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bullet3/examples/StandaloneMain/hellovr_opengl_main.cpp
erwincoumans ab8f16961e Code-style consistency improvement: 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
2018-09-23 14:17:31 -07:00

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#ifdef BT_ENABLE_VR
#ifdef BT_USE_CUSTOM_PROFILER
#endif
//========= Copyright Valve Corporation ============//
#include "../OpenGLWindow/SimpleOpenGL3App.h"
#include "../OpenGLWindow/OpenGLInclude.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3Transform.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "../Utils/b3Clock.h"
#include "../Utils/ChromeTraceUtil.h"
#include "../ExampleBrowser/OpenGLGuiHelper.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#ifdef __APPLE__
#define GL_DO_NOT_WARN_IF_MULTI_GL_VERSION_HEADERS_INCLUDED
#import <Cocoa/Cocoa.h>
#endif //__APPLE__
#include "LinearMath/btIDebugDraw.h"
int gSharedMemoryKey = -1;
static int gDebugDrawFlags = 0;
static bool gDisplayDistortion = false;
static bool gDisableDesktopGL = false;
static int maxNumObjectCapacity = 128 * 1024;
static int maxShapeCapacityInBytes = 128 * 1024 * 1024;
#include <stdio.h>
#include <string>
#include <cstdlib>
#include <openvr.h>
#include "strtools.h"
#include "compat.h"
#include "lodepng.h"
#include "Matrices.h"
#include "pathtools.h"
CommonExampleInterface *sExample;
int sPrevPacketNum = 0;
OpenGLGuiHelper *sGuiPtr = 0;
static vr::VRControllerState_t sPrevStates[vr::k_unMaxTrackedDeviceCount] = {0};
#if defined(POSIX)
#include "unistd.h"
#endif
#ifdef _WIN32
#include <Windows.h>
#endif
#ifdef __linux__
#define APIENTRY
#endif
void ThreadSleep(unsigned long nMilliseconds)
{
#if defined(_WIN32)
::Sleep(nMilliseconds);
#elif defined(POSIX)
usleep(nMilliseconds * 1000);
#endif
}
class CGLRenderModel
{
public:
CGLRenderModel(const std::string &sRenderModelName);
~CGLRenderModel();
bool BInit(const vr::RenderModel_t &vrModel, const vr::RenderModel_TextureMap_t &vrDiffuseTexture);
void Cleanup();
void Draw();
const std::string &GetName() const { return m_sModelName; }
private:
GLuint m_glVertBuffer;
GLuint m_glIndexBuffer;
GLuint m_glVertArray;
GLuint m_glTexture;
GLsizei m_unVertexCount;
std::string m_sModelName;
};
static bool g_bPrintf = true;
//-----------------------------------------------------------------------------
// Purpose:
//------------------------------------------------------------------------------
class CMainApplication
{
public:
CMainApplication(int argc, char *argv[]);
virtual ~CMainApplication();
bool BInit();
bool BInitGL();
bool BInitCompositor();
void getControllerTransform(int unDevice, b3Transform &tr);
void SetupRenderModels();
void Shutdown();
void RunMainLoop();
bool HandleInput();
void ProcessVREvent(const vr::VREvent_t &event);
void RenderFrame();
bool SetupTexturemaps();
void SetupScene();
void AddCubeToScene(Matrix4 mat, std::vector<float> &vertdata);
void AddCubeVertex(float fl0, float fl1, float fl2, float fl3, float fl4, std::vector<float> &vertdata);
void DrawControllers();
bool SetupStereoRenderTargets();
void SetupDistortion();
void SetupCameras();
void RenderStereoTargets();
void RenderDistortion();
void RenderScene(vr::Hmd_Eye nEye);
Matrix4 GetHMDMatrixProjectionEye(vr::Hmd_Eye nEye);
Matrix4 GetHMDMatrixPoseEye(vr::Hmd_Eye nEye);
Matrix4 GetCurrentViewProjectionMatrix(vr::Hmd_Eye nEye);
void UpdateHMDMatrixPose();
Matrix4 ConvertSteamVRMatrixToMatrix4(const vr::HmdMatrix34_t &matPose);
GLuint CompileGLShader(const char *pchShaderName, const char *pchVertexShader, const char *pchFragmentShader);
bool CreateAllShaders();
void SetupRenderModelForTrackedDevice(vr::TrackedDeviceIndex_t unTrackedDeviceIndex);
CGLRenderModel *FindOrLoadRenderModel(const char *pchRenderModelName);
SimpleOpenGL3App *getApp() { return m_app; }
private:
bool m_bDebugOpenGL;
bool m_bVerbose;
bool m_bPerf;
bool m_bVblank;
bool m_bGlFinishHack;
vr::IVRSystem *m_pHMD;
vr::IVRRenderModels *m_pRenderModels;
std::string m_strDriver;
std::string m_strDisplay;
vr::TrackedDevicePose_t m_rTrackedDevicePose[vr::k_unMaxTrackedDeviceCount];
Matrix4 m_rmat4DevicePose[vr::k_unMaxTrackedDeviceCount];
bool m_rbShowTrackedDevice[vr::k_unMaxTrackedDeviceCount];
private:
SimpleOpenGL3App *m_app;
uint32_t m_nWindowWidth;
uint32_t m_nWindowHeight;
bool m_hasContext;
b3Clock m_clock;
private: // OpenGL bookkeeping
int m_iTrackedControllerCount;
int m_iTrackedControllerCount_Last;
int m_iValidPoseCount;
int m_iValidPoseCount_Last;
bool m_bShowCubes;
std::string m_strPoseClasses; // what classes we saw poses for this frame
char m_rDevClassChar[vr::k_unMaxTrackedDeviceCount]; // for each device, a character representing its class
int m_iSceneVolumeWidth;
int m_iSceneVolumeHeight;
int m_iSceneVolumeDepth;
float m_fScaleSpacing;
float m_fScale;
int m_iSceneVolumeInit; // if you want something other than the default 20x20x20
float m_fNearClip;
float m_fFarClip;
GLuint m_iTexture;
unsigned int m_uiVertcount;
GLuint m_glSceneVertBuffer;
GLuint m_unSceneVAO;
GLuint m_unLensVAO;
GLuint m_glIDVertBuffer;
GLuint m_glIDIndexBuffer;
unsigned int m_uiIndexSize;
GLuint m_glControllerVertBuffer;
GLuint m_unControllerVAO;
unsigned int m_uiControllerVertcount;
Matrix4 m_mat4HMDPose;
Matrix4 m_mat4eyePosLeft;
Matrix4 m_mat4eyePosRight;
Matrix4 m_mat4ProjectionCenter;
Matrix4 m_mat4ProjectionLeft;
Matrix4 m_mat4ProjectionRight;
struct VertexDataScene
{
Vector3 position;
Vector2 texCoord;
};
struct VertexDataLens
{
Vector2 position;
Vector2 texCoordRed;
Vector2 texCoordGreen;
Vector2 texCoordBlue;
};
GLuint m_unSceneProgramID;
GLuint m_unLensProgramID;
GLuint m_unControllerTransformProgramID;
GLuint m_unRenderModelProgramID;
GLint m_nSceneMatrixLocation;
GLint m_nControllerMatrixLocation;
GLint m_nRenderModelMatrixLocation;
struct FramebufferDesc
{
GLuint m_nDepthBufferId;
GLuint m_nRenderTextureId;
GLuint m_nRenderFramebufferId;
GLuint m_nResolveTextureId;
GLuint m_nResolveFramebufferId;
};
FramebufferDesc leftEyeDesc;
FramebufferDesc rightEyeDesc;
bool CreateFrameBuffer(int nWidth, int nHeight, FramebufferDesc &framebufferDesc);
uint32_t m_nRenderWidth;
uint32_t m_nRenderHeight;
std::vector<CGLRenderModel *> m_vecRenderModels;
CGLRenderModel *m_rTrackedDeviceToRenderModel[vr::k_unMaxTrackedDeviceCount];
};
//-----------------------------------------------------------------------------
// Purpose: Constructor
//-----------------------------------------------------------------------------
CMainApplication::CMainApplication(int argc, char *argv[])
: m_app(NULL), m_hasContext(false), m_nWindowWidth(1280), m_nWindowHeight(720), m_unSceneProgramID(0), m_unLensProgramID(0), m_unControllerTransformProgramID(0), m_unRenderModelProgramID(0), m_pHMD(NULL), m_pRenderModels(NULL), m_bDebugOpenGL(false), m_bVerbose(false), m_bPerf(false), m_bVblank(false), m_bGlFinishHack(true), m_glControllerVertBuffer(0), m_unControllerVAO(0), m_unLensVAO(0), m_unSceneVAO(0), m_nSceneMatrixLocation(-1), m_nControllerMatrixLocation(-1), m_nRenderModelMatrixLocation(-1), m_iTrackedControllerCount(0), m_iTrackedControllerCount_Last(-1), m_iValidPoseCount(0), m_iValidPoseCount_Last(-1), m_iSceneVolumeInit(20), m_strPoseClasses(""), m_bShowCubes(false)
{
for (int i = 1; i < argc; i++)
{
if (!stricmp(argv[i], "-gldebug"))
{
m_bDebugOpenGL = true;
}
else if (!stricmp(argv[i], "-verbose"))
{
m_bVerbose = true;
}
else if (!stricmp(argv[i], "-novblank"))
{
m_bVblank = false;
}
else if (!stricmp(argv[i], "-noglfinishhack"))
{
m_bGlFinishHack = false;
}
else if (!stricmp(argv[i], "-noprintf"))
{
g_bPrintf = false;
}
else if (!stricmp(argv[i], "-cubevolume") && (argc > i + 1) && (*argv[i + 1] != '-'))
{
m_iSceneVolumeInit = atoi(argv[i + 1]);
