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();
}
private OpenVRScene(float nearClip, float farClip, CVRSystem hmd, int leftIndex, int rightIndex)
{
// set up the hmd
this.hmd = hmd;
NearClip = nearClip;
FarClip = farClip;
leftEyeProj = hmd.GetProjectionMatrix(EVREye.Eye_Left, nearClip, farClip, EGraphicsAPIConvention.API_OpenGL).ToGLMatrix4();
rightEyeProj = hmd.GetProjectionMatrix(EVREye.Eye_Right, nearClip, farClip, EGraphicsAPIConvention.API_OpenGL).ToGLMatrix4();
leftEyeView = hmd.GetEyeToHeadTransform(EVREye.Eye_Left).ToGLMatrix4().Inverted();
rightEyeView = hmd.GetEyeToHeadTransform(EVREye.Eye_Right).ToGLMatrix4().Inverted();
leftHandControllerIndex = leftIndex;
rightHandControllerIndex = rightIndex;
OpenVRInput = new OpenVRInputObservable(hmd);
}
public void RenderScene(Valve.VR.EVREye eye)
{
// Clear the screen to white
GL.ClearColor(.1f, 0f, .1f, 1.0f);
GL.Clear(ClearBufferMask.ColorBufferBit | ClearBufferMask.DepthBufferBit);
// use ovrvision camera
if (enableAR)
{
ovrvision_controller.updateCamera(eye);
Matrix4 vp = new Matrix4();
switch (eye)
{
case Valve.VR.EVREye.Eye_Left:
if (ovrvision_controller.foundMarker_L)
{
ovrvision_controller.drawCubeGL(0);
}
//ovrvision_controller.drawController(0);
ovrvision_controller.getOVRVPMatrix(0, ref vp);
//Util.WriteLine(ref mScene.rhinoDoc, vp.ToString());
break;
default:
if (ovrvision_controller.foundMarker_R)
{
ovrvision_controller.drawCubeGL(1);
}
// ovrvision_controller.drawController(1);
ovrvision_controller.getOVRVPMatrix(1, ref vp);
break;
}
//already transpose
//vp.Transpose();
mScene.render(ref vp);
}
else
{
mHMD.GetEyeToHeadTransform(eye);
Matrix4 vp;
switch (eye)
{
case Valve.VR.EVREye.Eye_Left:
//Util.WriteLine(ref mScene.rhinoDoc, mScene.mHMDPose.ToString());
vp = mEyeProjLeft * mEyePosLeft * mScene.mHMDPose;
break;
default:
vp = mEyeProjRight * mEyePosRight * mScene.mHMDPose;
break;
}
vp.Transpose();
mScene.render(ref vp);
}
}
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());
}
private SteamVR(System.IntPtr pHmd, System.IntPtr pCompositor, System.IntPtr pOverlay)
{
hmd = new CVRSystem(pHmd);
Debug.Log("Connected to " + hmd_TrackingSystemName + ":" + hmd_SerialNumber);
compositor = new CVRCompositor(pCompositor);
overlay = new CVROverlay(pOverlay);
var capacity = compositor.GetLastError(null, 0);
if (capacity > 1)
{
var result = new System.Text.StringBuilder((int)capacity);
compositor.GetLastError(result, capacity);
Debug.Log("Compositor - " + result);
}
// Setup render values
uint w = 0, h = 0;
hmd.GetRecommendedRenderTargetSize(ref w, ref h);
sceneWidth = (float)w;
sceneHeight = (float)h;
float l_left = 0.0f, l_right = 0.0f, l_top = 0.0f, l_bottom = 0.0f;
hmd.GetProjectionRaw(Hmd_Eye.Eye_Left, ref l_left, ref l_right, ref l_top, ref l_bottom);
float r_left = 0.0f, r_right = 0.0f, r_top = 0.0f, r_bottom = 0.0f;
hmd.GetProjectionRaw(Hmd_Eye.Eye_Right, ref r_left, ref r_right, ref r_top, ref r_bottom);
tanHalfFov = new Vector2(
Mathf.Max(-l_left, l_right, -r_left, r_right),
Mathf.Max(-l_top, l_bottom, -r_top, r_bottom));
textureBounds = new VRTextureBounds_t[2];
textureBounds[0].uMin = 0.5f + 0.5f * l_left / tanHalfFov.x;
textureBounds[0].uMax = 0.5f + 0.5f * l_right / tanHalfFov.x;
textureBounds[0].vMin = 0.5f - 0.5f * l_bottom / tanHalfFov.y;
textureBounds[0].vMax = 0.5f - 0.5f * l_top / tanHalfFov.y;
textureBounds[1].uMin = 0.5f + 0.5f * r_left / tanHalfFov.x;
textureBounds[1].uMax = 0.5f + 0.5f * r_right / tanHalfFov.x;
textureBounds[1].vMin = 0.5f - 0.5f * r_bottom / tanHalfFov.y;
textureBounds[1].vMax = 0.5f - 0.5f * r_top / tanHalfFov.y;
Unity.SetSubmitParams(textureBounds[0], textureBounds[1], VRSubmitFlags_t.Submit_Default);
// Grow the recommended size to account for the overlapping fov
sceneWidth = sceneWidth / Mathf.Max(textureBounds[0].uMax - textureBounds[0].uMin, textureBounds[1].uMax - textureBounds[1].uMin);
