public bool IsDeviceConnected(uint idx)
{
if (!IsReady())
{
return(false);
}
return(openvr.IsTrackedDeviceConnected(idx));
}
private void TrackingLoop()
{
try
{
EVRInitError initError = EVRInitError.None;
CVRSystem cvrSystem = OpenVR.Init(ref initError, EVRApplicationType.VRApplication_Utility);
var chaperone = OpenVR.Chaperone;
var quadArea = new HmdQuad_t();
chaperone.GetPlayAreaRect(ref quadArea);
_playArea = quadArea.ToPlayArea();
if (initError != EVRInitError.None)
{
throw new InvalidOperationException($"EVR init erro: {initError}");
}
while (_keepReading)
{
TrackedDevicePose_t[] trackedDevicePoses = new TrackedDevicePose_t[OpenVR.k_unMaxTrackedDeviceCount];
cvrSystem.GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin.TrackingUniverseStanding, 0f, trackedDevicePoses);
for (uint trackedDeviceIndex = 0; trackedDeviceIndex < OpenVR.k_unMaxTrackedDeviceCount; trackedDeviceIndex++)
{
if (cvrSystem.IsTrackedDeviceConnected(trackedDeviceIndex))
{
ETrackedDeviceClass deviceClass = cvrSystem.GetTrackedDeviceClass(trackedDeviceIndex);
if (true)
{
VRControllerState_t controllerState = new VRControllerState_t();
cvrSystem.GetControllerState(1, ref controllerState, (uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t)));
ETrackingResult trackingResult = trackedDevicePoses[trackedDeviceIndex].eTrackingResult;
bool trigger = controllerState.rAxis1.x > 0.9f;
bool menuButton = (controllerState.ulButtonPressed & (1ul << (int)EVRButtonId.k_EButton_ApplicationMenu)) != 0;
bool gripButton = (controllerState.ulButtonPressed & (1ul << (int)EVRButtonId.k_EButton_Grip)) != 0;
if (trackingResult == ETrackingResult.Running_OK)
{
HmdMatrix34_t trackingMatrix = trackedDevicePoses[trackedDeviceIndex].mDeviceToAbsoluteTracking;
Vector3 speedVector = trackedDevicePoses[trackedDeviceIndex].vVelocity.ToVelocityVector();
Vector3 position = trackingMatrix.ToPositionVector();
DeviceTrackingData trackingUpdate = new DeviceTrackingData((int)trackedDeviceIndex, deviceClass.ToString(), position, trackingMatrix.ToRotationQuaternion());
NewPoseUpdate?.Invoke(this, trackingUpdate);
}
}
}
}
Thread.Sleep(UpdatedInterval);
}
}
catch (Exception e)
{
Console.WriteLine($"Error: {e}");
}
finally
{
OpenVR.Shutdown();
}
}
void HMDCoords()
{
if (!vrContext.IsTrackedDeviceConnected((uint)HMD.Id))
{
return;
}
//TrackedDevicePose_t struct is a OpenVR struct. See line 180 in the openvr.h header.
TrackedDevicePose_t[] trackedDevicePose = new TrackedDevicePose_t[1];
//if (vrContext.IsInputFocusCapturedByAnotherProcess())
// printf("\nINFO--Input Focus by Another Process");
vrContext.GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin.TrackingUniverseStanding, 0f, trackedDevicePose);
var mat = ConvertMatrix(trackedDevicePose[0].mDeviceToAbsoluteTracking);
HMD.Position = GetPosition(mat);
HMD.Rotation = GetRotation(mat);
//Console.WriteLine(111111);
//Console.WriteLine(mat);
}
private static void SteamVr()
{
Console.WriteLine("Starting");
EVRInitError initError = EVRInitError.None;
CVRSystem cvrSystem = OpenVR.Init(ref initError, EVRApplicationType.VRApplication_Utility);
Console.WriteLine("Error: " + initError.ToString());
if (cvrSystem == null)
{
Console.WriteLine("Error!");
}
while (true)
{
Thread.Sleep(1);
TrackedDevicePose_t[] trackedDevicePose = new TrackedDevicePose_t[OpenVR.k_unMaxTrackedDeviceCount];
cvrSystem.GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin.TrackingUniverseRawAndUncalibrated, 0f, trackedDevicePose);
VRControllerState_t controllerState = new VRControllerState_t();
cvrSystem.GetControllerState(1, ref controllerState,
(uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t)));
int trigger = controllerState.rAxis1.x > 0.9f ? 1 : 0;
bool topButtom = (controllerState.ulButtonPressed & (1ul << (int)EVRButtonId.k_EButton_ApplicationMenu)) != 0;
TrackedDevicePose_t pose = trackedDevicePose[1];
ETrackingResult trackingResult = pose.eTrackingResult;
HmdMatrix34_t hmdMatrix = pose.mDeviceToAbsoluteTracking;
Position pos = new Position(hmdMatrix);
Rotation rot = new Rotation(hmdMatrix);
Console.WriteLine($"Position: {pos} Rotation: {rot} trigger {trigger} app {topButtom}");
foreach (Socket client in _clients.ToArray())
{
try
{
client.Send(Encoding.ASCII.GetBytes($"S{pos.ToData()} {rot.ToData()} {trigger} {(topButtom ? 1 : 0)}E"));
}
catch (Exception)
{
_clients.Remove(client);
}
}
}
for (int i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
{
if (cvrSystem?.IsTrackedDeviceConnected((uint)i) ?? false)
