a vr kit is composed of headset, two controllers, and two trackers, where all devices can be attached or detached More...

#include <vr_kit.h>

Inheritance diagram for vr::vr_kit:

Public Member Functions
const vr_driver *	get_driver () const
	return driver

void *	get_handle () const
	return handle of vr kit More...

vr_camera *	get_camera () const
	return camera or nullptr if not available More...

const std::string &	get_name () const
	return name of vr_kit

virtual	~vr_kit ()
	declare virtual destructor

const vr_kit_info &	get_device_info () const
	return information on the currently attached devices

virtual void	set_controller_input_config (int controller_index, int input_index, const controller_input_config &cic)
	set the configuration of a controller input More...

const controller_input_config &	get_controller_input_config (int controller_index, int input_index) const
	query the configuration of a controller input

bool	query_state (vr_kit_state &state, int pose_query=2)
	query current state of vr kit and return whether this was successful More...

virtual bool	set_vibration (unsigned controller_index, float low_frequency_strength, float high_frequency_strength)=0
	set the vibration strength between 0 and 1 of low and high frequency motors, return false if device is not connected anymore

virtual void	put_eye_to_head_matrix (int eye, float *pose_matrix) const =0
	access to 3x4 matrix in column major format for transformation from eye (0..left, 1..right) to head coordinates

virtual void	put_projection_matrix (int eye, float z_near, float z_far, float projection_matrix, const float hmd_pose=0) const =0
	access to 4x4 matrix in column major format for perspective transformation from eye (0..left, 1..right) More...

virtual void	put_world_to_eye_transform (int eye, const float hmd_pose, float modelview_matrix) const
	access to 4x4 modelview transformation matrix of given eye in column major format, which is computed in default implementation from given 3x4 pose matrix and eye to head transformation

virtual void	submit_frame ()=0
	submit the rendered stereo frame to the hmd

const std::string &	get_last_error () const
	return last error of vr_kit

int	get_width () const
	return width in pixel of view

int	get_height () const
	return height in pixel of view

virtual void	set_size (int new_width, int new_height)
	allow to set a different size

virtual bool	init_fbos (EyeSelection es=ES_BOTH)
	initialize render targets and framebuffer objects in current opengl context

virtual bool	blit_fbo (int eye, int x, int y, int w, int h)
	initialize render targets and framebuffer objects in current opengl context

virtual bool	fbos_initialized (EyeSelection es=ES_BOTH) const
	check whether fbos have been initialized

virtual void	destruct_fbos (EyeSelection es=ES_BOTH)
	destruct render targets and framebuffer objects in current opengl context

virtual void	enable_fbo (int eye)
	enable the framebuffer object of given eye (0..left, 1..right)

virtual void	disable_fbo (int eye)
	disable the framebuffer object of given eye

virtual void	bind_texture (int eye)
	bind texture of given eye to current texture unit

Protected Member Functions
void	destruct_camera ()
	destruct camera

vr_trackable_state &	ref_tracking_reference_state (const std::string &serial_nummer)
	write access to the state of the tracking reference with given serial number

vr_tracking_system_info &	ref_tracking_system_info ()
	write access to tracking system info

void	clear_tracking_reference_states ()
	remove all reference states

void	mark_tracking_references_as_untracked ()
	mark all reference states as untracked

virtual bool	query_state_impl (vr_kit_state &state, int pose_query)=0
	derived kits implement this without caring about calibration; vr_kit::query_state() will apply driver calibration

	vr_kit (vr_driver _driver, void _handle, const std::string &_name, unsigned _width, unsigned _height, unsigned _nr_multi_samples=4)
	construct

