public ParagliderSimulator()
{
graphics = new GraphicsDeviceManager(this);
Content.RootDirectory = "Content";
this.IsFixedTimeStep = true;
if (orEnabled)
{
oculusClient = new OculusClient();
scaleImageFactor = 0.71f;
graphics.PreferredBackBufferWidth = (int)Math.Ceiling(resolutionX / scaleImageFactor);
graphics.PreferredBackBufferHeight = (int)Math.Ceiling(resolutionY / scaleImageFactor);
graphics.IsFullScreen = true;
}
else
{
graphics.PreferredBackBufferWidth = (int)resolutionX;
graphics.PreferredBackBufferHeight = (int)resolutionY;
graphics.IsFullScreen = false;
}
graphics.ApplyChanges();
Window.Title = "ParagliderSim";
}
private void DroneTakeOff()
{
droneClient.FlatTrim();//before take off send this command
headPositionStart = OculusClient.GetOrientation();
if (lastCommandSent != CommandType.TakeOff)
{
droneClient.Takeoff();
lastCommandSent = CommandType.TakeOff;
}
}
private void SetProjectionOffset()
{
viewCenter = OculusClient.GetScreenSize().X * 0.212f; // 0.25f 0.212f
eyeProjectionShift = viewCenter - OculusClient.GetLensSeparationDistance() * 0.5f;
projectionCenterOffset = 4.0f * eyeProjectionShift / OculusClient.GetScreenSize().X;
projCenter = originalProjectionMatrix;
projLeft = Matrix.CreateTranslation(projectionCenterOffset, 0, 0) * projCenter;
projRight = Matrix.CreateTranslation(-projectionCenterOffset, 0, 0) * projCenter;
halfIPD = OculusClient.GetInterpupillaryDistance() * 0.5f;
viewLeft = viewMatrix * Matrix.CreateTranslation(halfIPD, 0, 0);
viewRight = viewMatrix * Matrix.CreateTranslation(-halfIPD, 0, 0);
}
private void InitOculus()
{
// Load the Oculus Rift Distortion Shader
// https://mega.co.nz/#!E4YkjJ6K!MuIDuB78NwgHsGgeONikDAT_OLJQ0ZeLXbfGF1OAhzw
oculusRiftDistortionShader = Content.Load <Effect>(@"Shader/OculusRift");
aspectRatio = (float)(OculusClient.GetScreenResolution().X * 0.5f / (float)(OculusClient.GetScreenResolution().Y));
fov_d = OculusClient.GetEyeToScreenDistance();
fov_x = OculusClient.GetScreenSize().Y *scaleImageFactor;
yfov = 2.0f * (float)Math.Atan(fov_x / fov_d);
// Set ProjectionMatrix
originalProjectionMatrix = Matrix.CreatePerspectiveFieldOfView(yfov, aspectRatio, 0.05f, 10000.0f);
// Init left and right RenderTarget
renderTargetLeft = new RenderTarget2D(device, graphics.PreferredBackBufferWidth / 2, graphics.PreferredBackBufferHeight, true, SurfaceFormat.Bgr565, DepthFormat.Depth24Stencil8);
renderTargetRight = new RenderTarget2D(device, graphics.PreferredBackBufferWidth / 2, graphics.PreferredBackBufferHeight, true, SurfaceFormat.Bgr565, DepthFormat.Depth24Stencil8);
OculusClient.SetSensorPredictionTime(0, 0.03f);
UpdateResolutionAndRenderTargets();
}
protected override void LoadContent()
{
renderTarget = new RenderTarget2D(GraphicsDevice, graphics.PreferredBackBufferWidth, graphics.PreferredBackBufferHeight);
spriteBatch = new SpriteBatch(GraphicsDevice);
hudFontSmall = Content.Load <SpriteFont>(@"Fonts\FontSmall");
if (drawTestImage)
{
videoTexture = Content.Load <Texture2D>(@"test");
}
else
{
videoTexture = new Texture2D(GraphicsDevice, 640, 360, false, SurfaceFormat.Color);
}
colorData = new Microsoft.Xna.Framework.Color[640 * 360];
videoPacketDecoderWorker = new VideoPacketDecoderWorker(PixelFormat.BGR24, true, OnVideoPacketDecoded);
videoPacketDecoderWorker.Start();
droneClient = new DroneClient();
