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driver_openhmd.cpp
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driver_openhmd.cpp
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//============ Copyright (c) Valve Corporation, All rights reserved. ============
#include "ohmd_config.h" // which hmds and trackers to use
#include <openvr_driver.h>
#include "driverlog.h"
#include <assert.h>
#include <vector>
#include <thread>
#include <chrono>
#include <cstring>
#include <sstream>
#if defined( _WINDOWS )
#include <windows.h>
#endif
#include <openhmd.h>
#define _USE_MATH_DEFINES
#include <math.h>
#include <stdio.h>
using namespace vr;
#if defined(_WIN32)
#define HMD_DLL_EXPORT extern "C" __declspec( dllexport )
#define HMD_DLL_IMPORT extern "C" __declspec( dllimport )
#elif defined(__GNUC__) || defined(COMPILER_GCC) || defined(__APPLE__)
#define HMD_DLL_EXPORT extern "C" __attribute__((visibility("default")))
#define HMD_DLL_IMPORT extern "C"
#else
#error "Unsupported Platform."
#endif
ohmd_context* ctx;
class COpenHMDDeviceDriverController;
// gets float values from the device and prints them
void print_infof(ohmd_device* hmd, const char* name, int len, ohmd_float_value val)
{
float f[20];
assert (len <= 20);
ohmd_device_getf(hmd, val, f);
printf("%-25s", name);
for(int i = 0; i < len; i++)
printf("%f ", f[i]);
printf("\n");
}
// gets int values from the device and prints them
void print_infoi(ohmd_device* hmd, const char* name, int len, ohmd_int_value val)
{
int iv[20];
assert (len <= 20);
ohmd_device_geti(hmd, val, iv);
printf("%-25s", name);
for(int i = 0; i < len; i++)
printf("%d ", iv[i]);
printf("\n");
}
// keys for use with the settings API
static const char * const k_pch_Sample_Section = "driver_openhmd";
static const char * const k_pch_Sample_SecondsFromVsyncToPhotons_Float = "secondsFromVsyncToPhotons";
static const char * const k_pch_Sample_DisplayFrequency_Float = "displayFrequency";
HmdQuaternion_t identityquat{ 1, 0, 0, 0};
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
class CWatchdogDriver_OpenHMD : public IVRWatchdogProvider
{
public:
CWatchdogDriver_OpenHMD()
{
DriverLog("Created watchdog object\n");
m_pWatchdogThread = nullptr;
}
virtual ~CWatchdogDriver_OpenHMD() {}
virtual EVRInitError Init( vr::IVRDriverContext *pDriverContext ) ;
virtual void Cleanup() ;
private:
std::thread *m_pWatchdogThread;
};
CWatchdogDriver_OpenHMD g_watchdogDriverOpenHMD;
bool g_bExiting = false;
void WatchdogThreadFunction( )
{
while ( !g_bExiting )
{
#if defined( _WINDOWS )
// on windows send the event when the Y key is pressed.
if ( (0x01 & GetAsyncKeyState( 'Y' )) != 0 )
{
// Y key was pressed.
vr::VRWatchdogHost()->WatchdogWakeUp(vr::TrackedDeviceClass_HMD);
}
std::this_thread::sleep_for( std::chrono::microseconds( 500 ) );
#else
DriverLog("Watchdog wakeup\n");
// for the other platforms, just send one every five seconds
std::this_thread::sleep_for( std::chrono::seconds( 1 ) );
vr::VRWatchdogHost()->WatchdogWakeUp(vr::TrackedDeviceClass_HMD);
#endif
}
DriverLog("Watchdog exit\n");
}
EVRInitError CWatchdogDriver_OpenHMD::Init( vr::IVRDriverContext *pDriverContext )
{
VR_INIT_WATCHDOG_DRIVER_CONTEXT( pDriverContext );
InitDriverLog( vr::VRDriverLog() );
// Watchdog mode on Windows starts a thread that listens for the 'Y' key on the keyboard to
// be pressed. A real driver should wait for a system button event or something else from the
// the hardware that signals that the VR system should start up.