i++;
}
}
// other initialization tasks are done in BInit
memset(m_rDevClassChar, 0, sizeof(m_rDevClassChar));
};
//-----------------------------------------------------------------------------
// Purpose: Destructor
//-----------------------------------------------------------------------------
CMainApplication::~CMainApplication()
{
// work is done in Shutdown
b3Printf("Shutdown");
}
//-----------------------------------------------------------------------------
// Purpose: Helper to get a string from a tracked device property and turn it
// into a std::string
//-----------------------------------------------------------------------------
std::string GetTrackedDeviceString(vr::IVRSystem *pHmd, vr::TrackedDeviceIndex_t unDevice, vr::TrackedDeviceProperty prop, vr::TrackedPropertyError *peError = NULL)
{
uint32_t unRequiredBufferLen = pHmd->GetStringTrackedDeviceProperty(unDevice, prop, NULL, 0, peError);
if (unRequiredBufferLen == 0)
return "";
char *pchBuffer = new char[unRequiredBufferLen];
unRequiredBufferLen = pHmd->GetStringTrackedDeviceProperty(unDevice, prop, pchBuffer, unRequiredBufferLen, peError);
std::string sResult = pchBuffer;
delete[] pchBuffer;
return sResult;
}
b3KeyboardCallback prevKeyboardCallback = 0;
void MyKeyboardCallback(int key, int state)
{
if (key == 'p')
{
if (state)
{
b3ChromeUtilsStartTimings();
}
else
{
b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
}
}
if (sExample)
{
sExample->keyboardCallback(key, state);
}
if (prevKeyboardCallback)
prevKeyboardCallback(key, state);
}
#include "../SharedMemory/SharedMemoryPublic.h"
extern bool useShadowMap;
static bool gEnableVRRenderControllers = true;
static bool gEnableVRRendering = true;
static int gUpAxis = 2;
void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable)
{
if (flag == COV_ENABLE_Y_AXIS_UP)
{
//either Y = up or Z
gUpAxis = enable ? 1 : 2;
}
if (flag == COV_ENABLE_SHADOWS)
{
useShadowMap = enable;
}
if (flag == COV_ENABLE_GUI)
{
//there is no regular GUI here, but disable the
}
if (flag == COV_ENABLE_VR_RENDER_CONTROLLERS)
{
gEnableVRRenderControllers = enable;
}
if (flag == COV_ENABLE_RENDERING)
{
gEnableVRRendering = enable;
}
if (flag == COV_ENABLE_WIREFRAME)
{
if (enable)
{
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
//gDebugDrawFlags |= btIDebugDraw::DBG_DrawWireframe;
}
else
{
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
//gDebugDrawFlags &= ~btIDebugDraw::DBG_DrawWireframe;
}
}
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CMainApplication::BInit()
{
// Loading the SteamVR Runtime
vr::EVRInitError eError = vr::VRInitError_None;
m_pHMD = vr::VR_Init(&eError, vr::VRApplication_Scene);
if (eError != vr::VRInitError_None)
{
m_pHMD = NULL;
char buf[1024];
sprintf_s(buf, sizeof(buf), "Unable to init VR runtime: %s", vr::VR_GetVRInitErrorAsEnglishDescription(eError));
b3Warning("VR_Init Failed %s", buf);
return false;
}
m_pRenderModels = (vr::IVRRenderModels *)vr::VR_GetGenericInterface(vr::IVRRenderModels_Version, &eError);
if (!m_pRenderModels)
{
m_pHMD = NULL;
vr::VR_Shutdown();
char buf[1024];
sprintf_s(buf, sizeof(buf), "Unable to get render model interface: %s", vr::VR_GetVRInitErrorAsEnglishDescription(eError));
b3Warning("VR_Init Failed %s", buf);
return false;
}
// int nWindowPosX = 700;
// int nWindowPosY = 100;
m_nWindowWidth = 1280;
m_nWindowHeight = 720;
/*
//SDL_GL_SetAttribute( SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_COMPATIBILITY );
SDL_GL_SetAttribute( SDL_GL_CONTEXT_PROFILE_MASK, SDL_GL_CONTEXT_PROFILE_CORE );
SDL_GL_SetAttribute( SDL_GL_MULTISAMPLEBUFFERS, 0 );
SDL_GL_SetAttribute( SDL_GL_MULTISAMPLESAMPLES, 0 );
if( m_bDebugOpenGL )
SDL_GL_SetAttribute( SDL_GL_CONTEXT_FLAGS, SDL_GL_CONTEXT_DEBUG_FLAG );
*/
m_app = new SimpleOpenGL3App("SimpleOpenGL3App", m_nWindowWidth, m_nWindowHeight, true, maxNumObjectCapacity, maxShapeCapacityInBytes);
sGuiPtr = new OpenGLGuiHelper(m_app, false);
sGuiPtr->setVisualizerFlagCallback(VRPhysicsServerVisualizerFlagCallback);
sGuiPtr->setVRMode(true);
//sGuiPtr = new DummyGUIHelper;
prevKeyboardCallback = m_app->m_window->getKeyboardCallback();
m_app->m_window->setKeyboardCallback(MyKeyboardCallback);
CommonExampleOptions options(sGuiPtr);
sExample = StandaloneExampleCreateFunc(options);
sExample->initPhysics();
sExample->resetCamera();
#if 0
int cubeIndex = m_app->registerCubeShape(1,1,1);
b3Quaternion orn(0,0,0,1);
{
b3Vector3 color=b3MakeVector3(0.3,0.3,0.6);
b3Vector3 pos = b3MakeVector3(0,0,0);
b3Vector3 scaling=b3MakeVector3 (1,.1,1);
m_app->m_renderer->registerGraphicsInstance(cubeIndex,pos,orn,color,scaling);
}
{
b3Vector3 color=b3MakeVector3(0.3,0.6,0.3);
b3Vector3 pos = b3MakeVector3(0,0.3,0);
b3Vector3 scaling=b3MakeVector3 (.1,.1,.1);
m_app->m_renderer->registerGraphicsInstance(cubeIndex,pos,orn,color,scaling);
}
#endif
m_app->m_renderer->writeTransforms();
/* if (m_pWindow == NULL)
{
printf( "%s - Window could not be created! SDL Error: %s\n", __FUNCTION__, SDL_GetError() );
return false;
}
*/
/*m_pContext = SDL_GL_CreateContext(m_pWindow);
if (m_pContext == NULL)
{
printf( "%s - OpenGL context could not be created! SDL Error: %s\n", __FUNCTION__, SDL_GetError() );
return false;
}
if ( SDL_GL_SetSwapInterval( m_bVblank ? 1 : 0 ) < 0 )
{
printf( "%s - Warning: Unable to set VSync! SDL Error: %s\n", __FUNCTION__, SDL_GetError() );
return false;
}
*/
m_strDriver = "No Driver";
m_strDisplay = "No Display";
m_strDriver = GetTrackedDeviceString(m_pHMD, vr::k_unTrackedDeviceIndex_Hmd, vr::Prop_TrackingSystemName_String);
m_strDisplay = GetTrackedDeviceString(m_pHMD, vr::k_unTrackedDeviceIndex_Hmd, vr::Prop_SerialNumber_String);
std::string strWindowTitle = "hellovr_bullet - " + m_strDriver + " " + m_strDisplay;
m_app->m_window->setWindowTitle(strWindowTitle.c_str());
// cube array
m_iSceneVolumeWidth = m_iSceneVolumeInit;
m_iSceneVolumeHeight = m_iSceneVolumeInit;
m_iSceneVolumeDepth = m_iSceneVolumeInit;
m_fScale = 0.3f;
m_fScaleSpacing = 4.0f;
m_fNearClip = 0.1f;
m_fFarClip = 3000.0f;
m_iTexture = 0;
m_uiVertcount = 0;
// m_MillisecondsTimer.start(1, this);
// m_SecondsTimer.start(1000, this);
if (!BInitGL())
{
printf("%s - Unable to initialize OpenGL!\n", __FUNCTION__);
return false;
}
if (!BInitCompositor())
{
printf("%s - Failed to initialize VR Compositor!\n", __FUNCTION__);
return false;
}
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
/*void APIENTRY DebugCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const char* message, const void* userParam)
{
b3Printf( "GL Error: %s\n", message );
}
static void APIENTRY DebugCallback (GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar* message, GLvoid* userParam)
{
b3Printf( "GL Error: %s\n", message );
}
*/
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CMainApplication::BInitGL()
{
if (m_bDebugOpenGL)
{
//const GLvoid *userParam=0;
//glDebugMessageCallback(DebugCallback, userParam);
//glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_TRUE );
//glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS);
}
if (!CreateAllShaders())
return false;
SetupTexturemaps();
SetupScene();
SetupCameras();
SetupStereoRenderTargets();
SetupDistortion();
SetupRenderModels();
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CMainApplication::BInitCompositor()
{
vr::EVRInitError peError = vr::VRInitError_None;
if (!vr::VRCompositor())
{
printf("Compositor initialization failed. See log file for details\n");
return false;
}
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::Shutdown()
{
if (m_pHMD)
{
vr::VR_Shutdown();
m_pHMD = NULL;
}
for (std::vector<CGLRenderModel *>::iterator i = m_vecRenderModels.begin(); i != m_vecRenderModels.end(); i++)
{
delete (*i);
}
m_vecRenderModels.clear();
