static void Main(string[] args)
{
ClientContext.PreloadNativeLibraries();
Pose3 pose = new Pose3
{
rotation = new Quaternion {
x = 0f, y = 0f, z = 1f, w = 0f
},
translation = new Vec3 {
x = 2.0f, y = 3.0f, z = 4.0f
},
};
#if !NET20
Matrix44d matrixRH = pose.ToMatrixd(MatrixConventionsFlags.RHInput);
Matrix44d matrixLH = pose.ToMatrixd(MatrixConventionsFlags.LHInput);
Matrix44f matrixRM = pose.ToMatrixf(MatrixConventionsFlags.RowMajor);
#else
Matrix44d matrixRH = MatrixConventions.ToMatrixd(pose, MatrixConventionsFlags.RHInput);
Matrix44d matrixLH = MatrixConventions.ToMatrixd(pose, MatrixConventionsFlags.LHInput);
Matrix44f matrixRM = MatrixConventions.ToMatrixf(pose, MatrixConventionsFlags.RowMajor);
#endif
Console.WriteLine("pose as double matrix using right-handed coordinates: {0}", matrixRH.ToString());
Console.WriteLine("pose as double matrix using left-handed coordinates: {0}", matrixLH.ToString());
Console.WriteLine("pose as float matrix as row-major: {0}", matrixRM);
}
public static Matrix44f ToMatrixf(Pose3 pose, MatrixConventionsFlags flags)
#endif
{
Matrix44f ret;
MatrixConventionsNative.osvrPose3ToMatrixf(ref pose, flags, out ret);
return(ret);
}
static string GetPoseDisplay(Pose3 pose)
{
return(String.Format(
"Translation: (x: {0}, y: {1}, z: {2}), rotation: (x: {3}, y: {4}, z: {5}, w: {6})",
pose.translation.x,
pose.translation.y,
pose.translation.z,
pose.rotation.x,
pose.rotation.y,
pose.rotation.z,
pose.rotation.w));
}
// Pose callback
public static void myTrackerCallback(Object sender, TimeValue timestamp, Int32 sensor, Pose3 report)
{
Console.WriteLine("Got POSE report: Position = ({0}, {1}, {2}), orientation ({3}, {4}, {5}, {6}), sensor ({7})",
report.translation.x,
report.translation.y,
report.translation.z,
report.rotation.w,
report.rotation.x,
report.rotation.y,
report.rotation.z,
sensor);
}
static string GetPoseDisplay(Pose3 pose)
{
return String.Format(
"Translation: (x: {0}, y: {1}, z: {2}), rotation: (x: {3}, y: {4}, z: {5}, w: {6})",
pose.translation.x,
pose.translation.y,
pose.translation.z,
pose.rotation.x,
pose.rotation.y,
pose.rotation.z,
pose.rotation.w);
}
static void Main(string[] args)
{
ClientContext.PreloadNativeLibraries();
Pose3 pose = new Pose3
{
rotation = new Quaternion { x = 0f, y = 0f, z = 1f, w = 0f },
translation = new Vec3 { x = 2.0f, y = 3.0f, z = 4.0f },
};
#if !NET20
Matrix44d matrixRH = pose.ToMatrixd(MatrixConventionsFlags.RHInput);
Matrix44d matrixLH = pose.ToMatrixd(MatrixConventionsFlags.LHInput);
Matrix44f matrixRM = pose.ToMatrixf(MatrixConventionsFlags.RowMajor);
#else
Matrix44d matrixRH = MatrixConventions.ToMatrixd(pose, MatrixConventionsFlags.RHInput);
Matrix44d matrixLH = MatrixConventions.ToMatrixd(pose, MatrixConventionsFlags.LHInput);
Matrix44f matrixRM = MatrixConventions.ToMatrixf(pose, MatrixConventionsFlags.RowMajor);
#endif
Console.WriteLine("pose as double matrix using right-handed coordinates: {0}", matrixRH.ToString());
Console.WriteLine("pose as double matrix using left-handed coordinates: {0}", matrixLH.ToString());
Console.WriteLine("pose as float matrix as row-major: {0}", matrixRM);
}
public static extern Byte osvrGetPoseState(SafeClientInterfaceHandle iface, ref TimeValue timestamp, ref Pose3 state);
public extern static Byte osvrClientGetViewerEyePose(SafeDisplayConfigHandle display,
ViewerCount viewer, EyeCount eye, out Pose3 pose);
