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Commit 4227315b authored by Robert Menzel's avatar Robert Menzel
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SimpleRiftController now supports Rift SDK 0.2.5

parent 43396bef
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Showing with 61 additions and 98 deletions
include/ACGL/HardwareSupport/SimpleRiftController.hh
View file @ 4227315b
......@@ -48,7 +48,7 @@ public:
* the user has to look into at least four very different directions
* for this to work.
*/
SimpleRiftController( uint32_t _riftnumber = 0, bool _performAutomaticMagneticCalibration = true );
SimpleRiftController( uint32_t _riftnumber = 0 );
~SimpleRiftController();
///////////////////////////////////////////////////////////////////////////////////////////////////////////////
......@@ -73,15 +73,6 @@ public:
//! this can be used as an alternative to updateCamera if the attached camera should not be used.
glm::mat3 getCurrentRotation();
//! start the automatic calibration process, by default this is done in the constructor
void startMagneticCalibration();
//! delete the calibration data and work uncalibrated. A new calibration can be started if wanted
void deactivateMagneticDriftCorrection();
//! check if the calibration worked
bool magneticCalibrationDone();
//! sets the amound of seconds to predict the headmovements into the future
//! default is 0.03f, should be no more than the rendering latency!
void setPrediction( float _seconds );
......@@ -202,9 +193,8 @@ private:
OVR::Ptr<OVR::DeviceManager> mORManager;
OVR::Ptr<OVR::HMDDevice> mORDevice;
OVR::Ptr<OVR::SensorDevice> mORSensor;
OVR::SensorFusion mORSensorFusion;
OVR::HMDInfo mORHMDInfo;
OVR::Util::MagCalibration mMagneticCalibration;
OVR::SensorFusion *mORSensorFusion;
OVR::HMDInfo *mORHMDInfo;
// all rotations are relative to the one the Rift started with:
OVR::Quatf mInverseNeutralRotation; // as quaternion
......
src/ACGL/HardwareSupport/SimpleRiftController.cc
View file @ 4227315b
......@@ -12,42 +12,17 @@ using namespace ACGL::OpenGL;
using namespace std;
SimpleRiftController::SimpleRiftController( uint32_t _riftnumber, bool _performAutomaticMagneticCalibration )
SimpleRiftController::SimpleRiftController( uint32_t _riftnumber )
{
mSuccessfulConnected = false;
mDistortionScaleFactor = 1.0f;
// default values from the first devkit:
mORHMDInfo.HResolution = 1280;
mORHMDInfo.VResolution = 800;
mORHMDInfo.HScreenSize = 0.14976f;
mORHMDInfo.VScreenSize = 0.0935f;
mORHMDInfo.VScreenCenter = mORHMDInfo.VScreenSize*0.5f;
mORHMDInfo.DistortionK[0] = 1.0f;
mORHMDInfo.DistortionK[1] = 0.22f;
mORHMDInfo.DistortionK[2] = 0.24f;
mORHMDInfo.EyeToScreenDistance = 0.041f;
mORHMDInfo.ChromaAbCorrection[0] = 0.996f;
mORHMDInfo.ChromaAbCorrection[1] = -0.004f;
mORHMDInfo.ChromaAbCorrection[2] = 1.014f;
mORHMDInfo.ChromaAbCorrection[3] = 0.0f;
mORHMDInfo.LensSeparationDistance = 0.0635f;
mORHMDInfo.InterpupillaryDistance = 0.064f;
mORHMDInfo.DisplayDeviceName[0] = 0;
mUseDistortion = true;
mUseChromaticAberation = true;
mPredictionTime = -1.0f;
mFoVMultiplier = 1.0f;
mCamera = SharedHMDCamera(); // set to NULL
attachCamera( SharedHMDCamera( new HMDCamera() ) ); // attach a blank camera
// set a good default viewport:
glm::uvec2 viewport = getPhysicalScreenResolution();
mCamera->resize( viewport.x/2, viewport.y );
updateCameraFoV(); // indirectly based on the viewport
debug() << "try to connect to Oculus Rift via SDK " << OVR_VERSION_STRING << endl;
if (_riftnumber != 0) {
......@@ -56,6 +31,32 @@ SimpleRiftController::SimpleRiftController( uint32_t _riftnumber, bool _performA
System::Init( Log::ConfigureDefaultLog( LogMask_All) );
// default values from the first devkit:
mORHMDInfo = new OVR::HMDInfo();
mORHMDInfo->HResolution = 1280;
mORHMDInfo->VResolution = 800;
mORHMDInfo->HScreenSize = 0.14976f;
mORHMDInfo->VScreenSize = 0.0935f;
mORHMDInfo->VScreenCenter = mORHMDInfo->VScreenSize*0.5f;
