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();
}
JNIEXPORT void JNICALL Java_de_fruitfly_ovr_OculusRift_pollSubsystem(JNIEnv *, jobject) {
if (!Initialized) return;
if (!pSensor) return;
quaternion = FusionResult.GetOrientation();
quaternion.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
}
extern "C" RIFTAPI_API int GetSensorSample()
{
SFusion.GetOrientation().GetEulerAngles<Axis_Y, Axis_X, Axis_Z, Rotate_CCW, Handed_R>(&Heading, &Pitch, &Roll);
return 1;
}
//periodic procedure for sending messages to the controller
double OculusRiftService::onAction(){
IPv4 ip;
std::string str ="";
str = getMyIP(&ip);
if( str == "" )
{
std::cout <<"Theres been an error !" << std::endl;
}
// else
// std::cout << "IPv4 address stored in struct: ";
// std::cout << ip.b1<<"."<<ip.b2<<"."<<ip.b3<<"."<<ip.b4<< std::endl;
float r_yaw, r_pitch, r_roll;
Quatf q = pFusionResult->GetOrientation();
Matrix4f bodyFrameMatrix(q);
q.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&r_yaw, &r_pitch, &r_roll);
std::vector<std::string> names;
names = this->getAllConnectedEntitiesName();
int entSize = names.size();
// std::cout << "IPv4 Address: " << str << std::endl;
// std::cout << " entity " << entSize << std::endl;
for(int i = 0; i < entSize; i++) {
std::string msg = "ORS_DATA ";
msg += str;
msg += DoubleToString(r_yaw);
msg += DoubleToString(r_pitch);
msg += DoubleToString(r_roll);
this->sendMsgToCtr(names[i], msg);
std::cout << msg << std::endl;
}
return 0.1; //time period
}
void InputTestApp::OnKey(KeyCode key, int chr, bool down, int modifiers)
{
OVR_UNUSED2(chr, modifiers);
switch (key)
{
case Key_Q:
if (!down)
pPlatform->Exit(0);
break;
case Key_F1:
CurrentView = View_Perspective;
SetView(CurrentView);
//UpdateWindowTitle();
break;
case Key_F2:
CurrentView = View_XY_DownZ;
SetView(CurrentView);
break;
case Key_F3:
CurrentView = View_XZ_UpY;
SetView(CurrentView);
break;
case Key_R:
if (down)
{
SFusion.Reset();
SFusion2.Reset();
}
break;
case Key_H:
if (down && pSensor)
{
SensorDevice::CoordinateFrame coord = pSensor->GetCoordinateFrame();
pSensor->SetCoordinateFrame(
(coord == SensorDevice::Coord_Sensor) ?
SensorDevice::Coord_HMD : SensorDevice::Coord_Sensor);
SFusion.Reset();
SFusion2.Reset();
}
break;
case Key_G:
if (down)
{
SFusion.SetGravityEnabled(!SFusion.IsGravityEnabled());
SFusion2.SetGravityEnabled(SFusion.IsGravityEnabled());
}
break;
case Key_A:
if (down)
{
if (!pSensor2)
{
LogText("Angle: %2.3f\n", CalcDownAngleDegrees(SFusion.GetOrientation()));
}
else
{
LogText("Angle: %2.3f Secondary Sensor Angle: %2.3f\n",
CalcDownAngleDegrees(SFusion.GetOrientation()),
CalcDownAngleDegrees(SFusion2.GetOrientation()));
}
}
break;
/*
case Key_End:
if (!down)
{
OriAdjust = OriSensor.Conj();
Sc.ViewPoint.SetOrientation(Quatf());
}
break; */
default:
break;
}
}
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();
}
int main()
{
// create device
EventHandler receiver;
Init();
Output();
ISceneNode* objects [MAX_OBJECTS];
IrrlichtDevice *device = createDevice(EDT_OPENGL, dimension2d<u32>(ResX, ResY), 32, fullscreen, false, vsync, &receiver);
