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Allow to build PhysicsServer in VR mode, to see the URDF/SDF robots in proper scale in VR.

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Add option to have Z as up-axis for VR examples.
Add OpenVR LICENSE + README file
Don't crash VR app when no HMD is detected, just exit.
For now, don't request debug lines in client, it slows down physics server in VR mode too much.
This commit is contained in:
erwin coumans
2016-07-02 18:53:19 -07:00
parent 471d3652e4
commit d0f20eafd1
7 changed files with 129 additions and 16 deletions
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40
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -11,6 +11,7 @@
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
int gSharedMemoryKey = -1;
//how can you try typing on a keyboard, without seeing it?
//it is pretty funny, to see the desktop in VR!
@@ -139,7 +140,7 @@ private:
SimpleOpenGL3App* m_app;
uint32_t m_nWindowWidth;
uint32_t m_nWindowHeight;
bool m_hasContext;
private: // OpenGL bookkeeping
int m_iTrackedControllerCount;
@@ -234,6 +235,7 @@ private: // OpenGL bookkeeping
//-----------------------------------------------------------------------------
CMainApplication::CMainApplication( int argc, char *argv[] )
: m_app(NULL)
, m_hasContext(false)
, m_nWindowWidth( 1280 )
, m_nWindowHeight( 720 )
, m_unSceneProgramID( 0 )
@@ -556,13 +558,16 @@ void CMainApplication::Shutdown()
}
m_vecRenderModels.clear();
if( 1)//m_pContext )
if( m_hasContext)
{
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_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 )
{
@@ -1067,6 +1072,7 @@ void CMainApplication::SetupScene()
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
m_hasContext = true;
}
@@ -1462,10 +1468,19 @@ void CMainApplication::RenderStereoTargets()
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;
Matrix4 viewMatLeft = m_mat4eyePosLeft * m_mat4HMDPose * rotYtoZ;
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatLeft.get(),m_mat4ProjectionLeft.get());
m_app->m_instancingRenderer->updateCamera();
}
@@ -1477,8 +1492,9 @@ void CMainApplication::RenderStereoTargets()
m_app->m_window->startRendering();
RenderScene( vr::Eye_Left );
m_app->drawGrid();
DrawGridData gridUp;
gridUp.upAxis = m_app->getUpAxis();
m_app->drawGrid(gridUp);
sExample->stepSimulation(1./60.);
sExample->renderScene();
@@ -1507,7 +1523,7 @@ void CMainApplication::RenderStereoTargets()
// Right Eye
{
Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose;
Matrix4 viewMatRight = m_mat4eyePosRight * m_mat4HMDPose * rotYtoZ;
m_app->m_instancingRenderer->getActiveCamera()->setVRCamera(viewMatRight.get(),m_mat4ProjectionRight.get());
m_app->m_instancingRenderer->updateCamera();
}
@@ -1518,7 +1534,7 @@ void CMainApplication::RenderStereoTargets()
m_app->m_window->startRendering();
RenderScene( vr::Eye_Right );
m_app->drawGrid();
m_app->drawGrid(gridUp);
m_app->m_instancingRenderer->setRenderFrameBuffer((unsigned int)rightEyeDesc.m_nRenderFramebufferId);
m_app->m_renderer->renderScene();