void FSimpleHMD::GetCurrentOrientationAndPosition(FQuat& CurrentOrientation, FVector& CurrentPosition)
{
CurrentPosition = FVector(0.0f, 0.0f, 0.0f);
GetCurrentPose(CurrentOrientation);
CurHmdOrientation = LastHmdOrientation = CurrentOrientation;
}
void FGearVR::GetCurrentOrientationAndPosition(FQuat& CurrentOrientation, FVector& CurrentPosition)
{
// only supposed to be used from the game thread
check(IsInGameThread());
auto frame = GetFrame();
if (!frame)
{
CurrentOrientation = FQuat::Identity;
CurrentPosition = FVector::ZeroVector;
return;
}
//if (PositionScale != FVector::ZeroVector)
//{
// frame->CameraScale3D = PositionScale;
// frame->Flags.bCameraScale3DAlreadySet = true;
//}
const bool bUseOrienationForPlayerCamera = false, bUsePositionForPlayerCamera = false;
GetCurrentPose(CurrentOrientation, CurrentPosition, bUseOrienationForPlayerCamera, bUsePositionForPlayerCamera);
if (bUseOrienationForPlayerCamera)
{
frame->LastHmdOrientation = CurrentOrientation;
frame->Flags.bOrientationChanged = bUseOrienationForPlayerCamera;
}
if (bUsePositionForPlayerCamera)
{
frame->LastHmdPosition = CurrentPosition;
frame->Flags.bPositionChanged = bUsePositionForPlayerCamera;
}
}
void FSteamVRHMD::GetCurrentOrientationAndPosition(FQuat& CurrentOrientation, FVector& CurrentPosition)
{
check(IsInGameThread());
GetCurrentPose(CurHmdOrientation, CurHmdPosition);
CurrentOrientation = LastHmdOrientation = CurHmdOrientation;
CurrentPosition = CurHmdPosition;
}
void FSteamVRHMD::PreRenderViewFamily_RenderThread(FRHICommandListImmediate& RHICmdList, FSceneViewFamily& ViewFamily)
{
check(IsInRenderingThread());
GetActiveRHIBridgeImpl()->BeginRendering();
FVector CurrentPosition;
FQuat CurrentOrientation;
GetCurrentPose(CurrentOrientation, CurrentPosition, vr::k_unTrackedDeviceIndex_Hmd, true);
}
void FSteamVRHMD::UpdatePlayerCameraRotation(APlayerCameraManager* Camera, struct FMinimalViewInfo& POV)
{
GetCurrentPose(CurHmdOrientation, CurHmdPosition);
LastHmdOrientation = CurHmdOrientation;
DeltaControlRotation = POV.Rotation;
DeltaControlOrientation = DeltaControlRotation.Quaternion();
// Apply HMD orientation to camera rotation.
POV.Rotation = FRotator(POV.Rotation.Quaternion() * CurHmdOrientation);
}
void FSimpleHMD::ApplyHmdRotation(APlayerController* PC, FRotator& ViewRotation)
{
ViewRotation.Normalize();
GetCurrentPose(CurHmdOrientation);
LastHmdOrientation = CurHmdOrientation;
const FRotator DeltaRot = ViewRotation - PC->GetControlRotation();
DeltaControlRotation = (DeltaControlRotation + DeltaRot).GetNormalized();
// Pitch from other sources is never good, because there is an absolute up and down that must be respected to avoid motion sickness.
// Same with roll.
DeltaControlRotation.Pitch = 0;
DeltaControlRotation.Roll = 0;
DeltaControlOrientation = DeltaControlRotation.Quaternion();
ViewRotation = FRotator(DeltaControlOrientation * CurHmdOrientation);
}
void THISCLASS::OnStep() {
printf("ComponentEpuckAccess: Begin OnStep... \n");
// do one by one
int founddev = 0;
// Check e-puck device
for(int i = 0; i < ACTIVE_ROBOTS; i++){
if (!mDevice[i]) {
printf("E-puck device: %d not found.\n", i);
// Get the device handle
EpuckGetDevice(i);
SetParticleID(i);
} else {
founddev++;
printf("==== [%d] Begin step tasks =====\n",i);
EpuckQueryResetPose(i);
// Check a particle pose exists
DataStructureParticles::tParticleVector *p = mCore->mDataStructureParticles.mParticles;
if (!p) {
printf("No e-puck poses found.\n");
return;
}
GetCurrentPose(i);
EpuckSetTargetPose(i, 4450, 870, 0);
EpuckGoToTargetPose(i);
printf("==== [%d] End step tasks =====\n",i);
}
}
// if found none then wait and return
if(founddev == 0){
//Sleep(INITDEV_WAIT);
return;
}
// Set the display
// DisplayEditor de(&mDisplayOutput);
// if (de.IsActive()) {
// de.SetMainImage(mCore->mDataStructureImageBinary.mImage);
// }
//printf("ComponentEpuckAccess: End OnStep... \n");
}
