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vr_cobotics.cxx
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#include "vr_cobotics.h"
#include <cgv/signal/rebind.h>
#include <cgv/base/register.h>
#include <cgv/math/ftransform.h>
#include <cgv/utils/scan.h>
#include <cgv/utils/options.h>
#include <cgv/utils/file.h>
#include <cgv/gui/dialog.h>
#include <cgv/gui/file_dialog.h>
#include <cgv/render/attribute_array_binding.h>
#include <cgv_gl/sphere_renderer.h>
#include <cgv/media/mesh/simple_mesh.h>
#include <cg_vr/vr_events.h>
#include <random>
#include <sstream>
#include "intersection.h"
template <typename T>
double time_stamp(const T& t_start) {
auto now = std::chrono::steady_clock::now();
return static_cast<double>(std::chrono::duration_cast<std::chrono::nanoseconds>(now - t_start).count()) / 1e6;
}
bool hasEnding(std::string const &str, std::string const &ending) {
if (str.length() >= ending.length()) {
return str.compare(str.length() - ending.length(), ending.length(), ending) == 0;
}
return false;
}
void vr_cobotics::change_box_extents(Axis axis,int ci) {
for (size_t i = 0; i < intersection_points.size(); ++i) {
if (intersection_controller_indices[i] != ci)
continue;
// extract box index
int bi = intersection_box_indices[i];
box3 b = movable_boxes[bi];
float extent = b.get_max_pnt()[axis] - b.get_min_pnt()[axis];
float center = b.get_center()[axis];
const float size_limit = 0.5;
float new_extent = std::max(std::fmod(extent + edit_box_step, size_limit), edit_box_step);
movable_boxes[bi].ref_max_pnt()[axis] = center + new_extent * 0.5f;
movable_boxes[bi].ref_min_pnt()[axis] = center - new_extent * 0.5f;
// update intersection points
//intersection_points[i] = rotation * (intersection_points[i] - last_pos) + pos;
break; //change only the first box
}
}
void vr_cobotics::delete_box(int bi)
{
movable_boxes.erase(movable_boxes.begin() + bi);
movable_box_colors.erase(movable_box_colors.begin() + bi);
movable_box_translations.erase(movable_box_translations.begin() + bi);
movable_box_rotations.erase(movable_box_rotations.begin() + bi);
}
size_t vr_cobotics::clear_intersections(int ci)
{
size_t i = 0;
while (i < intersection_points.size()) {
if (intersection_controller_indices[i] == ci) {
intersection_points.erase(intersection_points.begin() + i);
intersection_colors.erase(intersection_colors.begin() + i);
intersection_box_indices.erase(intersection_box_indices.begin() + i);
intersection_controller_indices.erase(intersection_controller_indices.begin() + i);
}
else
++i;
}
return i;
}
void vr_cobotics::init_cameras(vr::vr_kit* kit_ptr)
{
vr::vr_camera* camera_ptr = kit_ptr->get_camera();
if (!camera_ptr)
return;
nr_cameras = camera_ptr->get_nr_cameras();
frame_split = camera_ptr->get_frame_split();
for (int i = 0; i < nr_cameras; ++i) {
std::cout << "camera " << i << "(" << nr_cameras << "):" << std::endl;
camera_ptr->put_camera_intrinsics(i, false, &focal_lengths[i](0), &camera_centers[i](0));
camera_ptr->put_camera_intrinsics(i, true, &focal_lengths[2 + i](0), &camera_centers[2 + i](0));
std::cout << " fx=" << focal_lengths[i][0] << ", fy=" << focal_lengths[i][1] << ", center=[" << camera_centers[i] << "]" << std::endl;
std::cout << " fx=" << focal_lengths[2+i][0] << ", fy=" << focal_lengths[2+i][1] << ", center=[" << camera_centers[2+i] << "]" << std::endl;
float camera_to_head[12];
camera_ptr->put_camera_to_head_matrix(i, camera_to_head);