if (m_hasContext)
{
if (m_glSceneVertBuffer)
{
//glDebugMessageControl( GL_DONT_CARE, GL_DONT_CARE, GL_DONT_CARE, 0, nullptr, GL_FALSE );
//glDebugMessageCallback(nullptr, nullptr);
glDeleteBuffers(1, &m_glSceneVertBuffer);
glDeleteBuffers(1, &m_glIDVertBuffer);
glDeleteBuffers(1, &m_glIDIndexBuffer);
}
if (m_unSceneProgramID)
{
glDeleteProgram(m_unSceneProgramID);
}
if (m_unControllerTransformProgramID)
{
glDeleteProgram(m_unControllerTransformProgramID);
}
if (m_unRenderModelProgramID)
{
glDeleteProgram(m_unRenderModelProgramID);
}
if (m_unLensProgramID)
{
glDeleteProgram(m_unLensProgramID);
}
glDeleteRenderbuffers(1, &leftEyeDesc.m_nDepthBufferId);
glDeleteTextures(1, &leftEyeDesc.m_nRenderTextureId);
glDeleteFramebuffers(1, &leftEyeDesc.m_nRenderFramebufferId);
glDeleteTextures(1, &leftEyeDesc.m_nResolveTextureId);
glDeleteFramebuffers(1, &leftEyeDesc.m_nResolveFramebufferId);
glDeleteRenderbuffers(1, &rightEyeDesc.m_nDepthBufferId);
glDeleteTextures(1, &rightEyeDesc.m_nRenderTextureId);
glDeleteFramebuffers(1, &rightEyeDesc.m_nRenderFramebufferId);
glDeleteTextures(1, &rightEyeDesc.m_nResolveTextureId);
glDeleteFramebuffers(1, &rightEyeDesc.m_nResolveFramebufferId);
if (m_unLensVAO != 0)
{
glDeleteVertexArrays(1, &m_unLensVAO);
}
if (m_unSceneVAO != 0)
{
glDeleteVertexArrays(1, &m_unSceneVAO);
}
if (m_unControllerVAO != 0)
{
glDeleteVertexArrays(1, &m_unControllerVAO);
}
}
if (sExample)
{
sExample->exitPhysics();
delete sExample;
}
delete m_app;
m_app = 0;
}
void CMainApplication::getControllerTransform(int unDevice, b3Transform &tr)
{
const Matrix4 &matOrg = m_rmat4DevicePose[unDevice];
tr.setIdentity();
tr.setOrigin(b3MakeVector3(matOrg[12], matOrg[13], matOrg[14])); //pos[1]));
b3Matrix3x3 bmat;
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
bmat[i][j] = matOrg[i + 4 * j];
}
}
tr.setBasis(bmat);
b3Transform y2z;
y2z.setIdentity();
y2z.setRotation(b3Quaternion(0, B3_HALF_PI, 0));
tr = y2z * tr;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CMainApplication::HandleInput()
{
bool bRet = false;
// Process SteamVR events
vr::VREvent_t event;
while (m_pHMD->PollNextEvent(&event, sizeof(event)))
{
ProcessVREvent(event);
}
// Process SteamVR controller state
for (vr::TrackedDeviceIndex_t unDevice = 0; unDevice < vr::k_unMaxTrackedDeviceCount; unDevice++)
{
vr::VRControllerState_t state;
if (m_pHMD->GetControllerState(unDevice, &state, sizeof(vr::VRControllerState_t)))
{
b3Transform tr;
getControllerTransform(unDevice, tr);
float pos[3] = {tr.getOrigin()[0], tr.getOrigin()[1], tr.getOrigin()[2]};
b3Quaternion born = tr.getRotation();
float orn[4] = {born[0], born[1], born[2], born[3]};
//we need to have the 'move' events, so no early out here
//if (sPrevStates[unDevice].unPacketNum != state.unPacketNum)
if (m_pHMD->GetTrackedDeviceClass(unDevice) == vr::TrackedDeviceClass_HMD)
{
Matrix4 rotYtoZ = rotYtoZ.identity();
//some Bullet apps (especially robotics related) require Z as up-axis)
if (m_app->getUpAxis() == 2)
{
rotYtoZ.rotateX(-90);
}
Matrix4 viewMatCenter = m_mat4HMDPose * rotYtoZ;
const float *mat = viewMatCenter.invertAffine().get();
pos[0] = mat[12];
pos[1] = mat[13];
pos[2] = mat[14];
b3Matrix3x3 bmat;
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
bmat[i][j] = mat[i + 4 * j];
}
}
b3Quaternion orn2;
bmat.getRotation(orn2);
orn[0] = orn2[0];
orn[1] = orn2[1];
orn[2] = orn2[2];
orn[3] = orn2[3];
sExample->vrHMDMoveCallback(unDevice, pos, orn);
}
if (m_pHMD->GetTrackedDeviceClass(unDevice) == vr::TrackedDeviceClass_GenericTracker)
{
sExample->vrGenericTrackerMoveCallback(unDevice, pos, orn);
}
if (m_pHMD->GetTrackedDeviceClass(unDevice) == vr::TrackedDeviceClass_Controller)
{
sPrevStates[unDevice].unPacketNum = state.unPacketNum;
for (int button = 0; button < vr::k_EButton_Max; button++)
{
uint64_t trigger = vr::ButtonMaskFromId((vr::EVRButtonId)button);
btAssert(vr::k_unControllerStateAxisCount >= 5);
float allAxis[10]; //store x,y times 5 controllers
int index = 0;
for (int i = 0; i < 5; i++)
{
allAxis[index++] = state.rAxis[i].x;
allAxis[index++] = state.rAxis[i].y;
}
bool isTrigger = (state.ulButtonPressed & trigger) != 0;
if (isTrigger)
{
//pressed now, not pressed before -> raise a button down event
if ((sPrevStates[unDevice].ulButtonPressed & trigger) == 0)
{
// printf("Device PRESSED: %d, button %d\n", unDevice, button);
sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);
}
else
{
// printf("Device MOVED: %d\n", unDevice);
sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x, allAxis);
}
}
else
{
if (m_pHMD->GetTrackedDeviceClass(unDevice) == vr::TrackedDeviceClass_Controller)
{
// printf("Device RELEASED: %d, button %d\n", unDevice,button);
//not pressed now, but pressed before -> raise a button up event
if ((sPrevStates[unDevice].ulButtonPressed & trigger) != 0)
{
if (button == 2)
{
gDebugDrawFlags = 0;
}
sExample->vrControllerButtonCallback(unDevice, button, 0, pos, orn);
}
else
{
sExample->vrControllerMoveCallback(unDevice, pos, orn, state.rAxis[1].x, allAxis);
}
}
}
}
}
// m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0;
}
sPrevStates[unDevice] = state;
}
return bRet;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::RunMainLoop()
{
bool bQuit = false;
while (!bQuit && !m_app->m_window->requestedExit())
{
this->m_app->setUpAxis(gUpAxis);
b3ChromeUtilsEnableProfiling();
if (gEnableVRRendering)
{
B3_PROFILE("main");
bQuit = HandleInput();
RenderFrame();
}
else
{
b3Clock::usleep(0);
sExample->updateGraphics();
}
}
}
//-----------------------------------------------------------------------------
// Purpose: Processes a single VR event
//-----------------------------------------------------------------------------
void CMainApplication::ProcessVREvent(const vr::VREvent_t &event)
{
switch (event.eventType)
{
case vr::VREvent_TrackedDeviceActivated:
{
SetupRenderModelForTrackedDevice(event.trackedDeviceIndex);
b3Printf("Device %u attached. Setting up render model.\n", event.trackedDeviceIndex);
}
break;
case vr::VREvent_TrackedDeviceDeactivated:
{
b3Printf("Device %u detached.\n", event.trackedDeviceIndex);
}
break;
case vr::VREvent_TrackedDeviceUpdated:
{
b3Printf("Device %u updated.\n", event.trackedDeviceIndex);
}
break;
}
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::RenderFrame()
{
// for now as fast as possible
if (m_pHMD)
{
{
B3_PROFILE("DrawControllers");
DrawControllers();
}
RenderStereoTargets();
if (!gDisableDesktopGL)
{
if (gDisplayDistortion)
{
B3_PROFILE("RenderDistortion");
RenderDistortion();
}
else
{
//todo: should use framebuffer_multisample_blit_scaled
//See https://twitter.com/id_aa_carmack/status/268488838425481217?lang=en
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glDisable(GL_MULTISAMPLE);
glBindFramebuffer(GL_READ_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
glBlitFramebuffer(0, 0, m_nRenderWidth, m_nRenderHeight, 0, 0, m_nRenderWidth, m_nRenderHeight,
GL_COLOR_BUFFER_BIT,
GL_LINEAR);
glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
}
}
vr::Texture_t leftEyeTexture = {(void *)leftEyeDesc.m_nResolveTextureId, vr::TextureType_OpenGL, vr::ColorSpace_Gamma};
vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture);
vr::Texture_t rightEyeTexture = {(void *)rightEyeDesc.m_nResolveTextureId, vr::TextureType_OpenGL, vr::ColorSpace_Gamma};
vr::VRCompositor()->Submit(vr::Eye_Right, &rightEyeTexture);
}
if (m_bVblank && m_bGlFinishHack)
{
B3_PROFILE("bGlFinishHack");
//$ HACKHACK. From gpuview profiling, it looks like there is a bug where two renders and a present
// happen right before and after the vsync causing all kinds of jittering issues. This glFinish()
// appears to clear that up. Temporary fix while I try to get nvidia to investigate this problem.
