From: Mikko Rasa <tdb@tdb.fi>
Date: Wed, 5 Oct 2016 23:45:08 +0000 (+0300)
Subject: Add support for motion controllers
X-Git-Url: http://git.tdb.fi/?a=commitdiff_plain;h=774cc129d93a0001c36434f47ec0614c653824be;p=libs%2Fvr.git

Add support for motion controllers
---

diff --git a/source/motioncontroller.cpp b/source/motioncontroller.cpp
new file mode 100644
index 0000000..0f82911
--- /dev/null
+++ b/source/motioncontroller.cpp
@@ -0,0 +1,43 @@
+#include <stdexcept>
+#include "headtrackingcamera.h"
+#include "motioncontroller.h"
+#include "stereoview.h"
+
+using namespace std;
+
+namespace Msp {
+namespace VR {
+
+MotionController::MotionController():
+	view(0)
+{ }
+
+MotionController::~MotionController()
+{
+	detach_from_view();
+}
+
+void MotionController::attach_to_view(StereoView &v)
+{
+	detach_from_view();
+	view = &v;
+	view->add_controller(*this);
+}
+
+void MotionController::detach_from_view()
+{
+	if(view)
+		view->remove_controller(*this);
+	view = 0;
+}
+
+void MotionController::update_from_matrix(const GL::Matrix &m)
+{
+	matrix = m;
+	if(view)
+		if(const HeadTrackingCamera *head_camera = view->get_head_camera())
+			matrix = head_camera->get_base_matrix()*matrix;
+}
+
+} // namespace VR
+} // namespace Msp
diff --git a/source/motioncontroller.h b/source/motioncontroller.h
new file mode 100644
index 0000000..9cdd622
--- /dev/null
+++ b/source/motioncontroller.h
@@ -0,0 +1,33 @@
+#ifndef MSP_VR_MOTIONCONTROLLER_H_
+#define MSP_VR_MOTIONCONTROLLER_H_
+
+#include <msp/gl/matrix.h>
+#include <msp/input/device.h>
+
+namespace Msp {
+namespace VR {
+
+class StereoView;
+
+class MotionController: public Input::Device
+{
+protected:
+	StereoView *view;
+	Msp::GL::Matrix matrix;
+
+	MotionController();
+public:
+	virtual ~MotionController();
+
+	void attach_to_view(StereoView &);
+	void detach_from_view();
+	const GL::Matrix &get_matrix() const { return matrix; }
+	virtual void update() = 0;
+protected:
+	void update_from_matrix(const Msp::GL::Matrix &);
+};
+
+} // namespace VR
+} // namespace Msp
+
+#endif
diff --git a/source/openvr/openvrcontroller.cpp b/source/openvr/openvrcontroller.cpp
new file mode 100644
index 0000000..9ab957d
--- /dev/null
+++ b/source/openvr/openvrcontroller.cpp
@@ -0,0 +1,102 @@
+#include <openvr.h>
+#include "openvrcontroller.h"
+#include "openvrcontroller_private.h"
+#include "openvrsystem.h"
+
+using namespace std;
+
+namespace Msp {
+namespace VR {
+
+OpenVRController::OpenVRController(OpenVRSystem &s):
+	system(s),
+	index(-1)
+{
+	name = "OpenVR Controller";
+
+	system.add_controller(*this);
+}
+
+OpenVRController::~OpenVRController()
+{
+	system.remove_controller(*this);
+}
+
+string OpenVRController::get_button_name(unsigned btn) const
+{
+	switch(btn)
+	{
+	case vr::k_EButton_System: return "System";
+	case vr::k_EButton_ApplicationMenu: return "Menu";
+	case vr::k_EButton_Grip: return "Grip";
+	case vr::k_EButton_Axis0: return "Trackpad";
+	case vr::k_EButton_Axis1: return "Trigger";
+	}
+
+	const char *n = vr::VRSystem()->GetButtonIdNameFromEnum(static_cast<vr::EVRButtonId>(btn));
+	if(n)
+		return n;
+
+	return MotionController::get_button_name(btn);
+}
+
+string OpenVRController::get_axis_name(unsigned axis) const
+{
+	switch(axis)
+	{
+	case 0: return "Trackpad X";
+	case 1: return "Trackpad Y";
+	case 2: return "Trigger";
+	}
+
+	return MotionController::get_axis_name(axis);
+}
+
+void OpenVRController::event(const Event &ev)
+{
+	switch(ev.eventType)
+	{
+	case vr::VREvent_TrackedDeviceActivated:
+		index = ev.trackedDeviceIndex;
+		break;
+	case vr::VREvent_TrackedDeviceDeactivated:
+		index = -1;
+		break;
+	case vr::VREvent_ButtonPress:
+		set_button_state(ev.data.controller.button, true, true);
+		break;
+	case vr::VREvent_ButtonUnpress:
+		set_button_state(ev.data.controller.button, false, true);
+		break;
+	}
+}
+
+void OpenVRController::update()
+{
+	if(index<0)
+		return;
+
+	update_from_matrix(system.get_tracking_matrix(index));
+}
+
+void OpenVRController::update_input_state()
+{
+	if(index<0)
+		return;
+
+	vr::VRControllerState_t state;
+	vr::VRSystem()->GetControllerState(index, &state);
+	if(state.unPacketNum!=last_packet_number)
+	{
+		for(unsigned i=0; i<5; ++i)
+		{
+			set_axis_value(i*2, state.rAxis[i].x, true);
+			set_axis_value(i*2+1, state.rAxis[i].y, true);
+		}
+
+		last_packet_number = state.unPacketNum;
+	}
+}
+
+} // namespace VR
+} // namespace Msp
diff --git a/source/openvr/openvrcontroller.h b/source/openvr/openvrcontroller.h
new file mode 100644
index 0000000..18c5774
--- /dev/null
+++ b/source/openvr/openvrcontroller.h
@@ -0,0 +1,38 @@
+#ifndef MSP_VR_OPENVRCONTROLLER_H_
+#define MSP_VR_OPENVRCONTROLLER_H_
+
+#include <msp/vr/motioncontroller.h>
+
+namespace Msp {
+namespace VR {
+
+class OpenVRSystem;
+
+class OpenVRController: public MotionController
+{
+public:
+	struct Event;
+
+private:
+	OpenVRSystem &system;
+	int index;
+	unsigned last_packet_number;
+
+public:
+	OpenVRController(OpenVRSystem &);
+	virtual ~OpenVRController();
+
+	virtual std::string get_button_name(unsigned) const;
+	virtual std::string get_axis_name(unsigned) const;
+
+	int get_index() const { return index; }
+
+	void event(const Event &);
+	virtual void update();
+	void update_input_state();
+};
+
+} // namespace VR
+} // namespace Msp
+
+#endif
diff --git a/source/openvr/openvrcontroller_private.h b/source/openvr/openvrcontroller_private.h
new file mode 100644
index 0000000..ca18a55
--- /dev/null
+++ b/source/openvr/openvrcontroller_private.h
@@ -0,0 +1,17 @@
+#ifndef MSP_VR_OPENVRCONTROLLER_PRIVATE_H_
+#define MSP_VR_OPENVRCONTROLLER_PRIVATE_H_
+
+#include <openvr.h>
+#include "openvrcontroller.h"
+
+namespace Msp {
+namespace VR {
+
+struct OpenVRController::Event: vr::VREvent_t
+{
+};
+
+} // namespace VR
+} // namespace Msp
+
+#endif
diff --git a/source/openvr/openvrsystem.cpp b/source/openvr/openvrsystem.cpp
index d631f48..e847b20 100644
--- a/source/openvr/openvrsystem.cpp
+++ b/source/openvr/openvrsystem.cpp
@@ -1,5 +1,6 @@
 #include <openvr.h>
 #include <msp/vr/stereoview.h>
+#include "openvrcontroller_private.h"
 #include "openvrsystem.h"
 
