public void SetTransform(Vector3 newPos, Vector3 newRot, bool setTarget = true)
{
pos = newPos;
rot = newRot;
if (setTarget)
{
targetPos = newPos;
targetRot = newRot;
}
matrixConverter.pos = newPos;
matrixConverter.rot = Quaternion.Euler(newRot);
_overlayTransform = matrixConverter.ToHmdMatrix34();
_overlayTransformAbsoluteTrackingOrigin = SteamVRManager.trackingSpace;
if (!CheckValid())
{
return;
}
switch (_overlayTransformType)
{
default:
case VROverlayTransformType.VROverlayTransform_Absolute:
error = OpenVR.Overlay.SetOverlayTransformAbsolute(handle, _overlayTransformAbsoluteTrackingOrigin,
ref _overlayTransform);
break;
case VROverlayTransformType.VROverlayTransform_TrackedDeviceRelative:
error = OpenVR.Overlay.SetOverlayTransformTrackedDeviceRelative(handle,
_overlayTransformTrackedDeviceRelativeIndex, ref _overlayTransform);
break;
}
}
// Calculate the current HMD-Translations Value
public HmdVector3_t GetRotationEuler(HmdMatrix34_t matrix)
{
HmdVector3_t v = new HmdVector3_t();
float r2d = 180 / (float)Math.PI;
if (matrix.m0 == 1 || matrix.m0 == -1)
{
v.v0 = -((-((float)Math.Atan2(matrix.m2, matrix.m11)) * r2d));
v.v1 = 0;
v.v2 = 0;
}
else
{
v.v0 = -(((-(float)Math.Atan2(matrix.m8, matrix.m0)) * r2d));
v.v1 = -(((float)Math.Atan2(matrix.m6, matrix.m5)) * r2d);
v.v2 = (((float)Math.Asin(matrix.m4)) * r2d);
}
return(v);
}
private static void PoseToTransMatrixD(ref MatrixD mat, ref HmdMatrix34_t pose)
{
mat.M11 = pose.m[0];
mat.M12 = pose.m[4];
mat.M13 = pose.m[8];
mat.M21 = pose.m[1];
mat.M22 = pose.m[5];
mat.M23 = pose.m[9];
mat.M31 = pose.m[2];
mat.M32 = pose.m[6];
mat.M33 = pose.m[10];
mat.M41 = pose.m[3];
mat.M42 = pose.m[7] - FloorOffset;
mat.M43 = pose.m[11];
mat.M44 = 1;
}
void OnEnable()
{
#if UNITY_2018
RenderPipeline.beginCameraRendering += RenderPipeline_beginCameraRendering;
#else
RenderPipelineManager.beginCameraRendering += RenderPipelineManager_beginCameraRendering;
#endif
bool isMultipass = (XRSettings.stereoRenderingMode == XRSettings.StereoRenderingMode.MultiPass);
m_Camera = GetComponent <Camera>();
HmdMatrix34_t eyeToHeadL = SteamVR.instance.hmd.GetEyeToHeadTransform(EVREye.Eye_Left);
if (eyeToHeadL.m0 < 1) //m0 = 1 for parallel projections
{
isCantedFov = true;
float l_left = 0.0f, l_right = 0.0f, l_top = 0.0f, l_bottom = 0.0f;
SteamVR.instance.hmd.GetProjectionRaw(EVREye.Eye_Left, ref l_left, ref l_right, ref l_top, ref l_bottom);
float eyeYawAngle = Mathf.Acos(eyeToHeadL.m0); //since there are no x or z rotations, this is y only. 10 deg on Pimax
if (isMultipass)
{
eyeYawAngle *= 2; //for multipass left eye frustum is used twice? causing right eye to end up 20 deg short
}
float eyeHalfFov = Mathf.Atan(SteamVR.instance.tanHalfFov.x);
float tanCorrectedEyeHalfFovH = Mathf.Tan(eyeYawAngle + eyeHalfFov);
//increase horizontal fov by the eye rotation angles
projectionMatrix.m00 = 1 / tanCorrectedEyeHalfFovH; //m00 = 0.1737 for Pimax
//because of canting, vertical fov increases towards the corners. calculate the new maximum fov otherwise culling happens too early at corners
float eyeFovLeft = Mathf.Atan(-l_left);
