void OculusDisplay::onInitialize()
{
fullscreen_property_ = new rviz::BoolProperty( "Render to Oculus", false,
"If checked, will render fullscreen on your secondary screen. Otherwise, shows a window.",
this, SLOT(onFullScreenChanged()));
prediction_dt_property_ = new rviz::FloatProperty( "Motion prediction (ms)", 30.0,
"Time in ms to predict head motion. Decreases overall latency and motion sickness.",
this, SLOT(onPredictionDtChanged()) );
near_clip_property_ = new rviz::FloatProperty( "Near Clip Distance", 0.02,
"Minimum rendering distance for Oculus camera.",
this );
horizontal_property_ = new rviz::BoolProperty( "Fixed Horizon", true,
"If checked, will ignore the pitch component of the RViz camera.", this);
follow_cam_property_ = new rviz::BoolProperty( "Follow RViz Camera", true,
"If checked, will set the Oculus camera to the same position as the main view camera.",
this, SLOT( onFollowCamChanged() ) );
tf_frame_property_ = new rviz::TfFrameProperty( "Target Frame", "<Fixed Frame>",
"Tf frame that the Oculus camera should follow.", this, context_->getFrameManager(), true );
offset_property_ = new rviz::VectorProperty( "Offset", Ogre::Vector3(0,0,0),
"Additional offset of the Oculus camera from the followed RViz camera or target frame.", this );
pub_tf_property_ = new rviz::BoolProperty( "Publish tf", true,
"If checked, will publish the pose of the Oculus camera as a tf frame.",
this, SLOT( onPubTfChanged() ) );
pub_tf_frame_property_ = new rviz::StringProperty( "Tf Frame", "oculus",
"Name of the published tf frame.", this );
render_widget_ = new rviz::RenderWidget( rviz::RenderSystem::get() );
render_widget_->setVisible(false);
render_widget_->setWindowTitle( "Oculus View" );
render_widget_->setParent( context_->getWindowManager()->getParentWindow() );
render_widget_->setWindowFlags( Qt::Window | Qt::CustomizeWindowHint | Qt::WindowTitleHint | Qt::WindowMaximizeButtonHint );
Ogre::RenderWindow *window = render_widget_->getRenderWindow();
window->setVisible(false);
window->setAutoUpdated(false);
window->addListener(this);
scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
}
void GraphicsImpl::createScene()
{
// Set ambient light
sceneMgr->setAmbientLight(Ogre::ColourValue(0.5, 0.5, 0.5));
// Create a light
Ogre::Light* l = sceneMgr->createLight("MainLight");
l->setPosition(20,80,50);
caelumSystem = new Caelum::CaelumSystem(root, sceneMgr, Caelum::CaelumSystem::CAELUM_COMPONENTS_NONE);
try {
caelumSystem->setSkyDome(new Caelum::SkyDome(sceneMgr, caelumSystem->getCaelumCameraNode()));
} catch (Caelum::UnsupportedException& ex) {
Dout << ex.getFullDescription();
}
try {
caelumSystem->setSun(new Caelum::SphereSun(sceneMgr, caelumSystem->getCaelumCameraNode()));
} catch (Caelum::UnsupportedException& ex) {
Dout << ex.getFullDescription();
}
try {
caelumSystem->setMoon(new Caelum::Moon(sceneMgr, caelumSystem->getCaelumCameraNode()));
} catch (Caelum::UnsupportedException& ex) {
Dout << ex.getFullDescription();
}
try {
caelumSystem->setCloudSystem(new Caelum::CloudSystem(sceneMgr, caelumSystem->getCaelumGroundNode()));
} catch (Caelum::UnsupportedException& ex) {
Dout << ex.getFullDescription();
}
try {
caelumSystem->setPointStarfield(new Caelum::PointStarfield(sceneMgr, caelumSystem->getCaelumCameraNode()));
} catch (Caelum::UnsupportedException& ex) {
Dout << ex.getFullDescription();
}
// Register caelum.
// Don't make it a frame listener; update it by hand.
//Root::getSingletonPtr ()->addFrameListener (caelumSystem.get ());
caelumSystem->attachViewport(viewPort);
try {
caelumSystem->setPrecipitationController(new Caelum::PrecipitationController(sceneMgr));
} catch (Caelum::UnsupportedException& ex) {
Dout << ex.getFullDescription();
}
caelumSystem->setSceneFogDensityMultiplier(0.0015);
caelumSystem->setManageAmbientLight(true);
caelumSystem->setMinimumAmbientLight(Ogre::ColourValue(0.1, 0.1, 0.1));
// Setup sun options
if (caelumSystem->getSun()) {
// Make the sun very obvious:
//caelumSystem->getSun ()->setDiffuseMultiplier (Ogre::ColourValue (1, 10, 1));
caelumSystem->getSun()->setAutoDisableThreshold(0.05);
caelumSystem->getSun()->setAutoDisable(false);
}
if (caelumSystem->getMoon()) {
// Make the moon very obvious:
//caelumSystem->getMoon ()->setDiffuseMultiplier (Ogre::ColourValue (1, 1, 10));
caelumSystem->getMoon()->setAutoDisableThreshold(0.05);
caelumSystem->getMoon()->setAutoDisable(false);
}
if (caelumSystem->getCloudSystem()) {
try {
caelumSystem->getCloudSystem()->createLayerAtHeight(2000);
caelumSystem->getCloudSystem()->createLayerAtHeight(5000);
caelumSystem->getCloudSystem()->getLayer(0)->setCloudSpeed(Ogre::Vector2(0.000005, -0.000009));
caelumSystem->getCloudSystem()->getLayer(1)->setCloudSpeed(Ogre::Vector2(0.0000045, -0.0000085));
}
catch (Caelum::UnsupportedException& ex) {
Dout << ex.getFullDescription();
}
}
if (caelumSystem->getPrecipitationController()) {
caelumSystem->getPrecipitationController()->setIntensity(0);
}
// Set time acceleration.
//caelumSystem->getUniversalClock ()->setTimeScale (0);
// Sunrise with visible moon.
caelumSystem->getUniversalClock()->setGregorianDateTime(2007, 4, 9, 9, 33, 0);
caelumSystem->getUniversalClock()->setTimeScale(1024);
window->addListener(caelumSystem);
root->addFrameListener(caelumSystem);
}