/**
* 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;
}
}
public bool init()
{
// Set up HMD
EVRInitError eError = EVRInitError.None;
mHMD = OpenVR.Init(ref eError, EVRApplicationType.VRApplication_Scene);
if (eError == EVRInitError.None)
{
Rhino.RhinoApp.WriteLine("Booted VR System");
renderPoseArray = new TrackedDevicePose_t[Valve.VR.OpenVR.k_unMaxTrackedDeviceCount];
gamePoseArray = new TrackedDevicePose_t[Valve.VR.OpenVR.k_unMaxTrackedDeviceCount];
}
else
{
Rhino.RhinoApp.WriteLine("Failed to boot");
mTitleBase = "SparrowHawk (No VR Detected)";
}
// // THIS IS FOR UNCLIPPED
// Width = 864;
// Height = 820;
// THIS IS FOR CLIPPED RECTANGLE
Width = 691;
Height = 692;
// Window Setup Info
mStrDriver = UtilOld.GetTrackedDeviceString(ref mHMD, OpenVR.k_unTrackedDeviceIndex_Hmd, ETrackedDeviceProperty.Prop_TrackingSystemName_String);
mStrDisplay = UtilOld.GetTrackedDeviceString(ref mHMD, OpenVR.k_unTrackedDeviceIndex_Hmd, ETrackedDeviceProperty.Prop_SerialNumber_String);
mTitleBase = "SparrowHawk - " + mStrDriver + " " + mStrDisplay;
Title = mTitleBase;
MakeCurrent();
setupScene();
if (eError == EVRInitError.None)
{
mRenderer = new VrRenderer(ref mHMD, ref mScene, mRenderWidth, mRenderHeight);
}
else
{
mRenderer = new VrRenderer(ref mHMD, ref mScene, mRenderWidth, mRenderHeight);
}
//use other 8 points for calibrartion
robotCallibrationPointsTest.Add(new Vector3(22, 15, -100) / 1000);
robotCallibrationPointsTest.Add(new Vector3(-10, 40, -153) / 1000);
robotCallibrationPointsTest.Add(new Vector3(25, -25, -181) / 1000);
foreach (Vector3 v in robotCallibrationPointsTest)
{
Vector4 v4 = new Vector4(v.X, v.Y, v.Z, 1);
v4 = mScene.vrToRobot.Inverted() * v4;
UtilOld.MarkPoint(ref mScene.staticGeometry, new Vector3(v4.X, v4.Y, v4.Z), 1, 1, 1);
}
robotCallibrationPointsTest.Clear();
//set default matrix
if (mRenderer.ovrvision_controller != null)
{
mRenderer.ovrvision_controller.setDefaultMatrixHC();
}
//detecting whether users in control or left
Rhino.DocObjects.ObjectAttributes attr = new Rhino.DocObjects.ObjectAttributes();
attr.Name = "user:out";
Point3d userP = new Point3d(0, 0, 0);
uGuid = mScene.rhinoDoc.Objects.AddPoint(userP, attr);
//testing - rotate rhino object as well
/*
* Transform transM = new Transform();
* for (int row = 0; row < 4; row++)
* {
* for (int col = 0; col < 4; col++)
* {
* transM[row, col] = mScene.platformRotation[row, col];
* }
* }
* Rhino.DocObjects.ObjectEnumeratorSettings settings = new Rhino.DocObjects.ObjectEnumeratorSettings();
* settings.ObjectTypeFilter = Rhino.DocObjects.ObjectType.Brep;
* foreach (Rhino.DocObjects.RhinoObject rhObj in mScene.rhinoDoc.Objects.GetObjectList(settings))
* {
* mDoc.Objects.Transform(rhObj.Id, transM, true);
* }
* mScene.rhinoDoc.Views.Redraw();
*/
//testing visualize printStroke
printStroke = new Geometry.RobotPrintStroke(ref mScene);
printStroke_m = new Material.SingleColorMaterial(1, 1, 0, 1.0f);
return(eError == EVRInitError.None);
}