float tanCorrectedEyeHalfFovV = SteamVR.instance.tanHalfFov.y * Mathf.Cos(eyeFovLeft) / Mathf.Cos(eyeFovLeft + eyeYawAngle);
projectionMatrix.m11 = 1 / tanCorrectedEyeHalfFovV; //m11 = 0.3969 for Pimax
//set the near and far clip planes
projectionMatrix.m22 = -(m_Camera.farClipPlane + m_Camera.nearClipPlane) / (m_Camera.farClipPlane - m_Camera.nearClipPlane);
projectionMatrix.m23 = -2 * m_Camera.farClipPlane * m_Camera.nearClipPlane / (m_Camera.farClipPlane - m_Camera.nearClipPlane);
projectionMatrix.m32 = -1;
}
else
{
isCantedFov = false;
}
}
public static HmdMatrix34_t OpenTKMatrixToOpenVRMatrix(Matrix3x4 matrix)
{
HmdMatrix34_t newmatrix = new HmdMatrix34_t();
newmatrix.m0 = matrix.M11;
newmatrix.m1 = matrix.M12;
newmatrix.m2 = matrix.M13;
newmatrix.m3 = matrix.M14;
newmatrix.m4 = matrix.M21;
newmatrix.m5 = matrix.M22;
newmatrix.m6 = matrix.M23;
newmatrix.m7 = matrix.M24;
newmatrix.m8 = matrix.M31;
newmatrix.m9 = matrix.M32;
newmatrix.m10 = matrix.M33;
newmatrix.m11 = matrix.M34;
return(newmatrix);
}
private void SetRoomMatrixButton(object sender, RoutedEventArgs e)
{
HmdMatrix34_t m = new HmdMatrix34_t();
OpenVR.ChaperoneSetup.GetWorkingStandingZeroPoseToRawTrackingPose(ref m);
if (SetRoomMatrixTemporaryCheckBox.IsChecked.Value)
{
osc.Send(new OscMessage("/VMT/SetRoomMatrix/Temporary",
m.m0, m.m1, m.m2, m.m3,
m.m4, m.m5, m.m6, m.m7,
m.m8, m.m9, m.m10, m.m11));
}
else
{
osc.Send(new OscMessage("/VMT/SetRoomMatrix",
m.m0, m.m1, m.m2, m.m3,
m.m4, m.m5, m.m6, m.m7,
m.m8, m.m9, m.m10, m.m11));
}
}
public static Matrix4 OpenVRMatrixToOpenTKMatrix4(HmdMatrix34_t matrix)
{
var newmatrix = new Matrix4();
newmatrix[0, 0] = matrix.m0;
newmatrix[1, 0] = matrix.m1;
newmatrix[2, 0] = -matrix.m2;
newmatrix[3, 0] = matrix.m3;
newmatrix[0, 1] = matrix.m4;
newmatrix[1, 1] = matrix.m5;
newmatrix[2, 1] = -matrix.m6;
newmatrix[3, 1] = matrix.m7;
newmatrix[0, 2] = -matrix.m8;
newmatrix[1, 2] = -matrix.m9;
newmatrix[2, 2] = matrix.m10;
newmatrix[3, 2] = -matrix.m11;
return(newmatrix);
}
// Borrowed from https://github.com/Marlamin/VROverlayTest/blob/master/VROverlayTest/Program.cs
public static Matrix3x4 OpenVRMatrixToOpenTKMatrix(HmdMatrix34_t matrix)
{
var newmatrix = new Matrix3x4();
newmatrix.M11 = matrix.m0;
newmatrix.M12 = matrix.m1;
newmatrix.M13 = matrix.m2;
newmatrix.M14 = matrix.m3;
newmatrix.M21 = matrix.m4;
newmatrix.M22 = matrix.m5;
newmatrix.M23 = matrix.m6;
newmatrix.M24 = matrix.m7;
newmatrix.M31 = matrix.m8;
newmatrix.M32 = matrix.m9;
newmatrix.M33 = matrix.m10;
newmatrix.M34 = matrix.m11;
return(newmatrix);
}
public TrackedCamera()
{
Info.print("Tracked Camera Firmware: {0}", VR.getTrackedDeviceString(ETrackedDeviceProperty.Prop_CameraFirmwareDescription_String));
if (OpenVR.TrackedCamera.GetCameraFrameSize(OpenVR.k_unTrackedDeviceIndex_Hmd, myFrameType, ref myFrameWidth, ref myFrameHeight, ref myFrameBufferSize) != EVRTrackedCameraError.None)
{
Warn.print("GetCameraFrameSize error");
}
myFrameBuffer = new byte[myFrameBufferSize];
myFrameFlipBuffer = new byte[myFrameBufferSize];
myTexture = new Texture((int)myFrameWidth, (int)myFrameHeight);
myTexture.setWrapping(TextureWrapMode.ClampToBorder, TextureWrapMode.ClampToBorder);