{
ETrackedDeviceClass deviceClass = cvrSystem.GetTrackedDeviceClass((uint)i);
Console.WriteLine($"index: {i} is {deviceClass}");
}
}
Console.ReadLine();
OpenVR.Shutdown();
Console.WriteLine("Shut down");
Console.ReadLine();
}
// Token: 0x06000DE5 RID: 3557 RVA: 0x000587C0 File Offset: 0x000569C0
private void OnEnable()
{
if (!string.IsNullOrEmpty(this.modelOverride))
{
Debug.Log("Model override is really only meant to be used in the scene view for lining things up; using it at runtime is discouraged. Use tracked device index instead to ensure the correct model is displayed for all users.");
base.enabled = false;
return;
}
CVRSystem system = OpenVR.System;
if (system != null && system.IsTrackedDeviceConnected((uint)this.index))
{
this.UpdateModel();
}
this.deviceConnectedAction.enabled = true;
this.hideRenderModelsAction.enabled = true;
this.modelSkinSettingsHaveChangedAction.enabled = true;
}
private static void UpdateDevices(CVRSystem system, ref uint overlayIndex)
{
m_Lock.EnterWriteLock();
try
{
m_Devices.Clear();
}
finally
{
m_Lock.ExitWriteLock();
}
var sb = new StringBuilder(256);
var state = new VRControllerState_t();
for (var i = 0u; i < OpenVR.k_unMaxTrackedDeviceCount; ++i)
{
var devClass = system.GetTrackedDeviceClass(i);
if (devClass == ETrackedDeviceClass.Controller ||
devClass == ETrackedDeviceClass.GenericTracker ||
devClass == ETrackedDeviceClass.TrackingReference)
{
var err = ETrackedPropertyError.TrackedProp_Success;
var batteryPercentage = system.GetFloatTrackedDeviceProperty(i, ETrackedDeviceProperty.Prop_DeviceBatteryPercentage_Float, ref err);
if (err != ETrackedPropertyError.TrackedProp_Success)
{
batteryPercentage = 1f;
}
sb.Clear();
system.GetStringTrackedDeviceProperty(i, ETrackedDeviceProperty.Prop_TrackingSystemName_String, sb, (uint)sb.Capacity, ref err);
var isOculus = sb.ToString().IndexOf("oculus", StringComparison.OrdinalIgnoreCase) >= 0;
// Oculus : B/Y, Bit 1, Mask 2
// Oculus : A/X, Bit 7, Mask 128
// Vive : Menu, Bit 1, Mask 2,
// Vive : Grip, Bit 2, Mask 4
var role = system.GetControllerRoleForTrackedDeviceIndex(i);
if (role == ETrackedControllerRole.LeftHand ||
role == ETrackedControllerRole.RightHand)
{
if (system.GetControllerState(i, ref state, (uint)Marshal.SizeOf(state)) &&
(state.ulButtonPressed & (isOculus ? 2u : 4u)) != 0)
{
if (role == ETrackedControllerRole.LeftHand)
{
Array.Copy(m_L_Translation, m_Translation, 3);
Array.Copy(m_L_Rotation, m_Rotation, 3);
}
else
{
Array.Copy(m_R_Translation, m_Translation, 3);
Array.Copy(m_R_Rotation, m_Rotation, 3);
}
overlayIndex = i;
}
}
var type = string.Empty;
if (devClass == ETrackedDeviceClass.Controller)
{
if (role == ETrackedControllerRole.LeftHand)
{
type = "leftController";
}
else if (role == ETrackedControllerRole.RightHand)
{
type = "rightController";
}
else
{
type = "controller";
}
}
else if (devClass == ETrackedDeviceClass.GenericTracker)
{
type = "tracker";
}
else if (devClass == ETrackedDeviceClass.TrackingReference)
{
type = "base";
}
var item = new[]
{
type,
system.IsTrackedDeviceConnected(i)
? "connected"
: "disconnected",
(batteryPercentage * 100).ToString()
};
m_Lock.EnterWriteLock();
try
{
m_Devices.Add(item);
}
finally
{
m_Lock.ExitWriteLock();
}
}
}
}
void KeepAlive()
{
KeepAliveCounter++;
if (StopRequested)
{
Stop();
return;
}
if (VRSys == null)
{
if (KeepAliveCounter % InitializationDivider != 0) // do not attempt initialization on every loop.
{
return;
}
// ***** INITIALIZATION ******
//if (!OpenVR.IsHmdPresent()) // Note that this also leaks memory
// To avoid a memory leak, check that SteamVR is running before trying to Initialize
if (System.Diagnostics.Process.GetProcessesByName(Config.SteamVRProcessName).Any())
{
if (InitAttemptCount >= InitAttemptLimit)
{
Stop(true); // no point to keep looping and eating memory forever
}
InitAttemptCount++;
OpenVRConnStatus = OpenVRConnectionStatus.Initializing;
// do not carelessly call OpenVR.Init(), it will leak memory
VRSys = OpenVR.Init(ref LastOpenVRError, EVRApplicationType.VRApplication_Background);
if (LastOpenVRError != EVRInitError.None || VRSys == null)
{
if (LastOpenVRError == EVRInitError.Init_HmdNotFound || LastOpenVRError == EVRInitError.Init_HmdNotFoundPresenceFailed)
{
OpenVRConnStatus = OpenVRConnectionStatus.NoHMD;
Thread.Sleep(SleepTimeAfterQuit);
}
return;
}
bool hmdFound = false;
// check devices and find HMD index (but I suppose it's always 0) - Documentation is vague.
