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also report VR events for HMD and generic tracked devices. Also expose those VR events to pybullet: expose a deviceTypeFilter, that defaults to VR_DEVICE_CONTROLLER

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This commit is contained in:
Erwin Coumans
2017-04-07 22:53:36 -07:00
parent 82b576a390
commit 440d445a02
9 changed files with 197 additions and 31 deletions
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52
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -709,8 +709,50 @@ bool CMainApplication::HandleInput()
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;
@@ -723,11 +765,6 @@ bool CMainApplication::HandleInput()
if (isTrigger)
{
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] };
//pressed now, not pressed before -> raise a button down event
if ((sPrevStates[unDevice].ulButtonPressed&trigger)==0)
@@ -765,11 +802,6 @@ bool CMainApplication::HandleInput()
{
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] };
// printf("Device RELEASED: %d, button %d\n", unDevice,button);
//not pressed now, but pressed before -> raise a button up event