g_bExiting = false;
DriverLog("starting watchdog thread\n");
m_pWatchdogThread = new std::thread( WatchdogThreadFunction );
if ( !m_pWatchdogThread )
{
DriverLog( "Unable to create watchdog thread\n");
return VRInitError_Driver_Failed;
}
return VRInitError_None;
}
void CWatchdogDriver_OpenHMD::Cleanup()
{
g_bExiting = true;
if ( m_pWatchdogThread )
{
m_pWatchdogThread->join();
delete m_pWatchdogThread;
m_pWatchdogThread = nullptr;
}
CleanupDriverLog();
}
class COpenHMDDeviceDriverController : public vr::ITrackedDeviceServerDriver /*, public vr::IVRControllerComponent */ {
public:
int index;
ohmd_device* device;
int device_idx;
int device_flags;
DriverPose_t pose;
bool m_is_oculus;
COpenHMDDeviceDriverController(int index, ohmd_device* _device, int _device_idx) :
index(index), device(_device), device_idx(_device_idx) {
DriverLog("construct controller object %d (OpenHMD device %d)\n", index, device_idx);
m_unObjectId = vr::k_unTrackedDeviceIndexInvalid;
pose = { 0 };
if (strcmp(ohmd_list_gets(ctx, device_idx, OHMD_VENDOR), "Oculus VR, Inc.") == 0) {
m_is_oculus = true;
DriverLog("detected oculus controllers, using oculus input profile");
}
}
virtual ~COpenHMDDeviceDriverController() {}
EVRInitError Activate( vr::TrackedDeviceIndex_t unObjectId )
{
DriverLog("activate controller %d: %d\n", index, unObjectId);
m_unObjectId = unObjectId;
if (this->device == NULL) {
return VRInitError_Init_InterfaceNotFound;
}
m_ulPropertyContainer = vr::VRProperties()->TrackedDeviceToPropertyContainer( m_unObjectId );
const char *controllerModel = ohmd_list_gets(ctx, device_idx, OHMD_PRODUCT);
ohmd_list_geti(ctx, device_idx, OHMD_DEVICE_FLAGS, &device_flags);
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_ModelNumber_String, controllerModel);
//vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_RenderModelName_String, controllerModel);
//vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_ModelNumber_String, "1" );
if (m_is_oculus) {
// steamapps/common/SteamVR/drivers/oculus/resources/input/touch_profile.json -> "controller_type": "oculus_touch"
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_ControllerType_String, "oculus_touch" );
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_InputProfilePath_String, "{oculus}/input/touch_profile.json" );
if (device_flags & OHMD_DEVICE_FLAGS_LEFT_CONTROLLER) {
// steamapps/common/SteamVR/resources/rendermodels/oculus_cv1_controller_left
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_RenderModelName_String, "oculus_cv1_controller_left");
} else if (device_flags & OHMD_DEVICE_FLAGS_RIGHT_CONTROLLER) {
// steamapps/common/SteamVR/resources/rendermodels/oculus_cv1_controller_right
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_RenderModelName_String, "oculus_cv1_controller_right");
}
} else {
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_ControllerType_String, "openhmd_controller" );
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_InputProfilePath_String, "{openhmd}/input/openhmd_controller_profile.json" );
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_RenderModelName_String, "vr_controller_vive_1_5");
}
// return a constant that's not 0 (invalid) or 1 (reserved for Oculus)
vr::VRProperties()->SetUint64Property( m_ulPropertyContainer, Prop_CurrentUniverseId_Uint64, 2 );
vr::VRProperties()->SetInt32Property(m_ulPropertyContainer, Prop_DeviceClass_Int32, vr::TrackedDeviceClass_Controller);
// avoid "not fullscreen" warnings from vrmonitor
vr::VRProperties()->SetBoolProperty( m_ulPropertyContainer, Prop_IsOnDesktop_Bool, false );
if (device_flags & OHMD_DEVICE_FLAGS_LEFT_CONTROLLER) {
DriverLog("Left Controller\n");
vr::VRProperties()->SetInt32Property( m_ulPropertyContainer, Prop_ControllerRoleHint_Int32, TrackedControllerRole_LeftHand);
// Set an initial position down and to the left, which will be
// used if there's no positional tracking
pose.vecPosition[0] = -0.25;
pose.vecPosition[1] = -0.5;
pose.vecPosition[2] = 0.15;
} else {
DriverLog("Right Controller\n");
vr::VRProperties()->SetInt32Property( m_ulPropertyContainer, Prop_ControllerRoleHint_Int32, TrackedControllerRole_RightHand);
pose.vecPosition[0] = 0.25;
pose.vecPosition[1] = -0.5;
pose.vecPosition[2] = 0.15;
}
int control_count;
ohmd_device_geti(device, OHMD_CONTROL_COUNT, &control_count);
if (control_count > 64)
control_count = 64;
const char* controls_fn_str[] = { "generic", "trigger", "trigger_click", "squeeze", "menu", "home",
"analog-x", "analog-y", "anlog_press", "button-a", "button-b", "button-x", "button-y",
"volume-up", "volume-down", "mic-mute"};
const char* controls_type_str[] = {"digital", "analog"};
int controls_fn[64];
int controls_types[64];
ohmd_device_geti(device, OHMD_CONTROLS_HINTS, controls_fn);
ohmd_device_geti(device, OHMD_CONTROLS_TYPES, controls_types);
for(int i = 0; i < control_count; i++){
DriverLog("%s (%s)%s\n", controls_fn_str[controls_fn[i]], controls_type_str[controls_types[i]], i == control_count - 1 ? "" : ", ");
const char *control_map = NULL, *touch_map = NULL;
EVRScalarUnits analog_type = VRScalarUnits_NormalizedOneSided;