// For example, what's the purpose of OpenVR.k_unTrackedDeviceIndex_Hmd? What about multiple HMDs...
for (uint i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
{
if (VRSys.IsTrackedDeviceConnected(i))
{
ETrackedDeviceClass c = VRSys.GetTrackedDeviceClass(i);
if (c == ETrackedDeviceClass.HMD)
{
HmdIndex = i;
hmdFound = true;
break;
}
}
}
if (!hmdFound)
{
EndCurrentSession();
OpenVRConnStatus = OpenVRConnectionStatus.NoHMD;
Thread.Sleep(SleepTimeAfterQuit);
return;
}
PoseArray = new TrackedDevicePose_t[HmdIndex + 1];
for (int i = 0; i < PoseArray.Length; i++)
{
PoseArray[i] = new TrackedDevicePose_t();
}
if (SteamVRWasOffBefore)
{
// Wait a bit more before reporting OK and allowing hmd queries when SteamVR is started AFTER CG.
// The initial yaw values from the API sometimes threw the counter off by one half-turn.
// Maybe there's a small window at the beginning when the headset readings are not stable...
// This is very hard to reproduce/test as it happens so rarely. Shooting in the dark here.
Thread.Sleep(3000);
SteamVRWasOffBefore = false;
}
else
{
Thread.Sleep(500);
}
OpenVRConnStatus = OpenVRConnectionStatus.AllOK;
}
else
{
SteamVRWasOffBefore = true;
OpenVRConnStatus = OpenVRConnectionStatus.NoSteamVR;
}
}
else // VRSys != null (connection has been initialized)
{
// Check quit request
VRSys.PollNextEvent(ref NextVREvent, (uint)System.Runtime.InteropServices.Marshal.SizeOf(NextVREvent));
// this doesn't always work... I suppose the quit event can fly by when the poll rate is relatively low
// It seems that SteamVR kills the VR processes that don't get Quit event with PollNextEvent().
if (NextVREvent.eventType == (uint)EVREventType.VREvent_Quit)
{
OpenVRConnStatus = OpenVRConnectionStatus.SteamVRQuit; // to immediately prevent native methods from being called
EndCurrentSession();
OpenVRConnStatus = OpenVRConnectionStatus.SteamVRQuit; // again to get correct status (changed in EndCurrentSession())
// a good sleep before starting to poll steamvr -process again
Thread.Sleep(SleepTimeAfterQuit);
}
else
{
bool interaction = (VRSys.GetTrackedDeviceActivityLevel(HmdIndex) == EDeviceActivityLevel.k_EDeviceActivityLevel_UserInteraction);
if (interaction == HMDUserInteraction_previousReading)
{
HMDUserInteractionCounter++;
}
else
{
HMDUserInteractionCounter = 0;
}
HMDUserInteraction_previousReading = interaction;
// some buffer to filter out false flags (and conveniently some delay for notifications)
// ... although false flags are not really possible the way OpenVR currently works
if (HMDUserInteractionCounter > HMDUserInteractionDivider)
{
if (HMDUserInteraction_buffered != interaction)
{
HMDUserInteraction_buffered = interaction;
if (interaction)
{
Worker.ReportProgress(1, null);
}
else
{
Worker.ReportProgress(2, null);
}
}
HMDUserInteractionCounter = 0;
}
}
}
}
private async void ParseTrackingFrame()
{
try
{
for (uint id = 0; id < OpenVR.k_unMaxTrackedDeviceCount; id++)
{
if (vr_pointer != null)
{
TrackedDevicePose_t[] trackedDevicePose = new TrackedDevicePose_t[OpenVR.k_unMaxTrackedDeviceCount];
if (!vr_pointer.IsTrackedDeviceConnected(id))
{
continue;
}
VRControllerState_t controllState = new VRControllerState_t();
ETrackedDeviceClass trackedDeviceClass = vr_pointer.GetTrackedDeviceClass(id);
switch (trackedDeviceClass)
{
case ETrackedDeviceClass.Controller:
vr_pointer.GetControllerStateWithPose(ETrackingUniverseOrigin.TrackingUniverseStanding, id, ref controllState, OpenVR.k_unMaxTrackedDeviceCount, ref trackedDevicePose[id]);
HmdVector3_t position = GetPosition(trackedDevicePose[id].mDeviceToAbsoluteTracking); // devicePose->mDeviceToAbsoluteTracking);
HmdVector3_t rotation = GetRotationEuler(trackedDevicePose[id].mDeviceToAbsoluteTracking);
int positionControllerX = (int)position.v0;
int positionControllerY = (int)position.v1;
int positionControllerZ = (int)position.v2 * (-1);
int rotationControllerX = (int)rotation.v0 + 180;
int rotationControllerY = (int)rotation.v1;
int rotationControllerZ = (int)rotation.v2;
if (ControlViewModel.teleporOffset[0] != -1)
{
ControlViewModel.transOffSetControllerX = ControlViewModel.teleporOffset[0];
ControlViewModel.transOffSetControllerY = ControlViewModel.teleporOffset[1];
ControlViewModel.transOffSetControllerZ = ControlViewModel.teleporOffset[2];
ControlViewModel.rotOffSetControllerZ = ControlViewModel.teleporOffset[3];
}
ETrackedControllerRole result = vr_pointer.GetControllerRoleForTrackedDeviceIndex(id);
if (result != ETrackedControllerRole.LeftHand && lastController != ETrackedControllerRole.LeftHand)
{
RaiseControllerEvent(new TrackingChangedEventArgs(false), Tracker.LeftController);
}