kit_ptr->put_eye_to_head_matrix(i, camera_to_head);
camera_to_head_matrix[i] = vr::get_mat4_from_pose(camera_to_head);
std::cout << " C2H=" << camera_to_head_matrix[i] << std::endl;
camera_ptr->put_projection_matrix(i, false, 0.001f, 10.0f, &camera_projection_matrix[i](0, 0));
camera_ptr->put_projection_matrix(i, true, 0.001f, 10.0f, &camera_projection_matrix[2+i](0, 0));
std::cout << " dP=" << camera_projection_matrix[i] << std::endl;
std::cout << " uP=" << camera_projection_matrix[2+i] << std::endl;
}
post_recreate_gui();
}
void vr_cobotics::start_camera()
{
if (!vr_view_ptr)
return;
vr::vr_kit* kit_ptr = vr_view_ptr->get_current_vr_kit();
if (!kit_ptr)
return;
vr::vr_camera* camera_ptr = kit_ptr->get_camera();
if (!camera_ptr)
return;
if (!camera_ptr->start())
cgv::gui::message(camera_ptr->get_last_error());
}
void vr_cobotics::stop_camera()
{
if (!vr_view_ptr)
return;
vr::vr_kit* kit_ptr = vr_view_ptr->get_current_vr_kit();
if (!kit_ptr)
return;
vr::vr_camera* camera_ptr = kit_ptr->get_camera();
if (!camera_ptr)
return;
if (!camera_ptr->stop())
cgv::gui::message(camera_ptr->get_last_error());
}
/// compute intersection points of controller ray with movable boxes
void vr_cobotics::compute_intersections(const vec3& origin, const vec3& direction, int ci, const rgb& color)
{
for (size_t i = 0; i < movable_boxes.size(); ++i) {
vec3 origin_box_i = origin - movable_box_translations[i];
movable_box_rotations[i].inverse_rotate(origin_box_i);
vec3 direction_box_i = direction;
movable_box_rotations[i].inverse_rotate(direction_box_i);
float t_result;
vec3 p_result;
vec3 n_result;
if (cgv::media::ray_axis_aligned_box_intersection(
origin_box_i, direction_box_i,
movable_boxes[i],
t_result, p_result, n_result, 0.000001f)) {
// transform result back to world coordinates
movable_box_rotations[i].rotate(p_result);
p_result += movable_box_translations[i];
movable_box_rotations[i].rotate(n_result);
// store intersection information
intersection_points.push_back(p_result);
intersection_colors.push_back(color);
intersection_box_indices.push_back((int)i);
intersection_controller_indices.push_back(ci);
}
}
}
/// register on device change events
void vr_cobotics::on_device_change(void* kit_handle, bool attach)
{
if (attach) {
if (last_kit_handle == 0) {
vr::vr_kit* kit_ptr = vr::get_vr_kit(kit_handle);
init_cameras(kit_ptr);
if (kit_ptr) {
last_kit_handle = kit_handle;
left_deadzone_and_precision = kit_ptr->get_controller_throttles_and_sticks_deadzone_and_precision(0);
cgv::gui::ref_vr_server().provide_controller_throttles_and_sticks_deadzone_and_precision(kit_handle, 0, &left_deadzone_and_precision);
post_recreate_gui();
}
}
}
else {
if (kit_handle == last_kit_handle) {
last_kit_handle = 0;
post_recreate_gui();
}
}
}
/// construct boxes that represent a table of dimensions tw,td,th and leg width tW
void vr_cobotics::construct_table(float tw, float td, float th, float tW) {
// construct table
rgb table_clr(0.3f, 0.2f, 0.0f);
boxes.push_back(box3(
vec3(-0.5f*tw - 2 * tW, th - tW, -0.5f*td - 2 * tW),
vec3(0.5f*tw + 2 * tW, th, 0.5f*td + 2 * tW)));
box_colors.push_back(table_clr);
boxes.push_back(box3(vec3(-0.5f*tw, 0, -0.5f*td), vec3(-0.5f*tw - tW, th - tW, -0.5f*td - tW)));
boxes.push_back(box3(vec3(-0.5f*tw, 0, 0.5f*td), vec3(-0.5f*tw - tW, th - tW, 0.5f*td + tW)));
boxes.push_back(box3(vec3(0.5f*tw, 0, -0.5f*td), vec3(0.5f*tw + tW, th - tW, -0.5f*td - tW)));
