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Add beacon devices; 

There are 4 new devices: beacon/1 through beacon/4.  They represent
tracking reference like StemaVR base stations or Oculus cameras.
There are 4 because that's how many base stations you can have in
a single tracking setup.

Right now only OpenVR exposes poses for them.
This commit is contained in:
bjorn 2020-05-07 17:11:25 -06:00
parent 195966b964
commit 0be36da334
3 changed files with 31 additions and 9 deletions
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4
src/api/l_headset.c
View File

@ -48,6 +48,10 @@ StringEntry Devices[] = {
[DEVICE_HAND_RIGHT_FINGER_MIDDLE] = ENTRY("hand/right/finger/middle"),
[DEVICE_HAND_RIGHT_FINGER_RING] = ENTRY("hand/right/finger/ring"),
[DEVICE_HAND_RIGHT_FINGER_PINKY] = ENTRY("hand/right/finger/pinky"),
[DEVICE_BEACON_1] = ENTRY("beacon/1"),
[DEVICE_BEACON_2] = ENTRY("beacon/2"),
[DEVICE_BEACON_3] = ENTRY("beacon/3"),
[DEVICE_BEACON_4] = ENTRY("beacon/4"),
{ 0 }
};

4
src/modules/headset/headset.h
View File

@ -43,6 +43,10 @@ typedef enum {
DEVICE_HAND_RIGHT_FINGER_MIDDLE,
DEVICE_HAND_RIGHT_FINGER_RING,
DEVICE_HAND_RIGHT_FINGER_PINKY,
DEVICE_BEACON_1,
DEVICE_BEACON_2,
DEVICE_BEACON_3,
DEVICE_BEACON_4,
MAX_DEVICES
} Device;

32
src/modules/headset/openvr.c
View File

@ -75,9 +75,9 @@ static struct {
VRActionHandle_t axisActions[2][MAX_AXES];
VRActionHandle_t skeletonActions[2];
VRActionHandle_t hapticActions[2];
TrackedDevicePose_t headPose;
RenderModel_t* deviceModels[16];
RenderModel_TextureMap_t* deviceTextures[16];
TrackedDevicePose_t renderPoses[64];
RenderModel_t* deviceModels[64];
RenderModel_TextureMap_t* deviceTextures[64];
Canvas* canvas;
float* mask;
float boundsGeometry[16];
@ -287,7 +287,7 @@ static bool openvr_getViewPose(uint32_t view, float* position, float* orientatio
EVREye eye = view ? EVREye_Eye_Right : EVREye_Eye_Left;
float transform[16], offset[16];
mat4_fromMat34(transform, state.headPose.mDeviceToAbsoluteTracking.m);
mat4_fromMat34(transform, state.renderPoses[k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking.m);
mat4_multiply(transform, mat4_fromMat34(offset, state.system->GetEyeToHeadTransform(eye).m));
mat4_getPosition(transform, position);
mat4_getOrientation(transform, orientation);
@ -340,11 +340,25 @@ static bool openvr_getPose(Device device, vec3 position, quat orientation) {
// Early exit for head pose
if (device == DEVICE_HEAD) {
mat4_fromMat34(transform, state.headPose.mDeviceToAbsoluteTracking.m);
mat4_fromMat34(transform, state.renderPoses[k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking.m);
transform[13] += state.offset;
mat4_getPosition(transform, position);
mat4_getOrientation(transform, orientation);
return state.headPose.bPoseIsValid;
return state.renderPoses[k_unTrackedDeviceIndex_Hmd].bPoseIsValid;
}
if (device >= DEVICE_BEACON_1 && device <= DEVICE_BEACON_4) {
TrackedDeviceIndex_t devices[4];
ETrackedDeviceClass class = ETrackedDeviceClass_TrackedDeviceClass_TrackingReference;
uint32_t count = state.system->GetSortedTrackedDeviceIndicesOfClass(class, devices, 4, 0);
uint32_t index = device - DEVICE_BEACON_1;
if (index >= count) return false;
TrackedDevicePose_t* pose = &state.renderPoses[devices[index]];
mat4_fromMat34(transform, pose->mDeviceToAbsoluteTracking.m);
transform[13] += state.offset;
mat4_getPosition(transform, position);
mat4_getOrientation(transform, orientation);
return pose->bPoseIsValid;
}
Device hand;
@ -408,7 +422,7 @@ static bool openvr_getVelocity(Device device, vec3 velocity, vec3 angularVelocit
TrackedDevicePose_t* pose;
if (device == DEVICE_HEAD) {
pose = &state.headPose;
pose = &state.renderPoses[k_unTrackedDeviceIndex_Hmd];
} else if (device == DEVICE_HAND_LEFT || device == DEVICE_HAND_RIGHT) {
state.input->GetPoseActionData(state.poseActions[device], state.compositor->GetTrackingSpace(), 0.f, &actionData, sizeof(actionData), 0);
pose = &actionData.pose;
@ -656,7 +670,7 @@ static void openvr_renderTo(void (*callback)(void*), void* userdata) {
Camera camera = { .canvas = state.canvas };
float head[16];
mat4_fromMat34(head, state.headPose.mDeviceToAbsoluteTracking.m);
mat4_fromMat34(head, state.renderPoses[k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking.m);
for (int i = 0; i < 2; i++) {
float eye[16];
@ -687,7 +701,7 @@ static Texture* openvr_getMirrorTexture(void) {
}
static void openvr_update(float dt) {
state.compositor->WaitGetPoses(&state.headPose, 1, NULL, 0);
state.compositor->WaitGetPoses(state.renderPoses, sizeof(state.renderPoses) / sizeof(state.renderPoses[0]), NULL, 0);
VRActiveActionSet_t activeActionSet = { .ulActionSet = state.actionSet };
state.input->UpdateActionState(&activeActionSet, sizeof(activeActionSet), 1);