if (result != ETrackedControllerRole.RightHand && lastController != ETrackedControllerRole.RightHand)
{
RaiseControllerEvent(new TrackingChangedEventArgs(false), Tracker.RightController);
}
switch (result)
{
case ETrackedControllerRole.Invalid:
break;
case ETrackedControllerRole.LeftHand:
if (communicationProtocolUdp == false)
{
MessageBuffer mb2 = new MessageBuffer();
someThingTracked = true;
int type = 101;
mb2.add(type);
mb2.add(userId);
int handid = 1;
mb2.add(handid);
mb2.add(positionControllerX + ControlViewModel.transOffSetControllerX);
mb2.add(positionControllerY + ControlViewModel.transOffSetControllerY);
mb2.add(positionControllerZ + ControlViewModel.transOffSetControllerZ);
mb2.add(rotationControllerX);
mb2.add(rotationControllerY);
mb2.add(rotationControllerZ);
mb2.add(ControlViewModel.rotOffSetControllerZ);
RaiseControllerEvent(new TrackingChangedEventArgs(true), Tracker.LeftController);
Message msg = new Message(mb2, Message.MessagesType.COVISE_MESSAGE_VRB_MESSAGE);
lock (tcpSocketManager.send_msg(msg))
{
tcpSocketManager.send_msg(msg);
}
Thread.Sleep(20);
break;
}
break;
case ETrackedControllerRole.RightHand:
if (communicationProtocolUdp == false)
{
MessageBuffer mb2 = new MessageBuffer();
someThingTracked = true;
int type = 101;
mb2.add(type);
mb2.add(userId);
int handid = 2;
mb2.add(handid);
mb2.add(positionControllerX + ControlViewModel.transOffSetControllerX);
mb2.add(positionControllerY + ControlViewModel.transOffSetControllerY);
mb2.add(positionControllerZ + ControlViewModel.transOffSetControllerZ);
mb2.add(rotationControllerX);
mb2.add(rotationControllerY);
mb2.add(rotationControllerZ);
mb2.add(ControlViewModel.rotOffSetControllerZ);
Message msg = new Message(mb2, Message.MessagesType.COVISE_MESSAGE_VRB_MESSAGE);
RaiseControllerEvent(new TrackingChangedEventArgs(true), Tracker.RightController);
lock (tcpSocketManager.send_msg(msg))
{
tcpSocketManager.send_msg(msg);
}
Thread.Sleep(20);
break;
}
break;
}
break;
}
}
}
}
catch (Exception e)
{
log.Warn("ParseTrackingFrame in Controller Tracking wurde beendet!" + e);
RaiseControllerEvent(new TrackingChangedEventArgs(false), Tracker.LeftController);
RaiseControllerEvent(new TrackingChangedEventArgs(false), Tracker.RightController);
}
}
private bool StartupOVR()
{
EVRInitError error = EVRInitError.Driver_Failed;
vr = OpenVR.Init(ref error, EVRApplicationType.VRApplication_Overlay);
if (error != EVRInitError.None)
{
Debug.WriteLine("OpenVR Init Error: " + error.ToString());
return(false);
}
overlay = OpenVR.Overlay;
EVROverlayError overlayError = overlay.CreateOverlay("Jstf_ovr_cards", "OpenVR Cards System Overlay", ref overlayHandle);
if (overlayError != EVROverlayError.None)
{
OpenVR.Shutdown();
Debug.WriteLine("OpenVR Overlay Error: " + overlayError.ToString());
return(false);
}
/*overlayError = overlay.SetOverlayFromFile(overlayHandle, AssetsPath + "overlay.png");
* if (overlayError != EVROverlayError.None)
* {
* CleanupOVR();
* Debug.WriteLine("OpenVR Overlay Error: " + overlayError.ToString());
* return false;
* }*/
overlayError = overlay.SetOverlayInputMethod(overlayHandle, VROverlayInputMethod.Mouse);
if (overlayError != EVROverlayError.None)
{
CleanupOVR();
Debug.WriteLine("OpenVR Overlay Error: " + overlayError.ToString());
return(false);
}
overlayTexture = new Texture_t
{
eType = ETextureType.OpenGL,
eColorSpace = EColorSpace.Auto,
handle = (IntPtr)textureId
};
overlayError = overlay.SetOverlayTexture(overlayHandle, ref overlayTexture);
if (overlayError != EVROverlayError.None)
{
CleanupOVR();
Debug.WriteLine("OpenVR Overlay Error: " + overlayError.ToString());
return(false);
}
HmdId = OpenVR.k_unTrackedDeviceIndex_Hmd;
for (uint i = HmdId + 1; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
{
if (vr.IsTrackedDeviceConnected(i))
{
ETrackedDeviceClass cls = vr.GetTrackedDeviceClass(i);
if (cls == ETrackedDeviceClass.Controller)
{
ETrackedControllerRole rl = vr.GetControllerRoleForTrackedDeviceIndex(i);
if (rl == ETrackedControllerRole.LeftHand)
{
LeftControllerId = i;
Debug.WriteLine("Found Left Controller");
}
else if (rl == ETrackedControllerRole.RightHand)
{
RightControllerId = i;
Debug.WriteLine("Found Right Controller");
}
}
}
}
mat = new HmdMatrix34_t
{
m0 = 1,
m1 = 0,
m2 = 0,
m3 = 0f,
m4 = 0,
m5 = 1,
m6 = 0,
m7 = 0.1f,
m8 = 0,
m9 = 0,
m10 = 1,
m11 = 0f
};
overlayError = overlay.SetOverlayTransformTrackedDeviceRelative(overlayHandle, RightControllerId, ref mat);
if (overlayError != EVROverlayError.None)
{
Debug.WriteLine("Cannot bind overlay to Tracked device.");
Debug.WriteLine("Error: " + overlayError.ToString());
CleanupOVR();
return(false);
}
overlayError = overlay.SetOverlayWidthInMeters(overlayHandle, 0.2f);