boxes.push_back(box3(vec3(0.5f*tw, 0, 0.5f*td), vec3(0.5f*tw + tW, th - tW, 0.5f*td + tW)));
box_colors.push_back(table_clr);
box_colors.push_back(table_clr);
box_colors.push_back(table_clr);
box_colors.push_back(table_clr);
}
/// construct boxes that represent a room of dimensions w,d,h and wall width W
void vr_cobotics::construct_room(float w, float d, float h, float W, bool walls, bool ceiling) {
// construct floor
boxes.push_back(box3(vec3(-0.5f*w, -W, -0.5f*d), vec3(0.5f*w, 0, 0.5f*d)));
box_colors.push_back(rgb(0.2f, 0.2f, 0.2f));
if(walls) {
// construct walls
boxes.push_back(box3(vec3(-0.5f*w, -W, -0.5f*d - W), vec3(0.5f*w, h, -0.5f*d)));
box_colors.push_back(rgb(0.8f, 0.5f, 0.5f));
boxes.push_back(box3(vec3(-0.5f*w, -W, 0.5f*d), vec3(0.5f*w, h, 0.5f*d + W)));
box_colors.push_back(rgb(0.8f, 0.5f, 0.5f));
boxes.push_back(box3(vec3(0.5f*w, -W, -0.5f*d - W), vec3(0.5f*w + W, h, 0.5f*d + W)));
box_colors.push_back(rgb(0.5f, 0.8f, 0.5f));
}
if(ceiling) {
// construct ceiling
boxes.push_back(box3(vec3(-0.5f*w - W, h, -0.5f*d - W), vec3(0.5f*w + W, h + W, 0.5f*d + W)));
box_colors.push_back(rgb(0.5f, 0.5f, 0.8f));
}
}
/// construct boxes for environment
void vr_cobotics::construct_environment(float s, float ew, float ed, float w, float d, float h) {
std::default_random_engine generator;
std::uniform_real_distribution<float> distribution(0, 1);
unsigned n = unsigned(ew / s);
unsigned m = unsigned(ed / s);
float ox = 0.5f*float(n)*s;
float oz = 0.5f*float(m)*s;
for(unsigned i = 0; i < n; ++i) {
float x = i * s - ox;
for(unsigned j = 0; j < m; ++j) {
float z = j * s - oz;
if(fabsf(x) < 0.5f*w && fabsf(x + s) < 0.5f*w && fabsf(z) < 0.5f*d && fabsf(z + s) < 0.5f*d)
continue;
float h = 0.2f*(std::max(abs(x) - 0.5f*w, 0.0f) + std::max(abs(z) - 0.5f*d, 0.0f))*distribution(generator) + 0.1f;
boxes.push_back(box3(vec3(x, 0.0f, z), vec3(x + s, h, z + s)));
rgb color = cgv::media::color<float, cgv::media::HLS>(distribution(generator), 0.1f*distribution(generator) + 0.15f, 0.3f);
box_colors.push_back(color);
/*box_colors.push_back(
rgb(0.3f*distribution(generator) + 0.3f,
0.3f*distribution(generator) + 0.2f,
0.2f*distribution(generator) + 0.1f));*/
}
}
}
/// construct boxes that can be moved around
void vr_cobotics::construct_movable_boxes(float tw, float td, float th, float tW, size_t nr) {
/*
vec3 extent(0.75f, 0.5f, 0.05f);
movable_boxes.push_back(box3(-0.5f * extent, 0.5f * extent));
movable_box_colors.push_back(rgb(0, 0, 0));
movable_box_translations.push_back(vec3(0, 1.2f, 0));
movable_box_rotations.push_back(quat(1, 0, 0, 0));
*/
std::default_random_engine generator;
std::uniform_real_distribution<float> distribution(0, 1);
std::uniform_real_distribution<float> signed_distribution(-1, 1);
for(size_t i = 0; i < nr; ++i) {
float x = distribution(generator);
float y = distribution(generator);
vec3 extent(distribution(generator), distribution(generator), distribution(generator));
extent += 0.01f;
extent *= std::min(tw, td)*0.1f;
vec3 center(-0.5f*tw + x * tw, th + tW, -0.5f*td + y * td);
movable_boxes.push_back(box3(-0.5f*extent, 0.5f*extent));
movable_box_colors.push_back(rgb(distribution(generator), distribution(generator), distribution(generator)));
movable_box_translations.push_back(center);
quat rot(signed_distribution(generator), signed_distribution(generator), signed_distribution(generator), signed_distribution(generator));