mORHMDInfo->DistortionK[0] = 1.0f;
mORHMDInfo->DistortionK[1] = 0.22f;
mORHMDInfo->DistortionK[2] = 0.24f;
mORHMDInfo->EyeToScreenDistance = 0.041f;
mORHMDInfo->ChromaAbCorrection[0] = 0.996f;
mORHMDInfo->ChromaAbCorrection[1] = -0.004f;
mORHMDInfo->ChromaAbCorrection[2] = 1.014f;
mORHMDInfo->ChromaAbCorrection[3] = 0.0f;
mORHMDInfo->LensSeparationDistance = 0.0635f;
mORHMDInfo->InterpupillaryDistance = 0.064f;
mORHMDInfo->DisplayDeviceName[0] = 0;
mCamera = SharedHMDCamera(); // set to NULL
attachCamera( SharedHMDCamera( new HMDCamera() ) ); // attach a blank camera
// set a good default viewport:
glm::uvec2 viewport = getPhysicalScreenResolution();
mCamera->resize( viewport.x/2, viewport.y );
updateCameraFoV(); // indirectly based on the viewport
mORManager = *DeviceManager::Create();
if (!mORManager) {
error() << "could not create a Rift Device Manager" << endl;
......@@ -70,7 +71,7 @@ SimpleRiftController::SimpleRiftController( uint32_t _riftnumber, bool _performA
debug() << "found HMD" << endl;
if (!mORDevice->GetDeviceInfo( &mORHMDInfo )) {
if (!mORDevice->GetDeviceInfo( mORHMDInfo )) {
error() << "could not get HMD device info" << endl;
return;
}
......@@ -84,13 +85,10 @@ SimpleRiftController::SimpleRiftController( uint32_t _riftnumber, bool _performA
return;
}
mORSensorFusion.AttachToSensor( mORSensor );
mORSensorFusion = new OVR::SensorFusion();
mORSensorFusion->AttachToSensor( mORSensor );
mSuccessfulConnected = true;
if (_performAutomaticMagneticCalibration) {
startMagneticCalibration();
}
}
SimpleRiftController::~SimpleRiftController()
......@@ -98,35 +96,21 @@ SimpleRiftController::~SimpleRiftController()
// setting the reference counted pointers to NULL will call the object destructors:
debug() << "disconnecting from Oculus Rift..." << endl;
//mORSensorFusion->AttachToSensor( NULL );
mORSensor = NULL;
mORDevice = NULL;
mORManager = NULL;
mORSensorFusion.AttachToSensor( NULL );
delete mORHMDInfo;
delete mORSensorFusion;
System::Destroy(); // Oculus Rift
}
void SimpleRiftController::startMagneticCalibration()
{
deactivateMagneticDriftCorrection(); // in case there was an old calibration already
mMagneticCalibration.BeginAutoCalibration( mORSensorFusion );
}
bool SimpleRiftController::magneticCalibrationDone()
{
return mMagneticCalibration.IsCalibrated();
}
void SimpleRiftController::deactivateMagneticDriftCorrection()
{
mMagneticCalibration.ClearCalibration( mORSensorFusion );
}
void SimpleRiftController::setPrediction( float _seconds )
{
if ( _seconds >= 0.0f ) {
mORSensorFusion.SetPrediction( _seconds );
mORSensorFusion->SetPrediction( _seconds );
} else {
mORSensorFusion.SetPrediction( 0.0f, false );
mORSensorFusion->SetPrediction( 0.0f, false );
}
mPredictionTime = _seconds;
}
......@@ -154,12 +138,12 @@ glm::mat3 riftMatrixToGLM( const Matrix4f &_mat4 )
void SimpleRiftController::attachCamera( ACGL::Scene::SharedHMDCamera _camera )
{
mCamera = _camera;
mCamera->setInterpupillaryDistance( mORHMDInfo.InterpupillaryDistance );
mCamera->setInterpupillaryDistance( mORHMDInfo->InterpupillaryDistance );
updateCameraFoV();
float viewCenterH = mORHMDInfo.HScreenSize * 0.25f;
float eyeProjectionShift = viewCenterH - mORHMDInfo.LensSeparationDistance * 0.5f;
float offsetX = 4.0f * eyeProjectionShift / mORHMDInfo.HScreenSize;
float viewCenterH = mORHMDInfo->HScreenSize * 0.25f;
float eyeProjectionShift = viewCenterH - mORHMDInfo->LensSeparationDistance * 0.5f;
float offsetX = 4.0f * eyeProjectionShift / mORHMDInfo->HScreenSize;
mCamera->setProjectionCenterOffset( glm::vec2(offsetX, 0.0f));
mCamera->setNeckToEyeVerticalDistance( 0.12f );
......@@ -168,23 +152,12 @@ void SimpleRiftController::attachCamera( ACGL::Scene::SharedHMDCamera _camera )
glm::mat3 SimpleRiftController::getCurrentRotation()
{
// magnetic calibration:
if (mMagneticCalibration.IsAutoCalibrating()) {
mMagneticCalibration.UpdateAutoCalibration( mORSensorFusion );
if (mMagneticCalibration.IsCalibrated()) {