// 1/29/2014 mikesart
//glFinish();
}
// SwapWindow
{
B3_PROFILE("m_app->swapBuffer");
if (!gDisableDesktopGL)
{
m_app->swapBuffer();
}
//SDL_GL_SwapWindow( m_pWindow );
}
// Clear
{
B3_PROFILE("glClearColor");
// We want to make sure the glFinish waits for the entire present to complete, not just the submission
// of the command. So, we do a clear here right here so the glFinish will wait fully for the swap.
glClearColor(0, 0, 0, 1);
//glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
}
// Flush and wait for swap.
if (m_bVblank)
{
B3_PROFILE("glFlushglFinish");
glFlush();
glFinish();
}
// Spew out the controller and pose count whenever they change.
if (m_iTrackedControllerCount != m_iTrackedControllerCount_Last || m_iValidPoseCount != m_iValidPoseCount_Last)
{
B3_PROFILE("debug pose");
m_iValidPoseCount_Last = m_iValidPoseCount;
m_iTrackedControllerCount_Last = m_iTrackedControllerCount;
b3Printf("PoseCount:%d(%s) Controllers:%d\n", m_iValidPoseCount, m_strPoseClasses.c_str(), m_iTrackedControllerCount);
}
{
B3_PROFILE("UpdateHMDMatrixPose");
UpdateHMDMatrixPose();
}
}
//-----------------------------------------------------------------------------
// Purpose: Compiles a GL shader program and returns the handle. Returns 0 if
// the shader couldn't be compiled for some reason.
//-----------------------------------------------------------------------------
GLuint CMainApplication::CompileGLShader(const char *pchShaderName, const char *pchVertexShader, const char *pchFragmentShader)
{
GLuint unProgramID = glCreateProgram();
GLuint nSceneVertexShader = glCreateShader(GL_VERTEX_SHADER);
glShaderSource(nSceneVertexShader, 1, &pchVertexShader, NULL);
glCompileShader(nSceneVertexShader);
GLint vShaderCompiled = GL_FALSE;
glGetShaderiv(nSceneVertexShader, GL_COMPILE_STATUS, &vShaderCompiled);
if (vShaderCompiled != GL_TRUE)
{
b3Printf("%s - Unable to compile vertex shader %d!\n", pchShaderName, nSceneVertexShader);
glDeleteProgram(unProgramID);
glDeleteShader(nSceneVertexShader);
return 0;
}
glAttachShader(unProgramID, nSceneVertexShader);
glDeleteShader(nSceneVertexShader); // the program hangs onto this once it's attached
GLuint nSceneFragmentShader = glCreateShader(GL_FRAGMENT_SHADER);
glShaderSource(nSceneFragmentShader, 1, &pchFragmentShader, NULL);
glCompileShader(nSceneFragmentShader);
GLint fShaderCompiled = GL_FALSE;
glGetShaderiv(nSceneFragmentShader, GL_COMPILE_STATUS, &fShaderCompiled);
if (fShaderCompiled != GL_TRUE)
{
b3Printf("%s - Unable to compile fragment shader %d!\n", pchShaderName, nSceneFragmentShader);
glDeleteProgram(unProgramID);
glDeleteShader(nSceneFragmentShader);
return 0;
}
glAttachShader(unProgramID, nSceneFragmentShader);
glDeleteShader(nSceneFragmentShader); // the program hangs onto this once it's attached
glLinkProgram(unProgramID);
GLint programSuccess = GL_TRUE;
glGetProgramiv(unProgramID, GL_LINK_STATUS, &programSuccess);
if (programSuccess != GL_TRUE)
{
b3Printf("%s - Error linking program %d!\n", pchShaderName, unProgramID);
glDeleteProgram(unProgramID);
return 0;
}
glUseProgram(unProgramID);
glUseProgram(0);
return unProgramID;
}
//-----------------------------------------------------------------------------
// Purpose: Creates all the shaders used by HelloVR SDL
//-----------------------------------------------------------------------------
bool CMainApplication::CreateAllShaders()
{
m_unSceneProgramID = CompileGLShader(
"Scene",
// Vertex Shader
"#version 410\n"
"uniform mat4 matrix;\n"
"layout(location = 0) in vec4 position;\n"
"layout(location = 1) in vec2 v2UVcoordsIn;\n"
"layout(location = 2) in vec3 v3NormalIn;\n"
"out vec2 v2UVcoords;\n"
"void main()\n"
"{\n"
" v2UVcoords = v2UVcoordsIn;\n"
" gl_Position = matrix * position;\n"
"}\n",
// Fragment Shader
"#version 410 core\n"
"uniform sampler2D mytexture;\n"
"in vec2 v2UVcoords;\n"
"out vec4 outputColor;\n"
"void main()\n"
"{\n"
" outputColor = texture(mytexture, v2UVcoords);\n"
"}\n");
m_nSceneMatrixLocation = glGetUniformLocation(m_unSceneProgramID, "matrix");
if (m_nSceneMatrixLocation == -1)
{
b3Printf("Unable to find matrix uniform in scene shader\n");
return false;
}
m_unControllerTransformProgramID = CompileGLShader(
"Controller",
// vertex shader
"#version 410\n"
"uniform mat4 matrix;\n"
"layout(location = 0) in vec4 position;\n"
"layout(location = 1) in vec3 v3ColorIn;\n"
"out vec4 v4Color;\n"
"void main()\n"
"{\n"
" v4Color.xyz = v3ColorIn; v4Color.a = 1.0;\n"
" gl_Position = matrix * position;\n"
"}\n",
// fragment shader
"#version 410\n"
"in vec4 v4Color;\n"
"out vec4 outputColor;\n"
"void main()\n"
"{\n"
" outputColor = v4Color;\n"
"}\n");
m_nControllerMatrixLocation = glGetUniformLocation(m_unControllerTransformProgramID, "matrix");
if (m_nControllerMatrixLocation == -1)
{
b3Printf("Unable to find matrix uniform in controller shader\n");
return false;
}
m_unRenderModelProgramID = CompileGLShader(
"render model",
// vertex shader
"#version 410\n"
"uniform mat4 matrix;\n"
"layout(location = 0) in vec4 position;\n"
"layout(location = 1) in vec3 v3NormalIn;\n"
"layout(location = 2) in vec2 v2TexCoordsIn;\n"
"out vec2 v2TexCoord;\n"
"void main()\n"
"{\n"
" v2TexCoord = v2TexCoordsIn;\n"
" gl_Position = matrix * vec4(position.xyz, 1);\n"
"}\n",
//fragment shader
"#version 410 core\n"
"uniform sampler2D diffuse;\n"
"in vec2 v2TexCoord;\n"
"out vec4 outputColor;\n"
"void main()\n"
"{\n"
" outputColor = texture( diffuse, v2TexCoord);\n"
"}\n"
);
m_nRenderModelMatrixLocation = glGetUniformLocation(m_unRenderModelProgramID, "matrix");
if (m_nRenderModelMatrixLocation == -1)
{
b3Printf("Unable to find matrix uniform in render model shader\n");
return false;
}
m_unLensProgramID = CompileGLShader(
"Distortion",
// vertex shader
"#version 410 core\n"
"layout(location = 0) in vec4 position;\n"
"layout(location = 1) in vec2 v2UVredIn;\n"
"layout(location = 2) in vec2 v2UVGreenIn;\n"
"layout(location = 3) in vec2 v2UVblueIn;\n"
"noperspective out vec2 v2UVred;\n"
"noperspective out vec2 v2UVgreen;\n"
"noperspective out vec2 v2UVblue;\n"
"void main()\n"
"{\n"
" v2UVred = v2UVredIn;\n"
" v2UVgreen = v2UVGreenIn;\n"
" v2UVblue = v2UVblueIn;\n"
" gl_Position = position;\n"
"}\n",
// fragment shader
"#version 410 core\n"
"uniform sampler2D mytexture;\n"
"noperspective in vec2 v2UVred;\n"
"noperspective in vec2 v2UVgreen;\n"
"noperspective in vec2 v2UVblue;\n"
"out vec4 outputColor;\n"
"void main()\n"
"{\n"
" float fBoundsCheck = ( (dot( vec2( lessThan( v2UVgreen.xy, vec2(0.05, 0.05)) ), vec2(1.0, 1.0))+dot( vec2( greaterThan( v2UVgreen.xy, vec2( 0.95, 0.95)) ), vec2(1.0, 1.0))) );\n"
" if( fBoundsCheck > 1.0 )\n"
" { outputColor = vec4( 0, 0, 0, 1.0 ); }\n"
" else\n"
" {\n"
" float red = texture(mytexture, v2UVred).x;\n"
" float green = texture(mytexture, v2UVgreen).y;\n"
" float blue = texture(mytexture, v2UVblue).z;\n"
" outputColor = vec4( red, green, blue, 1.0 ); }\n"
"}\n");
return m_unSceneProgramID != 0 && m_unControllerTransformProgramID != 0 && m_unRenderModelProgramID != 0 && m_unLensProgramID != 0;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CMainApplication::SetupTexturemaps()
{
std::string sExecutableDirectory = Path_StripFilename(Path_GetExecutablePath());
std::string strFullPath = Path_MakeAbsolute("../cube_texture.png", sExecutableDirectory);
std::vector<unsigned char> imageRGBA;
unsigned nImageWidth, nImageHeight;
unsigned nError = lodepng::decode(imageRGBA, nImageWidth, nImageHeight, strFullPath.c_str());
if (nError != 0)
return false;
glGenTextures(1, &m_iTexture);