private void PoseInterface_StateChanged(object sender, TimeValue timestamp, int sensor, Pose3 report)
{
orientationValue = report.rotation;
positionValue = report.translation;
updateRollPitchYaw();
}
/// <summary>
/// Convert a Pose3 to a Matrix44f, using the given convention flags
/// </summary>
#if !NET20
public static Matrix44f ToMatrixf(this Pose3 pose, MatrixConventionsFlags flags)
public static Matrix44f ToMatrixf(Pose3 pose, MatrixConventionsFlags flags)
#endif
{
Matrix44f ret;
MatrixConventionsNative.osvrPose3ToMatrixf(ref pose, flags, out ret);
return ret;
}
private void PoseInterface_StateChanged(object sender, TimeValue timestamp, int sensor, Pose3 report)
{
orientationValue = report.rotation;
positionValue = report.translation;
updateRollPitchYaw();
}
public extern static Byte osvrClientGetViewerEyePose(SafeDisplayConfigHandle display,
ViewerCount viewer, EyeCount eye, out Pose3 pose);
public static void ToMatrixf(Pose3 pose, MatrixConventionsFlags flags, out Matrix44f matrix)
#endif
{
MatrixConventionsNative.osvrPose3ToMatrixf(ref pose, flags, out matrix);
}
/// <summary>
/// Convert a Pose3 to a Matrix44f, using the given convention flags
/// </summary>
#if !NET20
public static void ToMatrixf(this Pose3 pose, MatrixConventionsFlags flags, out Matrix44f matrix)
public extern static Byte osvrGetPoseState(SafeClientInterfaceHandle iface, ref TimeValue timestamp, ref Pose3 state);
override protected void Render()
{
Lock = true;
int mainRetry = 5;
ClientContext context;
do
{
context = new ClientContext("com.bivrost360.desktopplayer");
Thread.Sleep(50);
}while (context == null && mainRetry-- > 0);
DisplayConfig displayConfig = null;
for (int retry = 0; retry < 12; retry++)
{
if (abort)
{
context.Dispose();
Lock = false;
return;
}
displayConfig = context.GetDisplayConfig();
if (displayConfig != null)
{
int contextRetry = 0;
do
{
context.update();
contextRetry++;
if (abort)
{
context.Dispose();
Lock = false;
return;
}
Thread.Sleep(1);
} while (!displayConfig.CheckDisplayStartup() || contextRetry < 300);
if (displayConfig.CheckDisplayStartup())
{
break;
}
}
}
if (displayConfig == null)
{
context.Dispose();
Lock = false;
return;
}
var numDisplayInputs = displayConfig.GetNumDisplayInputs();
if (numDisplayInputs != 1)
{
context.Dispose();
Lock = false;
return;
}
var displayDimensions = displayConfig.GetDisplayDimensions(0);
var numViewers = displayConfig.GetNumViewers();
if (numViewers != 1)
{
context.Dispose();
Lock = false;
return;
}
var form = new RenderForm("BIVROST - OSVR");
form.Width = displayDimensions.Width;
form.Height = displayDimensions.Height;
form.ShowInTaskbar = false;
var desc = new SwapChainDescription()
{
BufferCount = 1,
ModeDescription =
new ModeDescription(displayDimensions.Width, displayDimensions.Height,
new Rational(60, 1), Format.R8G8B8A8_UNorm),
IsWindowed = true,
OutputHandle = form.Handle,
SampleDescription = new SampleDescription(1, 0),
SwapEffect = SwapEffect.Discard,
Usage = Usage.RenderTargetOutput
};
SwapChain swapChain;
// Create DirectX drawing device.
//SharpDX.Direct3D11.Device device = new Device(SharpDX.Direct3D.DriverType.Hardware, DeviceCreationFlags.BgraSupport, new SharpDX.Direct3D.FeatureLevel[] { SharpDX.Direct3D.FeatureLevel.Level_10_0 });
Device.CreateWithSwapChain(DriverType.Hardware, DeviceCreationFlags.BgraSupport, desc, out _device, out swapChain);
// Create DirectX Graphics Interface factory, used to create the swap chain.