receiver.device = device;
if (!device)
return 1;
IVideoDriver* driver = device->getVideoDriver();
ISceneManager* smgr = device->getSceneManager();
IGUIEnvironment* guienv = device->getGUIEnvironment();
HMDDescriptor HMD;
// Parameters from the Oculus Rift DK1
HMD.hResolution = ResX;
HMD.vResolution = ResY;
HMD.hScreenSize = 0.14976;
HMD.vScreenSize = 0.0936;
HMD.interpupillaryDistance = 0.064;
HMD.lensSeparationDistance = 0.064;
HMD.eyeToScreenDistance = 0.041;
HMD.distortionK[0] = 1.0;
HMD.distortionK[1] = 0.22;
HMD.distortionK[2] = 0.24;
HMD.distortionK[3] = 0.0;
HMDStereoRender renderer(device, HMD, 10);
#ifdef OCCULUS
ICameraSceneNode* camera = smgr->addCameraSceneNode();
camera->bindTargetAndRotation(false);
camera->setTarget(vector3df(1,0,0));
#else
ICameraSceneNode* camera = smgr->addCameraSceneNodeFPS();
#endif
device->getCursorControl()->setVisible(false);
// load a faerie
IAnimatedMesh* faerie = smgr->getMesh("media/faerie.md2");
IAnimatedMeshSceneNode* faerieNode = smgr->addAnimatedMeshSceneNode(faerie);
faerieNode->setMaterialTexture(0, driver->getTexture("media/faerie2.bmp"));
faerieNode->setMaterialFlag(EMF_LIGHTING, false);
faerieNode->setPosition(vector3df(40,190,-1030));
faerieNode->setRotation(vector3df(0,-90,0));
faerieNode->setMD2Animation(EMAT_SALUTE);
// load a dwarf
IAnimatedMesh* dwarf = smgr->getMesh("media/dwarf.x");
IAnimatedMeshSceneNode* dwarfNode = smgr->addAnimatedMeshSceneNode(dwarf);
dwarfNode->setPosition(vector3df(40,-25,20));
Level currentLevel(device);
currentLevel.makeLevel(0);
smgr->setAmbientLight(video::SColorf(0.1,0.1,0.1,1));
ILightSceneNode* light1 = smgr->addLightSceneNode( camera , vector3df(0,0,0), video::SColorf(0.3f,0.4f,0.4f), 80.0f, 1 );
vector3df pos = vector3df(0,0,0);
//naplníme tunel pøekážkama
srand (time(NULL));
/* generate secret number between 1 and 10: */
for(int i = 0; i < MAX_OBJECTS; i++){
objects[i] = smgr->addCubeSceneNode(2);
objects[i]->setMaterialFlag(EMF_LIGHTING, false);
objects[i]->setPosition( vector3df( (rand() % 30) - 5, (rand() % 30) - 5, rand() % 80) );
}
//device->setInputReceivingSceneManager(smgr);
//použivane pro
vector3df tempRot;
irr::core::quaternion tempQ;
irr::core::matrix4 tempM;
float round = 0;
while(device->run())
{
round += 0.01;
driver->beginScene(true, true, SColor(255,100,101,140));
for(int i = 0; i < MAX_OBJECTS; i++){
vector3df tmpPos = objects[i]->getPosition();
if(tmpPos.Z > pos.Z) continue;
objects[i]->setPosition( vector3df( (rand() % 30) - 15, (rand() % 30) - 15, rand() % 80 + pos.Z) );
}
#ifndef OCCULUS
tempM.setRotationDegrees(vector3df(sin(round*0.5)*360-180, sin(round)*360-180, cos(round*0.8)*360-180));
// transform forward vector of camera
irr::core::vector3df frv = irr::core::vector3df (0.0f, 0.0f, 1.0f);
tempM.transformVect(frv);
// transform upvector of camera
irr::core::vector3df upv = irr::core::vector3df (0.0f, 1.0f, 0.0f);
tempM.transformVect(upv);
camera->setUpVector(upv); //set up vector of camera
camera->setTarget(frv); //set target of camera (look at point) (thx Zeuss for correcting it)
#endif
if(pSensor){