glBindTexture(GL_TEXTURE_2D, m_iTexture);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, nImageWidth, nImageHeight,
0, GL_RGBA, GL_UNSIGNED_BYTE, &imageRGBA[0]);
glGenerateMipmap(GL_TEXTURE_2D);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
GLfloat fLargest;
glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY, &fLargest);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY, fLargest);
glBindTexture(GL_TEXTURE_2D, 0);
return (m_iTexture != 0);
}
//-----------------------------------------------------------------------------
// Purpose: create a sea of cubes
//-----------------------------------------------------------------------------
void CMainApplication::SetupScene()
{
if (!m_pHMD)
return;
std::vector<float> vertdataarray;
Matrix4 matScale;
matScale.scale(m_fScale, m_fScale, m_fScale);
Matrix4 matTransform;
matTransform.translate(
-((float)m_iSceneVolumeWidth * m_fScaleSpacing) / 2.f,
-((float)m_iSceneVolumeHeight * m_fScaleSpacing) / 2.f,
-((float)m_iSceneVolumeDepth * m_fScaleSpacing) / 2.f);
Matrix4 mat = matScale * matTransform;
for (int z = 0; z < m_iSceneVolumeDepth; z++)
{
for (int y = 0; y < m_iSceneVolumeHeight; y++)
{
for (int x = 0; x < m_iSceneVolumeWidth; x++)
{
AddCubeToScene(mat, vertdataarray);
mat = mat * Matrix4().translate(m_fScaleSpacing, 0, 0);
}
mat = mat * Matrix4().translate(-((float)m_iSceneVolumeWidth) * m_fScaleSpacing, m_fScaleSpacing, 0);
}
mat = mat * Matrix4().translate(0, -((float)m_iSceneVolumeHeight) * m_fScaleSpacing, m_fScaleSpacing);
}
m_uiVertcount = vertdataarray.size() / 5;
glGenVertexArrays(1, &m_unSceneVAO);
glBindVertexArray(m_unSceneVAO);
glGenBuffers(1, &m_glSceneVertBuffer);
glBindBuffer(GL_ARRAY_BUFFER, m_glSceneVertBuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * vertdataarray.size(), &vertdataarray[0], GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, m_glSceneVertBuffer);
GLsizei stride = sizeof(VertexDataScene);
uintptr_t offset = 0;
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, stride, (const void *)offset);
offset += sizeof(Vector3);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, stride, (const void *)offset);
glBindVertexArray(0);
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
m_hasContext = true;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::AddCubeVertex(float fl0, float fl1, float fl2, float fl3, float fl4, std::vector<float> &vertdata)
{
vertdata.push_back(fl0);
vertdata.push_back(fl1);
vertdata.push_back(fl2);
vertdata.push_back(fl3);
vertdata.push_back(fl4);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::AddCubeToScene(Matrix4 mat, std::vector<float> &vertdata)
{
// Matrix4 mat( outermat.data() );
Vector4 A = mat * Vector4(0, 0, 0, 1);
Vector4 B = mat * Vector4(1, 0, 0, 1);
Vector4 C = mat * Vector4(1, 1, 0, 1);
Vector4 D = mat * Vector4(0, 1, 0, 1);
Vector4 E = mat * Vector4(0, 0, 1, 1);
Vector4 F = mat * Vector4(1, 0, 1, 1);
Vector4 G = mat * Vector4(1, 1, 1, 1);
Vector4 H = mat * Vector4(0, 1, 1, 1);
// triangles instead of quads
AddCubeVertex(E.x, E.y, E.z, 0, 1, vertdata); //Front
AddCubeVertex(F.x, F.y, F.z, 1, 1, vertdata);
AddCubeVertex(G.x, G.y, G.z, 1, 0, vertdata);
AddCubeVertex(G.x, G.y, G.z, 1, 0, vertdata);
AddCubeVertex(H.x, H.y, H.z, 0, 0, vertdata);
AddCubeVertex(E.x, E.y, E.z, 0, 1, vertdata);
AddCubeVertex(B.x, B.y, B.z, 0, 1, vertdata); //Back
AddCubeVertex(A.x, A.y, A.z, 1, 1, vertdata);
AddCubeVertex(D.x, D.y, D.z, 1, 0, vertdata);
AddCubeVertex(D.x, D.y, D.z, 1, 0, vertdata);
AddCubeVertex(C.x, C.y, C.z, 0, 0, vertdata);
AddCubeVertex(B.x, B.y, B.z, 0, 1, vertdata);
AddCubeVertex(H.x, H.y, H.z, 0, 1, vertdata); //Top
AddCubeVertex(G.x, G.y, G.z, 1, 1, vertdata);
AddCubeVertex(C.x, C.y, C.z, 1, 0, vertdata);
AddCubeVertex(C.x, C.y, C.z, 1, 0, vertdata);
AddCubeVertex(D.x, D.y, D.z, 0, 0, vertdata);
AddCubeVertex(H.x, H.y, H.z, 0, 1, vertdata);
AddCubeVertex(A.x, A.y, A.z, 0, 1, vertdata); //Bottom
AddCubeVertex(B.x, B.y, B.z, 1, 1, vertdata);
AddCubeVertex(F.x, F.y, F.z, 1, 0, vertdata);
AddCubeVertex(F.x, F.y, F.z, 1, 0, vertdata);
AddCubeVertex(E.x, E.y, E.z, 0, 0, vertdata);
AddCubeVertex(A.x, A.y, A.z, 0, 1, vertdata);
AddCubeVertex(A.x, A.y, A.z, 0, 1, vertdata); //Left
AddCubeVertex(E.x, E.y, E.z, 1, 1, vertdata);
AddCubeVertex(H.x, H.y, H.z, 1, 0, vertdata);
AddCubeVertex(H.x, H.y, H.z, 1, 0, vertdata);
AddCubeVertex(D.x, D.y, D.z, 0, 0, vertdata);
AddCubeVertex(A.x, A.y, A.z, 0, 1, vertdata);
AddCubeVertex(F.x, F.y, F.z, 0, 1, vertdata); //Right
AddCubeVertex(B.x, B.y, B.z, 1, 1, vertdata);
AddCubeVertex(C.x, C.y, C.z, 1, 0, vertdata);
AddCubeVertex(C.x, C.y, C.z, 1, 0, vertdata);
AddCubeVertex(G.x, G.y, G.z, 0, 0, vertdata);
AddCubeVertex(F.x, F.y, F.z, 0, 1, vertdata);
}
//-----------------------------------------------------------------------------
// Purpose: Draw all of the controllers as X/Y/Z lines
//-----------------------------------------------------------------------------
extern int gGraspingController;
void CMainApplication::DrawControllers()
{
// don't draw controllers if somebody else has input focus
if (m_pHMD->IsInputFocusCapturedByAnotherProcess())
return;
std::vector<float> vertdataarray;
m_uiControllerVertcount = 0;
m_iTrackedControllerCount = 0;
for (vr::TrackedDeviceIndex_t unTrackedDevice = vr::k_unTrackedDeviceIndex_Hmd + 1; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; ++unTrackedDevice)
{
if (!m_pHMD->IsTrackedDeviceConnected(unTrackedDevice))
continue;
if (m_pHMD->GetTrackedDeviceClass(unTrackedDevice) != vr::TrackedDeviceClass_Controller)
continue;
m_iTrackedControllerCount += 1;
if (!m_rTrackedDevicePose[unTrackedDevice].bPoseIsValid)
continue;
const Matrix4 &mat = m_rmat4DevicePose[unTrackedDevice];
Vector4 center = mat * Vector4(0, 0, 0, 1);
for (int i = 0; i < 3; ++i)
{
Vector3 color(0, 0, 0);
Vector4 point(0, 0, 0, 1);
point[i] += 0.05f; // offset in X, Y, Z
color[i] = 1.0; // R, G, B
point = mat * point;
vertdataarray.push_back(center.x);
vertdataarray.push_back(center.y);
vertdataarray.push_back(center.z);
vertdataarray.push_back(color.x);
vertdataarray.push_back(color.y);
vertdataarray.push_back(color.z);
vertdataarray.push_back(point.x);
vertdataarray.push_back(point.y);
vertdataarray.push_back(point.z);
vertdataarray.push_back(color.x);
vertdataarray.push_back(color.y);
vertdataarray.push_back(color.z);
m_uiControllerVertcount += 2;
}
Vector4 start = mat * Vector4(0, 0, -0.02f, 1);
Vector4 end = mat * Vector4(0, 0, -39.f, 1);
Vector3 color(.92f, .92f, .71f);
vertdataarray.push_back(start.x);
vertdataarray.push_back(start.y);
vertdataarray.push_back(start.z);
vertdataarray.push_back(color.x);
vertdataarray.push_back(color.y);
vertdataarray.push_back(color.z);
vertdataarray.push_back(end.x);
vertdataarray.push_back(end.y);
vertdataarray.push_back(end.z);
vertdataarray.push_back(color.x);
vertdataarray.push_back(color.y);
vertdataarray.push_back(color.z);
m_uiControllerVertcount += 2;
}
// Setup the VAO the first time through.
if (m_unControllerVAO == 0)
{
glGenVertexArrays(1, &m_unControllerVAO);
glBindVertexArray(m_unControllerVAO);
glGenBuffers(1, &m_glControllerVertBuffer);
glBindBuffer(GL_ARRAY_BUFFER, m_glControllerVertBuffer);
GLuint stride = 2 * 3 * sizeof(float);
GLuint offset = 0;
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, stride, (const void *)offset);
offset += sizeof(Vector3);
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, stride, (const void *)offset);
glBindVertexArray(0);
}
glBindBuffer(GL_ARRAY_BUFFER, m_glControllerVertBuffer);
// set vertex data if we have some
if (vertdataarray.size() > 0)
{
//$ TODO: Use glBufferSubData for this...