rot.normalize();
movable_box_rotations.push_back(rot);
}
}
/// construct a trash bin
void vr_cobotics::construct_trash_bin(float cw, float cd, float ch, float cH, float x, float y, float z)
{
rgb trash_bin_clr(0.8f, 0.7f, 0.7f);
boxes.push_back(box3(vec3(-0.5f * cw + x, 0 + y, -0.5f * cd + z), vec3(0.5f * cw + x, ch + y, 0.5f * cd + z)));
box_colors.push_back(trash_bin_clr);
boxes.push_back(box3(vec3(-0.5f * cw + x, 0 + y, -0.5f * cd + z), vec3(-0.5f * cw - ch + x, cH + y, 0.5f * cd + z)));
box_colors.push_back(trash_bin_clr);
boxes.push_back(box3(vec3(0.5f * cw - ch + x, 0 + y, -0.5f * cd + z), vec3(0.5f * cw + x, cH + y, 0.5f * cd + z)));
box_colors.push_back(trash_bin_clr);
boxes.push_back(box3(vec3(-0.5f * cw + x, 0 + y, -0.5f * cd + z), vec3(0.5f * cw + x, cH + y, -0.5f * cd + ch + z)));
box_colors.push_back(trash_bin_clr);
boxes.push_back(box3(vec3(-0.5f * cw - ch + x, 0 + y, 0.5f * cd + ch + z), vec3(0.5f * cw + x, cH + y, 0.5f * cd + z)));
box_colors.push_back(trash_bin_clr);
}
/// construct a scene with a table
void vr_cobotics::build_scene(float w, float d, float h, float W, float tw, float td, float th, float tW, float cw, float cd, float ch, float cH, float x, float y, float z)
{
construct_room(w, d, h, W, false, false);
construct_table(tw, td, th, tW);
construct_environment(0.3f, 3 * w, 3 * d, w, d, h);
//construct_environment(0.4f, 0.5f, 1u, w, d, h);
construct_movable_boxes(tw, td, th, tW, 20);
if (is_trashbin)
construct_trash_bin(cw, cd, ch, cH, x, y ,z);
}
vr_cobotics::vr_cobotics()
{
frame_split = 0;
extent_texcrd = vec2(0.5f, 0.5f);
center_left = vec2(0.5f,0.25f);
center_right = vec2(0.5f,0.25f);
seethrough_gamma = 0.33f;
frame_width = frame_height = 0;
background_distance = 2;
background_extent = 2;
undistorted = true;
shared_texture = true;
max_rectangle = false;
nr_cameras = 0;
camera_tex_id = -1;
camera_aspect = 1;
use_matrix = true;
show_seethrough = false;
is_trashbin = false;
set_name("vr_cobotics");
build_scene(5, 7, 3, 0.2f, 1.6f, 0.8f, 0.7f, 0.03f, 0.2f, 0.2f, 0.01f, 0.25f, 1.5f, 0.0f, 0.0f);
vr_view_ptr = 0;
ray_length = 2;
last_kit_handle = 0;
connect(cgv::gui::ref_vr_server().on_device_change, this, &vr_cobotics::on_device_change);
mesh_scale = 0.0005f;
mesh_location = dvec3(0, 0.85f, 0);
mesh_orientation = dquat(1, 0, 0, 0);
srs.radius = 0.005f;
vr_events_stream = nullptr;
box_trajectory_stream = nullptr;
controller_trajectory_stream = nullptr;
box_select_mode = false;
trash_bin_select_mode = false;
box_edit_mode = false;
for (auto& a : grab_number) a = 0;
new_box = box3(vec3(-0.05f), vec3(0.05f));
new_box_color = rgb(88.f / 255.f, 24.f / 255.f, 69.f / 255.f);
edit_box_selected_axis = 0;
edit_box_step = 0.025f;
edit_box_max_size = 0.2f;
new_box_distance = 0.35f;
label_outofdate = true;
label_text = "Info Board";
label_font_idx = 0;
label_upright = true;
label_face_type = cgv::media::font::FFA_BOLD;
label_resolution = 256;
label_size = 20.0f;
label_color = rgb(1, 1, 1);
cgv::media::font::enumerate_font_names(font_names);
font_enum_decl = "enums='";
for (unsigned i = 0; i < font_names.size(); ++i) {
if (i>0)
font_enum_decl += ";";
std::string fn(font_names[i]);
if (cgv::utils::to_lower(fn) == "calibri") {
label_font_face = cgv::media::font::find_font(fn)->get_font_face(label_face_type);
label_font_idx = i;
}
font_enum_decl += std::string(fn);
}
font_enum_decl += "'";
