extern "C" RIFTAPI_API int InitRiftApi()
{
OVR::System::Init();
pManager = *DeviceManager::Create();
pHMD = *pManager->EnumerateDevices<HMDDevice>().CreateDevice();
if (!pHMD)
{
return 0 ;
}
pSensor = *pHMD->GetSensor();
// Get DisplayDeviceName, ScreenWidth/Height, etc..
pHMD->GetDeviceInfo(&hmdInfo);
if (pSensor)
{
SFusion.AttachToSensor(pSensor);
SFusion.SetPrediction(0.03f);
}
if(pSensor)
{
return 1;
}
return 0;
}
void IN_MotionSensor_Read(float &roll, float &pitch, float &yaw)
{
if (SFusion.IsAttachedToSensor()) {
float predictionDelta = in_sensorPrediction.GetFloat() * (1.0f / 1000.0f);
if (SFusion.GetPredictionDelta() != predictionDelta)
{
SFusion.SetPrediction(predictionDelta);
}
Quatf hmdOrient = SFusion.GetPredictedOrientation();
float y = 0.0f, p = 0.0f, r = 0.0f;
hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&y, &p, &r);
roll = -RADIANS_TO_DEGREES(r); // ???
pitch = -RADIANS_TO_DEGREES(p); // should be degrees down
yaw = RADIANS_TO_DEGREES(y); // should be degrees left
} else if (hasVR920Tracker && IWRGetTracking) {
LONG y=0, p=0, r=0;
if (IWRGetTracking(&y, &p, &r)==ERROR_SUCCESS) {
yaw = y * 180.0f/32767.0f;
pitch = p * -180.0f/32767.0f;
roll = r * 180.0f/32767.0f;
}
} else {
roll = angles[ROLL];
pitch = angles[PITCH];
yaw = angles[YAW];
}
}
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;
bool isPredictionEnabled = FusionResult.IsPredictionEnabled();
if (isPredictionEnabled)
quaternion = FusionResult.GetPredictedOrientation();
else
quaternion = FusionResult.GetOrientation();
quaternion.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
}
JNIEXPORT void JNICALL Java_jrift_OculusRift_pollSubsystem(JNIEnv *, jobject) {
if (!Initialized) return;
if (!pSensor) return;
quaternion = FusionResult.GetOrientation();
quaternion.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);
}
void OculusRiftService::onInit(){
// initialization(prepare varibles for data acquisition of OculusRift's sensors)
OVR::System::Init();
std::string Service_name ="";
IPv4 ip;
std::string str ="";
str = getMyIP(&ip);
if( str == "" )
{
std::cout <<"Theres been an error !" << std::endl;
}
Service_name = "SIGORS ";
Service_name += str;
// sendMsg("multiuserctr_0",Service_name);
pFusionResult = new SensorFusion();
pManager = *DeviceManager::Create();
pHMD = *pManager->EnumerateDevices<HMDDevice>().CreateDevice();
if (pHMD){
InfoLoaded = pHMD->GetDeviceInfo(&Info);
pSensor = *pHMD->GetSensor();
}
else{
pSensor = *pManager->EnumerateDevices<SensorDevice>().CreateDevice();
}
if (pSensor){
pFusionResult->AttachToSensor(pSensor);
}
}
JNIEXPORT void JNICALL Java_de_fruitfly_ovr_OculusRift__1setPredictionEnabled(JNIEnv *, jobject, jfloat delta, jboolean enable)
{
if (Initialized)
{
FusionResult.SetPrediction(delta, enable);
}
}
__declspec(dllexport) void initialize(void) {
System::Init(Log::ConfigureDefaultLog(LogMask_None));
pManager = *DeviceManager::Create();
pHMD = *pManager->EnumerateDevices<HMDDevice>().CreateDevice();
pSensor = *pHMD->GetSensor();
SFusion.AttachToSensor(pSensor);
MagCal.BeginAutoCalibration(SFusion);
}
extern "C" RIFTAPI_API int GetSensorSample()
{
SFusion.GetOrientation().GetEulerAngles<Axis_Y, Axis_X, Axis_Z, Rotate_CCW, Handed_R>(&Heading, &Pitch, &Roll);