 using namespace std;
@@ -26,10 +27,11 @@ unsigned OpenVRSystem::n_instances = 0;
 OpenVRSystem::OpenVRSystem():
 	n_tracked_devices(0)
 {
+	vr::IVRSystem *vr_sys = 0;
 	if(!n_instances)
 	{
 		vr::EVRInitError init_err;
-		vr::VR_Init(&init_err, vr::VRApplication_Scene);
+		vr_sys = vr::VR_Init(&init_err, vr::VRApplication_Scene);
 		if(init_err!=vr::VRInitError_None)
 			throw runtime_error("OpenVR initialization failed");
 	}
@@ -43,7 +45,11 @@ OpenVRSystem::OpenVRSystem():
 
 	for(unsigned i=0; i<vr::k_unMaxTrackedDeviceCount; ++i)
 		if(vr_sys->IsTrackedDeviceConnected(i))
+		{
 			n_tracked_devices = i+1;
+			if(vr_sys->GetTrackedDeviceClass(i)==vr::TrackedDeviceClass_Controller)
+				unclaimed_controllers.push_back(i);
+		}
 
 	tracking_matrices.resize(n_tracked_devices);
 }
@@ -101,20 +107,58 @@ OpenVRCombiner *OpenVRSystem::create_combiner(GL::View &v)
 	return new OpenVRCombiner(*this, v);
 }
 