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * vertdataarray.size(), &vertdataarray[0], GL_STREAM_DRAW);
}
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::SetupCameras()
{
m_mat4ProjectionLeft = GetHMDMatrixProjectionEye(vr::Eye_Left);
m_mat4ProjectionRight = GetHMDMatrixProjectionEye(vr::Eye_Right);
m_mat4eyePosLeft = GetHMDMatrixPoseEye(vr::Eye_Left);
m_mat4eyePosRight = GetHMDMatrixPoseEye(vr::Eye_Right);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CMainApplication::CreateFrameBuffer(int nWidth, int nHeight, FramebufferDesc &framebufferDesc)
{
glGenFramebuffers(1, &framebufferDesc.m_nRenderFramebufferId);
glBindFramebuffer(GL_FRAMEBUFFER, framebufferDesc.m_nRenderFramebufferId);
glGenRenderbuffers(1, &framebufferDesc.m_nDepthBufferId);
glBindRenderbuffer(GL_RENDERBUFFER, framebufferDesc.m_nDepthBufferId);
glRenderbufferStorageMultisample(GL_RENDERBUFFER, 4, GL_DEPTH_COMPONENT, nWidth, nHeight);
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, framebufferDesc.m_nDepthBufferId);
glGenTextures(1, &framebufferDesc.m_nRenderTextureId);
glBindTexture(GL_TEXTURE_2D_MULTISAMPLE, framebufferDesc.m_nRenderTextureId);
glTexImage2DMultisample(GL_TEXTURE_2D_MULTISAMPLE, 4, GL_RGBA8, nWidth, nHeight, true);
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D_MULTISAMPLE, framebufferDesc.m_nRenderTextureId, 0);
glGenFramebuffers(1, &framebufferDesc.m_nResolveFramebufferId);
glBindFramebuffer(GL_FRAMEBUFFER, framebufferDesc.m_nResolveFramebufferId);
glGenTextures(1, &framebufferDesc.m_nResolveTextureId);
glBindTexture(GL_TEXTURE_2D, framebufferDesc.m_nResolveTextureId);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAX_LEVEL, 0);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, nWidth, nHeight, 0, GL_RGBA, GL_UNSIGNED_BYTE, nullptr);
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, framebufferDesc.m_nResolveTextureId, 0);
// check FBO status
GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
if (status != GL_FRAMEBUFFER_COMPLETE)
{
return false;
}
glBindFramebuffer(GL_FRAMEBUFFER, 0);
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
bool CMainApplication::SetupStereoRenderTargets()
{
if (!m_pHMD)
return false;
m_pHMD->GetRecommendedRenderTargetSize(&m_nRenderWidth, &m_nRenderHeight);
CreateFrameBuffer(m_nRenderWidth, m_nRenderHeight, leftEyeDesc);
CreateFrameBuffer(m_nRenderWidth, m_nRenderHeight, rightEyeDesc);
return true;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::SetupDistortion()
{
if (!m_pHMD)
return;
GLushort m_iLensGridSegmentCountH = 43;
GLushort m_iLensGridSegmentCountV = 43;
float w = (float)(1.0 / float(m_iLensGridSegmentCountH - 1));
float h = (float)(1.0 / float(m_iLensGridSegmentCountV - 1));
float u, v = 0;
std::vector<VertexDataLens> vVerts(0);
VertexDataLens vert;
//left eye distortion verts
float Xoffset = -1;
for (int y = 0; y < m_iLensGridSegmentCountV; y++)
{
for (int x = 0; x < m_iLensGridSegmentCountH; x++)
{
u = x * w;
v = 1 - y * h;
vert.position = Vector2(Xoffset + u, -1 + 2 * y * h);
vr::DistortionCoordinates_t dc0;
bool result = m_pHMD->ComputeDistortion(vr::Eye_Left, u, v, &dc0);
btAssert(result);
vert.texCoordRed = Vector2(dc0.rfRed[0], 1 - dc0.rfRed[1]);
vert.texCoordGreen = Vector2(dc0.rfGreen[0], 1 - dc0.rfGreen[1]);
vert.texCoordBlue = Vector2(dc0.rfBlue[0], 1 - dc0.rfBlue[1]);
vVerts.push_back(vert);
}
}
//right eye distortion verts
Xoffset = 0;
for (int y = 0; y < m_iLensGridSegmentCountV; y++)
{
for (int x = 0; x < m_iLensGridSegmentCountH; x++)
{
u = x * w;
v = 1 - y * h;
vert.position = Vector2(Xoffset + u, -1 + 2 * y * h);
vr::DistortionCoordinates_t dc0;
bool result = m_pHMD->ComputeDistortion(vr::Eye_Right, u, v, &dc0);
btAssert(result);
vert.texCoordRed = Vector2(dc0.rfRed[0], 1 - dc0.rfRed[1]);
vert.texCoordGreen = Vector2(dc0.rfGreen[0], 1 - dc0.rfGreen[1]);
vert.texCoordBlue = Vector2(dc0.rfBlue[0], 1 - dc0.rfBlue[1]);
vVerts.push_back(vert);
}
}
std::vector<GLushort> vIndices;
GLushort a, b, c, d;
GLushort offset = 0;
for (GLushort y = 0; y < m_iLensGridSegmentCountV - 1; y++)
{
for (GLushort x = 0; x < m_iLensGridSegmentCountH - 1; x++)
{
a = m_iLensGridSegmentCountH * y + x + offset;
b = m_iLensGridSegmentCountH * y + x + 1 + offset;
c = (y + 1) * m_iLensGridSegmentCountH + x + 1 + offset;
d = (y + 1) * m_iLensGridSegmentCountH + x + offset;
vIndices.push_back(a);
vIndices.push_back(b);
vIndices.push_back(c);
vIndices.push_back(a);
vIndices.push_back(c);
vIndices.push_back(d);
}
}
offset = (m_iLensGridSegmentCountH) * (m_iLensGridSegmentCountV);
for (GLushort y = 0; y < m_iLensGridSegmentCountV - 1; y++)
{
for (GLushort x = 0; x < m_iLensGridSegmentCountH - 1; x++)
{
a = m_iLensGridSegmentCountH * y + x + offset;
b = m_iLensGridSegmentCountH * y + x + 1 + offset;
c = (y + 1) * m_iLensGridSegmentCountH + x + 1 + offset;
d = (y + 1) * m_iLensGridSegmentCountH + x + offset;
vIndices.push_back(a);
vIndices.push_back(b);
vIndices.push_back(c);
vIndices.push_back(a);
vIndices.push_back(c);
vIndices.push_back(d);
}
}
m_uiIndexSize = vIndices.size();
glGenVertexArrays(1, &m_unLensVAO);
glBindVertexArray(m_unLensVAO);
glGenBuffers(1, &m_glIDVertBuffer);
glBindBuffer(GL_ARRAY_BUFFER, m_glIDVertBuffer);
glBufferData(GL_ARRAY_BUFFER, vVerts.size() * sizeof(VertexDataLens), &vVerts[0], GL_STATIC_DRAW);
glGenBuffers(1, &m_glIDIndexBuffer);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_glIDIndexBuffer);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, vIndices.size() * sizeof(GLushort), &vIndices[0], GL_STATIC_DRAW);
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 2, GL_FLOAT, GL_FALSE, sizeof(VertexDataLens), (void *)offsetof(VertexDataLens, position));
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, sizeof(VertexDataLens), (void *)offsetof(VertexDataLens, texCoordRed));
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, sizeof(VertexDataLens), (void *)offsetof(VertexDataLens, texCoordGreen));
glEnableVertexAttribArray(3);
glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, sizeof(VertexDataLens), (void *)offsetof(VertexDataLens, texCoordBlue));
glBindVertexArray(0);
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
glDisableVertexAttribArray(2);
glDisableVertexAttribArray(3);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::RenderStereoTargets()
{
B3_PROFILE("CMainApplication::RenderStereoTargets");
btScalar dtSec = btScalar(m_clock.getTimeInSeconds());
dtSec = btMin(dtSec, btScalar(0.1));
sExample->stepSimulation(dtSec);
m_clock.reset();
glClearColor(0.15f, 0.15f, 0.18f, 1.0f); // nice background color, but not black
glEnable(GL_MULTISAMPLE);
m_app->m_instancingRenderer->init();
Matrix4 rotYtoZ = rotYtoZ.identity();
//some Bullet apps (especially robotics related) require Z as up-axis)
if (m_app->getUpAxis() == 2)
{
rotYtoZ.rotateX(-90);
}
// Left Eye
{
Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ;
Matrix4 viewMatCenter = m_mat4HMDPose * rotYtoZ;
//0,1,2,3
//4,5,6,7,
//8,9,10,11
//12,13,14,15
//m_mat4eyePosLeft.get()[10]
//m_app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(
// m_mat4eyePosLeft.get()[3],
// m_mat4eyePosLeft.get()[7],
// m_mat4eyePosLeft.get()[11]);
Matrix4 m;
m = viewMatCenter;
const float *mat = m.invertAffine().get();
/*printf("camera:\n,%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f\n%f,%f,%f,%f",
mat[0],mat[1],mat[2],mat[3],
mat[4],mat[5],mat[6],mat[7],
mat[8],mat[9],mat[10],mat[11],
mat[12],mat[13],mat[14],mat[15]);
*/
float dist = 1;
m_app->m_instancingRenderer->getActiveCamera()->setCameraTargetPosition(
mat[12] - dist * mat[8],
mat[13] - dist * mat[9],
mat[14] - dist * mat[10]);
m_app->m_instancingRenderer->getActiveCamera()->setCameraUpVector(mat[0], mat[1], mat[2]);
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(), m_mat4ProjectionLeft.get());
m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(), m_mat4ProjectionLeft.get());
}
glBindFramebuffer(GL_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId);
m_app->m_window->startRendering();
glViewport(0, 0, m_nRenderWidth, m_nRenderHeight);
RenderScene(vr::Eye_Left);
m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)leftEyeDesc.m_nRenderFramebufferId);
if (gDebugDrawFlags)
{
sExample->physicsDebugDraw(gDebugDrawFlags);
}
//else
{
sExample->renderScene();
}