return 1;
}
__declspec(dllexport) void update_calibration(void) {
if (MagCal.IsAutoCalibrating())
{
MagCal.UpdateAutoCalibration(SFusion);
if (MagCal.IsCalibrated())
{
SFusion.SetYawCorrectionEnabled(true);
}
}
}
JNIEXPORT jboolean JNICALL Java_de_fruitfly_ovr_OculusRift_initSubsystem(JNIEnv *env, jobject jobj)
{
Initialized = false;
System::Init();
pManager = *DeviceManager::Create();
_ipd = 0.0635f; // Default
Info.InterpupillaryDistance = _ipd;
pHMD = *pManager->EnumerateDevices<HMDDevice>().CreateDevice();
if (pHMD) {
printf("Oculus Rift Device Interface created.\n");
InfoLoaded = pHMD->GetDeviceInfo(&Info);
pSensor = *pHMD->GetSensor();
FusionResult.AttachToSensor(pSensor);
Initialized = InfoLoaded && pSensor;
printf("Oculus Rift Device Interface initialized.\n");
}
else {
printf("Unable to create Oculus Rift device interface.\n");
}
if (InfoLoaded) {
_ipd = Info.InterpupillaryDistance;
printf(" DisplayDeviceName: %s\n", Info.DisplayDeviceName);
printf(" ProductName: %s\n", Info.ProductName);
printf(" Manufacturer: %s\n", Info.Manufacturer);
printf(" Version: %s\n", Info.Version);
printf(" HResolution: %i\n", Info.HResolution);
printf(" VResolution: %i\n", Info.VResolution);
printf(" HScreenSize: %f\n", Info.HScreenSize);
printf(" VScreenSize: %f\n", Info.VScreenSize);
printf(" VScreenCenter: %f\n", Info.VScreenCenter);
printf(" EyeToScreenDistance: %f\n", Info.EyeToScreenDistance);
printf(" LensSeparationDistance: %f\n", Info.LensSeparationDistance);
printf(" InterpupillaryDistance: %f\n", Info.InterpupillaryDistance);
printf(" DistortionK[0]: %f\n", Info.DistortionK[0]);
printf(" DistortionK[1]: %f\n", Info.DistortionK[1]);
printf(" DistortionK[2]: %f\n", Info.DistortionK[2]);
printf(" DistortionK[3]: %f\n", Info.DistortionK[3]);
printf(" ChromaticAb[0]: %f\n", Info.ChromaAbCorrection[0]);
printf(" ChromaticAb[1]: %f\n", Info.ChromaAbCorrection[1]);
printf(" ChromaticAb[2]: %f\n", Info.ChromaAbCorrection[2]);
printf(" ChromaticAb[3]: %f\n", Info.ChromaAbCorrection[3]);
}
return Initialized;
}
//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
}
/** Oculus init **/
void Init()
{
System::Init();
pManager = *DeviceManager::Create();
pHMD = *pManager->EnumerateDevices<HMDDevice>().CreateDevice();
if (pHMD)
{
InfoLoaded = pHMD->GetDeviceInfo(&Info);
pSensor = *pHMD->GetSensor();
}
else
{
pSensor = *pManager->EnumerateDevices<SensorDevice>().CreateDevice();
}
if (pSensor)
{
FusionResult.AttachToSensor(pSensor);
}
}
void IN_MotionSensor_Init(void)
{
//Carl: Don't initialize has* here to false, because they can also be set by command line parameters
// *** Oculus Sensor Initialization
OVR::System::Init(OVR::Log::ConfigureDefaultLog(OVR::LogMask_All));
// Create DeviceManager and first available HMDDevice from it.
// Sensor object is created from the HMD, to ensure that it is on the
// correct device.
pManager = *DeviceManager::Create();
// We'll handle it's messages in this case.
//pManager->SetMessageHandler(this);
// Release Sensor/HMD in case this is a retry.
pSensor.Clear();
pHMD.Clear();
pHMD = *pManager->EnumerateDevices<HMDDevice>().CreateDevice();
if (pHMD)
{
pSensor = *pHMD->GetSensor();
}
else
{
// If we didn't detect an HMD, try to create the sensor directly.