droneClient.VideoPacketAcquired += OnVideoPacketAcquired;
droneClient.ConfigurationUpdated += OnConfigurationUpdated;
droneClient.Active = true;
try
{
kinect = new KinectClient("it-IT");
kinect.VoiceCommandRecognized += OnVoiceCommandRecognized;
kinect.VoiceCommandRejected += OnVoiceCommandRejected;
kinect.GestureCommandRecognized += OnGestureRecognized;
kinectMessage = "Kinect trovato. Riconoscimento vocale e comandi attivi...";
}
catch (Exception e)
{
kinectMessage = e.Message;
}
oculusRiftDistortionShader = Content.Load <Effect>("Shaders/OculusRift");
oculusClient = new OculusClient();
UpdateResolutionAndRenderTargets();
screenType = ScreenType.Splash; //The splash show commands
}
private void UpdateViewMatrix()
{
Vector3 cameraPosition;
playerBodyRotation = Matrix.CreateRotationZ(rotZ) * Matrix.CreateRotationX(updownRot) * Matrix.CreateRotationY(lefrightRot);
if (game.OREnabled)
{
cameraRotation = Matrix.CreateFromQuaternion(OculusClient.GetPredictedOrientation()) * playerBodyRotation;
//Neck movement
Vector3 neck = new Vector3(0, 0.3f, 0);
Vector3 neck2 = Vector3.Transform(neck, playerBodyRotation);
cameraPosition = playerPosition - neck2;
neck = Vector3.Transform(neck, Matrix.CreateFromQuaternion((OculusClient.GetPredictedOrientation()) * 0.65f) * playerBodyRotation);
cameraPosition += neck;
}
else
{
cameraRotation = playerBodyRotation;
cameraPosition = playerPosition;
}
cameraOriginalTarget = new Vector3(0, 0, -1);
cameraRotatedTarget = Vector3.Transform(cameraOriginalTarget, cameraRotation);
cameraFinalTarget = cameraPosition + cameraRotatedTarget;
cameraOriginalUpVector = new Vector3(0, 1, 0);
cameraRotatedUpVector = Vector3.Transform(cameraOriginalUpVector, cameraRotation);
game.ViewMatrix = Matrix.CreateLookAt(cameraPosition, cameraFinalTarget, cameraRotatedUpVector);
//player
playerWorld = Matrix.Identity * Matrix.CreateScale(0.01f) * Matrix.CreateRotationY((float)Math.PI) * playerBodyRotation * Matrix.CreateTranslation(playerPosition);
playerSphere = originalPlayerSphere.Transform(playerWorld);
}
private void processInput(float amount)
{
KeyboardState keyState = Keyboard.GetState();
GamePadState padState = GamePad.GetState(PlayerIndex.One);
//arms
leftArmRotX = 0f;
rightArmRotX = 0f;
if (padState.IsConnected && padState.ThumbSticks.Left != Vector2.Zero && padState.ThumbSticks.Left.Y > 0)
{
updownRot = padState.ThumbSticks.Left.Y * 0.153f * -1f;
}
//downforce
float downforce = ((float)Math.Sin(updownRot) * (-1f)) + 0.05f;
moveSpeed = currentWing.Speed;
//acceleration
float leftAcceleration = ((float)Math.Sin(updownRot) * -9.8f) + 0.25f;
float rightAcceleration = ((float)Math.Sin(updownRot) * -9.8f) + 0.25f;
float dragX = 3f / 8f;
//Keyboard
if (keyState.IsKeyDown(Keys.Left) || keyState.IsKeyDown(Keys.A))
{
leftArmRotX = -maxArmRot;
leftAcceleration = 0;
}
if (keyState.IsKeyDown(Keys.Right) || keyState.IsKeyDown(Keys.D))
{
rightArmRotX = -maxArmRot;
rightAcceleration = 0;
}
if (keyState.IsKeyDown(Keys.R))
{
OculusClient.ResetSensorOrientation(0);
}
//gamepad
if (padState.IsConnected && padState.Triggers.Left != 0)
{
leftArmRotX = -maxArmRot * padState.Triggers.Left;
leftAcceleration -= leftAcceleration * padState.Triggers.Left;
}
if (padState.IsConnected && padState.Triggers.Right != 0)
{
rightArmRotX = -maxArmRot * padState.Triggers.Right;