//m_app->m_instancingRenderer->renderScene();
DrawGridData gridUp;
gridUp.upAxis = m_app->getUpAxis();
// m_app->drawGrid(gridUp);
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glDisable(GL_MULTISAMPLE);
glBindFramebuffer(GL_READ_FRAMEBUFFER, leftEyeDesc.m_nRenderFramebufferId);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, leftEyeDesc.m_nResolveFramebufferId);
glBlitFramebuffer(0, 0, m_nRenderWidth, m_nRenderHeight, 0, 0, m_nRenderWidth, m_nRenderHeight,
GL_COLOR_BUFFER_BIT,
GL_LINEAR);
glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
glEnable(GL_MULTISAMPLE);
// Right Eye
{
Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(), m_mat4ProjectionRight.get());
m_app->m_instancingRenderer->updateCamera(m_app->getUpAxis());
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(), m_mat4ProjectionRight.get());
}
glBindFramebuffer(GL_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId);
m_app->m_window->startRendering();
glViewport(0, 0, m_nRenderWidth, m_nRenderHeight);
RenderScene(vr::Eye_Right);
m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
//m_app->m_renderer->renderScene();
if (gDebugDrawFlags)
{
sExample->physicsDebugDraw(gDebugDrawFlags);
}
//else
{
sExample->renderScene();
}
//m_app->drawGrid(gridUp);
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glDisable(GL_MULTISAMPLE);
glBindFramebuffer(GL_READ_FRAMEBUFFER, rightEyeDesc.m_nRenderFramebufferId);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, rightEyeDesc.m_nResolveFramebufferId);
glBlitFramebuffer(0, 0, m_nRenderWidth, m_nRenderHeight, 0, 0, m_nRenderWidth, m_nRenderHeight,
GL_COLOR_BUFFER_BIT,
GL_LINEAR);
glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::RenderScene(vr::Hmd_Eye nEye)
{
B3_PROFILE("RenderScene");
//glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
if (m_bShowCubes)
{
glUseProgram(m_unSceneProgramID);
glUniformMatrix4fv(m_nSceneMatrixLocation, 1, GL_FALSE, GetCurrentViewProjectionMatrix(nEye).get());
glBindVertexArray(m_unSceneVAO);
glBindTexture(GL_TEXTURE_2D, m_iTexture);
glDrawArrays(GL_TRIANGLES, 0, m_uiVertcount);
glBindVertexArray(0);
}
bool bIsInputCapturedByAnotherProcess = m_pHMD->IsInputFocusCapturedByAnotherProcess();
if (gEnableVRRenderControllers)
{
if (!bIsInputCapturedByAnotherProcess)
{
// draw the controller axis lines
glUseProgram(m_unControllerTransformProgramID);
glUniformMatrix4fv(m_nControllerMatrixLocation, 1, GL_FALSE, GetCurrentViewProjectionMatrix(nEye).get());
glBindVertexArray(m_unControllerVAO);
glDrawArrays(GL_LINES, 0, m_uiControllerVertcount);
glBindVertexArray(0);
}
// ----- Render Model rendering -----
glUseProgram(m_unRenderModelProgramID);
for (uint32_t unTrackedDevice = 0; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; unTrackedDevice++)
{
if (!m_rTrackedDeviceToRenderModel[unTrackedDevice] || !m_rbShowTrackedDevice[unTrackedDevice])
continue;
const vr::TrackedDevicePose_t &pose = m_rTrackedDevicePose[unTrackedDevice];
if (!pose.bPoseIsValid)
continue;
if (bIsInputCapturedByAnotherProcess && m_pHMD->GetTrackedDeviceClass(unTrackedDevice) == vr::TrackedDeviceClass_Controller)
continue;
const Matrix4 &matDeviceToTracking = m_rmat4DevicePose[unTrackedDevice];
Matrix4 matMVP = GetCurrentViewProjectionMatrix(nEye) * matDeviceToTracking;
glUniformMatrix4fv(m_nRenderModelMatrixLocation, 1, GL_FALSE, matMVP.get());
m_rTrackedDeviceToRenderModel[unTrackedDevice]->Draw();
}
}
glUseProgram(0);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::RenderDistortion()
{
glDisable(GL_DEPTH_TEST);
glViewport(0, 0, m_nWindowWidth, m_nWindowHeight);
glBindVertexArray(m_unLensVAO);
glUseProgram(m_unLensProgramID);
//render left lens (first half of index array )
glBindTexture(GL_TEXTURE_2D, leftEyeDesc.m_nResolveTextureId);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glDrawElements(GL_TRIANGLES, m_uiIndexSize / 2, GL_UNSIGNED_SHORT, 0);
//render right lens (second half of index array )
glBindTexture(GL_TEXTURE_2D, rightEyeDesc.m_nResolveTextureId);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glDrawElements(GL_TRIANGLES, m_uiIndexSize / 2, GL_UNSIGNED_SHORT, (const void *)(m_uiIndexSize));
glBindVertexArray(0);
glUseProgram(0);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
Matrix4 CMainApplication::GetHMDMatrixProjectionEye(vr::Hmd_Eye nEye)
{
if (!m_pHMD)
return Matrix4();
vr::HmdMatrix44_t mat = m_pHMD->GetProjectionMatrix(nEye, m_fNearClip, m_fFarClip);
return Matrix4(
mat.m[0][0], mat.m[1][0], mat.m[2][0], mat.m[3][0],
mat.m[0][1], mat.m[1][1], mat.m[2][1], mat.m[3][1],
mat.m[0][2], mat.m[1][2], mat.m[2][2], mat.m[3][2],
mat.m[0][3], mat.m[1][3], mat.m[2][3], mat.m[3][3]);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
Matrix4 CMainApplication::GetHMDMatrixPoseEye(vr::Hmd_Eye nEye)
{
if (!m_pHMD)
return Matrix4();
vr::HmdMatrix34_t matEyeRight = m_pHMD->GetEyeToHeadTransform(nEye);
Matrix4 matrixObj(
matEyeRight.m[0][0], matEyeRight.m[1][0], matEyeRight.m[2][0], 0.0,
matEyeRight.m[0][1], matEyeRight.m[1][1], matEyeRight.m[2][1], 0.0,
matEyeRight.m[0][2], matEyeRight.m[1][2], matEyeRight.m[2][2], 0.0,
matEyeRight.m[0][3], matEyeRight.m[1][3], matEyeRight.m[2][3], 1.0f);
return matrixObj.invert();
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
Matrix4 CMainApplication::GetCurrentViewProjectionMatrix(vr::Hmd_Eye nEye)
{
Matrix4 matMVP;
if (nEye == vr::Eye_Left)
{
matMVP = m_mat4ProjectionLeft * m_mat4eyePosLeft * m_mat4HMDPose;
}
else if (nEye == vr::Eye_Right)
{
matMVP = m_mat4ProjectionRight * m_mat4eyePosRight * m_mat4HMDPose;
}
return matMVP;
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
void CMainApplication::UpdateHMDMatrixPose()
{
if (!m_pHMD)
return;
{
B3_PROFILE("WaitGetPoses");
vr::VRCompositor()->WaitGetPoses(m_rTrackedDevicePose, vr::k_unMaxTrackedDeviceCount, NULL, 0);
}
m_iValidPoseCount = 0;
m_strPoseClasses = "";
{
B3_PROFILE("for loop");
for (int nDevice = 0; nDevice < vr::k_unMaxTrackedDeviceCount; ++nDevice)
{
if (m_rTrackedDevicePose[nDevice].bPoseIsValid)
{
m_iValidPoseCount++;
m_rmat4DevicePose[nDevice] = ConvertSteamVRMatrixToMatrix4(m_rTrackedDevicePose[nDevice].mDeviceToAbsoluteTracking);
if (m_rDevClassChar[nDevice] == 0)
{
switch (m_pHMD->GetTrackedDeviceClass(nDevice))
{
case vr::TrackedDeviceClass_Controller:
m_rDevClassChar[nDevice] = 'C';
break;
case vr::TrackedDeviceClass_HMD:
m_rDevClassChar[nDevice] = 'H';
break;
case vr::TrackedDeviceClass_Invalid:
m_rDevClassChar[nDevice] = 'I';
break;
case vr::TrackedDeviceClass_TrackingReference:
m_rDevClassChar[nDevice] = 'T';
break;
case vr::TrackedDeviceClass_GenericTracker:
m_rDevClassChar[nDevice] = 'G';
break;
default:
m_rDevClassChar[nDevice] = '?';
break;
}
}
m_strPoseClasses += m_rDevClassChar[nDevice];
}
}
}
{
B3_PROFILE("m_mat4HMDPose invert");
if (m_rTrackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid)
{
m_mat4HMDPose = m_rmat4DevicePose[vr::k_unTrackedDeviceIndex_Hmd].invert();
}
}
}
//-----------------------------------------------------------------------------
// Purpose: Finds a render model we've already loaded or loads a new one
//-----------------------------------------------------------------------------
CGLRenderModel *CMainApplication::FindOrLoadRenderModel(const char *pchRenderModelName)
{
CGLRenderModel *pRenderModel = NULL;
for (std::vector<CGLRenderModel *>::iterator i = m_vecRenderModels.begin(); i != m_vecRenderModels.end(); i++)
{
if (!stricmp((*i)->GetName().c_str(), pchRenderModelName))
{
pRenderModel = *i;
break;
}
}
// load the model if we didn't find one
if (!pRenderModel)
{
vr::RenderModel_t *pModel;
vr::EVRRenderModelError error;
while (1)
{
error = vr::VRRenderModels()->LoadRenderModel_Async(pchRenderModelName, &pModel);
if (error != vr::VRRenderModelError_Loading)
break;
ThreadSleep(1);
}
if (error != vr::VRRenderModelError_None)
{
b3Printf("Unable to load render model %s - %s\n", pchRenderModelName, vr::VRRenderModels()->GetRenderModelErrorNameFromEnum(error));
return NULL; // move on to the next tracked device
}
vr::RenderModel_TextureMap_t *pTexture;
while (1)
{
error = vr::VRRenderModels()->LoadTexture_Async(pModel->diffuseTextureId, &pTexture);
if (error != vr::VRRenderModelError_Loading)
break;
ThreadSleep(1);
}
if (error != vr::VRRenderModelError_None)
{