+OpenVRController *OpenVRSystem::create_controller()
+{
+	return new OpenVRController(*this);
+}
+
 void OpenVRSystem::tick()
 {
 	vr::IVRSystem *vr_sys = vr::VRSystem();
 
-	vr::VREvent_t event;
+	OpenVRController::Event event;
 	while(vr_sys->PollNextEvent(&event, sizeof(event)))
 	{
-		if(event.eventType==vr::VREvent_TrackedDeviceActivated)
+		bool controller_matched = false;
+		for(vector<OpenVRController *>::iterator i=controllers.begin(); i!=controllers.end(); ++i)
+		{
+			int cindex = (*i)->get_index();
+			if(cindex>=0 && event.trackedDeviceIndex==static_cast<unsigned>(cindex))
+			{
+				(*i)->event(event);
+				controller_matched = true;
+			}
+		}
+
+		if(!controller_matched && event.eventType==vr::VREvent_TrackedDeviceActivated)
+		{
 			if(event.trackedDeviceIndex>=n_tracked_devices)
 			{
 				n_tracked_devices = event.trackedDeviceIndex+1;
 				tracking_matrices.resize(n_tracked_devices);
 			}
+
+			vr::ETrackedDeviceClass dev_class = vr_sys->GetTrackedDeviceClass(event.trackedDeviceIndex);
+
+			if(dev_class==vr::TrackedDeviceClass_Controller)
+			{
+				bool assigned_to_controller = false;
+				for(vector<OpenVRController *>::iterator i=controllers.begin(); i!=controllers.end(); ++i)
+					if((*i)->get_index()<0)
+					{
+						(*i)->event(event);
+						assigned_to_controller = true;
+						break;
+					}
+
+				if(!assigned_to_controller)
+					unclaimed_controllers.push_back(event.trackedDeviceIndex);
+			}
+		}
 	}
+
+	for(vector<OpenVRController *>::iterator i=controllers.begin(); i!=controllers.end(); ++i)
+		(*i)->update_input_state();
 }
 
 void OpenVRSystem::update_pose_matrices()
@@ -141,5 +185,36 @@ const GL::Matrix &OpenVRSystem::get_hmd_matrix() const
 	return get_tracking_matrix(vr::k_unTrackedDeviceIndex_Hmd);
 }
 
+void OpenVRSystem::add_controller(OpenVRController &controller)
+{
+	vector<OpenVRController *>::iterator i = find(controllers.begin(), controllers.end(), &controller);
+	if(i!=controllers.end())
+		throw invalid_argument("already added");
+
+	controllers.push_back(&controller);
+
+	if(!unclaimed_controllers.empty())
+	{
+		OpenVRController::Event event;
+		event.eventType = vr::VREvent_TrackedDeviceActivated;
+		event.trackedDeviceIndex = unclaimed_controllers.back();
+		event.eventAgeSeconds = 0;
+		controller.event(event);
+		unclaimed_controllers.pop_back();
+	}
+}
+
+void OpenVRSystem::remove_controller(OpenVRController &controller)
+{
+	vector<OpenVRController *>::iterator i = find(controllers.begin(), controllers.end(), &controller);
+	if(i==controllers.end())
+		throw invalid_argument("not added");
+
+	int index = controller.get_index();
+	if(index>=0)
+		unclaimed_controllers.push_back(index);
+	controllers.erase(i);
+}
+
 } // namespace VR
 } // namespace Msp
diff --git a/source/openvr/openvrsystem.h b/source/openvr/openvrsystem.h
index 119eb16..7799ad2 100644
--- a/source/openvr/openvrsystem.h
+++ b/source/openvr/openvrsystem.h
@@ -5,6 +5,7 @@
 #include <msp/vr/system.h>
 #include "openvrcamera.h"
 #include "openvrcombiner.h"
+#include "openvrcontroller.h"
 
 namespace Msp {
 namespace VR {
@@ -14,6 +15,8 @@ class OpenVRSystem: public System
 private:
 	unsigned n_tracked_devices;
 	std::vector<GL::Matrix> tracking_matrices;
+	std::vector<OpenVRController *> controllers;
+	std::vector<unsigned> unclaimed_controllers;
 
 	static unsigned n_instances;
 