rightAcceleration -= rightAcceleration * padState.Triggers.Right;
}
if (padState.IsConnected && padState.Buttons.A == ButtonState.Pressed)
{
OculusClient.ResetSensorOrientation(0);
}
//Beveger glideren og henter ut rotasjon
currentWing.move(wind, game.Terrain.getUpdraft(playerPosition), downforce, leftAcceleration, rightAcceleration, amount, dragX);
lefrightRot += currentWing.getRotationY();
rotZ = currentWing.getRotationZ();
Vector3 upDraft = new Vector3(0, 1, 0) * game.Terrain.getUpdraft(playerPosition);
if (game.currentGameState == gameState.Playing)
{
AddToPlayerPosition(currentWing.getMovementVector() + (upDraft * amount));
}
UpdateViewMatrix();
}
public CaptureSelection()
{
InitializeComponent();
//Oculus code
if (OculusClient.isHMDPresent() == true)
{
detectedLabel.Text = "Rift Detected; Data should be valid.";
//Scan oculus angles. I store them in a Vector3 with 3 values for each axis.
//It's a quaternion, so I convert it to Euler angles (X, Y, Z)
Vector3 oculusAngles = Helpers.ToEulerAngles(OculusClient.GetPredictedOrientation());
//Format the float angles and send them to the labels
XLabel.Text = String.Format("{0:0,0.0000000}", oculusAngles.X);
YLabel.Text = String.Format("{0:0,0.0000000}", oculusAngles.Y);
ZLabel.Text = String.Format("{0:0,0.0000000}", oculusAngles.Z);
//Scan Oculus's resolution and format it
Vector2 oculusResolution = OculusClient.GetScreenResolution();
resolutionLabel.Text = String.Format(oculusResolution.X + "x" + oculusResolution.Y);
}
else
{
detectedLabel.Text = "No Rift Detected; Data is invalid.";
}
//Scott's code
var screens = System.Windows.Forms.Screen.AllScreens;
var mapInstanceToUserFriendly = new Dictionary <string, string>();
try
{
ManagementObjectSearcher searcher = new ManagementObjectSearcher("root\\WMI", "SELECT * FROM WmiMonitorID");
foreach (ManagementObject queryObj in searcher.Get())
{
string instanceName = (string)queryObj["InstanceName"];
string userFriendlyName = "";
if ((instanceName != null) && (queryObj["UserFriendlyName"] != null))
{
UInt16[] arrUserFriendlyName = (UInt16[])(queryObj["UserFriendlyName"]);
foreach (UInt16 arrValue in arrUserFriendlyName)
{
if (arrValue == 0)
{
break;
}
userFriendlyName += Convert.ToChar(arrValue);
}
instanceName = instanceName.Replace('\\', '#');
string[] splitInstance = instanceName.Split('_');
if ((splitInstance != null) && (splitInstance.Length >= 1))
{
instanceName = splitInstance[0];
mapInstanceToUserFriendly[instanceName] = userFriendlyName;
}
}
}
}
catch (ManagementException e)
{
MessageBox.Show("An error occurred while querying for WMI data: " + e.Message + ". Exiting.", "Ocucam - Error");
Environment.Exit(-1);
}
var mapIdsToDisplay = new Dictionary <int, Display>();
DISPLAY_DEVICE d = new DISPLAY_DEVICE();
d.cb = Marshal.SizeOf(d);
try
{
for (int id = 0; EnumDisplayDevices(null, (uint)id, ref d, 0); id++)
{
string name = d.DeviceName;
d.cb = Marshal.SizeOf(d);
EnumDisplayDevices(name, 0, ref d, EDD_GET_DEVICE_INTERFACE_NAME);
foreach (string instanceName in mapInstanceToUserFriendly.Keys)
{
if (d.DeviceID.Contains(instanceName))
{
mapIdsToDisplay[id] = new Display(id, mapInstanceToUserFriendly[instanceName], instanceName);
break;
}
}
d.cb = Marshal.SizeOf(d);
}
}
catch (Exception ex)
{
MessageBox.Show("Error enumerating display devices. Exiting.", "Ocucam - Error");
