void initRift() {
OVR::System::Init(OVR::Log::ConfigureDefaultLog(OVR::LogMask_All));
pManager = *OVR::DeviceManager::Create();
//pManager->SetMessageHandler(this);
pHMD = *pManager->EnumerateDevices<OVR::HMDDevice>().CreateDevice();
if (pHMD)
{
pSensor = *pHMD->GetSensor();
InfoLoaded = pHMD->GetDeviceInfo(&Info);
strncpy(Info.DisplayDeviceName, RiftMonitorName, 32);
RiftDisplayId = Info.DisplayId;
EyeDistance = Info.InterpupillaryDistance;
DistortionK[0] = Info.DistortionK[0];
DistortionK[1] = Info.DistortionK[1];
DistortionK[2] = Info.DistortionK[2];
DistortionK[3] = Info.DistortionK[3];
}
else
{
pSensor = *pManager->EnumerateDevices<OVR::SensorDevice>().CreateDevice();
}
if (pSensor)
{
FusionResult.AttachToSensor(pSensor);
FusionResult.SetPredictionEnabled(true);
float motionPred = FusionResult.GetPredictionDelta(); // adjust in 0.01 increments
if(motionPred < 0) motionPred = 0;
FusionResult.SetPrediction(motionPred);
if(InfoLoaded) {
riftConnected = true;
riftX = Info.DesktopX;
riftY = Info.DesktopY;
riftResolutionX = Info.HResolution;
riftResolutionY = Info.VResolution;
}
}
#ifdef WIN32
getRiftDisplay();
#endif
}
SensorFusionPredictionExample() {
ovrManager = *OVR::DeviceManager::Create();
if (!ovrManager) {
FAIL("Unable to create device manager");
}
ovrSensor = *ovrManager->EnumerateDevices<OVR::SensorDevice>().CreateDevice();
if (!ovrSensor) {
FAIL("Unable to locate Rift sensor device");
}
ovrSensorFusion.SetGravityEnabled(true);
ovrSensorFusion.SetPredictionEnabled(true);
ovrSensorFusion.SetYawCorrectionEnabled(true);
ovrSensorFusion.AttachToSensor(ovrSensor);
}
virtual void onKey(int key, int scancode, int action, int mods) {
if (GLFW_PRESS != action) {
return;
}
switch (key) {
case GLFW_KEY_R:
ovrSensorFusion.Reset();
return;
case GLFW_KEY_UP:
ovrSensorFusion.SetPrediction(ovrSensorFusion.GetPredictionDelta() * 1.5f, true);
return;
case GLFW_KEY_DOWN:
ovrSensorFusion.SetPrediction(ovrSensorFusion.GetPredictionDelta() / 1.5f, true);
return;
}
GlfwApp::onKey(key, scancode, action, mods);
}
void OculusVRSensorData::setData(const OVR::SensorFusion& data, const F32& maxAxisRadius)
{
// Sensor rotation
OVR::Quatf orientation;
if(data.GetPredictionDelta() > 0)
{
orientation = data.GetPredictedOrientation();
}
else
{
orientation = data.GetOrientation();
}
OVR::Matrix4f orientMat(orientation);
OculusVRUtil::convertRotation(orientMat.M, mRot);
mRotQuat.set(mRot);
// Sensor rotation in Euler format
OculusVRUtil::convertRotation(orientation, mRotEuler);
// Sensor rotation as axis
OculusVRUtil::calculateAxisRotation(mRot, maxAxisRadius, mRotAxis);
mDataSet = true;
}
void onKey(int key, int scancode, int action, int mods) {
if (GLFW_PRESS != action) {
return;
}
switch (key) {
case GLFW_KEY_R:
sensorFusion.Reset();
break;
case GLFW_KEY_T:
useTracker = !useTracker;
break;
default:
GlfwApp::onKey(key, scancode, action, mods);
break;
}
}
void draw() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
std::string message = Platform::format(
"Prediction Delta: %0.2f ms\n",
sensorFusion.GetPredictionDelta() * 1000.0f);
renderStringAt(message, -0.9f, 0.9f);
gl::MatrixStack & mv = gl::Stacks::modelview();
gl::MatrixStack & pr = gl::Stacks::projection();
mv.push().rotate(predictedOrientation);
GlUtils::renderArtificialHorizon();
mv.pop();
mv.push().rotate(currentOrientation);
mv.scale(1.25f);
GlUtils::renderArtificialHorizon(0.3f);
mv.pop();
}
void draw() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
std::string message = Platform::format(
"Prediction Delta: %0.2f ms\n",
ovrSensorFusion.GetPredictionDelta() * 1000.0f);
renderStringAt(message, -0.9f, 0.9f);
gl::MatrixStack & mv = gl::Stacks::modelview();
glm::mat4 glm_mat;
glm_mat = glm::make_mat4((float*) predicted.M);
mv.push().transform(glm_mat);
GlUtils::renderArtificialHorizon();
mv.pop();
glm_mat = glm::make_mat4((float*) actual.M);
mv.push().transform(glm_mat);
mv.scale(1.25f);
GlUtils::renderArtificialHorizon(0.3f);
mv.pop();
}
void update() {
actual = ovrSensorFusion.GetOrientation();
predicted = ovrSensorFusion.GetPredictedOrientation();
}
HelloRift() : useTracker(false) {
ovrManager = *OVR::DeviceManager::Create();
if (!ovrManager) {
FAIL("Unable to initialize OVR Device Manager");
}
OVR::Ptr<OVR::HMDDevice> ovrHmd =
*ovrManager->EnumerateDevices<OVR::HMDDevice>().CreateDevice();
OVR::HMDInfo hmdInfo;
if (ovrHmd) {
ovrHmd->GetDeviceInfo(&hmdInfo);
ovrSensor = *ovrHmd->GetSensor();
} else {
Rift::getDk1HmdValues(hmdInfo);
}
ovrHmd.Clear();
if (!ovrSensor) {
ovrSensor =
*ovrManager->EnumerateDevices<OVR::SensorDevice>().CreateDevice();
}
if (ovrSensor) {
sensorFusion.AttachToSensor(ovrSensor);
useTracker = sensorFusion.IsAttachedToSensor();
}
ipd = hmdInfo.InterpupillaryDistance;
distortionCoefficients = glm::vec4(
hmdInfo.DistortionK[0], hmdInfo.DistortionK[1],
hmdInfo.DistortionK[2], hmdInfo.DistortionK[3]);
windowPosition = glm::ivec2(hmdInfo.DesktopX, hmdInfo.DesktopY);
// The HMDInfo gives us the position of the Rift in desktop
// coordinates as well as the native resolution of the Rift
// display panel, but NOT the current resolution of the signal
// being sent to the Rift.