// This is useful for debugging sensor interaction; it is not needed in
// a shipping app.
pSensor = *pManager->EnumerateDevices<SensorDevice>().CreateDevice();
}
if (!pHMD && !pSensor)
common->Warning("Oculus Rift not detected.\n");
else if (!pHMD)
common->Warning("Oculus Sensor detected; HMD Display not detected.\n");
else if (!pSensor)
common->Warning("Oculus HMD Display detected; Sensor not detected.\n");
//else if (HMDInfo.DisplayDeviceName[0] == '\0')
// common->Printf("Oculus Sensor detected; HMD display EDID not detected.\n");
if (pSensor)
{
SFusion.AttachToSensor(pSensor);
SFusion.SetPredictionEnabled(true);
hasOculusRift = true;
hasHMD = true;
}
if (!pSensor)
LoadVR920();
hasHMD = hasHMD || hasVR920Tracker;
//Hillcrest libfreespace stuff
LPDWORD dwThreadId=0;
struct freespace_message message;
int numIds;
int rc;
int i;
// Initialize the freespace library
rc = freespace_init();
if (rc != FREESPACE_SUCCESS) {
common->Warning("Hillcrest Initialization error. rc=%d\n", rc);
return;
}
/** --- START EXAMPLE INITIALIZATION OF DEVICE -- **/
rc = freespace_getDeviceList(&device, 1, &numIds);
if (numIds == 0) {
common->Warning("MotionSensor: Didn't find any devices.\n");
return;
}
rc = freespace_openDevice(device);
if (rc != FREESPACE_SUCCESS) {
common->Warning("MotionSensor: Error opening device: %d\n", rc);
return;
}
rc = freespace_flush(device);
if (rc != FREESPACE_SUCCESS) {
common->Warning("MotionSensor: Error flushing device: %d\n", rc);
return;
}
memset(&message, 0, sizeof(message));
message.messageType = FREESPACE_MESSAGE_DATAMODECONTROLV2REQUEST;
message.dataModeControlV2Request.packetSelect = 2;
message.dataModeControlV2Request.modeAndStatus |= 0 << 1;
rc = freespace_sendMessage(device, &message);
if (rc != FREESPACE_SUCCESS) {
common->Warning("freespaceInputThread: Could not send message: %d.\n", rc);
}
CreateThread(NULL, //Choose default security
0, //Default stack size
(LPTHREAD_START_ROUTINE)&IN_MotionSensor_Thread,
//Routine to execute
(LPVOID) &i, //Thread parameter
0, //Immediately run the thread
dwThreadId //Thread Id
);
hasHillcrest = true;
hasHMD = true;
}
__declspec(dllexport) void get_orientation(float *yaw, float *pitch, float *roll) {
Quatf hmdOrient = SFusion.GetPredictedOrientation();
hmdOrient.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(yaw, pitch, roll);
}
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;
}
}
int InputTestApp::OnStartup(int argc, const char** argv)
{
if (!pPlatform->SetupWindow(1200,800))
return 1;
pManager = *DeviceManager::Create();
// This initialization logic supports running two sensors at the same time.
DeviceEnumerator<SensorDevice> isensor = pManager->EnumerateDevices<SensorDevice>();
DeviceEnumerator<SensorDevice> oculusSensor;
DeviceEnumerator<SensorDevice> oculusSensor2;
while(isensor)
{
DeviceInfo di;
if (isensor.GetDeviceInfo(&di))
{
if (strstr(di.ProductName, "Tracker"))
{
if (!oculusSensor)
oculusSensor = isensor;
else if (!oculusSensor2)
oculusSensor2 = isensor;
}
}
isensor.Next();
}
if (oculusSensor)
{
pSensor = *oculusSensor.CreateDevice();
if (pSensor)
pSensor->SetRange(SensorRange(4 * 9.81f, 8 * Math<float>::Pi, 1.0f), true);
if (oculusSensor2)
{
// Second Oculus sensor, useful for comparing firmware behavior & settings.
pSensor2 = *oculusSensor2.CreateDevice();
if (pSensor2)
pSensor2->SetRange(SensorRange(4 * 9.81f, 8 * Math<float>::Pi, 1.0f), true);
}
}
oculusSensor.Clear();
oculusSensor2.Clear();
/*
DeviceHandle hHMD = pManager->EnumerateDevices<HMDDevice>();
HMDInfo hmdInfo;
if (hHMD)
{
hHMD.GetDeviceInfo(&hmdInfo);
}
*/
if (pSensor)
SFusion.AttachToSensor(pSensor);
if (pSensor2)
SFusion2.AttachToSensor(pSensor2);
/*
// Test rotation: This give rotations clockwise (CW) while looking from
// origin in the direction of the axis.