myTexture.setMinMagFilters(TextureMinFilter.Linear, TextureMagFilter.Linear);
var err = ETrackedPropertyError.TrackedProp_Success;
HmdMatrix34_t mat = VR.vrSystem.GetMatrix34TrackedDeviceProperty(OpenVR.k_unTrackedDeviceIndex_Hmd, ETrackedDeviceProperty.Prop_CameraToHeadTransform_Matrix34, ref err);
myHeadToCameraMatrix = VR.convertToMatrix4(mat);
}
public static void ToMatrix4(ref HmdMatrix34_t matrix, out Matrix4 result)
{
result = new Matrix4(
matrix.m0,
matrix.m4,
matrix.m8,
0,
matrix.m1,
matrix.m5,
matrix.m9,
0,
matrix.m2,
matrix.m6,
matrix.m10,
0,
matrix.m3,
matrix.m7,
matrix.m11,
1
);
}
/// <summary>
/// Converts <see cref="HmdMatrix34_t"/> to <see cref="Matrix"/>
/// </summary>
/// <param name="ovrMatrix34f">The input.</param>
/// <param name="matrix">The output.</param>
public static void ToMatrix(this HmdMatrix34_t ovrMatrix34f, out Matrix matrix)
{
// NOTE: automatic conversion from RH to LH
matrix.M11 = ovrMatrix34f.m0;
matrix.M12 = ovrMatrix34f.m4;
matrix.M13 = -ovrMatrix34f.m8;
matrix.M14 = 0f;
matrix.M21 = ovrMatrix34f.m1;
matrix.M22 = ovrMatrix34f.m5;
matrix.M23 = -ovrMatrix34f.m9;
matrix.M24 = 0f;
matrix.M31 = -ovrMatrix34f.m2;
matrix.M32 = -ovrMatrix34f.m6;
matrix.M33 = ovrMatrix34f.m10;
matrix.M34 = 0f;
matrix.M41 = ovrMatrix34f.m3;
matrix.M42 = ovrMatrix34f.m7;
matrix.M43 = -ovrMatrix34f.m11;
matrix.M44 = 1f;
}
//Automatically set floor height based on controller coordinatess
void AddOffsetToUniverseCenter(float offset, ref HmdMatrix34_t referenceMatrix)
{
if (offset != 0f)
{
HmdMatrix34_t currentMatrix = new HmdMatrix34_t();
CVRChaperoneSetup setup = OpenVR.ChaperoneSetup;
setup.RevertWorkingCopy();
setup.GetWorkingStandingZeroPoseToRawTrackingPose(ref currentMatrix);
currentMatrix.m3 += currentMatrix.m1 * offset;
currentMatrix.m7 += currentMatrix.m5 * offset;
currentMatrix.m11 += currentMatrix.m9 * offset;
setup.SetWorkingStandingZeroPoseToRawTrackingPose(ref currentMatrix);
referenceMatrix = currentMatrix;
setup.CommitWorkingCopy(EChaperoneConfigFile.Live);
universePitchRollVariance = GetUniverseOffset();
ResetAttributes();
FloorFixed.Trigger();
}
}
private static Matrix4x4 ToMatrix4x4(HmdMatrix34_t pose)
{
var m = Matrix4x4.identity;
m[0, 0] = pose.m0;
m[0, 1] = pose.m1;
m[0, 2] = -pose.m2;
m[0, 3] = pose.m3;
m[1, 0] = pose.m4;
m[1, 1] = pose.m5;
m[1, 2] = -pose.m6;
m[1, 3] = pose.m7;
m[2, 0] = -pose.m8;
m[2, 1] = -pose.m9;
m[2, 2] = pose.m10;
m[2, 3] = -pose.m11;
return(m);
}
public static HmdMatrix34_t ConvertMatrixUnityToOpenVR(Matrix4x4 m)
{
HmdMatrix34_t openvrMat = new HmdMatrix34_t();
openvrMat.m0 = m[0, 0];
openvrMat.m1 = m[0, 1];
openvrMat.m2 = m[0, 2];
openvrMat.m3 = m[0, 3];
openvrMat.m4 = m[1, 0];
openvrMat.m5 = m[1, 1];
openvrMat.m6 = m[1, 2];
openvrMat.m7 = m[1, 3];
openvrMat.m8 = m[2, 0];
openvrMat.m9 = m[2, 1];
openvrMat.m10 = m[2, 2];
openvrMat.m11 = m[2, 3];
return(openvrMat);
}
public HmdMatrix34_t ToHmdMatrix34()
{
var m = Matrix4x4.TRS(pos, rot, Vector3.one);
var pose = new HmdMatrix34_t();
pose.m0 = m[0, 0];
pose.m1 = m[0, 1];
pose.m2 = -m[0, 2];
pose.m3 = m[0, 3];
pose.m4 = m[1, 0];
pose.m5 = m[1, 1];
pose.m6 = -m[1, 2];
pose.m7 = m[1, 3];