@@ -30,12 +33,15 @@ public:
 	virtual bool get_absolute_tracking() const;
 	virtual OpenVRCamera *create_camera(const GL::Camera &);
 	virtual OpenVRCombiner *create_combiner(GL::View &);
+	virtual OpenVRController *create_controller();
 
 	virtual void tick();
 
 	void update_pose_matrices();
 	const GL::Matrix &get_tracking_matrix(unsigned) const;
 	const GL::Matrix &get_hmd_matrix() const;
+	void add_controller(OpenVRController &);
+	void remove_controller(OpenVRController &);
 };
 
 } // namespace VR
diff --git a/source/stereoview.cpp b/source/stereoview.cpp
index 73be19c..f08cd79 100644
--- a/source/stereoview.cpp
+++ b/source/stereoview.cpp
@@ -1,5 +1,6 @@
 #include <msp/gl/renderer.h>
 #include "headtrackingcamera.h"
+#include "motioncontroller.h"
 #include "stereocombiner.h"
 #include "stereoview.h"
 
@@ -59,11 +60,27 @@ void StereoView::set_strabismus(const Geometry::Angle<float> &s)
 	strabismus = s;
 }
 
+void StereoView::add_controller(MotionController &controller)
+{
+	if(find(controllers.begin(), controllers.end(), &controller)==controllers.end())
+		controllers.push_back(&controller);
+}
+
+void StereoView::remove_controller(MotionController &controller)
+{
+	vector<MotionController *>::iterator i = find(controllers.begin(), controllers.end(), &controller);
+	if(i!=controllers.end())
+		controllers.erase(i);
+}
+
 void StereoView::setup_frame() const
 {
 	if(head_camera)
 		head_camera->update();
 
+	for(vector<MotionController *>::const_iterator i=controllers.begin(); i!=controllers.end(); ++i)
+		(*i)->update();
+
 	EyeParams params;
 	params.fov = combiner.get_field_of_view();
 	if(params.fov==Geometry::Angle<float>::zero())
diff --git a/source/stereoview.h b/source/stereoview.h
index ec1b246..e31fa3d 100644
--- a/source/stereoview.h
+++ b/source/stereoview.h
@@ -12,6 +12,7 @@ namespace Msp {
 namespace VR {
 
 class HeadTrackingCamera;
+class MotionController;
 class StereoCombiner;
 
 class StereoView
@@ -54,6 +55,7 @@ private:
 	Eye left;
 	Eye right;
 	Geometry::Angle<float> strabismus;
+	std::vector<MotionController *> controllers;
 
 public:
 	StereoView(const StereoCombiner &, const GL::Camera &);
@@ -69,6 +71,9 @@ public:
 	void set_eye_matrices(const GL::Matrix &, const GL::Matrix &);
 	void set_strabismus(const Geometry::Angle<float> &);
 
+	void add_controller(MotionController &);
+	void remove_controller(MotionController &);
+
 private:
 	void setup_frame() const;
 public:
diff --git a/source/system.cpp b/source/system.cpp
index b4105b0..500e672 100644
--- a/source/system.cpp
+++ b/source/system.cpp
@@ -57,5 +57,10 @@ void System::set_absolute_tracking(bool a)
 		throw invalid_argument("absolute tracking not supported");
 }
 
+MotionController *System::create_controller()
+{
+	throw runtime_error("controller not supported");
+}
+
 } // namespace VR
 } // namespace Msp
diff --git a/source/system.h b/source/system.h
index b7187b9..e52c05f 100644
--- a/source/system.h
+++ b/source/system.h
@@ -4,6 +4,7 @@
 #include <string>
 #include <msp/gl/camera.h>
 #include <msp/gl/view.h>
+#include "motioncontroller.h"
 
 namespace Msp {
 namespace VR {
@@ -29,6 +30,7 @@ public:
 	virtual bool get_absolute_tracking() const { return false; }
 	virtual HeadTrackingCamera *create_camera(const GL::Camera &) = 0;
 	virtual StereoCombiner *create_combiner(GL::View &) = 0;
+	virtual MotionController *create_controller();
 
 	virtual void tick() { }
 };