Environment.Exit(-1);
}
DSVideoCaptureCategory captureCategory = new DSVideoCaptureCategory();
if (captureCategory.Objects.Count < 2)
{
if (captureCategory.Objects.Count == 0)
{
MessageBox.Show("System must have at least two distinct video capture devices. None were found. Exiting.", "Ocucam - Error");
}
else
{
MessageBox.Show("System must have at least two distinct video capture devices. Only one was found. Exiting.", "Ocucam - Error");
}
Environment.Exit(-1);
}
RegistryKey softwareKey = Registry.CurrentUser.OpenSubKey("Software", true);
RegistryKey scottCutlerKey = softwareKey.CreateSubKey("Scott Cutler");
RegistryKey ocucamKey = scottCutlerKey.CreateSubKey("Ocucam");
string leftEyeDevicePathReg = (string)ocucamKey.GetValue("leftEyeDevicePath", "");
string rightEyeDevicePathReg = (string)ocucamKey.GetValue("rightEyeDevicePath", "");
string displayDeviceInstanceReg = (string)ocucamKey.GetValue("displayDeviceInstance", "");
checkBoxFullScreen.Checked = ((string)ocucamKey.GetValue("fullScreen", "True") == "True") ? true : false;
ocucamKey.Close();
scottCutlerKey.Close();
softwareKey.Close();
captureCategory.Objects.Sort((a, b) => { return(a.DevicePath.CompareTo(b.DevicePath)); });
var objectCount = new Dictionary <string, int>();
foreach (var captureDevice in captureCategory.Objects)
{
if (objectCount.ContainsKey(captureDevice.DevicePath))
{
objectCount[captureDevice.DevicePath]++;
}
else
{
objectCount.Add(captureDevice.DevicePath, 1);
}
DSDeviceWrap dw = new DSDeviceWrap(captureDevice, objectCount[captureDevice.DevicePath]);
leftEyeDevice.Items.Add(dw);
if (leftEyeDevicePathReg == captureDevice.DevicePath)
{
leftEyeDevice.SelectedIndex = leftEyeDevice.Items.Count - 1;
}
rightEyeDevice.Items.Add(dw);
if (rightEyeDevicePathReg == captureDevice.DevicePath)
{
rightEyeDevice.SelectedIndex = rightEyeDevice.Items.Count - 1;
}
}
foreach (var displayId in mapIdsToDisplay.Keys)
{
comboBoxDisplay.Items.Add(mapIdsToDisplay[displayId]);
if (displayDeviceInstanceReg == mapIdsToDisplay[displayId].instance)
{
comboBoxDisplay.SelectedIndex = comboBoxDisplay.Items.Count - 1;
}
}
}
//head dx, sx, up, down
private void OculusHandle()
{
oculusXText = "On Hold";
oculusYText = "On Hold";
var cameraPositionNew = OculusClient.GetOrientation();
var delta = headPositionStart.X - cameraPositionNew.X;
var compare = delta;
if (delta < 0)
{
delta *= -1;
}
if (delta >= xThreshold)
{
if (compare > 0)
{
oculusXText = "Right";
if (lastCommandSent != CommandType.TurnRight)
{
lastCommandSent = CommandType.TurnRight;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, yaw: 0.4f);
}
}
else
{
oculusXText = "Left";
if (lastCommandSent != CommandType.TurnLeft)
{
lastCommandSent = CommandType.TurnLeft;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, yaw: -0.4f);
}
}
return;
}
delta = headPositionStart.Y - cameraPositionNew.Y;
compare = delta;
if (delta < 0)
{
delta *= -1;
}
if (delta >= yThreshold)
{
if (compare > 0)
{
oculusYText = "Up";
if (lastCommandSent != CommandType.GoUp)
{
lastCommandSent = CommandType.GoUp;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, gaz: 0.4f);
}
}
else
{
oculusYText = "Down";
if (lastCommandSent != CommandType.GoDown)
{
lastCommandSent = CommandType.GoDown;
droneClient.Progress(Drone.Commands.FlightMode.Progressive, gaz: -0.4f);
}
}
}
}