pose.m8 = -m[2, 0];
pose.m9 = -m[2, 1];
pose.m10 = m[2, 2];
pose.m11 = -m[2, 3];
return(pose);
}
void ShowNotification(string msg)
{
Bitmap bitmap = new Bitmap(2160, 1440);
Graphics g = Graphics.FromImage(bitmap);
Font textFont = new Font("Microsoft JhengHei", m_nFontSize);
SizeF textSize = g.MeasureString(msg, textFont);
g.SmoothingMode = SmoothingMode.AntiAlias;
g.InterpolationMode = InterpolationMode.HighQualityBicubic;
g.PixelOffsetMode = PixelOffsetMode.HighQuality;
Rectangle rect = new Rectangle(0, 0, (int)textSize.Width + 20, (int)textSize.Height + 20);
g.FillRectangle(m_BackgroundBrush, rect);
RectangleF rectf = new RectangleF(10, 10, textSize.Width, textSize.Height);
g.DrawString(msg, textFont, m_TextBrush, rectf);
g.Flush();
Texture glTexture = new Texture(bitmap);
Gl.BindTexture(glTexture);
Texture_t texture = new Texture_t();
texture.eType = EGraphicsAPIConvention.API_OpenGL;
texture.eColorSpace = EColorSpace.Auto;
texture.handle = (IntPtr)glTexture.TextureID;
EVROverlayError error = OpenVR.Overlay.ClearOverlayTexture(m_ulOverlayHandle);
HmdMatrix34_t matrix34 = CreateMatrix34(txtPos.Text);
OpenVR.Overlay.SetOverlayTransformTrackedDeviceRelative(m_ulOverlayHandle, OpenVR.k_unTrackedDeviceIndex_Hmd, ref matrix34);
error = OpenVR.Overlay.SetOverlayTexture(m_ulOverlayHandle, ref texture);
OpenVR.Overlay.ShowOverlay(m_ulOverlayHandle);
//ClearAllTimeout();
//SetTimeout(() => {
// OpenVR.Overlay.HideOverlay(m_ulOverlayHandle);
//}, m_nNotifyTime);
}
public void GetPositionAndRotation(HmdMatrix34_t rawMatrix, out Vector3 position, out Quaternion rotation)
{
position = new Vector3(rawMatrix.m3, rawMatrix.m7, -rawMatrix.m11);
if (IsRotationValid(rawMatrix))
{
float w = Mathf.Sqrt(Mathf.Max(0, 1 + rawMatrix.m0 + rawMatrix.m5 + rawMatrix.m10)) / 2;
float x = Mathf.Sqrt(Mathf.Max(0, 1 + rawMatrix.m0 - rawMatrix.m5 - rawMatrix.m10)) / 2;
float y = Mathf.Sqrt(Mathf.Max(0, 1 - rawMatrix.m0 + rawMatrix.m5 - rawMatrix.m10)) / 2;
float z = Mathf.Sqrt(Mathf.Max(0, 1 - rawMatrix.m0 - rawMatrix.m5 + rawMatrix.m10)) / 2;
CopySign(ref x, rawMatrix.m6 - rawMatrix.m9);
CopySign(ref y, rawMatrix.m8 - rawMatrix.m2);
CopySign(ref z, rawMatrix.m4 - rawMatrix.m1);
rotation = new Quaternion(x, y, z, w);
}
else
{
rotation = Quaternion.identity;
}
}
void RemoveErrorOffset(TrackedDevicePose_t[] poses)
{
Debug.Log("Hold controllers in front of you. Removing error offset ....");
HmdMatrix34_t controllerPos = poses [GetReferenceControllerIndex(poses)].mDeviceToAbsoluteTracking;
float alpha = controllerPos.m7 - offsetToFloor;
float error = 0f;
float height = 0f;
if (alpha > 0f)
{
error = alpha - controllerPosOnFloor;
height = GetHeight() + error;
}
else if (alpha < 0f)
{
error = controllerPosOnFloor - alpha;
height = GetHeight() - error;
}
FixFloor(height);
}
public RigidTransform(HmdMatrix34_t pose)
{
var m = Matrix4x4.identity;
m[0, 0] = pose.m0;
m[0, 1] = pose.m1;
m[0, 2] = -pose.m2;
m[0, 3] = pose.m3;
m[1, 0] = pose.m4;
m[1, 1] = pose.m5;
m[1, 2] = -pose.m6;
m[1, 3] = pose.m7;
m[2, 0] = -pose.m8;
m[2, 1] = -pose.m9;
m[2, 2] = pose.m10;
m[2, 3] = -pose.m11;
this.pos = m.GetPosition();