Vector3f mc = mMagneticCalibration.GetMagCenter();
debug() << "mag center " << mc.x << " " << mc.y << " " << mc.z << " found, enabling yaw correction" << endl;
mORSensorFusion.SetYawCorrectionEnabled( true );
}
}
// update orientation:
Quatf q;
if (mPredictionTime > 0.0f) {
q = mORSensorFusion.GetPredictedOrientation();
q = mORSensorFusion->GetPredictedOrientation();
} else {
q = mORSensorFusion.GetOrientation();
q = mORSensorFusion->GetOrientation();
}
q.Normalize();
......@@ -193,7 +166,7 @@ glm::mat3 SimpleRiftController::getCurrentRotation()
q = mInverseNeutralRotation * q;
if (mORSensorFusion.IsYawCorrectionEnabled()) {
if (mORSensorFusion->IsYawCorrectionEnabled()) {
//debug() << "yaw corrected" << endl;
}
......@@ -203,7 +176,7 @@ glm::mat3 SimpleRiftController::getCurrentRotation()
void SimpleRiftController::setNeutralPosition()
{
mInverseNeutralRotation = mORSensorFusion.GetOrientation();
mInverseNeutralRotation = mORSensorFusion->GetOrientation();
mInverseNeutralRotation.Normalize();
mInverseNeutralRotation.x *= -1.0;
mInverseNeutralRotation.y *= -1.0;
......@@ -213,7 +186,7 @@ void SimpleRiftController::setNeutralPosition()
void SimpleRiftController::setNeutralYaw()
{
mInverseNeutralRotation = OVR::Quatf();
mORSensorFusion.Reset();
mORSensorFusion->Reset();
}
void SimpleRiftController::updateCamera()
......@@ -225,8 +198,8 @@ void SimpleRiftController::updateCamera()
void SimpleRiftController::updateCameraFoV()
{
float percievedHalfRTDist = (mORHMDInfo.VScreenSize / 2) * mDistortionScaleFactor;
float vfov = 2.0f * atan( percievedHalfRTDist/mORHMDInfo.EyeToScreenDistance );
float percievedHalfRTDist = (mORHMDInfo->VScreenSize / 2) * mDistortionScaleFactor;
float vfov = 2.0f * atan( percievedHalfRTDist/mORHMDInfo->EyeToScreenDistance );
vfov = ACGL::Math::Functions::calcRadToDeg( vfov );
vfov *= mFoVMultiplier;
......@@ -239,7 +212,7 @@ void SimpleRiftController::updateCameraFoV()
glm::uvec2 SimpleRiftController::getPhysicalScreenResolution()
{
return glm::uvec2( mORHMDInfo.HResolution, mORHMDInfo.VResolution );
return glm::uvec2( mORHMDInfo->HResolution, mORHMDInfo->VResolution );
}
void SimpleRiftController::setDistortionScaleFactor( float _f ) {
......@@ -274,9 +247,9 @@ glm::vec4 SimpleRiftController::getShaderValue( int v )
// both eyes have the same aspect ratio: hals the windowsize as the image was rendered side by side
float aspectRatio = (0.5 * windowSize.x) / windowSize.y;
float lensOffset = mORHMDInfo.LensSeparationDistance * 0.5f;
float lensShift = mORHMDInfo.HScreenSize * 0.25f - lensOffset;
float lensViewportShift = 4.0f * lensShift / mORHMDInfo.HScreenSize;
float lensOffset = mORHMDInfo->LensSeparationDistance * 0.5f;
float lensShift = mORHMDInfo->HScreenSize * 0.25f - lensOffset;
float lensViewportShift = 4.0f * lensShift / mORHMDInfo->HScreenSize;
float lensViewportShiftL = lensViewportShift;
float lensViewportShiftR = -lensViewportShift;
......@@ -330,20 +303,20 @@ glm::vec4 SimpleRiftController::getScaleIn()
glm::vec4 SimpleRiftController::getHmdWarpParam()
{
glm::vec4 distortionK;
distortionK.x = mORHMDInfo.DistortionK[0];
distortionK.y = mORHMDInfo.DistortionK[1];
distortionK.z = mORHMDInfo.DistortionK[2];
distortionK.w = mORHMDInfo.DistortionK[3];
distortionK.x = mORHMDInfo->DistortionK[0];
distortionK.y = mORHMDInfo->DistortionK[1];
distortionK.z = mORHMDInfo->DistortionK[2];
distortionK.w = mORHMDInfo->DistortionK[3];
return distortionK;
}
glm::vec4 SimpleRiftController::getChromAbParam()
{
glm::vec4 chromaK;
chromaK.x = mORHMDInfo.ChromaAbCorrection[0];
chromaK.y = mORHMDInfo.ChromaAbCorrection[1];
chromaK.z = mORHMDInfo.ChromaAbCorrection[2];
chromaK.w = mORHMDInfo.ChromaAbCorrection[3];
chromaK.x = mORHMDInfo->ChromaAbCorrection[0];
chromaK.y = mORHMDInfo->ChromaAbCorrection[1];
chromaK.z = mORHMDInfo->ChromaAbCorrection[2];
chromaK.w = mORHMDInfo->ChromaAbCorrection[3];
return chromaK;
}
......
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