m_buttons[i] = k_ulInvalidInputComponentHandle;
m_analogControls[i] = k_ulInvalidInputComponentHandle;
m_touchControls[i] = k_ulInvalidInputComponentHandle;
// TODO: inputs match steamapps/common/SteamVR/drivers/oculus/resources/input/touch_profile.json
// but also support other controllers
switch (controls_fn[i]) {
case OHMD_GENERIC:
control_map = "/input/generic/click";
break;
case OHMD_TRIGGER:
control_map = "/input/trigger/value";
break;
case OHMD_TRIGGER_CLICK:
control_map = "/input/trigger/click";
break;
case OHMD_SQUEEZE:
control_map = "/input/grip/value";
break;
case OHMD_MENU:
control_map = "/input/system/click";
break;
case OHMD_HOME:
// TODO: this button doesn't have an input in touch_profile.json
control_map = "/input/system/click";
break;
case OHMD_ANALOG_X:
control_map = "/input/joystick/x";
analog_type = VRScalarUnits_NormalizedTwoSided;
break;
case OHMD_ANALOG_Y:
control_map = "/input/joystick/y";
analog_type = VRScalarUnits_NormalizedTwoSided;
break;
case OHMD_ANALOG_PRESS:
control_map = "/input/joystick/click";
break;
case OHMD_BUTTON_A:
control_map = "/input/a/click";
touch_map = "/input/a/touch";
break;
case OHMD_BUTTON_B:
control_map = "/input/b/click";
touch_map = "/input/b/touch";
break;
case OHMD_BUTTON_X:
control_map = "/input/x/click";
touch_map = "/input/x/touch";
break;
case OHMD_BUTTON_Y:
control_map = "/input/y/click";
touch_map = "/input/y/touch";
break;
default:
break;
}
/* We fall through here for generic buttons */
if (control_map != NULL) {
if (controls_types[i] == OHMD_DIGITAL) {
vr::VRDriverInput()->CreateBooleanComponent( m_ulPropertyContainer, control_map, m_buttons + i);
}
else {
vr::VRDriverInput()->CreateScalarComponent( m_ulPropertyContainer, control_map, m_analogControls + i, VRScalarType_Absolute, analog_type);
}
}
if (touch_map != NULL) {
vr::VRDriverInput()->CreateScalarComponent( m_ulPropertyContainer, touch_map, m_touchControls + i, VRScalarType_Absolute, analog_type);
}
}
return VRInitError_None;
}
void Deactivate()
{
DriverLog("deactivate controller\n");
m_unObjectId = vr::k_unTrackedDeviceIndexInvalid;
}
void EnterStandby()
{
DriverLog("standby controller\n");
}
void *GetComponent( const char *pchComponentNameAndVersion )
{
DriverLog("get controller component %s | %s ", pchComponentNameAndVersion, /*vr::IVRControllerComponent_Version*/ "<nothing>");
if (!strcmp(pchComponentNameAndVersion, /*vr::IVRControllerComponent_Version*/ "<nothing>"))
{
DriverLog(": yes\n");
return NULL;//(vr::IVRControllerComponent*)this;
}
DriverLog(": no\n");
return NULL;
}
/** debug request from a client */
void DebugRequest( const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize )
{
if( unResponseBufferSize >= 1 )
pchResponseBuffer[0] = 0;
}
DriverPose_t GetPose()
{
pose.poseIsValid = true;
pose.result = TrackingResult_Running_OK;
pose.deviceIsConnected = true;
if (device_flags & OHMD_DEVICE_FLAGS_ROTATIONAL_TRACKING) {
float quat[4];
ohmd_device_getf(device, OHMD_ROTATION_QUAT, quat);
pose.qRotation.x = quat[0];
pose.qRotation.y = quat[1];
pose.qRotation.z = quat[2];
pose.qRotation.w = quat[3];
}
if (device_flags & OHMD_DEVICE_FLAGS_POSITIONAL_TRACKING) {
float pos[3];
ohmd_device_getf(device, OHMD_POSITION_VECTOR, pos);
pose.vecPosition[0] = pos[0];
pose.vecPosition[1] = pos[1];
pose.vecPosition[2] = pos[2];
}
// DriverLog("get controller %d pose %f %f %f %f, %f %f %f\n", index, quat[0], quat[1], quat[2], quat[3], pos[0], pos[1], pos[2]);
for (int i = 0; i < 3; i++) {
pose.vecDriverFromHeadTranslation[i] = 0.0;
pose.vecWorldFromDriverTranslation[i] = 0.0;
}
if (m_is_oculus) {
const HmdQuaternion_t oculusOffsetQ = { 0.966, 0.259, 0, 0};
pose.qDriverFromHeadRotation = oculusOffsetQ;
pose.qWorldFromDriverRotation = identityquat;
pose.vecDriverFromHeadTranslation[2] = 0.08;
}
else {
pose.qDriverFromHeadRotation = identityquat;
pose.qWorldFromDriverRotation = identityquat;
}
return pose;
}
void RunFrame() {
vr::VRServerDriverHost()->TrackedDevicePoseUpdated(m_unObjectId, GetPose(), sizeof( DriverPose_t ) );
int control_count;
float control_state[256];
ohmd_device_geti(device, OHMD_CONTROL_COUNT, &control_count);
if (control_count > 64)
control_count = 64;
ohmd_device_getf(device, OHMD_CONTROLS_STATE, control_state);
for (int i = 0; i < control_count; i++) {
if (m_buttons[i] != k_ulInvalidInputComponentHandle) {
vr::VRDriverInput()->UpdateBooleanComponent( m_buttons[i], control_state[i] != 0, 0 );
}
else if (m_analogControls[i] != k_ulInvalidInputComponentHandle)
vr::VRDriverInput()->UpdateScalarComponent( m_analogControls[i], control_state[i], 0 );
/* If the control is not 0, mark it touched */
if (m_touchControls[i] != k_ulInvalidInputComponentHandle) {
vr::VRDriverInput()->UpdateScalarComponent( m_touchControls[i], control_state[i] == 0 ? 0.0 : 1.0, 0 );
}
}
}
VRControllerState_t controllerstate;
VRControllerState_t GetControllerState() {
DriverLog("get controller state\n");
//return controllerstate;
controllerstate.unPacketNum = controllerstate.unPacketNum + 1;
//TODO: buttons
//TODO: nolo says when a button was pressed a button was also touched. is that so?