sceneHeight = sceneHeight / Mathf.Max(textureBounds[0].vMax - textureBounds[0].vMin, textureBounds[1].vMax - textureBounds[1].vMin);
aspect = tanHalfFov.x / tanHalfFov.y;
fieldOfView = 2.0f * Mathf.Atan(tanHalfFov.y) * Mathf.Rad2Deg;
eyes = new SteamVR_Utils.RigidTransform[] {
new SteamVR_Utils.RigidTransform(hmd.GetEyeToHeadTransform(Hmd_Eye.Eye_Left)),
new SteamVR_Utils.RigidTransform(hmd.GetEyeToHeadTransform(Hmd_Eye.Eye_Right)) };
if (SystemInfo.graphicsDeviceVersion.StartsWith("OpenGL"))
graphicsAPI = GraphicsAPIConvention.API_OpenGL;
else
graphicsAPI = GraphicsAPIConvention.API_DirectX;
SteamVR_Utils.Event.Listen("initializing", OnInitializing);
SteamVR_Utils.Event.Listen("calibrating", OnCalibrating);
SteamVR_Utils.Event.Listen("out_of_range", OnOutOfRange);
SteamVR_Utils.Event.Listen("device_connected", OnDeviceConnected);
SteamVR_Utils.Event.Listen("new_poses", OnNewPoses);
}
private SteamVR(System.IntPtr pHmd, System.IntPtr pCompositor)
{
hmd = new CVRSystem(pHmd);
Debug.Log("Connected to " + hmd_TrackingSystemName + ":" + hmd_SerialNumber);
compositor = new CVRCompositor(pCompositor);
var device = new UnityGraphicsDevice();
GetUnityGraphicsDevice(ref device);
switch (device.type)
{
case GfxDeviceRenderer.kGfxRendererD3D11:
compositor.SetGraphicsDevice(Compositor_DeviceType.D3D11, device.ptr);
break;
case GfxDeviceRenderer.kGfxRendererOpenGL:
compositor.SetGraphicsDevice(Compositor_DeviceType.OpenGL, device.ptr);
break;
default:
throw new System.Exception("Unsupported device type.");
}
var capacity = compositor.GetLastError(null, 0);
if (capacity > 1)
{
var result = new System.Text.StringBuilder((int)capacity);
compositor.GetLastError(result, capacity);
Debug.Log("Compositor - " + result);
}
// Register for a callback if our graphics device goes away, so we can properly clean up.
var resetDelegate = new UnityResetDelegate(SteamVR.SafeDispose);
callbackHandle = GCHandle.Alloc(resetDelegate);
SetUnityResetCallback(Marshal.GetFunctionPointerForDelegate(resetDelegate));
// Hook up the render thread present event just in case we wind up needing to use this.
var error = HmdError.None;
SetUnityRenderCallback(OpenVR.GetGenericInterface(IVRHmdDistortPresent_Version, ref error));
// Setup render values
uint w = 0, h = 0;
hmd.GetRecommendedRenderTargetSize(ref w, ref h);
sceneWidth = (float)w;
sceneHeight = (float)h;
float l_left = 0.0f, l_right = 0.0f, l_top = 0.0f, l_bottom = 0.0f;
hmd.GetProjectionRaw(Hmd_Eye.Eye_Left, ref l_left, ref l_right, ref l_top, ref l_bottom);
float r_left = 0.0f, r_right = 0.0f, r_top = 0.0f, r_bottom = 0.0f;
hmd.GetProjectionRaw(Hmd_Eye.Eye_Right, ref r_left, ref r_right, ref r_top, ref r_bottom);
tanHalfFov = new Vector2(
Mathf.Max(-l_left, l_right, -r_left, r_right),
Mathf.Max(-l_top, l_bottom, -r_top, r_bottom));
textureBounds = new Compositor_TextureBounds[2];
textureBounds[0].uMin = 0.5f + 0.5f * l_left / tanHalfFov.x;
textureBounds[0].uMax = 0.5f + 0.5f * l_right / tanHalfFov.x;
textureBounds[0].vMin = 0.5f + 0.5f * l_bottom / tanHalfFov.y;
textureBounds[0].vMax = 0.5f + 0.5f * l_top / tanHalfFov.y;
textureBounds[1].uMin = 0.5f + 0.5f * r_left / tanHalfFov.x;
textureBounds[1].uMax = 0.5f + 0.5f * r_right / tanHalfFov.x;
textureBounds[1].vMin = 0.5f + 0.5f * r_bottom / tanHalfFov.y;
textureBounds[1].vMax = 0.5f + 0.5f * r_top / tanHalfFov.y;
aspect = tanHalfFov.x / tanHalfFov.y;
fieldOfView = 2.0f * Mathf.Atan(tanHalfFov.y) * Mathf.Rad2Deg;
eyes = new SteamVR_Utils.RigidTransform[] {
new SteamVR_Utils.RigidTransform(hmd.GetEyeToHeadTransform(Hmd_Eye.Eye_Left)),
new SteamVR_Utils.RigidTransform(hmd.GetEyeToHeadTransform(Hmd_Eye.Eye_Right)) };
SteamVR_Utils.Event.Listen("initializing", OnInitializing);
SteamVR_Utils.Event.Listen("calibrating", OnCalibrating);
SteamVR_Utils.Event.Listen("out_of_range", OnOutOfRange);
SteamVR_Utils.Event.Listen("device_connected", OnDeviceConnected);
SteamVR_Utils.Event.Listen("new_poses", OnNewPoses);
}