VRHMDSensorState
HMDInfoCardboard::GetSensorState()
{
// Actual sensor state is calculated on the main thread,
// within VRDeviceProxyOrientationFallBack
VRHMDSensorState result;
result.Clear();
return result;
}
VRHMDSensorState
VRDisplayOpenVR::GetSensorState(double timeOffset)
{
{
::vr::VREvent_t event;
while (mVRSystem->PollNextEvent(&event, sizeof(event))) {
// ignore
}
}
::vr::TrackedDevicePose_t poses[::vr::k_unMaxTrackedDeviceCount];
// Note: We *must* call WaitGetPoses in order for any rendering to happen at all
mVRCompositor->WaitGetPoses(poses, ::vr::k_unMaxTrackedDeviceCount, nullptr, 0);
VRHMDSensorState result;
result.Clear();
result.timestamp = PR_Now();
if (poses[::vr::k_unTrackedDeviceIndex_Hmd].bDeviceIsConnected &&
poses[::vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid &&
poses[::vr::k_unTrackedDeviceIndex_Hmd].eTrackingResult == ::vr::TrackingResult_Running_OK)
{
const ::vr::TrackedDevicePose_t& pose = poses[::vr::k_unTrackedDeviceIndex_Hmd];
gfx::Matrix4x4 m;
// NOTE! mDeviceToAbsoluteTracking is a 3x4 matrix, not 4x4. But
// because of its arrangement, we can copy the 12 elements in and
// then transpose them to the right place. We do this so we can
// pull out a Quaternion.
memcpy(&m._11, &pose.mDeviceToAbsoluteTracking, sizeof(float) * 12);
m.Transpose();
gfx::Quaternion rot;
rot.SetFromRotationMatrix(m);
rot.Invert();
result.flags |= VRDisplayCapabilityFlags::Cap_Orientation;
result.orientation[0] = rot.x;
result.orientation[1] = rot.y;
result.orientation[2] = rot.z;
result.orientation[3] = rot.w;
result.angularVelocity[0] = pose.vAngularVelocity.v[0];
result.angularVelocity[1] = pose.vAngularVelocity.v[1];
result.angularVelocity[2] = pose.vAngularVelocity.v[2];
result.flags |= VRDisplayCapabilityFlags::Cap_Position;
result.position[0] = m._41;
result.position[1] = m._42;
result.position[2] = m._43;
result.linearVelocity[0] = pose.vVelocity.v[0];
result.linearVelocity[1] = pose.vVelocity.v[1];
result.linearVelocity[2] = pose.vVelocity.v[2];
}
return result;
}
VRHMDSensorState
VRDisplayOculus::GetSensorState(double timeOffset)
{
VRHMDSensorState result;
result.Clear();
ovrTrackingState state = ovr_GetTrackingState(mSession, timeOffset, true);
ovrPoseStatef& pose(state.HeadPose);
result.timestamp = pose.TimeInSeconds;
if (state.StatusFlags & ovrStatus_OrientationTracked) {
result.flags |= VRDisplayCapabilityFlags::Cap_Orientation;
result.orientation[0] = pose.ThePose.Orientation.x;
result.orientation[1] = pose.ThePose.Orientation.y;
result.orientation[2] = pose.ThePose.Orientation.z;
result.orientation[3] = pose.ThePose.Orientation.w;
result.angularVelocity[0] = pose.AngularVelocity.x;
result.angularVelocity[1] = pose.AngularVelocity.y;
result.angularVelocity[2] = pose.AngularVelocity.z;
result.flags |= VRDisplayCapabilityFlags::Cap_AngularAcceleration;
result.angularAcceleration[0] = pose.AngularAcceleration.x;
result.angularAcceleration[1] = pose.AngularAcceleration.y;
result.angularAcceleration[2] = pose.AngularAcceleration.z;
}
if (state.StatusFlags & ovrStatus_PositionTracked) {
result.flags |= VRDisplayCapabilityFlags::Cap_Position;
result.position[0] = pose.ThePose.Position.x;
result.position[1] = pose.ThePose.Position.y;
result.position[2] = pose.ThePose.Position.z;
result.linearVelocity[0] = pose.LinearVelocity.x;
result.linearVelocity[1] = pose.LinearVelocity.y;
result.linearVelocity[2] = pose.LinearVelocity.z;
result.flags |= VRDisplayCapabilityFlags::Cap_LinearAcceleration;
result.linearAcceleration[0] = pose.LinearAcceleration.x;
result.linearAcceleration[1] = pose.LinearAcceleration.y;
result.linearAcceleration[2] = pose.LinearAcceleration.z;
}
result.flags |= VRDisplayCapabilityFlags::Cap_External;
result.flags |= VRDisplayCapabilityFlags::Cap_Present;
return result;
}
VRHMDSensorState
HMDInfoOculus::GetSensorState(double timeOffset)
{
VRHMDSensorState result;
result.Clear();
// XXX this is the wrong time base for timeOffset; we need to figure out how to synchronize
// the Oculus time base and the browser one.