controllerstate.ulButtonTouched |= controllerstate.ulButtonPressed;
//uint64_t ulChangedTouched = controllerstate.ulButtonTouched ^ controllerstate.ulButtonTouched;
//uint64_t ulChangedPressed = controllerstate.ulButtonPressed ^ controllerstate.ulButtonPressed;
return controllerstate;
}
bool TriggerHapticPulse( uint32_t unAxisId, uint16_t usPulseDurationMicroseconds ) {
return false;
}
std::string GetSerialNumber() const {
DriverLog("get controller serial number %s\n", m_sSerialNumber.c_str());
return m_sSerialNumber;
}
private:
std::string m_sSerialNumber = "Controller serial number " + std::to_string(index);
std::string m_sModelNumber = "Controller model number " + std::to_string(index);
vr::TrackedDeviceIndex_t m_unObjectId;
vr::PropertyContainerHandle_t m_ulPropertyContainer;
/* Generic button controls */
vr::VRInputComponentHandle_t m_buttons[64]; /* Maximum components we support */
/* Analog controls */
vr::VRInputComponentHandle_t m_analogControls[64]; /* Maximum components we support */
/* Touch controls */
vr::VRInputComponentHandle_t m_touchControls[64]; /* Maximum components we support */
};
class COpenHMDDeviceDriver final : public vr::ITrackedDeviceServerDriver, public vr::IVRDisplayComponent
{
public:
COpenHMDDeviceDriver(int hmddisplay_idx, int hmdtracker_idx)
{
hmd = ohmd_list_open_device(ctx, hmddisplay_idx);
if (hmdtracker_idx != -1 && hmdtracker_idx != hmddisplay_idx)
hmdtracker = ohmd_list_open_device(ctx, hmdtracker_idx);
else
hmdtracker = NULL;
if(!hmd){
DriverLog("failed to open device: %s\n", ohmd_ctx_get_error(ctx));
}
int ivals[2];
ohmd_device_geti(hmd, OHMD_SCREEN_HORIZONTAL_RESOLUTION, ivals);
ohmd_device_geti(hmd, OHMD_SCREEN_VERTICAL_RESOLUTION, ivals + 1);
//DriverLog("resolution: %i x %i\n", ivals[0], ivals[1]);
/*
print_infof(hmd, "hsize:", 1, OHMD_SCREEN_HORIZONTAL_SIZE);
print_infof(hmd, "vsize:", 1, OHMD_SCREEN_VERTICAL_SIZE);
print_infof(hmd, "lens separation:", 1, OHMD_LENS_HORIZONTAL_SEPARATION);
print_infof(hmd, "lens vcenter:", 1, OHMD_LENS_VERTICAL_POSITION);
print_infof(hmd, "left eye fov:", 1, OHMD_LEFT_EYE_FOV);
print_infof(hmd, "right eye fov:", 1, OHMD_RIGHT_EYE_FOV);
print_infof(hmd, "left eye aspect:", 1, OHMD_LEFT_EYE_ASPECT_RATIO);
print_infof(hmd, "right eye aspect:", 1, OHMD_RIGHT_EYE_ASPECT_RATIO);
print_infof(hmd, "distortion k:", 6, OHMD_DISTORTION_K);
print_infoi(hmd, "digital button count:", 1, OHMD_BUTTON_COUNT);
*/
m_unObjectId = vr::k_unTrackedDeviceIndexInvalid;
m_ulPropertyContainer = vr::k_ulInvalidPropertyContainer;
DriverLog( "Using settings values\n" );
ohmd_device_getf(hmd, OHMD_EYE_IPD, &m_flIPD);
{
std::stringstream buf;
buf << ohmd_list_gets(ctx, hmddisplay_idx, OHMD_PRODUCT);
buf << ": ";
buf << ohmd_list_gets(ctx, hmddisplay_idx, OHMD_PATH);
m_sSerialNumber = buf.str();
}
{
std::stringstream buf;
buf << "OpenHMD: ";
buf << ohmd_list_gets(ctx, hmddisplay_idx, OHMD_PRODUCT);
m_sModelNumber = buf.str();
}
// Important to pass vendor through. Gaze cursor is only available for "Oculus". So grab the first word.