if (overlayError != EVROverlayError.None)
{
Debug.WriteLine("Cannot set overlay size.");
Debug.WriteLine("Error: " + overlayError.ToString());
CleanupOVR();
return(false);
}
overlayError = overlay.SetOverlayAlpha(overlayHandle, 1);
if (overlayError != EVROverlayError.None)
{
Debug.WriteLine("Cannot set overlay alpha.");
Debug.WriteLine("Error: " + overlayError.ToString());
CleanupOVR();
return(false);
}
overlayError = overlay.SetOverlayColor(overlayHandle, 1, 1, 1);
if (overlayError != EVROverlayError.None)
{
Debug.WriteLine("Cannot set overlay color.");
Debug.WriteLine("Error: " + overlayError.ToString());
CleanupOVR();
return(false);
}
#if DEBUG
Debug.WriteLine("OpenVR Startup Complete");
#endif
return(true);
}
public unsafe override bool GatherInput(XRControllerState[] state_controllers, out int controllerCount, out bool leftSet, out int leftSetIndex, out bool rightSet, out int rightSetIndex, out SideToSet sideToSet)
{
// defaults
GatherInputDefaults(out controllerCount, out leftSet, out leftSetIndex, out rightSet, out rightSetIndex, out sideToSet);
// reset controllers
ResetControllers(state_controllers);
// validate OpenVR is avaliable
if (!isInit)
{
return(false);
}
if (system == null || !system.IsInputAvailable() || input.IsUsingLegacyInput())
{
return(false);
}
// get controller connection status and side
for (uint i = 0; i != OpenVR.k_unMaxTrackedDeviceCount; ++i)
{
if (!system.IsTrackedDeviceConnected(i))
{
continue;
}
if (system.GetTrackedDeviceClass(i) != ETrackedDeviceClass.Controller)
{
continue;
}
// get controller type
ETrackedPropertyError e = ETrackedPropertyError.TrackedProp_Success;
system.GetStringTrackedDeviceProperty(i, ETrackedDeviceProperty.Prop_ControllerType_String, OpenVR_Shared.propertyText, (uint)OpenVR_Shared.propertyText.Capacity, ref e);
if (e != ETrackedPropertyError.TrackedProp_Success)
{
continue;
}
// ignore gamepads
if (OpenVR_Shared.propertyText.Equals(OpenVR_Shared.propertyText_Gamepad))
{
continue;
}
// get controller
var controller = state_controllers[controllerCount];
controller.connected = true;
// get controller type
if (OpenVR_Shared.propertyText.Equals(OpenVR_Shared.propertyText_ViveController))
{
controller.type = XRInputControllerType.HTCVive;
}
else if (OpenVR_Shared.propertyText.Equals(OpenVR_Shared.propertyText_ViveCosmosController))
{
controller.type = XRInputControllerType.HTCViveCosmos;
}
else if (OpenVR_Shared.propertyText.Equals(OpenVR_Shared.propertyText_IndexController))
{
controller.type = XRInputControllerType.ValveIndex;
}
else if (OpenVR_Shared.propertyText.ToString().StartsWith(OpenVR_Shared.propertyText_Oculus.ToString()))
{
controller.type = XRInputControllerType.Oculus;
}
else if (OpenVR_Shared.propertyText.Equals(OpenVR_Shared.propertyText_WMR))
{
controller.type = XRInputControllerType.WMR;
}
else if (OpenVR_Shared.propertyText.Equals(OpenVR_Shared.propertyText_WMR_G2))
{
controller.type = XRInputControllerType.WMR_G2;
}
// update controller side
var role = system.GetControllerRoleForTrackedDeviceIndex(i);
switch (role)
{
case ETrackedControllerRole.LeftHand:
controller.side = XRControllerSide.Left;
leftSet = true;
leftSetIndex = controllerCount;
leftHand = (int)i;
break;
case ETrackedControllerRole.RightHand:
controller.side = XRControllerSide.Right;
rightSet = true;
rightSetIndex = controllerCount;
rightHand = (int)i;
break;
default: controller.side = XRControllerSide.Unknown; break;
}
state_controllers[controllerCount] = controller;
++controllerCount;
}
// pre-finish/pre-resolve unknown controller sides
GatherInputFinish(state_controllers, controllerCount, ref leftSet, ref leftSetIndex, ref rightSet, ref rightSetIndex, ref sideToSet);
// update inputs
var error = input.UpdateActionState(actionSets, (uint)Marshal.SizeOf <VRActiveActionSet_t>());
if (error != EVRInputError.None)
{
Debug.LogError("UpdateActionState: " + error.ToString());
}
// get hands
var controllerRight = new XRControllerState();
var controllerLeft = new XRControllerState();
if (rightSet)
{
controllerRight = state_controllers[rightSetIndex];
}
if (leftSet)
{
controllerLeft = state_controllers[leftSetIndex];
}
// update bumper buttons/touch
controllerRight.buttonBumper.Update(GetButtonState(viveAction_BumperButton, viveSource_RightHand));
controllerLeft.buttonBumper.Update(GetButtonState(viveAction_BumperButton, viveSource_LeftHand));
controllerRight.touchBumper.Update(GetButtonState(viveAction_BumperTouch, viveSource_RightHand));
controllerLeft.touchBumper.Update(GetButtonState(viveAction_BumperTouch, viveSource_LeftHand));
// update trigger buttons/touch