state[0] = state[1] = state[2] = state[3] = IS_NONE;
}
void vr_cobotics::stream_help(std::ostream& os) {
os << "vr_cobotics: no shortcuts defined" << std::endl;
}
void vr_cobotics::on_set(void* member_ptr)
{
if (member_ptr == &label_face_type || member_ptr == &label_font_idx) {
label_font_face = cgv::media::font::find_font(font_names[label_font_idx])->get_font_face(label_face_type);
label_outofdate = true;
}
if ((member_ptr >= &label_color && member_ptr < &label_color + 1) ||
member_ptr == &label_size || member_ptr == &label_text) {
label_outofdate = true;
}
if (member_ptr == &log_vr_events && vr_events_stream) {
if (!log_vr_events) { //close file
vr_events_stream->close();
box_trajectory_stream->close();
controller_trajectory_stream->close();
vr_events_stream = nullptr;
box_trajectory_stream = nullptr;
controller_trajectory_stream = nullptr;
vr_events_record_path = "";
}
else { //start timer
vrr_t_start = std::chrono::steady_clock::now();
}
}
/*if (member_ptr == &listen_address) {
}*/
update_member(member_ptr);
post_redraw();
}
bool vr_cobotics::handle(cgv::gui::event& e)
{
// check if vr event flag is not set and don't process events in this case
if ((e.get_flags() & cgv::gui::EF_VR) == 0)
return false;
// record controller events
if (log_vr_events && vr_events_stream) {
auto now = std::chrono::steady_clock::now();
double t = time_stamp(vrr_t_start);
//double t = static_cast<double>(std::chrono::duration_cast<std::chrono::nanoseconds>(now - vrr_t_start).count()) / 1e6;
*vr_events_stream << t << " \""; //timestamp
e.stream_out(*vr_events_stream); //raw data
*vr_events_stream << "\"\n";
}
// check event id
switch (e.get_kind()) {
case cgv::gui::EID_KEY:
{
cgv::gui::vr_key_event& vrke = static_cast<cgv::gui::vr_key_event&>(e);
if (vrke.get_action() != cgv::gui::KA_RELEASE) {
switch (vrke.get_key()) {
case vr::VR_LEFT_BUTTON1:
std::cout << "button 1 of left controller pressed" << std::endl;
case vr::VR_RIGHT_BUTTON1:
return true;
case vr::VR_LEFT_BUTTON2:
std::cout << "button 2 of left controller pressed" << std::endl;
case vr::VR_RIGHT_BUTTON2:
return true;
case vr::VR_LEFT_BUTTON0:
std::cout << "button 0 of left controller pressed" << std::endl;
case vr::VR_RIGHT_BUTTON0:
{
//set grabed box as template for new boxes
int ci = vrke.get_controller_index();
if (box_edit_mode && state[ci] == IS_OVER || state[ci] == IS_GRAB) {
// iterate intersection points of current controller
for (size_t i = 0; i < intersection_points.size(); ++i) {
if (intersection_controller_indices[i] != ci)
continue;
// extract box index
int bi = intersection_box_indices[i];
int axis = edit_box_selected_axis;
new_box = movable_boxes[bi];
new_box_color = movable_box_colors[bi];
label_outofdate = true;
break; //get only the first box
}
post_redraw();
}
return true;
}
case vr::VR_LEFT_STICK_UP:
std::cout << "touch pad of right controller pressed at up direction" << std::endl;
case vr::VR_RIGHT_STICK_UP:
{
return true;
}
case vr::VR_LEFT_STICK_DOWN:
std::cout << "touch pad of left controller pressed at down direction" << std::endl;
case vr::VR_RIGHT_STICK_DOWN:
{
return true;
}
case vr::VR_LEFT_STICK_LEFT:
std::cout << "touch pad of left controller pressed at left direction" << std::endl;
case vr::VR_RIGHT_STICK_LEFT:
return true;
case vr::VR_RIGHT_STICK_RIGHT:
case vr::VR_LEFT_STICK_RIGHT:
return true;
}
}
else {
switch (vrke.get_key()) {
case vr::VR_LEFT_BUTTON0:
std::cout << "button 0 of left controller released" << std::endl;
case vr::VR_RIGHT_BUTTON0:
return true;
}
}
break;
}
case cgv::gui::EID_THROTTLE:
{
cgv::gui::vr_throttle_event& vrte = static_cast<cgv::gui::vr_throttle_event&>(e);
std::cout << "throttle " << vrte.get_throttle_index() << " of controller " << vrte.get_controller_index()
<< " adjusted from " << vrte.get_last_value() << " to " << vrte.get_value() << std::endl;
if (vrte.get_value() == 1.0f) {
if (box_edit_mode) {
//create a new box
int ci = vrte.get_controller_index();
if (state[ci] == IS_NONE || state[ci] == IS_OVER) {
const vec3 up = vec3(0.f, 1.f, 0.f);
vec3 origin, direction;
vrte.get_state().controller[ci].put_ray(&origin(0), &direction(0));
movable_box_colors.emplace_back(new_box_color);
movable_box_rotations.emplace_back(quat(cross(up, direction), acos(dot(up, direction))));
movable_box_translations.emplace_back(origin + direction * new_box_distance);
movable_boxes.emplace_back(new_box);
post_redraw();
}
else if (state[ci] == IS_GRAB) {
edit_box_selected_axis = (edit_box_selected_axis + 1) % 3;
}
return true;
}
if (box_select_mode) {
int ci = vrte.get_controller_index();
if (state[ci] == IS_NONE || state[ci] == IS_OVER) {
vec3 origin, direction;
vrte.get_state().controller[ci].put_ray(&origin(0), &direction(0));
compute_intersections(origin, direction, ci, ci == 0 ? rgb(1, 0, 0) : rgb(0, 0, 1));
unsigned bi = 0;
if (intersection_points.size() != 0) {
for (size_t i = 0; i < intersection_points.size(); ++i) {
if (intersection_controller_indices[i] != ci)
continue;
// extract box index
bi = intersection_box_indices[i];
}
}
send_selection(bi);
std::cout << "send a message!" << std::endl;
}
}
if (trash_bin_select_mode) {
int ci = vrte.get_controller_index();
if (state[ci] == IS_NONE || state[ci] == IS_OVER) {
vec3 origin, direction;
vrte.get_state().controller[ci].put_ray(&origin(0), &direction(0));
compute_intersections(origin, direction, ci, ci == 0 ? rgb(1, 0, 0) : rgb(0, 0, 1));
unsigned bi = 0;
if (intersection_points.size() != 0) {
for (size_t i = 0; i < intersection_points.size(); ++i) {
if (intersection_controller_indices[i] != ci)
continue;
// extract box index
bi = intersection_box_indices[i];
}
}
send_selection(bi);
}
std::cout << "send a message about trash bin!" << std::endl;
}
}
return true;
}
case cgv::gui::EID_STICK:
{
cgv::gui::vr_stick_event& vrse = static_cast<cgv::gui::vr_stick_event&>(e);
switch (vrse.get_action()) {
case cgv::gui::SA_TOUCH:
if (state[vrse.get_controller_index()] == IS_OVER)
state[vrse.get_controller_index()] = IS_GRAB;
break;
case cgv::gui::SA_RELEASE:
if (state[vrse.get_controller_index()] == IS_GRAB) {
state[vrse.get_controller_index()] = IS_OVER;
++grab_number[vrse.get_controller_index()];
}
break;
case cgv::gui::SA_PRESS:
{
int ci = vrse.get_controller_index();
if (box_edit_mode && vrse.get_x() < -0.5f && state[ci] == IS_GRAB) {
//change box extents
change_box_extents(AXIS_X, ci);
post_redraw();
return true;
}
if (box_edit_mode && vrse.get_y() < -0.5f && state[ci] == IS_GRAB) {
//change box extents
change_box_extents(AXIS_Y, ci);
post_redraw();
return true;
}
if (box_edit_mode && vrse.get_x() > 0.5f && state[ci] == IS_GRAB) {
//change box extents
change_box_extents(AXIS_Z, ci);
post_redraw();
return true;
}
if (box_edit_mode && vrse.get_y() > 0.5f && state[ci] == IS_GRAB) {
//TODO delete box
for (size_t i = 0; i < intersection_points.size(); ++i) {