char const* vendor_override = getenv("OHMD_VENDOR_OVERRIDE");
if (vendor_override) {
m_sVendor = vendor_override;
} else {
m_sVendor = ohmd_list_gets(ctx, hmddisplay_idx, OHMD_VENDOR);
if (m_sVendor.find(' ') != std::string::npos) {
m_sVendor = m_sVendor.substr(0, m_sVendor.find(' '));
}
}
m_nWindowX = 1920; //TODO: real window offset
m_nWindowY = 0;
ohmd_device_geti(hmd, OHMD_SCREEN_HORIZONTAL_RESOLUTION, &m_nWindowWidth);
ohmd_device_geti(hmd, OHMD_SCREEN_VERTICAL_RESOLUTION, &m_nWindowHeight );
ohmd_device_geti(hmd, OHMD_SCREEN_HORIZONTAL_RESOLUTION, &m_nRenderWidth);
ohmd_device_geti(hmd, OHMD_SCREEN_VERTICAL_RESOLUTION, &m_nRenderHeight );
//m_nRenderWidth /= 2;
//m_nRenderHeight /= 2;
m_flSecondsFromVsyncToPhotons = vr::VRSettings()->GetFloat( k_pch_Sample_Section, k_pch_Sample_SecondsFromVsyncToPhotons_Float );
//TODO: find actual frequency somehow (from openhmd?)
m_flDisplayFrequency = vr::VRSettings()->GetFloat( k_pch_Sample_Section, k_pch_Sample_DisplayFrequency_Float );
DriverLog( "driver_openhmd: Vendor: %s\n", m_sVendor.c_str() );
DriverLog( "driver_openhmd: Serial Number: %s\n", m_sSerialNumber.c_str() );
DriverLog( "driver_openhmd: Model Number: %s\n", m_sModelNumber.c_str() );
DriverLog( "driver_openhmd: Window: %d %d %d %d\n", m_nWindowX, m_nWindowY, m_nWindowWidth, m_nWindowHeight );
DriverLog( "driver_openhmd: Render Target: %d %d\n", m_nRenderWidth, m_nRenderHeight );
DriverLog( "driver_openhmd: Seconds from Vsync to Photons: %f\n", m_flSecondsFromVsyncToPhotons );
DriverLog( "driver_openhmd: Display Frequency: %f\n", m_flDisplayFrequency );
DriverLog( "driver_openhmd: IPD: %f\n", m_flIPD );
float distortion_coeffs[4];
ohmd_device_getf(hmd, OHMD_UNIVERSAL_DISTORTION_K, &(distortion_coeffs[0]));
DriverLog("driver_openhmd: Distortion values a=%f b=%f c=%f d=%f\n", distortion_coeffs[0], distortion_coeffs[1], distortion_coeffs[2], distortion_coeffs[3]);
/* Sleep for 1 second while activating to let the display connect */
std::this_thread::sleep_for( std::chrono::seconds(1) );
}
virtual ~COpenHMDDeviceDriver()
{
}
EVRInitError Activate( vr::TrackedDeviceIndex_t unObjectId )
{
m_unObjectId = unObjectId;
m_ulPropertyContainer = vr::VRProperties()->TrackedDeviceToPropertyContainer( m_unObjectId );
vr::VRProperties()->SetStringProperty(m_ulPropertyContainer, Prop_ManufacturerName_String, m_sVendor.c_str());
vr::VRProperties()->SetStringProperty( m_ulPropertyContainer, Prop_ModelNumber_String, m_sModelNumber.c_str() );
vr::VRProperties()->SetFloatProperty( m_ulPropertyContainer, Prop_UserIpdMeters_Float, m_flIPD );
vr::VRProperties()->SetFloatProperty( m_ulPropertyContainer, Prop_UserHeadToEyeDepthMeters_Float, 0.f );
vr::VRProperties()->SetFloatProperty( m_ulPropertyContainer, Prop_DisplayFrequency_Float, m_flDisplayFrequency );
vr::VRProperties()->SetFloatProperty( m_ulPropertyContainer, Prop_SecondsFromVsyncToPhotons_Float, m_flSecondsFromVsyncToPhotons );
//float sep;
// return a constant that's not 0 (invalid) or 1 (reserved for Oculus)
vr::VRProperties()->SetUint64Property( m_ulPropertyContainer, Prop_CurrentUniverseId_Uint64, 2 );
return VRInitError_None;
}
void Deactivate()
{
m_unObjectId = vr::k_unTrackedDeviceIndexInvalid;
}
void EnterStandby()
{
}
void *GetComponent( const char *pchComponentNameAndVersion )
{
if ( !strcmp( pchComponentNameAndVersion, vr::IVRDisplayComponent_Version ) )
{
return (vr::IVRDisplayComponent*)this;
}
return NULL;
}
void PowerOff()
{
}
void DebugRequest( const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize )
{
if( unResponseBufferSize >= 1 )
pchResponseBuffer[0] = 0;
}
void GetWindowBounds( int32_t *pnX, int32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight )
{
*pnX = m_nWindowX;
*pnY = m_nWindowY;
*pnWidth = m_nWindowWidth;
*pnHeight = m_nWindowHeight;
}
bool IsDisplayOnDesktop()
{
return true;
}
bool IsDisplayRealDisplay()
{
return true;
}
void GetRecommendedRenderTargetSize( uint32_t *pnWidth, uint32_t *pnHeight )
{
*pnWidth = m_nRenderWidth;
*pnHeight = m_nRenderHeight;
}
void GetEyeOutputViewport( EVREye eEye, uint32_t *pnX, uint32_t *pnY, uint32_t *pnWidth, uint32_t *pnHeight )
{
*pnY = 0;
*pnWidth = m_nWindowWidth / 2;
*pnHeight = m_nWindowHeight;
if ( eEye == Eye_Left )
{
*pnX = 0;
}
else
{
*pnX = m_nWindowWidth / 2;
}
}
// flatten 2D indices in a 4x4 matrix explicit so it's easy to see what's happening:
int f1(int i, int j)
{
if (i == 0 && j == 0) return 0;
if (i == 0 && j == 1) return 1;
if (i == 0 && j == 2) return 2;
if (i == 0 && j == 3) return 3;
if (i == 1 && j == 0) return 4;
if (i == 1 && j == 1) return 5;
if (i == 1 && j == 2) return 6;
if (i == 1 && j == 3) return 7;
if (i == 2 && j == 0) return 8;
if (i == 2 && j == 1) return 9;
if (i == 2 && j == 2) return 10;
if (i == 2 && j == 3) return 11;
if (i == 3 && j == 0) return 12;
if (i == 3 && j == 1) return 13;
if (i == 3 && j == 2) return 14;
if (i == 3 && j == 3) return 15;
return -1;
}
int f2(int i, int j)
{
if (i == 0 && j == 0) return 0;
if (i == 0 && j == 1) return 4;
if (i == 0 && j == 2) return 8;
if (i == 0 && j == 3) return 12;
if (i == 1 && j == 0) return 1;
if (i == 1 && j == 1) return 5;
if (i == 1 && j == 2) return 9;
if (i == 1 && j == 3) return 13;
if (i == 2 && j == 0) return 2;
if (i == 2 && j == 1) return 6;
if (i == 2 && j == 2) return 10;
if (i == 2 && j == 3) return 14;
if (i == 3 && j == 0) return 3;
if (i == 3 && j == 1) return 7;
if (i == 3 && j == 2) return 11;
if (i == 3 && j == 3) return 15;
return -1;
}
void columnMatrixToAngles(float *yaw, float *pitch, float *roll, float colMatrix[4][4] ) {
double sinPitch, cosPitch, sinRoll, cosRoll, sinYaw, cosYaw;
sinPitch = -colMatrix[2][0];
cosPitch = sqrt(1 - sinPitch*sinPitch);
if ( abs(cosPitch) > 0.1)
{
sinRoll = colMatrix[2][1] / cosPitch;
cosRoll = colMatrix[2][2] / cosPitch;
sinYaw = colMatrix[1][0] / cosPitch;
cosYaw = colMatrix[0][0] / cosPitch;
}
else
{
sinRoll = -colMatrix[1][2];
cosRoll = colMatrix[1][1];
sinYaw = 0;
cosYaw = 1;
}
*yaw = atan2(sinYaw, cosYaw) * 180 / M_PI;
*pitch = atan2(sinPitch, cosPitch) * 180 / M_PI;
*roll = atan2(sinRoll, cosRoll) * 180 / M_PI;
}
typedef union {
float m[4][4];
float arr[16];
} mat4x4f;
void omat4x4f_mult(const mat4x4f* l, const mat4x4f* r, mat4x4f *o) {
for(int i = 0; i < 4; i++){
float a0 = l->m[i][0], a1 = l->m[i][1], a2 = l->m[i][2], a3 = l->m[i][3];
o->m[i][0] = a0 * r->m[0][0] + a1 * r->m[1][0] + a2 * r->m[2][0] + a3 * r->m[3][0];
o->m[i][1] = a0 * r->m[0][1] + a1 * r->m[1][1] + a2 * r->m[2][1] + a3 * r->m[3][1];
o->m[i][2] = a0 * r->m[0][2] + a1 * r->m[1][2] + a2 * r->m[2][2] + a3 * r->m[3][2];
o->m[i][3] = a0 * r->m[0][3] + a1 * r->m[1][3] + a2 * r->m[2][3] + a3 * r->m[3][3];
}
}
void createUnRotation(float angle, mat4x4f *m) {
memset(m, 0, sizeof(*m));
m->m[0][0] = 1.0f;
m->m[1][1] = 1.0f;
m->m[2][2] = 1.0f;
m->m[3][3] = 1.0f;
DriverLog("Unrotating for angle %f\n", angle);
if (angle > -5 && angle < 5) {
return;
}
else if (angle > 85 && angle < 95) {
m->m[0][0] = 0.0f; m->m[0][1] = -1.0f; m->m[1][0] = 1.0f; m->m[1][1] = 0.0f;
m->m[0][1] = 1.0f; m->m[1][0] = -1.0f;
}
else if (angle > -95 && angle < -85) {
m->m[0][0] = 0.0f; m->m[0][1] = -1.0f; m->m[1][0] = 1.0f; m->m[1][1] = 0.0f;
}
else {
DriverLog("UNIMPLEMENTED ROTATION!!!\n");
}
}
void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom )
{
mat4x4f ohmdprojection;
if (eEye == Eye_Left) {
ohmd_device_getf(hmd, OHMD_LEFT_EYE_GL_PROJECTION_MATRIX, ohmdprojection.arr);