controllerRight.buttonTrigger.Update(GetButtonState(viveAction_TriggerButton, viveSource_RightHand));
controllerLeft.buttonTrigger.Update(GetButtonState(viveAction_TriggerButton, viveSource_LeftHand));
controllerRight.touchTrigger.Update(GetButtonState(viveAction_TriggerTouch, viveSource_RightHand));
controllerLeft.touchTrigger.Update(GetButtonState(viveAction_TriggerTouch, viveSource_LeftHand));
// update grip buttons/touch
controllerRight.buttonGrip.Update(GetButtonState(viveAction_GripButton, viveSource_RightHand));
controllerLeft.buttonGrip.Update(GetButtonState(viveAction_GripButton, viveSource_LeftHand));
controllerRight.touchGrip.Update(GetButtonState(viveAction_GripTouch, viveSource_RightHand));
controllerLeft.touchGrip.Update(GetButtonState(viveAction_GripTouch, viveSource_LeftHand));
// update menu buttons/touch
controllerRight.buttonMenu.Update(GetButtonState(viveAction_MenuButton, viveSource_RightHand));
controllerLeft.buttonMenu.Update(GetButtonState(viveAction_MenuButton, viveSource_LeftHand));
controllerRight.touchMenu.Update(GetButtonState(viveAction_MenuTouch, viveSource_RightHand));
controllerLeft.touchMenu.Update(GetButtonState(viveAction_MenuTouch, viveSource_LeftHand));
// update button/touch 1
controllerRight.button1.Update(GetButtonState(viveAction_Button1, viveSource_RightHand));
controllerLeft.button1.Update(GetButtonState(viveAction_Button1, viveSource_LeftHand));
controllerRight.touch1.Update(GetButtonState(viveAction_Touch1, viveSource_RightHand));
controllerLeft.touch1.Update(GetButtonState(viveAction_Touch1, viveSource_LeftHand));
// update button/touch 2
controllerRight.button2.Update(GetButtonState(viveAction_Button2, viveSource_RightHand));
controllerLeft.button2.Update(GetButtonState(viveAction_Button2, viveSource_LeftHand));
controllerRight.touch2.Update(GetButtonState(viveAction_Touch2, viveSource_RightHand));
controllerLeft.touch2.Update(GetButtonState(viveAction_Touch2, viveSource_LeftHand));
// update grip
if (controllerRight.type == XRInputControllerType.HTCVive || controllerRight.type == XRInputControllerType.WMR)
{
controllerRight.grip.Update(controllerRight.buttonGrip.on ? 1 : 0);// simulate analog state
}
else
{
controllerRight.grip.Update(GetAnalogState(viveAction_Grip, viveSource_RightHand).x);
}
if (controllerLeft.type == XRInputControllerType.HTCVive || controllerLeft.type == XRInputControllerType.WMR)
{
controllerLeft.grip.Update(controllerLeft.buttonGrip.on ? 1 : 0);// simulate analog state
}
else
{
controllerLeft.grip.Update(GetAnalogState(viveAction_Grip, viveSource_LeftHand).x);
}
// update triggers
controllerRight.trigger.Update(GetAnalogState(viveAction_Trigger, viveSource_RightHand).x);
controllerLeft.trigger.Update(GetAnalogState(viveAction_Trigger, viveSource_LeftHand).x);
// update trackpads / touch / button
if (controllerRight.type == XRInputControllerType.HTCVive)
{
controllerRight.joystick.Update(GetAnalogState(viveAction_Touchpad1, viveSource_RightHand));
controllerRight.buttonJoystick.Update(GetButtonState(viveAction_Touchpad1_Button, viveSource_RightHand));
}
else
{
controllerRight.joystick2.Update(GetAnalogState(viveAction_Touchpad1, viveSource_RightHand));
controllerRight.buttonJoystick2.Update(GetButtonState(viveAction_Touchpad1_Button, viveSource_RightHand));
}
if (controllerLeft.type == XRInputControllerType.HTCVive)
{
controllerLeft.joystick.Update(GetAnalogState(viveAction_Touchpad1, viveSource_LeftHand));
controllerLeft.buttonJoystick.Update(GetButtonState(viveAction_Touchpad1_Button, viveSource_LeftHand));
}
else
{
controllerLeft.joystick2.Update(GetAnalogState(viveAction_Touchpad1, viveSource_LeftHand));
controllerLeft.buttonJoystick2.Update(GetButtonState(viveAction_Touchpad1_Button, viveSource_LeftHand));
}
// update joysticks / touch / button
if (controllerRight.type != XRInputControllerType.HTCVive)
{
controllerRight.joystick.Update(GetAnalogState(viveAction_Joystick1, viveSource_RightHand));
controllerRight.touchJoystick.Update(GetButtonState(viveAction_Joystick1_Touch, viveSource_RightHand));
controllerRight.buttonJoystick.Update(GetButtonState(viveAction_Joystick1_Button, viveSource_RightHand));
}
if (controllerLeft.type != XRInputControllerType.HTCVive)
{
controllerLeft.joystick.Update(GetAnalogState(viveAction_Joystick1, viveSource_LeftHand));
controllerLeft.touchJoystick.Update(GetButtonState(viveAction_Joystick1_Touch, viveSource_LeftHand));
controllerLeft.buttonJoystick.Update(GetButtonState(viveAction_Joystick1_Button, viveSource_LeftHand));
}
// copy back hand updates
if (rightSet)
{
state_controllers[rightSetIndex] = controllerRight;
}
if (leftSet)
{
state_controllers[leftSetIndex] = controllerLeft;
