Matrix4 GetHMDMatrixPoseEye(ref Valve.VR.CVRSystem HMD, Valve.VR.EVREye eye)
{
if (HMD == null)
{
return(new Matrix4());
}
Valve.VR.HmdMatrix34_t M = HMD.GetEyeToHeadTransform(eye);
return(UtilOld.steamVRMatrixToMatrix4(M).Inverted());
}
Matrix4 GetHMDMatrixProjectionEye(ref Valve.VR.CVRSystem HMD, Valve.VR.EVREye eye)
{
if (HMD == null)
{
return(new Matrix4());
}
Valve.VR.HmdMatrix44_t M = HMD.GetProjectionMatrix(eye, mNearClip, mFarClip);
return(UtilOld.steamVRMatrixToMatrix4(M));
}
private void initScene()
{
//OpenCV Cube init
objectList = new List <MCvPoint3D32f>();
for (int i = 0; i < _height; i++)
{
for (int j = 0; j < _width; j++)
{
objectList.Add(new MCvPoint3D32f(j * _squareSize, i * _squareSize, 0.0F));
}
}
axisPoints = new List <MCvPoint3D32f>();
axisPoints.Add(new MCvPoint3D32f(0.0f, 0.0f, 0.0f));
axisPoints.Add(new MCvPoint3D32f(3.0f, 0.0f, 0.0f));
axisPoints.Add(new MCvPoint3D32f(0.0f, 3.0f, 0.0f));
axisPoints.Add(new MCvPoint3D32f(0.0f, 0.0f, -3.0f));
cubePoints = new List <MCvPoint3D32f>();
cubePoints.Add(new MCvPoint3D32f(0.0f, 0.0f, 0.0f));
cubePoints.Add(new MCvPoint3D32f(0.0f, 3.0f, 0.0f));
cubePoints.Add(new MCvPoint3D32f(3.0f, 3.0f, 0.0f));
cubePoints.Add(new MCvPoint3D32f(3.0f, 0.0f, 0.0f));
cubePoints.Add(new MCvPoint3D32f(0.0f, 0.0f, -3.0f));
cubePoints.Add(new MCvPoint3D32f(0.0f, 3.0f, -3.0f));
cubePoints.Add(new MCvPoint3D32f(3.0f, 3.0f, -3.0f));
cubePoints.Add(new MCvPoint3D32f(3.0f, 0.0f, -3.0f));
//OpenGL objects init
marker_cube_g = new Geometry.CubeGeometry(3.0f, 3.0f, -3.0f);
marker_cube_m = new Material.TextureMaterial(mScene.rhinoDoc, "texture.jpg", false);
controller_cube_g = new Geometry.CubeGeometry(0.05f, 0.05f, -0.05f);
controller_cube_m = new Material.TextureMaterial(mScene.rhinoDoc, "texture.jpg", false);
//TODO- how to deal with controllerPose ?
//SceneNode controller_cube = new SceneNode("controller_cube", ref controller_cube_g, ref controller_cube_m); ;
//mScene.staticGeometry.add(ref controller_cube);
//we need eyepose before calibration
if (mHMD == null)
{
mEyePosLeft = new Matrix4();
}
Valve.VR.HmdMatrix34_t M_L = mHMD.GetEyeToHeadTransform(Valve.VR.EVREye.Eye_Left);
mEyePosLeft = UtilOld.steamVRMatrixToMatrix4(M_L).Inverted();
Valve.VR.HmdMatrix34_t M_R = mHMD.GetEyeToHeadTransform(Valve.VR.EVREye.Eye_Right);
mEyePosRight = UtilOld.steamVRMatrixToMatrix4(M_R).Inverted();
}
/**
* Updates the poses of all tracked devices in the Matrix4 format.
* Also handles new tracked devices, setting them up in the scene
* and loading their render models.
*/
void updateMatrixPose()
{
if (mHMD == null)
{
return;
}
OpenVR.Compositor.WaitGetPoses(mScene.mTrackedDevices, gamePoseArray);
for (uint i = 0; i < mScene.mTrackedDevices.Length; i++)
{
var device = gamePoseArray[i];
if (device.bPoseIsValid)
{
mScene.mDevicePose[i] = UtilOld.steamVRMatrixToMatrix4(mScene.mTrackedDevices[i].mDeviceToAbsoluteTracking);
mHMD.GetTrackedDeviceClass(i);
if (mScene.mDeviceClassChar[i] == 0)
{
switch (mHMD.GetTrackedDeviceClass(i))
{
case ETrackedDeviceClass.Controller:
mScene.mDeviceClassChar[i] = 'C';
string name = UtilOld.GetTrackedDeviceString(ref mHMD, i, ETrackedDeviceProperty.Prop_RenderModelName_String);
if (name.ToLower().Contains("left"))
{
mScene.leftControllerIdx = (int)i;
// Uncomment to show controller model.
//Geometry.Geometry g = new Geometry.Geometry(@"C:/workspace/SparrowHawk/src/resources/external_controller01_left.obj");
//Material.Material m = new Material.RGBNormalMaterial(.5f);
//SceneNode s = new SceneNode("LeftControllerModel", ref g, ref m);
//s.transform = Util.createTranslationMatrix(-mScene.mLeftControllerOffset.M14, -mScene.mLeftControllerOffset.M24, -mScene.mLeftControllerOffset.M34);
//mScene.leftControllerNode.add(ref s);
}
else if (name.ToLower().Contains("right"))
{
mScene.rightControllerIdx = (int)i;
}
else if (mScene.leftControllerIdx < 0)
{
mScene.leftControllerIdx = (int)i;
}
else if (mScene.rightControllerIdx < 0)
{
mScene.rightControllerIdx = (int)i;
}
break;
case ETrackedDeviceClass.HMD: mScene.mDeviceClassChar[i] = 'H'; break;
case ETrackedDeviceClass.Invalid: mScene.mDeviceClassChar[i] = 'I'; break;
case ETrackedDeviceClass.GenericTracker: mScene.mDeviceClassChar[i] = 'G'; break;
case ETrackedDeviceClass.TrackingReference: mScene.mDeviceClassChar[i] = 'T'; break;
default: mScene.mDeviceClassChar[i] = '?'; break;
}
}
}
}
if (gamePoseArray[OpenVR.k_unTrackedDeviceIndex_Hmd].bPoseIsValid)
{
mScene.mHMDPose = UtilOld.steamVRMatrixToMatrix4(gamePoseArray[OpenVR.k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking).Inverted();
}
if (mScene.leftControllerIdx > 0)
{
mScene.leftControllerNode.transform = mScene.mDevicePose[mScene.leftControllerIdx] * mScene.mLeftControllerOffset;
}
if (mScene.rightControllerIdx > 0)
{
mScene.rightControllerNode.transform = mScene.mDevicePose[mScene.rightControllerIdx] * mScene.mRightControllerOffset;
}
}
