void OculusWorldDemoApp::OnIdle()
{
double curtime = pPlatform->GetAppTime();
float dt = float(curtime - LastUpdate);
LastUpdate = curtime;
if (LoadingState == LoadingState_DoLoad)
{
LoadingState = LoadingState_Finished;
return;
}
// If one of Stereo setting adjustment keys is pressed, adjust related state.
if (pAdjustFunc)
{
(this->*pAdjustFunc)(dt * AdjustDirection * (ShiftDown ? 5.0f : 1.0f));
}
// Rotate and position View Camera, using YawPitchRoll in BodyFrame coordinates.
//
Matrix4f rollPitchYaw = Matrix4f::RotationY(0) * Matrix4f::RotationX(0) * Matrix4f::RotationZ(0); // YAW PITCH ROLL
const Vector3f UpVector(0.0f, 1.0f, 0.0f);
const Vector3f ForwardVector(0.0f, 0.0f, -1.0f);
Vector3f up = rollPitchYaw.Transform(UpVector);
Vector3f forward = rollPitchYaw.Transform(ForwardVector);
// Minimal head modeling; should be moved as an option to SensorFusion.
float headBaseToEyeHeight = 0.15f; // Vertical height of eye from base of head
float headBaseToEyeProtrusion = 0.09f; // Distance forward of eye from base of head
Vector3f eyeCenterInHeadFrame(0.0f, headBaseToEyeHeight, -headBaseToEyeProtrusion);
Vector3f shiftedEyePos = rollPitchYaw.Transform(eyeCenterInHeadFrame);
shiftedEyePos.y -= eyeCenterInHeadFrame.y; // Bring the head back down to original height
View = Matrix4f::LookAtRH(shiftedEyePos, shiftedEyePos + forward, up);
// Transformation without head modeling.
// View = Matrix4f::LookAtRH(EyePos, EyePos + forward, up);
// This is an alternative to LookAtRH:
// Here we transpose the rotation matrix to get its inverse.
// View = (Matrix4f::RotationY(EyeYaw) * Matrix4f::RotationX(EyePitch) *
// Matrix4f::RotationZ(EyeRoll)).Transposed() *
// Matrix4f::Translation(-EyePos);
//case Stereo_LeftDouble_Multipass:
Render(SConfig.GetEyeRenderParams(StereoEye_Left));
Render(SConfig.GetEyeRenderParams(StereoEye_Right));
pRender->Present();
// Force GPU to flush the scene, resulting in the lowest possible latency.
pRender->ForceFlushGPU();
}
void InputTestApp::OnIdle()
{
double curtime = pPlatform->GetAppTime();
// float dt = float(LastUpdate - curtime);
LastUpdate = curtime;
if (pBox)
{
Quatf q = SFusion.GetOrientation();
pBox->SetOrientation(q);
// Test Euler conversion, alternative to the above:
// Vector3f euler;
// SFusion.GetOrientation().GetEulerABC<Axis_Y, Axis_X, Axis_Z, Rotate_CCW, Handed_R>(&euler.y, &euler.x, &euler.z);
// Matrix4f mat = Matrix4f::RotationY(euler.y) * Matrix4f::RotationX(euler.x) * Matrix4f::RotationZ(euler.z);
// pBox->SetMatrix(mat);
// Update titlebar every 20th of a second.
if ((curtime - LastTitleUpdate) > 0.05f)
{
char titleBuffer[512];
SensorDevice::CoordinateFrame coord = SensorDevice::Coord_Sensor;
if (pSensor)
coord = pSensor->GetCoordinateFrame();
OVR_sprintf(titleBuffer, 512, "OVR SensorBox %s %s Ang: %0.3f",
(SFusion.IsGravityEnabled() ? "" : "[Grav Off]"),
(coord == SensorDevice::Coord_HMD) ? "[HMD Coord]" : "",
CalcDownAngleDegrees(q));
pPlatform->SetWindowTitle(titleBuffer);
LastTitleUpdate = curtime;
}
}
if (pBox2)
{
pBox2->SetOrientation(SFusion2.GetOrientation());
}
// Render
int w, h;
pPlatform->GetWindowSize(&w, &h);
pRender->SetViewport(0, 0, w, h);
pRender->Clear();
pRender->BeginScene();
pRender->SetProjection(Proj);
pRender->SetDepthMode(1,1);
Sc.Render(pRender, View);
pRender->Present();
}
void InputTestApp::OnIdle()
{
double curtime = pPlatform->GetAppTime();
time_t t = time(0); // get time now
struct tm * now = localtime(&t);
// float dt = float(LastUpdate - curtime);
LastUpdate = curtime;
if (pBox)
{
Vector3f acceldata = SFusion.GetAcceleration();
Vector3f gyrodata = SFusion.GetAngularVelocity();
Vector3f magdata = SFusion.GetMagnetometer();
Quatf q = SFusion.GetOrientation();
pBox->SetOrientation(q);
//fstream outFile;
//outFile.open("C://Users//Barrett//Documents//oculus_sensor_data.txt");
// Output the sensor data to the text file
ofstream outFile("C://Users//Barrett//Documents//oculus_sensor_data.csv", ios::app);
outFile << \
now->tm_sec << "," << \
curtime << "," << \
acceldata.x << "," << acceldata.y << "," << acceldata.z << "," << \
gyrodata.x << "," << gyrodata.y << "," << gyrodata.z << "," << \
magdata.x << "," << magdata.y << "," << magdata.z << "," << \
q.x << "," << q.y << "," << q.z << q.w << "\n";
// Test Euler conversion, alternative to the above:
// Vector3f euler;
// SFusion.GetOrientation().GetEulerABC<Axis_Y, Axis_X, Axis_Z, Rotate_CCW, Handed_R>(&euler.y, &euler.x, &euler.z);
// Matrix4f mat = Matrix4f::RotationY(euler.y) * Matrix4f::RotationX(euler.x) * Matrix4f::RotationZ(euler.z);
// pBox->SetMatrix(mat);
// Update titlebar every 20th of a second.
if ((curtime - LastTitleUpdate) > 0.05f)
{
char titleBuffer[512];
SensorDevice::CoordinateFrame coord = SensorDevice::Coord_Sensor;
if (pSensor)
coord = pSensor->GetCoordinateFrame();
OVR_sprintf(titleBuffer, 512, "OVR SensorBox %s %s Ang: %0.3f",
(SFusion.IsGravityEnabled() ? "" : "[Grav Off]"),
(coord == SensorDevice::Coord_HMD) ? "[HMD Coord]" : "",
CalcDownAngleDegrees(q));
pPlatform->SetWindowTitle(titleBuffer);
LastTitleUpdate = curtime;
}
}
if (pBox2)
{
pBox2->SetOrientation(SFusion2.GetOrientation());
}
// Render
int w, h;
pPlatform->GetWindowSize(&w, &h);
pRender->SetViewport(0, 0, w, h);
pRender->Clear();
pRender->BeginScene();
pRender->SetProjection(Proj);
pRender->SetDepthMode(1,1);
Sc.Render(pRender, View);
pRender->Present();
}