if (intersection_controller_indices[i] != ci)
continue;
// extract box index
delete_box(intersection_box_indices[i]);
break; //delete only the first box
}
// clear intersections of current controller
size_t i = clear_intersections(ci);
// compute intersections
vec3 origin, direction;
vrse.get_state().controller[ci].put_ray(&origin(0), &direction(0));
compute_intersections(origin, direction, ci, ci == 0 ? rgb(1, 0, 0) : rgb(0, 0, 1));
label_outofdate = true;
// update state based on whether we have found at least
// one intersection with controller ray
if (intersection_points.size() == i)
state[ci] = IS_NONE;
else
if (state[ci] == IS_NONE)
state[ci] = IS_OVER;
post_redraw();
return true;
}
}
case cgv::gui::SA_UNPRESS:
std::cout << "stick " << vrse.get_stick_index()
<< " of controller " << vrse.get_controller_index()
<< " " << cgv::gui::get_stick_action_string(vrse.get_action())
<< " at " << vrse.get_x() << ", " << vrse.get_y() << std::endl;
return true;
case cgv::gui::SA_MOVE:
case cgv::gui::SA_DRAG:
return true;
std::cout << "stick " << vrse.get_stick_index()
<< " of controller " << vrse.get_controller_index()
<< " " << cgv::gui::get_stick_action_string(vrse.get_action())
<< " from " << vrse.get_last_x() << ", " << vrse.get_last_y()
<< " to " << vrse.get_x() << ", " << vrse.get_y() << std::endl;
return true;
}
return true;
}
case cgv::gui::EID_POSE:
cgv::gui::vr_pose_event& vrpe = static_cast<cgv::gui::vr_pose_event&>(e);
// check for controller pose events
int ci = vrpe.get_trackable_index();
if (ci != -1) {
if (state[ci] == IS_GRAB) {
// in grab mode apply relative transformation to grabbed boxes
// get previous and current controller position
vec3 last_pos = vrpe.get_last_position();
vec3 pos = vrpe.get_position();
// get rotation from previous to current orientation
// this is the current orientation matrix times the
// inverse (or transpose) of last orientation matrix:
// vrpe.get_orientation()*transpose(vrpe.get_last_orientation())
mat3 rotation = vrpe.get_rotation_matrix();
// iterate intersection points of current controller
for (size_t i = 0; i < intersection_points.size(); ++i) {
if (intersection_controller_indices[i] != ci)
continue;
// extract box index
unsigned bi = intersection_box_indices[i];
// update translation with position change and rotation
movable_box_translations[bi] =
rotation * (movable_box_translations[bi] - last_pos) + pos;
// update orientation with rotation, note that quaternions
// need to be multiplied in oposite order. In case of matrices
// one would write box_orientation_matrix *= rotation
movable_box_rotations[bi] = quat(rotation) * movable_box_rotations[bi];
// update intersection points
intersection_points[i] = rotation * (intersection_points[i] - last_pos) + pos;
if (log_vr_events && box_trajectory_stream) {
//<box-index> <controller-id> <grab-id> <box-translation> <box-rotation>
*box_trajectory_stream
<< ci << " "
<< grab_number[ci] << " "
<< time_stamp(vrr_t_start) << " "
<< bi << " "
<< movable_box_translations[bi] << " "
<< movable_box_rotations[bi] << '\n';
}
}
}
else {// not grab
size_t i = clear_intersections(ci);
// compute intersections
vec3 origin, direction;
vrpe.get_state().controller[ci].put_ray(&origin(0), &direction(0));
compute_intersections(origin, direction, ci, ci == 0 ? rgb(1, 0, 0) : rgb(0, 0, 1));
label_outofdate = true;