Protected Attributes
vr_driver *	driver
	pointer to driver that created the vr kit

void *	handle
	handle for internal use

vr_camera *	camera
	pointer to camera

bool	skip_calibration
	whether to skip driver calibration - defaults to false

std::string	name
	name in case driver provides this information (not reliable)

vr_kit_info	info
	store vr kit info to be filled and updated by driver implementations

controller_input_config	input_configs [4][5]
	store controller input configs per controller and input

unsigned	width
	pixel dimensions of render targets

unsigned	multi_depth_buffer_id [2]
	ids of gl render objects

std::string	last_error
	store last error message

Detailed Description

a vr kit is composed of headset, two controllers, and two trackers, where all devices can be attached or detached

each vr_kit is uniquely specified by a handle that is represented as void* and can be access via get_handle(). Furthermore, each kit has a human readable name [get_name()]. The corresponding driver is accessed through get_driver(). In case of an error, the error message can be accessed via get_last_error() of the base class gl_vr_display.

query_state(vr_kit_state& state, int pose_query) gives access to the state of the kit and comes in three variants distinguished by the pose_query parameter:

0 ... query controller state only
1 ... query most recent controller state and poses of hmd and controller
2 ... wait for the optimal time to start a rendering process and query state and future poses

Information on the currently attached devices can be queried with get_device_info().

TODO: support for vibration based force feedback

rendering to the hmd is done in current opengl context via init_fbos(), enable_fbo(eye), disable_fbo(eye) and submit_frame() (after rendering both eyes). The crg_vr_view plugin uses these functions and completely handles the rendering process. If you want to use the functions yourself, you need to ensure to make the opengl context current before calling them. In order to debug the vr views, the function blit_fbo(eye,x,y,w,h) allows to blit a vr view into the framebuffer currently bound to GL_DRAW_FRAMEBUFFER.

In order to build the modelview and projection matrices for rendering, the functions put_eye_to_head_matrix(eye,float[12]) provides a 3x4 pose matrix for each eye. Multiplying to the hmd pose matrix and inverting the matrix product yields the modelview matrix. The projection matrix can be accessed per eye via put_projection_matrix(eye,z_near,z_far,float[16]).

Member Function Documentation

◆ get_camera()

vr_camera * vr::vr_kit::get_camera ( ) const

return camera or nullptr if not available

return camera

◆ get_handle()

void * vr::vr_kit::get_handle ( ) const

return handle of vr kit

return device handle

◆ put_projection_matrix()

virtual void vr::vr_kit::put_projection_matrix	(	int	eye,
		float	z_near,
		float	z_far,
		float *	projection_matrix,
		const float *	hmd_pose = `0`
	)		const

pure virtual

access to 4x4 matrix in column major format for perspective transformation from eye (0..left, 1..right)

pose matrix is not needed for most vr kits and can be set to nullptr; only in case of wall based vr kits the pose matrix needs to be specified

◆ query_state()

bool vr::vr_kit::query_state	(	vr_kit_state &	state,
		int	pose_query = `2`
	)

query current state of vr kit and return whether this was successful

Parameters

state	state is returned by writing it into passed reference
pose_query	is 0 ... no poses are queried 1 ... most current pose for controller is queried for example to get pose at button press in highest precision 2 ... future pose for rendering next frame is queried for controllers and hmd add 4 to restrict query to left controller add 8 to restrict query to right controller add 12 to restrict query to both controllers

◆ set_controller_input_config()

void vr::vr_kit::set_controller_input_config	(	int	controller_index,
		int	input_index,
		const controller_input_config &	cic
	)

virtual

set the configuration of a controller input

A controller can have up to 5 inputs, which can be 1-axis throttels and triggers or 2 axis touchpad (abbreviated as pad) and joysticks (abbreviated as stick). The input type can be checked in vr_kit_info queried with get_device_info(). The provided deadzone, precision and threshold information is used by cgv::gui::vr_server for detection and creation of events.

The documentation for this class was generated from the following files:

D:/develop/projects/git/cgv/libs/vr/vr_kit.h
D:/develop/projects/git/cgv/libs/vr/vr_kit.cxx

Public Member Functions

Protected Member Functions