this.rot = m.GetRotation();
}
// from SteamVr
public static void RigidTransform(HmdMatrix34_t pose, ref Vector3 Position, ref Quaternion Rotation)
{
var m = Matrix4x4.identity;
m[0, 0] = pose.m0;
m[0, 1] = pose.m1;
m[0, 2] = -pose.m2;
m[0, 3] = pose.m3;
m[1, 0] = pose.m4;
m[1, 1] = pose.m5;
m[1, 2] = -pose.m6;
m[1, 3] = pose.m7;
m[2, 0] = -pose.m8;
m[2, 1] = -pose.m9;
m[2, 2] = pose.m10;
m[2, 3] = -pose.m11;
Position = GetPosition(m);
Rotation = GetRotation(m);
}
public abstract EVROverlayError GetTransformForOverlayCoordinates(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,HmdVector2_t coordinatesInOverlay,ref HmdMatrix34_t pmatTransform);
public override EVROverlayError GetTransformForOverlayCoordinates(ulong ulOverlayHandle,ETrackingUniverseOrigin eTrackingOrigin,HmdVector2_t coordinatesInOverlay,ref HmdMatrix34_t pmatTransform)
{
CheckIfUsable();
EVROverlayError result = VRNativeEntrypoints.VR_IVROverlay_GetTransformForOverlayCoordinates(m_pVROverlay,ulOverlayHandle,eTrackingOrigin,coordinatesInOverlay,ref pmatTransform);
return result;
}
public abstract void SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose);
public abstract VROverlayError SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,uint unTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform);
public abstract VROverlayError SetOverlayTransformAbsolute(ulong ulOverlayHandle,TrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform);
public abstract bool GetLiveSeatedZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatSeatedZeroPoseToRawTrackingPose);
public abstract void SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform);
/** Passes back the pose matrix from the last successful call to GetTrackerFromHeadPose(). Returns true if that matrix is
* valid (because there has been a previous successful pose.) */
public bool GetLastTrackerFromHeadPose(ref HmdMatrix34_t pmPose)
{
return SteamVR.GetLastTrackerFromHeadPose(m_pNativeObject, ref pmPose);
}
public static extern bool GetLastTrackerFromHeadPose(System.IntPtr pHmd, ref HmdMatrix34_t pmPose);
public override bool GetWorkingTagPoses(out HmdMatrix34_t [] pTagPosesBuffer)
{
CheckIfUsable();
uint punTagPosesCount = 0;
bool result = VRNativeEntrypoints.VR_IVRChaperoneSetup_GetWorkingTagPoses(m_pVRChaperoneSetup,null,ref punTagPosesCount);
pTagPosesBuffer= new HmdMatrix34_t[punTagPosesCount];
result = VRNativeEntrypoints.VR_IVRChaperoneSetup_GetWorkingTagPoses(m_pVRChaperoneSetup,pTagPosesBuffer,ref punTagPosesCount);
return result;
}
public override bool GetWorkingTagPoseByName(string pchTagName,ref HmdMatrix34_t pmatTagPose,ref float pflScale)
{
CheckIfUsable();
pflScale = 0;
bool result = VRNativeEntrypoints.VR_IVRChaperoneSetup_GetWorkingTagPoseByName(m_pVRChaperoneSetup,pchTagName,ref pmatTagPose,ref pflScale);
return result;
}
public override bool GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose)
{
CheckIfUsable();
bool result = VRNativeEntrypoints.VR_IVRChaperoneSetup_GetWorkingStandingZeroPoseToRawTrackingPose(m_pVRChaperoneSetup,ref pmatStandingZeroPoseToRawTrackingPose);
return result;
}
