/// <summary>
/// Updates the HMD.
/// </summary>
private void UpdateHMD()
{
CVRSystem hmd = Hmd;
if (renderPoses.Length > 0)
{
ETrackingResult result = renderPoses[0].eTrackingResult;
VRInitializing = result == ETrackingResult.Uninitialized;
VRCalibrating = result == ETrackingResult.Calibrating_InProgress || result == ETrackingResult.Calibrating_OutOfRange;
VROutOfRange = result == ETrackingResult.Running_OutOfRange || result == ETrackingResult.Calibrating_OutOfRange;
if (result == ETrackingResult.Running_OK)
{
// Get poses for each eye (left, right, center)
renderPoses[0].ToMatrix(out Matrix mCenter);
mCenter.ToVRPose(out VRPose center);
EyesProperties[2].Pose = center;
for (int i = 0; i < 2; i++)
{
VREye eye = EyesProperties[i];
VREyeTexture texture = eye.Texture;
hmd.GetProjectionMatrix((EVREye)i, texture.NearPlane, texture.FarPlane).ToMatrix(out Matrix projection);
projection.Invert();
eye.Projection = projection;
hmd.GetEyeToHeadTransform((EVREye)i).ToMatrix(out Matrix mOffset);
mOffset *= mCenter;
mOffset.ToVRPose(out VRPose pose);
eye.Pose = pose;
}
}
}
}
private void OnNewPoses(TrackedDevicePose_t[] poses)
{
this.eyes[0] = new SteamVR_Utils.RigidTransform(this.hmd.GetEyeToHeadTransform(EVREye.Eye_Left));
this.eyes[1] = new SteamVR_Utils.RigidTransform(this.hmd.GetEyeToHeadTransform(EVREye.Eye_Right));
for (int i = 0; i < poses.Length; i++)
{
bool bDeviceIsConnected = poses[i].bDeviceIsConnected;
if (bDeviceIsConnected != SteamVR.connected[i])
{
SteamVR_Events.DeviceConnected.Send(i, bDeviceIsConnected);
}
}
if ((long)poses.Length > 0L)
{
ETrackingResult eTrackingResult = poses[(int)((UIntPtr)0)].eTrackingResult;
bool flag = eTrackingResult == ETrackingResult.Uninitialized;
if (flag != SteamVR.initializing)
{
SteamVR_Events.Initializing.Send(flag);
}
bool flag2 = eTrackingResult == ETrackingResult.Calibrating_InProgress || eTrackingResult == ETrackingResult.Calibrating_OutOfRange;
if (flag2 != SteamVR.calibrating)
{
SteamVR_Events.Calibrating.Send(flag2);
}
bool flag3 = eTrackingResult == ETrackingResult.Running_OutOfRange || eTrackingResult == ETrackingResult.Calibrating_OutOfRange;
if (flag3 != SteamVR.outOfRange)
{
SteamVR_Events.OutOfRange.Send(flag3);
}
}
}
private void SetTrackingStateColor(ETrackingResult eTrackingResult)
{
if (_stateImage)
{
switch (eTrackingResult)
{
case ETrackingResult.Uninitialized:
_stateImage.color = Color.red;
break;
case ETrackingResult.Calibrating_OutOfRange:
_stateImage.color = Orange;
break;
case ETrackingResult.Calibrating_InProgress:
_stateImage.color = Color.yellow;
break;
case ETrackingResult.Running_OutOfRange:
_stateImage.color = Color.cyan;
break;
case ETrackingResult.Running_OK:
_stateImage.color = Color.green;
break;
default:
_stateImage.color = Color.magenta;
break;
}
}
}
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();
}
}
private void OnTrackingChanged(SteamVR_Action_Skeleton0 fromAction, ETrackingResult trackingState)
{
if (onTrackingChanged != null)
{
onTrackingChanged.Invoke(this, inputSource, trackingState);
}
if (onTrackingChangedEvent != null)
{
onTrackingChangedEvent.Invoke(this, inputSource, trackingState);
}
}
protected virtual void OnTrackingChanged(SteamVR_Action_Pose changedAction, SteamVR_Input_Sources changedSource,
ETrackingResult trackingChanged)
{
if (onTrackingChanged != null)
{
onTrackingChanged.Invoke(this, inputSource, trackingChanged);
}
if (onTrackingChangedEvent != null)
{
onTrackingChangedEvent.Invoke(this, inputSource, trackingChanged);
}
}
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();
}
private void OnNewPoses(params object[] args)
{
TrackedDevicePose_t[] array = (TrackedDevicePose_t[])args[0];
this.eyes[0] = new SteamVR_Utils.RigidTransform(this.hmd.GetEyeToHeadTransform(EVREye.Eye_Left));
this.eyes[1] = new SteamVR_Utils.RigidTransform(this.hmd.GetEyeToHeadTransform(EVREye.Eye_Right));
for (int i = 0; i < array.Length; i++)
{
bool bDeviceIsConnected = array[i].bDeviceIsConnected;
if (bDeviceIsConnected != SteamVR.connected[i])
{
SteamVR_Utils.Event.Send("device_connected", new object[]
{
i,
bDeviceIsConnected
});
}
}
if ((long)array.Length > 0L)
{
ETrackingResult eTrackingResult = array[(int)((UIntPtr)0)].eTrackingResult;
bool flag = eTrackingResult == ETrackingResult.Uninitialized;
if (flag != SteamVR.initializing)
{
SteamVR_Utils.Event.Send("initializing", new object[]
{
flag
});
}
bool flag2 = eTrackingResult == ETrackingResult.Calibrating_InProgress || eTrackingResult == ETrackingResult.Calibrating_OutOfRange;
if (flag2 != SteamVR.calibrating)
{
SteamVR_Utils.Event.Send("calibrating", new object[]
{
flag2
});
}
bool flag3 = eTrackingResult == ETrackingResult.Running_OutOfRange || eTrackingResult == ETrackingResult.Calibrating_OutOfRange;
if (flag3 != SteamVR.outOfRange)
{
SteamVR_Utils.Event.Send("out_of_range", new object[]
{
flag3
});
}
}
}
private String GetDeviceState(ETrackingResult eTrackingResult)
{
switch (eTrackingResult)
{
case ETrackingResult.Uninitialized:
return(nameof(ETrackingResult.Uninitialized));
case ETrackingResult.Calibrating_InProgress:
return(nameof(ETrackingResult.Calibrating_InProgress));
case ETrackingResult.Calibrating_OutOfRange:
return(nameof(ETrackingResult.Calibrating_OutOfRange));
case ETrackingResult.Running_OK:
return(nameof(ETrackingResult.Running_OK));
case ETrackingResult.Running_OutOfRange:
return(nameof(ETrackingResult.Running_OutOfRange));
default:
return("");
}
}