}
return(true);
}
private void VRInit()
{
// init
var error = EVRInitError.None;
system = OpenVR.Init(ref error);
if (error != EVRInitError.None)
{
throw new Exception();
}
OpenVR.GetGenericInterface(OpenVR.IVRSystem_Version, ref error);
if (error != EVRInitError.None)
{
throw new Exception();
}
TrackedDevicePose_t[] m_rTrackedDevicePose = new TrackedDevicePose_t[OpenVR.k_unMaxTrackedDeviceCount];
TrackedDevicePose_t TrackedDevicePose = new TrackedDevicePose_t();
VRControllerState_t controllerState = new VRControllerState_t();
while (true)
{
system.GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin.TrackingUniverseStanding, 0, m_rTrackedDevicePose);
for (uint unDevice = 0; unDevice < OpenVR.k_unMaxTrackedDeviceCount; unDevice++)
{
if (!system.IsTrackedDeviceConnected(unDevice))
{
continue;
}
HmdVector3_t position;
HmdQuaternion_t quaternion;
// Get what type of device it is and work with its data
ETrackedDeviceClass trackedDeviceClass = system.GetTrackedDeviceClass(unDevice);
ETrackedControllerRole trackedControllerRole = system.GetControllerRoleForTrackedDeviceIndex(unDevice);
ETrackingResult eTrackingResult;
switch (trackedDeviceClass)
{
case ETrackedDeviceClass.HMD:
// get the position and rotation
position = GetPosition(m_rTrackedDevicePose[unDevice].mDeviceToAbsoluteTracking);
quaternion = GetRotation(m_rTrackedDevicePose[unDevice].mDeviceToAbsoluteTracking);
// for printing some more info to the user about the state of the device/pose
eTrackingResult = m_rTrackedDevicePose[unDevice].eTrackingResult;
// print the tracking data
Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate {
HmdIndex.Text = String.Format("{0}", unDevice);
HmdVectorX.Text = String.Format("{0:F4}", position.v0);
HmdVectorY.Text = String.Format("{0:F4}", position.v1);
HmdVectorZ.Text = String.Format("{0:F4}", position.v2);
HmdQuaternionX.Text = String.Format("{0:F4}", quaternion.x);
HmdQuaternionY.Text = String.Format("{0:F4}", quaternion.y);
HmdQuaternionZ.Text = String.Format("{0:F4}", quaternion.z);
HmdQuaternionW.Text = String.Format("{0:F4}", quaternion.w);
HmdState.Text = GetDeviceState(eTrackingResult);
}));
break;
case ETrackedDeviceClass.Controller:
// get the position and rotation
position = GetPosition(m_rTrackedDevicePose[unDevice].mDeviceToAbsoluteTracking);
quaternion = GetRotation(m_rTrackedDevicePose[unDevice].mDeviceToAbsoluteTracking);
// for printing some more info to the user about the state of the device/pose
eTrackingResult = m_rTrackedDevicePose[unDevice].eTrackingResult;
// get Controllers info
system.GetControllerStateWithPose(ETrackingUniverseOrigin.TrackingUniverseStanding, unDevice, ref controllerState, (uint)Marshal.SizeOf(controllerState), ref TrackedDevicePose);
switch (trackedControllerRole)
{
case ETrackedControllerRole.LeftHand:
// print the tracking data
Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate {
CLIndex.Text = String.Format("{0}", unDevice);
CLVectorX.Text = String.Format("{0:F4}", position.v0);
CLVectorY.Text = String.Format("{0:F4}", position.v1);
CLVectorZ.Text = String.Format("{0:F4}", position.v2);
CLQuaternionX.Text = String.Format("{0:F4}", quaternion.x);
CLQuaternionY.Text = String.Format("{0:F4}", quaternion.y);
CLQuaternionZ.Text = String.Format("{0:F4}", quaternion.z);
CLQuaternionW.Text = String.Format("{0:F4}", quaternion.w);
CLState.Text = GetDeviceState(eTrackingResult);
CLulPressed.Text = String.Format("{0}", controllerState.ulButtonPressed);
CLulTouched.Text = String.Format("{0}", controllerState.ulButtonTouched);
CLAxis0X.Text = String.Format("{0:F4}", controllerState.rAxis0.x);
CLAxis0Y.Text = String.Format("{0:F4}", controllerState.rAxis0.y);
CLAxis1X.Text = String.Format("{0:F4}", controllerState.rAxis1.x);
CLAxis1Y.Text = String.Format("{0:F4}", controllerState.rAxis1.y);
CLAxis2X.Text = String.Format("{0:F4}", controllerState.rAxis2.x);
CLAxis2Y.Text = String.Format("{0:F4}", controllerState.rAxis2.y);
CLAxis3X.Text = String.Format("{0:F4}", controllerState.rAxis3.x);
CLAxis3Y.Text = String.Format("{0:F4}", controllerState.rAxis3.y);
CLAxis4X.Text = String.Format("{0:F4}", controllerState.rAxis4.x);
CLAxis4Y.Text = String.Format("{0:F4}", controllerState.rAxis4.y);
}));
break;
case ETrackedControllerRole.RightHand:
// print the tracking data
Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate {
CRIndex.Text = String.Format("{0}", unDevice);
CRVectorX.Text = String.Format("{0:F4}", position.v0);
CRVectorY.Text = String.Format("{0:F4}", position.v1);
CRVectorZ.Text = String.Format("{0:F4}", position.v2);
CRQuaternionX.Text = String.Format("{0:F4}", quaternion.x);