public override void SetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pMatStandingZeroPoseToRawTrackingPose)
{
CheckIfUsable();
VRNativeEntrypoints.VR_IVRChaperoneSetup_SetWorkingStandingZeroPoseToRawTrackingPose(m_pVRChaperoneSetup,ref pMatStandingZeroPoseToRawTrackingPose);
}
public abstract void ApplyTransform(ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pTrackedDevicePose,ref HmdMatrix34_t pTransform);
public override void SetKeyboardTransformAbsolute(ETrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToKeyboardTransform)
{
CheckIfUsable();
VRNativeEntrypoints.VR_IVROverlay_SetKeyboardTransformAbsolute(m_pVROverlay,eTrackingOrigin,ref pmatTrackingOriginToKeyboardTransform);
}
public abstract bool GetWorkingTagPoseByName(string pchTagName,ref HmdMatrix34_t pmatTagPose,ref float pflScale);
public abstract bool GetWorkingTagPoses(out HmdMatrix34_t [] pTagPosesBuffer);
public override VROverlayError SetOverlayTransformAbsolute(ulong ulOverlayHandle,TrackingUniverseOrigin eTrackingOrigin,ref HmdMatrix34_t pmatTrackingOriginToOverlayTransform)
{
CheckIfUsable();
VROverlayError result = VRNativeEntrypoints.VR_IVROverlay_SetOverlayTransformAbsolute(m_pVROverlay,ulOverlayHandle,eTrackingOrigin,ref pmatTrackingOriginToOverlayTransform);
return result;
}
public override void ApplyTransform(ref TrackedDevicePose_t pOutputPose,ref TrackedDevicePose_t pTrackedDevicePose,ref HmdMatrix34_t pTransform)
{
CheckIfUsable();
VRNativeEntrypoints.VR_IVRSystem_ApplyTransform(m_pVRSystem,ref pOutputPose,ref pTrackedDevicePose,ref pTransform);
}
public static extern bool GetTrackerFromHeadPose(System.IntPtr pHmd, float fPredictedSecondsFromNow, ref HmdMatrix34_t pmPose, ref HmdTrackingResult peResult);
public override VROverlayError SetOverlayTransformTrackedDeviceRelative(ulong ulOverlayHandle,uint unTrackedDevice,ref HmdMatrix34_t pmatTrackedDeviceToOverlayTransform)
{
CheckIfUsable();
VROverlayError result = VRNativeEntrypoints.VR_IVROverlay_SetOverlayTransformTrackedDeviceRelative(m_pVROverlay,ulOverlayHandle,unTrackedDevice,ref pmatTrackedDeviceToOverlayTransform);
return result;
}
// ------------------------------------
// Tracking Methods
// ------------------------------------
/** The pose that the tracker thinks that the HMD will be in at the specified
* number of seconds into the future. Pass 0 to get the current state.
*
* This is roughly analogous to the inverse of the view matrix in most applications, though
* many games will need to do some additional rotation or translation on top of the rotation
* and translation provided by the head pose.
*
* If this function returns true the pose has been populated with a pose that can be used by the application.
* Check peResult for details about the pose, including messages that should be displayed to the user.
*/
public bool GetTrackerFromHeadPose(float fPredictedSecondsFromNow, ref HmdMatrix34_t pmPose, ref HmdTrackingResult peResult)
{
return SteamVR.GetTrackerFromHeadPose(m_pNativeObject, fPredictedSecondsFromNow, ref pmPose, ref peResult);
}
public abstract bool GetWorkingStandingZeroPoseToRawTrackingPose(ref HmdMatrix34_t pmatStandingZeroPoseToRawTrackingPose);
