void RiftRenderer::UpdateDeviceRotation()
{
if (pSensor) {
OVR::Quatf hmdOrient = SFusion->GetOrientation();
OVR::Vector3f x_vec = hmdOrient.Rotate(OVR::Vector3f(1, 0, 0));
OVR::Vector3f y_vec = hmdOrient.Rotate(OVR::Vector3f(0, 1, 0));
OVR::Vector3f z_vec = hmdOrient.Rotate(OVR::Vector3f(0, 0, -1)); //OpenGL - forward is along negative z-axis
right = QVector3D(x_vec.x, x_vec.y, x_vec.z);
up = QVector3D(y_vec.x, y_vec.y, y_vec.z);
forward = QVector3D(z_vec.x, z_vec.y, z_vec.z);
}
else { //otherwise we apply no extra rotation (identity)
right = QVector3D(1, 0, 0);
up = QVector3D(0, 1, 0);
forward = QVector3D(0, 0, -1);
}
}
OVR_PUBLIC_FUNCTION(ovrTrackerPose) ovr_GetTrackerPose(ovrSession session, unsigned int trackerPoseIndex)
{
ovrTrackerPose pose = { 0 };
// Get the index for this tracker.
vr::TrackedDeviceIndex_t trackers[vr::k_unMaxTrackedDeviceCount];
g_VRSystem->GetSortedTrackedDeviceIndicesOfClass(vr::TrackedDeviceClass_TrackingReference, trackers, vr::k_unMaxTrackedDeviceCount);
vr::TrackedDeviceIndex_t index = trackers[trackerPoseIndex];
// Set the flags
pose.TrackerFlags = 0;
if (session->poses[index].bDeviceIsConnected)
pose.TrackerFlags |= ovrTracker_Connected;
if (session->poses[index].bPoseIsValid)
pose.TrackerFlags |= ovrTracker_PoseTracked;
// Convert the pose
OVR::Matrix4f matrix;
if (session->poses[index].bPoseIsValid)
matrix = REV_HmdMatrixToOVRMatrix(session->poses[index].mDeviceToAbsoluteTracking);
OVR::Quatf quat = OVR::Quatf(matrix);
pose.Pose.Orientation = quat;
pose.Pose.Position = matrix.GetTranslation();
// Level the pose
float yaw;
quat.GetYawPitchRoll(&yaw, nullptr, nullptr);
pose.LeveledPose.Orientation = OVR::Quatf(OVR::Axis_Y, yaw);
pose.LeveledPose.Position = matrix.GetTranslation();
return pose;
}
gua::math::mat4 const get_oculus_transform(OVR::SensorFusion* sensor) {
OVR::Quatf orient = sensor->GetPredictedOrientation();
OVR::Matrix4f mat(orient.Inverted());
return gua::math::mat4( mat.M[0][0], mat.M[0][1], mat.M[0][2], mat.M[0][3],
mat.M[1][0], mat.M[1][1], mat.M[1][2], mat.M[1][3],
mat.M[2][0], mat.M[2][1], mat.M[2][2], mat.M[2][3],
mat.M[3][0], mat.M[3][1], mat.M[3][2], mat.M[3][3]);
}
mat4 OVR_SDL2_app::view() const
{
// Orientation of the head
OVR::Quatf q = OVR::Quatf(pose[eye].Orientation);
mat4 O = getMatrix4f(OVR::Matrix4f(q.Inverted()));
// Offset of the head from the center of the world
mat4 P = translation(vec3(-pose[eye].Position.x,
-pose[eye].Position.y,
-pose[eye].Position.z));
// return E * O * P;
return O * P;
}
void OculusHMD::prepareForDraw()
{
OVR::Quatf ovrQuat = m_system->SFusion.GetOrientation();
OVR::Vector3f OVRaxis;
float angle;
ovrQuat.GetAxisAngle(&OVRaxis, &angle);
glm::vec3 axis =glm::vec3(OVRaxis.x, OVRaxis.y, OVRaxis.z);
glm::quat orientation = glm::angleAxis(glm::degrees(angle), glm::normalize(axis));
glm::vec3 parentPos = glm::vec3(parentNode()->worldTransform() * glm::vec4(0,0,0,1));
m_boneTracker->setOrientation(glm::mat3_cast(orientation));
RenderToTextureDisplay::prepareForDraw();
}
glm::quat fromOVR( OVR::Quatf quat )
{
OVR::Vector3f OVRaxis;
float angle;
quat.GetAxisAngle(&OVRaxis, &angle);
//convert axis type
glm::vec3 axis = glm::vec3(OVRaxis.x, OVRaxis.y, OVRaxis.z);
//construct glm orientation quaternion
glm::quat orientation = glm::angleAxis(glm::degrees(angle), glm::normalize(axis));
return orientation;
}
///@todo Even though this function shares most of its code with client rendering,
/// which appears to work fine, it is non-convergable. It appears that the projection
/// matrices for each eye are too far apart? Could be modelview...
void RiftAppSkeleton::display_stereo_undistorted() //const
{
ovrHmd hmd = m_Hmd;
if (hmd == NULL)
return;
//ovrFrameTiming hmdFrameTiming =
ovrHmd_BeginFrameTiming(hmd, 0);
bindFBO(m_renderBuffer, m_fboScale);
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
for (int eyeIndex = 0; eyeIndex < ovrEye_Count; eyeIndex++)
{
ovrEyeType eye = hmd->EyeRenderOrder[eyeIndex];
ovrPosef eyePose = ovrHmd_GetEyePose(hmd, eye);
const ovrGLTexture& otex = l_EyeTexture[eye];
const ovrRecti& rvp = otex.OGL.Header.RenderViewport;
const ovrRecti rsc = {
static_cast<int>(m_fboScale * rvp.Pos.x),
static_cast<int>(m_fboScale * rvp.Pos.y),
static_cast<int>(m_fboScale * rvp.Size.w),
static_cast<int>(m_fboScale * rvp.Size.h)
};
glViewport(rsc.Pos.x, rsc.Pos.y, rsc.Size.w, rsc.Size.h);
OVR::Quatf orientation = OVR::Quatf(eyePose.Orientation);
OVR::Matrix4f proj = ovrMatrix4f_Projection(
m_EyeRenderDesc[eye].Fov,
0.01f, 10000.0f, true);
//m_EyeRenderDesc[eye].DistortedViewport;
OVR::Vector3f EyePos = m_chassisPos;
OVR::Matrix4f view = OVR::Matrix4f(orientation.Inverted())
* OVR::Matrix4f::RotationY(m_chassisYaw)
* OVR::Matrix4f::Translation(-EyePos);
OVR::Matrix4f eyeview = OVR::Matrix4f::Translation(m_EyeRenderDesc[eye].ViewAdjust) * view;
_resetGLState();
_DrawScenes(&eyeview.Transposed().M[0][0], &proj.Transposed().M[0][0], rvp);
}
unbindFBO();
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_DEPTH_TEST);
glDisable(GL_CULL_FACE);
// Present FBO to screen
const GLuint prog = m_presentFbo.prog();
glUseProgram(prog);
m_presentFbo.bindVAO();
{
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, m_renderBuffer.tex);
glUniform1i(m_presentFbo.GetUniLoc("fboTex"), 0);
// This is the only uniform that changes per-frame
glUniform1f(m_presentFbo.GetUniLoc("fboScale"), m_fboScale);
glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
}
glBindVertexArray(0);
glUseProgram(0);
ovrHmd_EndFrameTiming(hmd);
}