Factory factory = swapChain.GetParent <Factory>();
factory.MakeWindowAssociation(form.Handle, WindowAssociationFlags.IgnoreAll);
form.FormBorderStyle = FormBorderStyle.None;
form.TopMost = true;
DeviceContext immediateContext = _device.ImmediateContext;
using (SharpDX.DXGI.Device2 dxgiDevice = _device.QueryInterface <SharpDX.DXGI.Device2>())
{
//var bounds = dxgiDevice.Adapter.Outputs[1].Description.DesktopBounds;
//form.DesktopBounds = new System.Drawing.Rectangle(bounds.X, bounds.Y, bounds.Width, bounds.Height);
//dxgiDevice.Adapter.Outputs.ToList().ForEach(o =>
//{
// if (o.Description.DeviceName.EndsWith("2"))
// {
// swapChain.SetFullscreenState(true, o);
// }
//});
Rectangle bounds;
if (Features.IsDebug)
{
log.Info("OSVR: available screens: " + string.Join("\n", dxgiDevice.Adapter.Outputs.ToList().ConvertAll(o => o.Description.DeviceName + " (" + o.Description.DesktopBounds + ")")));
}
if (Logic.Instance.settings.OSVRScreen == ScreenSelection.Autodetect)
{
// start with last screen
Output output = dxgiDevice.Adapter.Outputs[dxgiDevice.Adapter.Outputs.Length - 1];
// but something resembling a HDK 1.4 (1920x1080) will be better
foreach (var o in dxgiDevice.Adapter.Outputs)
{
var b = o.Description.DesktopBounds;
if (b.Width == 1920 && b.Height == 1080)
{
log.Info("OSVR: found a 1920x1080 candidate for a HDK 1.4");
output = o;
}
}
// and something resembling a HDK 2.0 (2160x1200) will be even more better
foreach (var o in dxgiDevice.Adapter.Outputs)
{
var b = o.Description.DesktopBounds;
if (b.Width == 2160 && b.Height == 1200)
{
log.Info("OSVR: found a 2160x1200 candidate for a HDK 2.0");
output = o;
}
}
bounds = output.Description.DesktopBounds;
log.Info($"OSVR: guessed output ({bounds})");
}
else
{
int osvrScreen = (int)Logic.Instance.settings.OSVRScreen;
if (osvrScreen >= dxgiDevice.Adapter.Outputs.Length)
{
osvrScreen = dxgiDevice.Adapter.Outputs.Length - 1;
}
bounds = dxgiDevice.Adapter.Outputs[osvrScreen].Description.DesktopBounds;
log.Info($"OSVR: selected output #{osvrScreen} ({bounds})");
}
form.DesktopBounds = new System.Drawing.Rectangle(bounds.X, bounds.Y, bounds.Width, bounds.Height);
if (dxgiDevice.Adapter.Outputs.Length <= 1)
{
Logic.Notify("Only one screen is active. Press Control+S to stop the movie if needed.");
}
}
// Create a depth buffer, using the same width and height as the back buffer.
Texture2DDescription depthBufferDescription = new Texture2DDescription()
{
Format = Format.D32_Float,
ArraySize = 1,
MipLevels = 1,
Width = displayDimensions.Width,
Height = displayDimensions.Height,
SampleDescription = new SampleDescription(1, 0),
Usage = ResourceUsage.Default,
BindFlags = BindFlags.DepthStencil,
CpuAccessFlags = CpuAccessFlags.None,
OptionFlags = ResourceOptionFlags.None
};
// Retrieve the DXGI device, in order to set the maximum frame latency.
using (SharpDX.DXGI.Device1 dxgiDevice = _device.QueryInterface <SharpDX.DXGI.Device1>())
dxgiDevice.MaximumFrameLatency = 1;
using (_gd = SharpDX.Toolkit.Graphics.GraphicsDevice.New(_device))
using (customEffectL = GetCustomEffect(_gd))
using (customEffectR = GetCustomEffect(_gd))
//using (var primitive = GraphicTools.CreateGeometry(_projection, _gd))
using (vrui = new VRUI(_device, _gd))
using (Texture2D depthBuffer = new Texture2D(_device, depthBufferDescription))
using (DepthStencilView depthView = new DepthStencilView(_device, depthBuffer))
using (Texture2D backBuffer = Texture2D.FromSwapChain <Texture2D>(swapChain, 0))
using (RenderTargetView renderView = new RenderTargetView(_device, backBuffer))
{
//primitive = GraphicTools.CreateGeometry(Projection, _gd);
DateTime startTime = DateTime.Now;
Vector3 position = new Vector3(0, 0, -1);
#region Render loop
DateTime lastTime = DateTime.Now;
float deltaTime = 0;
immediateContext.OutputMerger.SetTargets(depthView, renderView);
form.GotFocus += (s, e) => OnGotFocus();
bool first = true;
RenderLoop.Run(form, () =>
{
if (abort)
{
form.Close();
return;
}
if (first)
{
// Start with default background
SetDefaultScene();
OnGotFocus();
first = false;
}
UpdateContentIfRequested();