GLFWmonitor * hmdMonitor =
GlfwApp::getMonitorAtPosition(windowPosition);
if (!hmdMonitor) {
FAIL("Unable to find Rift display");
}
// For the current resoltuion we must find the appropriate GLFW monitor
const GLFWvidmode * videoMode =
glfwGetVideoMode(hmdMonitor);
windowSize = glm::ivec2(videoMode->width, videoMode->height);
// The eyeSize is used to help us set the viewport when rendering to
// each eye. This should be based off the video mode that is / will
// be sent to the Rift
// We also use the eyeSize to set up the framebuffer which will be
// used to render the scene to a texture for distortion and display
// on the Rift. The Framebuffer resolution does not have to match
// the Physical display resolution in either aspect ratio or
// resolution, but using a resolution less than the native pixels can
// negatively impact image quality.
eyeSize = windowSize;
eyeSize.x /= 2;
eyeArgs[1].viewportLocation = glm::ivec2(eyeSize.x, 0);
eyeArgs[0].viewportLocation = glm::ivec2(0, 0);
// Notice that the eyeAspect we calculate is based on the physical
// display resolution, regardless of the current resolution being
// sent to the Rift. The Rift scales the image sent to it to fit
// the display panel, so a 1920x1080 image (with an aspect ratio of
// 16:9 will be displayed with the aspect ratio of the Rift display
// (16:10 for the DK1). This means that if you're cloning a
// 1920x1080 output to the rift and an conventional monitor of those
// dimensions the conventional monitor's image will appear a bit
// squished. This is expected and correct.
eyeAspect = (float)(hmdInfo.HResolution / 2) /
(float)hmdInfo.VResolution;
// Some of the values needed by the rendering or distortion need some
// calculation to find, but the OVR SDK includes a utility class to
// do them, so we use it here to get the ProjectionOffset and the
// post distortion scale.
OVR::Util::Render::StereoConfig stereoConfig;
stereoConfig.SetHMDInfo(hmdInfo);
// The overall distortion effect has a shrinking effect.
postDistortionScale = 1.0f / stereoConfig.GetDistortionScale();
// The projection offset and lens offset are both in normalized
// device coordinates, i.e. [-1, 1] on both the X and Y axis
glm::vec3 projectionOffsetVector =
glm::vec3(stereoConfig.GetProjectionCenterOffset() / 2.0f, 0, 0);
eyeArgs[0].projectionOffset =
glm::translate(glm::mat4(), projectionOffsetVector);
eyeArgs[1].projectionOffset =
glm::translate(glm::mat4(), -projectionOffsetVector);
eyeArgs[0].lensOffset =
1.0f - (2.0f * hmdInfo.LensSeparationDistance / hmdInfo.HScreenSize);
eyeArgs[1].lensOffset = -eyeArgs[0].lensOffset;
// The IPD and the modelview offset are in meters. If you wish to have a
// different unit for the scale of your world coordinates, you would need
// to apply the conversion factor here.
glm::vec3 modelviewOffsetVector =
glm::vec3(stereoConfig.GetIPD() / 2.0f, 0, 0);
eyeArgs[0].modelviewOffset =
glm::translate(glm::mat4(), modelviewOffsetVector);
eyeArgs[1].modelviewOffset =
glm::translate(glm::mat4(), -modelviewOffsetVector);
gl::Stacks::projection().top() = glm::perspective(
stereoConfig.GetYFOVDegrees() * DEGREES_TO_RADIANS,
eyeAspect,
Rift::ZNEAR, Rift::ZFAR);
}
~HelloRift() {
sensorFusion.AttachToSensor(nullptr);
ovrSensor = nullptr;
ovrManager = nullptr;
}
void update() {
currentOrientation = Rift::fromOvr(sensorFusion.GetOrientation());
predictedOrientation = Rift::fromOvr(sensorFusion.GetPredictedOrientation());
}