Vector3f xV(1,0,0);
Vector3f zV(0,0,1);
Vector3f rxV = Matrix4f::RotationZ(DegreeToRad(10.0f)).Transform(xV);
Vector3f ryV = Matrix4f::RotationY(DegreeToRad(10.0f)).Transform(xV);
Vector3f rzV = Matrix4f::RotationX(DegreeToRad(10.0f)).Transform(zV);
*/
// Report relative mouse motion (not absolute position)
// pPlatform->SetMouseMode(Mouse_Relative);
const char* graphics = "d3d10";
for (int i = 1; i < argc; i++)
if (!strcmp(argv[i], "-r") && i < argc-1)
graphics = argv[i+1];
pRender = pPlatform->SetupGraphics(OVR_DEFAULT_RENDER_DEVICE_SET, graphics,
RendererParams());
//WireframeFill = pRender->CreateSimpleFill(Fill::F_Wireframe);
// *** Rotating Box
pBox = *new Container;
pBox->Add(Ptr<Model>(
*Model::CreateAxisFaceColorBox(-2.0f, 2.0f, Color(0, 0xAA, 0), // x = green
-1.0f, 1.0f, Color(0xAA,0, 0), // y = red
-1.0f, 1.0f, Color(0, 0, 0xAA)) )); // z = blue
// Drop-down line from box, to make it easier to see differences in angle.
Ptr<Model> downLine = *new Model(Prim_Lines);
downLine->AddLine(Vertex(0.0f,-4.5f, 0.0f, 0xFFE0B0B0),
Vertex(0.0f, 0.0f, 0.0f, 0xFFE0B0B0));
pBox->Add(downLine);
Sc.World.Add(pBox);
// Secondary rotating coordinate object, if we have two values.
if (pSensor2)
{
pBox2 = *new Container;
// Drop-down line from box, to make it easier to see differences in angle.
Ptr<Model> lines = *new Model(Prim_Lines);
lines->AddLine(Vertex( 0.0f,-4.0f, 0.0f, 0xFFA07070), // -Y
Vertex( 0.0f, 0.0f, 0.0f, 0xFFA07070));
lines->AddLine(Vertex(-4.0f, 0.0f, 0.0f, 0xFF70A070), // -X
Vertex( 0.0f, 0.0f, 0.0f, 0xFF70A070));
lines->AddLine(Vertex( 0.0f, 0.0f,-4.0f, 0xFF7070A0), // -Z
Vertex( 0.0f, 0.0f, 0.0f, 0xFF7070A0));
pBox2->Add(lines);
Sc.World.Add(pBox2);
}
// *** World axis X,Y,Z rendering.
pAxes = *new Model(Prim_Lines);
pAxes->AddLine(Vertex(-8.0f, 0.0f, 0.0f, 0xFF40FF40),
Vertex( 8.0f, 0.0f, 0.0f, 0xFF40FF40)); // X
pAxes->AddLine(Vertex( 7.6f, 0.4f, 0.4f, 0xFF40FF40),
Vertex( 8.0f, 0.0f, 0.0f, 0xFF40FF40)); // X - arrow
pAxes->AddLine(Vertex( 7.6f,-0.4f,-0.4f, 0xFF40FF40),
Vertex( 8.0f, 0.0f, 0.0f, 0xFF40FF40)); // X - arrow
pAxes->AddLine(Vertex( 0.0f,-8.0f, 0.0f, 0xFFFF4040),
Vertex( 0.0f, 8.0f, 0.0f, 0xFFFF4040)); // Y
pAxes->AddLine(Vertex( 0.4f, 7.6f, 0.0f, 0xFFFF4040),
Vertex( 0.0f, 8.0f, 0.0f, 0xFFFF4040)); // Y - arrow
pAxes->AddLine(Vertex(-0.4f, 7.6f, 0.0f, 0xFFFF4040),
Vertex( 0.0f, 8.0f, 0.0f, 0xFFFF4040)); // Y
pAxes->AddLine(Vertex( 0.0f, 0.0f,-8.0f, 0xFF4040FF),
Vertex( 0.0f, 0.0f, 8.0f, 0xFF4040FF)); // Z
pAxes->AddLine(Vertex( 0.4f, 0.0f, 7.6f, 0xFF4040FF),
Vertex( 0.0f, 0.0f, 8.0f, 0xFF4040FF)); // Z - arrow
pAxes->AddLine(Vertex(-0.4f, 0.0f, 7.6f, 0xFF4040FF),
Vertex( 0.0f, 0.0f, 8.0f, 0xFF4040FF)); // Z - arrow
Sc.World.Add(pAxes);
SetView(CurrentView);
LastUpdate = pPlatform->GetAppTime();
return 0;
}
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);
}
}
extern "C" RIFTAPI_API bool ResetRift()
{
SFusion.Reset();
return true;
}