CRQuaternionY.Text = String.Format("{0:F4}", quaternion.y);
CRQuaternionZ.Text = String.Format("{0:F4}", quaternion.z);
CRQuaternionW.Text = String.Format("{0:F4}", quaternion.w);
CRState.Text = GetDeviceState(eTrackingResult);
CRulPressed.Text = String.Format("{0}", controllerState.ulButtonPressed);
CRulTouched.Text = String.Format("{0}", controllerState.ulButtonTouched);
CRAxis0X.Text = String.Format("{0:F4}", controllerState.rAxis0.x);
CRAxis0Y.Text = String.Format("{0:F4}", controllerState.rAxis0.y);
CRAxis1X.Text = String.Format("{0:F4}", controllerState.rAxis1.x);
CRAxis1Y.Text = String.Format("{0:F4}", controllerState.rAxis1.y);
CRAxis2X.Text = String.Format("{0:F4}", controllerState.rAxis2.x);
CRAxis2Y.Text = String.Format("{0:F4}", controllerState.rAxis2.y);
CRAxis3X.Text = String.Format("{0:F4}", controllerState.rAxis3.x);
CRAxis3Y.Text = String.Format("{0:F4}", controllerState.rAxis3.y);
CRAxis4X.Text = String.Format("{0:F4}", controllerState.rAxis4.x);
CRAxis4Y.Text = String.Format("{0:F4}", controllerState.rAxis4.y);
}));
break;
}
break;
case ETrackedDeviceClass.GenericTracker:
system.GetControllerStateWithPose(ETrackingUniverseOrigin.TrackingUniverseStanding, unDevice, ref controllerState, (uint)Marshal.SizeOf(controllerState), ref TrackedDevicePose);
// get the position and rotation
position = GetPosition(TrackedDevicePose.mDeviceToAbsoluteTracking);
quaternion = GetRotation(TrackedDevicePose.mDeviceToAbsoluteTracking);
// for printing some more info to the user about the state of the device/pose
eTrackingResult = m_rTrackedDevicePose[unDevice].eTrackingResult;
// print the tracking data
Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate {
TrackerIndex.Text = String.Format("{0}", unDevice);
TrackerVectorX.Text = String.Format("{0:F4}", position.v0);
TrackerVectorY.Text = String.Format("{0:F4}", position.v1);
TrackerVectorZ.Text = String.Format("{0:F4}", position.v2);
TrackerQuaternionX.Text = String.Format("{0:F4}", quaternion.x);
TrackerQuaternionY.Text = String.Format("{0:F4}", quaternion.y);
TrackerQuaternionZ.Text = String.Format("{0:F4}", quaternion.z);
TrackerQuaternionW.Text = String.Format("{0:F4}", quaternion.w);
TrackerState.Text = GetDeviceState(eTrackingResult);
}));
break;
}
Thread.Sleep(10);
}
}
}
private async Task ParseTrackingFrameAsync(CancellationToken token)
{
try
{
for (uint i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
{
if (!token.IsCancellationRequested)
{
TrackedDevicePose_t[] trackedDevicePose = new TrackedDevicePose_t[10];
if (!m_pHMD.IsTrackedDeviceConnected(i))
{
continue;
}
ETrackedDeviceClass trackedDeviceClass = m_pHMD.GetTrackedDeviceClass(i);
switch (trackedDeviceClass)
{
case ETrackedDeviceClass.HMD:
m_pHMD.GetDeviceToAbsoluteTrackingPose(ETrackingUniverseOrigin.TrackingUniverseStanding, 0, trackedDevicePose);
HmdVector3_t position = GetPosition(trackedDevicePose[0].mDeviceToAbsoluteTracking); // devicePose->mDeviceToAbsoluteTracking);
HmdVector3_t rotation = GetRotationEuler(trackedDevicePose[0].mDeviceToAbsoluteTracking);
int positionX = (int)position.v0;
int positionY = (int)position.v1;
int positionZ = (int)position.v2 * (-1);
int rotationX = (int)rotation.v0 + 360;
int rotationY = (int)rotation.v1 + 90;
int rotationZ = (int)rotation.v2 * (-1);
if (ControlViewModel.teleporOffset[0] != -1)
{
lock (ControlViewModel.teleporOffset)
{
ControlViewModel.transOffSetHeadX = ControlViewModel.teleporOffset[0];
ControlViewModel.transOffSetHeadY = ControlViewModel.teleporOffset[1];
ControlViewModel.transOffSetHeadZ = ControlViewModel.teleporOffset[2];
ControlViewModel.rotOffSetHeadZ = ControlViewModel.teleporOffset[3];
}
}
if (communicationProtocolUdp == false)
{
MessageBuffer mb = new MessageBuffer();
int type = 100;
string ipAdress = ServerManager.clientIpAddressForTracking;
mb.add(type);
mb.add(userId);
mb.add(ipAdress);
mb.add(positionX + ControlViewModel.transOffSetHeadX);
mb.add(positionY + ControlViewModel.transOffSetHeadY);
mb.add(positionZ + ControlViewModel.transOffSetHeadZ);
mb.add(rotationX - ControlViewModel.rotOffSetHeadZ);
mb.add(rotationY);
mb.add(rotationZ);
Message msg = new Message(mb, Message.MessagesType.COVISE_MESSAGE_VRB_MESSAGE);
lock (tcpSocketManager.send_msg(msg))
{
tcpSocketManager.send_msg(msg);
}
Thread.Sleep(20);
break;
}
break;
}
}
}
}
catch (Exception e)
{
log.Warn("ParseTrackingFrameAsync in Hmd Tracking wurde beendet!");
RaiseSampleEvent(new TrackingChangedEventArgs(e));
}
}
public bool IsDeviceConnected(uint idx)
{
ReadyCheck(); //実行可能な状態かチェック
return(openvr.IsTrackedDeviceConnected(idx));
}
public bool IsConnected(int deviceIndex) => hmd.IsTrackedDeviceConnected((uint)deviceIndex);