ovrTrackingState state = ovr_GetTrackingState(mSession, ovr_GetTimeInSeconds() + timeOffset, true);
ovrPoseStatef& pose(state.HeadPose);
result.timestamp = pose.TimeInSeconds;
if (state.StatusFlags & ovrStatus_OrientationTracked) {
result.flags |= VRStateValidFlags::State_Orientation;
result.orientation[0] = pose.ThePose.Orientation.x;
result.orientation[1] = pose.ThePose.Orientation.y;
result.orientation[2] = pose.ThePose.Orientation.z;
result.orientation[3] = pose.ThePose.Orientation.w;
result.angularVelocity[0] = pose.AngularVelocity.x;
result.angularVelocity[1] = pose.AngularVelocity.y;
result.angularVelocity[2] = pose.AngularVelocity.z;
result.angularAcceleration[0] = pose.AngularAcceleration.x;
result.angularAcceleration[1] = pose.AngularAcceleration.y;
result.angularAcceleration[2] = pose.AngularAcceleration.z;
}
if (state.StatusFlags & ovrStatus_PositionTracked) {
result.flags |= VRStateValidFlags::State_Position;
result.position[0] = pose.ThePose.Position.x;
result.position[1] = pose.ThePose.Position.y;
result.position[2] = pose.ThePose.Position.z;
result.linearVelocity[0] = pose.LinearVelocity.x;
result.linearVelocity[1] = pose.LinearVelocity.y;
result.linearVelocity[2] = pose.LinearVelocity.z;
result.linearAcceleration[0] = pose.LinearAcceleration.x;
result.linearAcceleration[1] = pose.LinearAcceleration.y;
result.linearAcceleration[2] = pose.LinearAcceleration.z;
}
mLastTrackingState = state;
return result;
}
VRHMDSensorState
VRDisplayOSVR::GetSensorState()
{
//update client context before anything
//this usually goes into app's mainloop
osvr_ClientUpdate(*m_ctx);
VRHMDSensorState result;
OSVR_TimeValue timestamp;
result.Clear();
OSVR_OrientationState orientation;
OSVR_ReturnCode ret =
osvr_GetOrientationState(*m_iface, ×tamp, &orientation);
result.timestamp = timestamp.seconds;
if (ret == OSVR_RETURN_SUCCESS) {
result.flags |= VRDisplayCapabilityFlags::Cap_Orientation;
result.orientation[0] = orientation.data[1];
result.orientation[1] = orientation.data[2];
result.orientation[2] = orientation.data[3];
result.orientation[3] = orientation.data[0];
}
OSVR_PositionState position;
ret = osvr_GetPositionState(*m_iface, ×tamp, &position);
if (ret == OSVR_RETURN_SUCCESS) {
result.flags |= VRDisplayCapabilityFlags::Cap_Position;
result.position[0] = position.data[0];
result.position[1] = position.data[1];
result.position[2] = position.data[2];
}
return result;
}