} else {
ohmd_device_getf(hmd, OHMD_RIGHT_EYE_GL_PROJECTION_MATRIX, ohmdprojection.arr);
}
float yaw, pitch, roll;
float p[4][4];
memcpy(p, ohmdprojection.arr, 16 * sizeof(float));
columnMatrixToAngles(&yaw, &pitch, &roll, p);
if (eEye == Eye_Left) {
rotation_left = yaw;
} else {
rotation_right = yaw;
}
mat4x4f unrotation;
createUnRotation(yaw, &unrotation);
DriverLog("unrotation\n%f %f %f %f\n%f %f %f %f %f\n%f %f %f %f\n%f %f %f %f\n",
unrotation.arr[0], unrotation.arr[1], unrotation.arr[2], unrotation.arr[3],
unrotation.arr[4], unrotation.arr[5], unrotation.arr[6], unrotation.arr[7],
unrotation.arr[8], unrotation.arr[9], unrotation.arr[10], unrotation.arr[11],
unrotation.arr[12], unrotation.arr[13], unrotation.arr[14], unrotation.arr[15]);
omat4x4f_mult(&ohmdprojection, &unrotation, &ohmdprojection);
// http://stackoverflow.com/questions/10830293/ddg#12926655
// get projection matrix from openhmd, convert it into lrtb + near,far with SO formula
// then divide by near plane distance to get the tangents of the angles from the center plane (tan = opposite side = these values divided by adjacent side = near plane distance)
// but negate top and bottom. who knows why. there are 3 or so issues for it on github
// f2 switches row-major and column-major
float m00 = ohmdprojection.arr[f2(0,0)];
//float m03 = ohmdprojection[f2(0,3)];
//float m10 = ohmdprojection[f2(1,3)];
float m11 = ohmdprojection.arr[f2(1,1)];
//float m13 = ohmdprojection[f2(1,3)];
float m23 = ohmdprojection.arr[f2(2,3)];
float m22 = ohmdprojection.arr[f2(2,2)];
float m12 = ohmdprojection.arr[f2(1,2)];
float m02 = ohmdprojection.arr[f2(0,2)];
float near = m23/(m22-1);
float far = m23/(m22+1);
*pfBottom = - (m12-1)/m11;
*pfTop = - (m12+1)/m11;
*pfLeft = (m02-1)/m00;
*pfRight = (m02+1)/m00;
DriverLog("m 00 %f, 11 %f, 22 %f, 12 %f, 02 %f\n", m00, m11, m23, m22, m12, m02);
DriverLog("ohmd projection\n%f %f %f %f\n%f %f %f %f %f\n%f %f %f %f\n%f %f %f %f\n",
ohmdprojection.arr[0], ohmdprojection.arr[1], ohmdprojection.arr[2], ohmdprojection.arr[3],
ohmdprojection.arr[4], ohmdprojection.arr[5], ohmdprojection.arr[6], ohmdprojection.arr[7],
ohmdprojection.arr[8], ohmdprojection.arr[9], ohmdprojection.arr[10], ohmdprojection.arr[11],
ohmdprojection.arr[12], ohmdprojection.arr[13], ohmdprojection.arr[14], ohmdprojection.arr[15]
);
DriverLog("projectionraw values lrtb, near far: %f %f %f %f | %f %f\n", *pfLeft, *pfRight, *pfTop, *pfBottom, near, far);
//DriverLog("angles %f %f %f\n", yaw, pitch, roll);
}
DistortionCoordinates_t ComputeDistortion( EVREye eEye, float fU, float fV )
{
float angle = (eEye == Eye_Left ? rotation_left : rotation_right);
//DriverLog("Eye %d before: %f %f\n", eEye, fU, fV);
if (angle > -5 && angle < 5) {
} else if (angle > 85 && angle < 95) {
float tmp = fV;
fV = 1. - fU;
fU = tmp;
} else if (angle > -95 && angle < -85) {
float tmp = fV;
fV = fU;
fU = 1.f - tmp;
} else {
float x = 0 * fU + -1 * fV;
float y = -1 * fU + 0 * 0 * fV;
fU = x;
fV = y;
}
//DriverLog("Eye %d after: %f %f\n", eEye, fU, fV);
int hmd_w;
int hmd_h;
ohmd_device_geti(hmd, OHMD_SCREEN_HORIZONTAL_RESOLUTION, &hmd_w);
ohmd_device_geti(hmd, OHMD_SCREEN_VERTICAL_RESOLUTION, &hmd_h);
float ipd;
ohmd_device_getf(hmd, OHMD_EYE_IPD, &ipd);
float viewport_scale[2];
float distortion_coeffs[4];
float aberr_scale[3];
float sep;
float left_lens_center[2];
float right_lens_center[2];
//viewport is half the screen
ohmd_device_getf(hmd, OHMD_SCREEN_HORIZONTAL_SIZE, &(viewport_scale[0]));
viewport_scale[0] /= 2.0f;
ohmd_device_getf(hmd, OHMD_SCREEN_VERTICAL_SIZE, &(viewport_scale[1]));
//distortion coefficients
ohmd_device_getf(hmd, OHMD_UNIVERSAL_DISTORTION_K, &(distortion_coeffs[0]));