Quatf quaternion = FusionResult.GetOrientation();
ICameraSceneNode* camera = smgr->getActiveCamera();
tempQ.set(-quaternion.z,quaternion.y,-quaternion.x, quaternion.w);
tempQ.normalize();
tempQ.toEuler(tempRot);
tempM.setRotationDegrees(tempRot);
// transform forward vector of camera
irr::core::vector3df frv = irr::core::vector3df (0.0f, 0.0f, 1.0f);
tempM.transformVect(frv);
// transform upvector of camera
irr::core::vector3df upv = irr::core::vector3df (0.0f, 1.0f, 0.0f);
tempM.transformVect(upv);
camera->setUpVector(upv); //set up vector of camera
camera->setTarget(frv); //set target of camera (look at point) (thx Zeuss for correcting it)
// update absolute position
camera->updateAbsolutePosition();
float yaw, pitch, roll;
quaternion.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
camera->getParent()->setRotation( vector3df(RadToDegree(pitch),RadToDegree(yaw),RadToDegree(roll)));
//camera->setRotation( vector3df(RadToDegree(-pitch),RadToDegree(-yaw),RadToDegree(roll)));
//camera->setProjectionMatrix(ToMatrix(quaternion));
cout << " Yaw: " << RadToDegree(yaw) <<
", Pitch: " << RadToDegree(pitch) <<
", Roll: " << RadToDegree(roll) << endl;
if (_kbhit()) exit(0);
}
#ifdef OCCULUS
renderer.drawAll(smgr);
#else
smgr->drawAll();
#endif
guienv->drawAll();
driver->endScene();
}
device->drop();
Clear();
return 0;
}
void Output()
{
cout << "----- Oculus Console -----" << endl;
if (pHMD)
{
cout << " [x] HMD Found" << endl;
}
else
{
cout << " [ ] HMD Not Found" << endl;
}
if (pSensor)
{
cout << " [x] Sensor Found" << endl;
}
else
{
cout << " [ ] Sensor Not Found" << endl;
}
cout << "--------------------------" << endl;
if (InfoLoaded)
{
cout << " DisplayDeviceName: " << Info.DisplayDeviceName << endl;
cout << " ProductName: " << Info.ProductName << endl;
cout << " Manufacturer: " << Info.Manufacturer << endl;
cout << " Version: " << Info.Version << endl;
cout << " HResolution: " << Info.HResolution<< endl;
cout << " VResolution: " << Info.VResolution<< endl;
cout << " HScreenSize: " << Info.HScreenSize<< endl;
cout << " VScreenSize: " << Info.VScreenSize<< endl;
cout << " VScreenCenter: " << Info.VScreenCenter<< endl;
cout << " EyeToScreenDistance: " << Info.EyeToScreenDistance << endl;
cout << " LensSeparationDistance: " << Info.LensSeparationDistance << endl;
cout << " InterpupillaryDistance: " << Info.InterpupillaryDistance << endl;
cout << " DistortionK[0]: " << Info.DistortionK[0] << endl;
cout << " DistortionK[1]: " << Info.DistortionK[1] << endl;
cout << " DistortionK[2]: " << Info.DistortionK[2] << endl;
cout << "--------------------------" << endl;
}
cout << endl << " Press ENTER to continue" << endl;
cin.get();
while(pSensor)
{
Vector3f acc = FusionResult.GetAcceleration();
Quatf quaternion = FusionResult.GetOrientation();
float yaw, pitch, roll;
quaternion.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
cout << "Yaw=" << RadToDegree(yaw) <<
" Pitch=" << RadToDegree(pitch) <<
" Roll=" << RadToDegree(roll) <<
" X=" << acc.x / STD_GRAV <<
" Y=" << acc.y / STD_GRAV <<
" Z=" << acc.z / STD_GRAV << endl;
Sleep(50);
if (_kbhit()) exit(0);
}
}