b3Printf("Unable to load render texture id:%d for render model %s\n", pModel->diffuseTextureId, pchRenderModelName);
vr::VRRenderModels()->FreeRenderModel(pModel);
return NULL; // move on to the next tracked device
}
pRenderModel = new CGLRenderModel(pchRenderModelName);
if (!pRenderModel->BInit(*pModel, *pTexture))
{
b3Printf("Unable to create GL model from render model %s\n", pchRenderModelName);
delete pRenderModel;
pRenderModel = NULL;
}
else
{
m_vecRenderModels.push_back(pRenderModel);
}
vr::VRRenderModels()->FreeRenderModel(pModel);
vr::VRRenderModels()->FreeTexture(pTexture);
}
return pRenderModel;
}
//-----------------------------------------------------------------------------
// Purpose: Create/destroy GL a Render Model for a single tracked device
//-----------------------------------------------------------------------------
void CMainApplication::SetupRenderModelForTrackedDevice(vr::TrackedDeviceIndex_t unTrackedDeviceIndex)
{
if (unTrackedDeviceIndex >= vr::k_unMaxTrackedDeviceCount)
return;
// try to find a model we've already set up
std::string sRenderModelName = GetTrackedDeviceString(m_pHMD, unTrackedDeviceIndex, vr::Prop_RenderModelName_String);
CGLRenderModel *pRenderModel = FindOrLoadRenderModel(sRenderModelName.c_str());
if (!pRenderModel)
{
std::string sTrackingSystemName = GetTrackedDeviceString(m_pHMD, unTrackedDeviceIndex, vr::Prop_TrackingSystemName_String);
b3Printf("Unable to load render model for tracked device %d (%s.%s)", unTrackedDeviceIndex, sTrackingSystemName.c_str(), sRenderModelName.c_str());
}
else
{
m_rTrackedDeviceToRenderModel[unTrackedDeviceIndex] = pRenderModel;
m_rbShowTrackedDevice[unTrackedDeviceIndex] = true;
}
}
//-----------------------------------------------------------------------------
// Purpose: Create/destroy GL Render Models
//-----------------------------------------------------------------------------
void CMainApplication::SetupRenderModels()
{
memset(m_rTrackedDeviceToRenderModel, 0, sizeof(m_rTrackedDeviceToRenderModel));
if (!m_pHMD)
return;
for (uint32_t unTrackedDevice = vr::k_unTrackedDeviceIndex_Hmd + 1; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; unTrackedDevice++)
{
if (!m_pHMD->IsTrackedDeviceConnected(unTrackedDevice))
continue;
SetupRenderModelForTrackedDevice(unTrackedDevice);
}
}
//-----------------------------------------------------------------------------
// Purpose: Converts a SteamVR matrix to our local matrix class
//-----------------------------------------------------------------------------
Matrix4 CMainApplication::ConvertSteamVRMatrixToMatrix4(const vr::HmdMatrix34_t &matPose)
{
Matrix4 matrixObj(
matPose.m[0][0], matPose.m[1][0], matPose.m[2][0], 0.0,
matPose.m[0][1], matPose.m[1][1], matPose.m[2][1], 0.0,
matPose.m[0][2], matPose.m[1][2], matPose.m[2][2], 0.0,
matPose.m[0][3], matPose.m[1][3], matPose.m[2][3], 1.0f);
return matrixObj;
}
//-----------------------------------------------------------------------------
// Purpose: Create/destroy GL Render Models
//-----------------------------------------------------------------------------
CGLRenderModel::CGLRenderModel(const std::string &sRenderModelName)
: m_sModelName(sRenderModelName)
{
m_glIndexBuffer = 0;
m_glVertArray = 0;
m_glVertBuffer = 0;
m_glTexture = 0;
}
CGLRenderModel::~CGLRenderModel()
{
Cleanup();
}
//-----------------------------------------------------------------------------
// Purpose: Allocates and populates the GL resources for a render model
//-----------------------------------------------------------------------------
bool CGLRenderModel::BInit(const vr::RenderModel_t &vrModel, const vr::RenderModel_TextureMap_t &vrDiffuseTexture)
{
// create and bind a VAO to hold state for this model
glGenVertexArrays(1, &m_glVertArray);
glBindVertexArray(m_glVertArray);
// Populate a vertex buffer
glGenBuffers(1, &m_glVertBuffer);
glBindBuffer(GL_ARRAY_BUFFER, m_glVertBuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(vr::RenderModel_Vertex_t) * vrModel.unVertexCount, vrModel.rVertexData, GL_STATIC_DRAW);
// Identify the components in the vertex buffer
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(vr::RenderModel_Vertex_t), (void *)offsetof(vr::RenderModel_Vertex_t, vPosition));
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, sizeof(vr::RenderModel_Vertex_t), (void *)offsetof(vr::RenderModel_Vertex_t, vNormal));
glEnableVertexAttribArray(2);
glVertexAttribPointer(2, 2, GL_FLOAT, GL_FALSE, sizeof(vr::RenderModel_Vertex_t), (void *)offsetof(vr::RenderModel_Vertex_t, rfTextureCoord));
// Create and populate the index buffer
glGenBuffers(1, &m_glIndexBuffer);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_glIndexBuffer);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(uint16_t) * vrModel.unTriangleCount * 3, vrModel.rIndexData, GL_STATIC_DRAW);
glBindVertexArray(0);
// create and populate the texture
glGenTextures(1, &m_glTexture);
glBindTexture(GL_TEXTURE_2D, m_glTexture);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, vrDiffuseTexture.unWidth, vrDiffuseTexture.unHeight,
0, GL_RGBA, GL_UNSIGNED_BYTE, vrDiffuseTexture.rubTextureMapData);
// If this renders black ask McJohn what's wrong.
glGenerateMipmap(GL_TEXTURE_2D);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
GLfloat fLargest;
glGetFloatv(GL_MAX_TEXTURE_MAX_ANISOTROPY, &fLargest);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAX_ANISOTROPY, fLargest);
glBindTexture(GL_TEXTURE_2D, 0);
m_unVertexCount = vrModel.unTriangleCount * 3;
return true;
}
//-----------------------------------------------------------------------------
// Purpose: Frees the GL resources for a render model
//-----------------------------------------------------------------------------
void CGLRenderModel::Cleanup()
{
if (m_glVertBuffer)
{
glDeleteBuffers(1, &m_glIndexBuffer);
glDeleteVertexArrays(1, &m_glVertArray);
glDeleteBuffers(1, &m_glVertBuffer);
m_glIndexBuffer = 0;
m_glVertArray = 0;
m_glVertBuffer = 0;
}
}
//-----------------------------------------------------------------------------
// Purpose: Draws the render model
//-----------------------------------------------------------------------------
void CGLRenderModel::Draw()
{
glBindVertexArray(m_glVertArray);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, m_glTexture);
glDrawElements(GL_TRIANGLES, m_unVertexCount, GL_UNSIGNED_SHORT, 0);
glBindVertexArray(0);
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
int main(int argc, char *argv[])
{
b3CommandLineArgs args(argc, argv);
if (args.CheckCmdLineFlag("disable_desktop_gl"))
{
gDisableDesktopGL = true;
}
if (args.CheckCmdLineFlag("tracing"))
{
b3ChromeUtilsStartTimings();
b3ChromeUtilsEnableProfiling();
}
args.GetCmdLineArgument("max_num_object_capacity", maxNumObjectCapacity);
args.GetCmdLineArgument("max_shape_capacity_in_bytes", maxShapeCapacityInBytes);
args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey);
#ifdef BT_USE_CUSTOM_PROFILER
b3SetCustomEnterProfileZoneFunc(dcEnter);
b3SetCustomLeaveProfileZoneFunc(dcLeave);
#endif
CMainApplication *pMainApplication = new CMainApplication(argc, argv);
if (!pMainApplication->BInit())
{
pMainApplication->Shutdown();
return 1;
}
if (sExample)
{
//until we have a proper VR gui, always assume we want the hard-coded default robot assets
char *newargv[2];
char *t0 = (char *)"--robotassets";
newargv[0] = t0;
newargv[1] = t0;
sExample->processCommandLineArgs(2, newargv);
sExample->processCommandLineArgs(argc, argv);
}
char *gVideoFileName = 0;
args.GetCmdLineArgument("mp4", gVideoFileName);
if (gVideoFileName)
pMainApplication->getApp()->dumpFramesToVideo(gVideoFileName);
#ifndef B3_USE_GLFW
#ifdef _WIN32
//request disable VSYNC
typedef bool(APIENTRY * PFNWGLSWAPINTERVALFARPROC)(int);
PFNWGLSWAPINTERVALFARPROC wglSwapIntervalEXT = 0;
wglSwapIntervalEXT =
(PFNWGLSWAPINTERVALFARPROC)wglGetProcAddress("wglSwapIntervalEXT");
if (wglSwapIntervalEXT)
wglSwapIntervalEXT(0);
#endif
#endif
#ifdef __APPLE__
GLint sync = 0;
CGLContextObj ctx = CGLGetCurrentContext();
CGLSetParameter(ctx, kCGLCPSwapInterval, &sync);
#endif
pMainApplication->RunMainLoop();
pMainApplication->Shutdown();
if (args.CheckCmdLineFlag("tracing"))
{
b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
}
return 0;
}
#endif //BT_ENABLE_VR
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