ohmd_device_getf(hmd, OHMD_UNIVERSAL_ABERRATION_K, &(aberr_scale[0]));
//calculate lens centers (assuming the eye separation is the distance betweenteh lense centers)
ohmd_device_getf(hmd, OHMD_LENS_HORIZONTAL_SEPARATION, &sep);
ohmd_device_getf(hmd, OHMD_LENS_VERTICAL_POSITION, &(left_lens_center[1]));
ohmd_device_getf(hmd, OHMD_LENS_VERTICAL_POSITION, &(right_lens_center[1]));
left_lens_center[0] = viewport_scale[0] - sep/2.0f;
right_lens_center[0] = sep/2.0f;
//asume calibration was for lens view to which ever edge of screen is further away from lens center
float warp_scale = (left_lens_center[0] > right_lens_center[0]) ? left_lens_center[0] : right_lens_center[0];
float lens_center[2];
lens_center[0] = (eEye == Eye_Left ? left_lens_center[0] : right_lens_center[0]);
lens_center[1] = (eEye == Eye_Left ? left_lens_center[1] : right_lens_center[1]);
float r[2];
r[0] = fU * viewport_scale[0] - lens_center[0];
r[1] = fV * viewport_scale[1] - lens_center[1];
r[0] /= warp_scale;
r[1] /= warp_scale;
float r_mag = sqrt(r[0] * r[0] + r[1] * r[1]);
float r_displaced[2];
r_displaced[0] = r[0] * (distortion_coeffs[3] + distortion_coeffs[2] * r_mag + distortion_coeffs[1] * r_mag * r_mag + distortion_coeffs[0] * r_mag * r_mag * r_mag);
r_displaced[1] = r[1] * (distortion_coeffs[3] + distortion_coeffs[2] * r_mag + distortion_coeffs[1] * r_mag * r_mag + distortion_coeffs[0] * r_mag * r_mag * r_mag);
r_displaced[0] *= warp_scale;
r_displaced[1] *= warp_scale;
float tc_r[2];
tc_r[0] = (lens_center[0] + aberr_scale[0] * r_displaced[0]) / viewport_scale[0];
tc_r[1] = (lens_center[1] + aberr_scale[0] * r_displaced[1]) / viewport_scale[1];
float tc_g[2];
tc_g[0] = (lens_center[0] + aberr_scale[1] * r_displaced[0]) / viewport_scale[0];
tc_g[1] = (lens_center[1] + aberr_scale[1] * r_displaced[1]) / viewport_scale[1];
float tc_b[2];
tc_b[0] = (lens_center[0] + aberr_scale[2] * r_displaced[0]) / viewport_scale[0];
tc_b[1] = (lens_center[1] + aberr_scale[2] * r_displaced[1]) / viewport_scale[1];
//DriverLog("Distort %f %f -> %f %f; %f %f %f %f\n", fU, fV, tc_b[0], tc_b[1], distortion_coeffs[0], distortion_coeffs[1], distortion_coeffs[2], distortion_coeffs[3]);
DistortionCoordinates_t coordinates;
coordinates.rfBlue[0] = tc_b[0];
coordinates.rfBlue[1] = tc_b[1];
coordinates.rfGreen[0] = tc_g[0];
coordinates.rfGreen[1] = tc_g[1];
coordinates.rfRed[0] = tc_r[0];
coordinates.rfRed[1] = tc_r[1];
return coordinates;
}
DriverPose_t GetPose()
{
DriverPose_t pose = { 0 };
pose.poseIsValid = true;
pose.result = TrackingResult_Running_OK;
pose.deviceIsConnected = true;
ohmd_device* d = hmdtracker ? hmdtracker : hmd;
float quat[4];
ohmd_device_getf(d, OHMD_ROTATION_QUAT, quat);
pose.qRotation.x = quat[0];
pose.qRotation.y = quat[1];
pose.qRotation.z = quat[2];
pose.qRotation.w = quat[3];
float pos[3];
ohmd_device_getf(d, OHMD_POSITION_VECTOR, pos);
pose.vecPosition[0] = pos[0];
pose.vecPosition[1] = pos[1];
pose.vecPosition[2] = pos[2];
//printf("%f %f %f %f %f %f %f\n", quat[0], quat[1], quat[2], quat[3], pos[0], pos[1], pos[2]);
//fflush(stdout);
//DriverLog("get hmd pose %f %f %f %f, %f %f %f\n", quat[0], quat[1], quat[2], quat[3], pos[0], pos[1], pos[2]);
pose.qWorldFromDriverRotation = identityquat;
pose.qDriverFromHeadRotation = identityquat;
return pose;
}
void RunFrame()
{
// In a real driver, this should happen from some pose tracking thread.
// The RunFrame interval is unspecified and can be very irregular if some other
// driver blocks it for some periodic task.
if ( m_unObjectId != vr::k_unTrackedDeviceIndexInvalid )
{
vr::VRServerDriverHost()->TrackedDevicePoseUpdated( m_unObjectId, GetPose(), sizeof( DriverPose_t ) );
}