context.update();
float timeSinceStart = (float)(DateTime.Now - startTime).TotalSeconds;
deltaTime = (float)(DateTime.Now - lastTime).TotalSeconds;
lastTime = DateTime.Now;
immediateContext.ClearDepthStencilView(depthView, DepthStencilClearFlags.Depth, 1.0f, 0);
immediateContext.ClearRenderTargetView(renderView, Color.Black);
uint viewer = 0;
for (int eyeIndex = 0; eyeIndex < 2; eyeIndex++)
{
var numEyes = displayConfig.GetNumEyesForViewer(viewer);
var viewerPose = displayConfig.GetViewerPose(viewer);
for (byte eye = 0; eye < numEyes; eye++)
{
uint numSurfaces = displayConfig.GetNumSurfacesForViewerEye(viewer, eye);
Pose3 viewerEyePose = displayConfig.GetViewerEyePose(viewer, eye);
Matrix44f viewerEyeMatrixf = displayConfig.GetViewerEyeViewMatrixf(viewer, eye, MatrixConventionsFlags.Default);
uint surface = 0;
OSVR.ClientKit.Viewport viewport = displayConfig.GetRelativeViewportForViewerEyeSurface(viewer, eye, surface);
Matrix44f projectionf = displayConfig.GetProjectionMatrixForViewerEyeSurfacef(viewer, eye, surface, 0.001f, 1000.0f, MatrixConventionsFlags.Default);
ProjectionClippingPlanes projectionClippingPlanes = displayConfig.GetViewerEyeSurfaceProjectionClippingPlanes(viewer, eye, surface);
ViewportF vp = new ViewportF(viewport.Left, viewport.Bottom, viewport.Width, viewport.Height);
immediateContext.Rasterizer.SetViewport(vp);
Vector3 lookPosition = viewerEyePose.translation.ToVector3();
SharpDX.Quaternion lookRotation = viewerEyePose.rotation.ToQuaternion();
Matrix rotationMatrix = Matrix.RotationQuaternion(lookRotation);
Vector3 lookUp = Vector3.Transform(new Vector3(0, 1, 0), rotationMatrix).ToVector3();
Vector3 lookAt = Vector3.Transform(new Vector3(0, 0, -1), rotationMatrix).ToVector3();
Matrix viewMatrix = Matrix.LookAtRH(lookPosition, lookPosition + lookAt, lookUp);
Matrix projectionMatrix = projectionf.ToMatrix();
Matrix worldMatrix = Matrix.Translation(lookPosition);
Matrix MVP = worldMatrix * viewMatrix * projectionMatrix;
customEffectL.Parameters["WorldViewProj"].SetValue(MVP);
customEffectR.Parameters["WorldViewProj"].SetValue(MVP);
lock (localCritical)
{
if (eye == 0)
{
primitive?.Draw(customEffectL);
}
if (eye == 1)
{
primitive?.Draw(customEffectR);
}
}
// reset UI position every frame if it is not visible
if (vrui.isUIHidden)
{
vrui.SetWorldPosition(viewMatrix.Forward, lookPosition, true);
}
if (eye == 0)
{
lookRotation.Invert();
ProvideLook?.Invoke(lookPosition, lookRotation, OSVRFOV);
}
vrui.Draw(Media, currentTime, Duration);
vrui.Render(deltaTime, viewMatrix, projectionMatrix, lookPosition, ShouldShowVRUI);
}
}
swapChain.Present(0, PresentFlags.None);
});
#endregion
//debugWindow.Stop();
waitForRendererStop.Set();
//swapChain.SetFullscreenState(false, null);
immediateContext.ClearState();
immediateContext.Flush();
immediateContext.Dispose();
swapChain.Dispose();
factory.Dispose();
//swapChain.Dispose();
// Disposing the device, before the hmd, will cause the hmd to fail when disposing.
// Disposing the device, after the hmd, will cause the dispose of the device to fail.
// It looks as if the hmd steals ownership of the device and destroys it, when it's shutting down.
// device.Dispose();
base._device.Dispose();
//hmd.Dispose();
//oculus.Dispose();
displayConfig.Dispose();
context.Dispose();
}
Lock = false;
}
public static extern Byte osvrPose3ToMatrixf(ref Pose3 pose, MatrixConventionsFlags flags, out Matrix44f mat);
// Pose callback
public static void myTrackerCallback(Object sender, TimeValue timestamp, Int32 sensor, Pose3 report)
{
Console.WriteLine("Got POSE report: Position = ({0}, {1}, {2}), orientation ({3}, {4}, {5}, {6}), sensor ({7})",
report.translation.x,
report.translation.y,
report.translation.z,
report.rotation.w,
report.rotation.x,
report.rotation.y,
report.rotation.z,
sensor);
}
public static void ToMatrixf(Pose3 pose, MatrixConventionsFlags flags, out Matrix44f matrix)
#endif
{
MatrixConventionsNative.osvrPose3ToMatrixf(ref pose, flags, out matrix);
}
public static extern Byte osvrPose3ToMatrixf(ref Pose3 pose, MatrixConventionsFlags flags, out Matrix44f mat);