// update state based on whether we have found at least
// one intersection with controller ray
if (intersection_points.size() == i)
state[ci] = IS_NONE;
else
if (state[ci] == IS_NONE)
state[ci] = IS_OVER;
}
//log controller trajectory
if (log_vr_events && controller_trajectory_stream) {
mat3 rotation = vrpe.get_rotation_matrix();
*controller_trajectory_stream
<< ci << " "
<< ((state[ci] == IS_GRAB) ? grab_number[ci] : -1) << " "
<< time_stamp(vrr_t_start) << " "
<< vrpe.get_position() << " "
<< quat(vrpe.get_orientation()) << '\n';
}
post_redraw();
}
return true;
}
return false;
}
bool vr_cobotics::init(cgv::render::context& ctx)
{
if (!cgv::utils::has_option("NO_OPENVR"))
ctx.set_gamma(1.0f);
if (!seethrough.build_program(ctx, "seethrough.glpr"))
cgv::gui::message("could not build seethrough program");
cgv::media::mesh::simple_mesh<> M;
#ifdef _DEBUG
if (M.read("D:/data/surface/meshes/obj/Max-Planck_lowres.obj")) {
#else
if (M.read("D:/data/surface/meshes/obj/Max-Planck_highres.obj")) {
#endif
MI.construct(ctx, M);
MI.bind(ctx, ctx.ref_surface_shader_program(true), true);
}
cgv::gui::connect_vr_server(true);
auto view_ptr = find_view_as_node();
if (view_ptr) {
view_ptr->set_eye_keep_view_angle(dvec3(0, 4, -4));
// if the view points to a vr_view_interactor
vr_view_ptr = dynamic_cast<vr_view_interactor*>(view_ptr);
if (vr_view_ptr) {
// configure vr event processing
vr_view_ptr->set_event_type_flags(
cgv::gui::VREventTypeFlags(
cgv::gui::VRE_KEY +
cgv::gui::VRE_THROTTLE +
cgv::gui::VRE_STICK +
cgv::gui::VRE_STICK_KEY +
cgv::gui::VRE_POSE
));
vr_view_ptr->enable_vr_event_debugging(false);
// configure vr rendering
vr_view_ptr->draw_action_zone(false);
vr_view_ptr->draw_vr_kits(true);
vr_view_ptr->enable_blit_vr_views(true);
vr_view_ptr->set_blit_vr_view_width(200);
}
}
cgv::render::ref_box_renderer(ctx, 1);
cgv::render::ref_sphere_renderer(ctx, 1);
cgv::render::ref_rounded_cone_renderer(ctx, 1);
return true;
}
void vr_cobotics::clear(cgv::render::context& ctx)
{
cgv::render::ref_box_renderer(ctx, -1);
cgv::render::ref_sphere_renderer(ctx, -1);
cgv::render::ref_rounded_cone_renderer(ctx, -1);
}
void vr_cobotics::init_frame(cgv::render::context& ctx)
{
if (label_fbo.get_width() != label_resolution) {
label_tex.destruct(ctx);
label_fbo.destruct(ctx);
}
if (!label_fbo.is_created()) {
label_tex.create(ctx, cgv::render::TT_2D, label_resolution, label_resolution);
label_fbo.create(ctx, label_resolution, label_resolution);
label_tex.set_min_filter(cgv::render::TF_LINEAR_MIPMAP_LINEAR);
label_tex.set_mag_filter(cgv::render::TF_LINEAR);
label_fbo.attach(ctx, label_tex);
label_outofdate = true;
}
if (label_outofdate && label_fbo.is_complete(ctx)) {
glPushAttrib(GL_COLOR_BUFFER_BIT);
label_fbo.enable(ctx);
label_fbo.push_viewport(ctx);
ctx.push_pixel_coords();
glClearColor(0.5f,0.5f,0.5f,1.0f);
glClear(GL_COLOR_BUFFER_BIT);
glColor4f(label_color[0], label_color[1], label_color[2], 1);
ctx.set_cursor(20, (int)ceil(label_size) + 20);
ctx.enable_font_face(label_font_face, label_size);
ctx.output_stream() << label_text << "\n";
ctx.output_stream().flush(); // make sure to flush the stream before change of font size or font face
ctx.enable_font_face(label_font_face, 0.7f*label_size);
if (box_edit_mode) {
const char axis[] = "XYZ";
ctx.output_stream() << "new box[Trigger] \nextent=" << new_box.get_extent() << "\ncolor=" << new_box_color << '\n';
ctx.output_stream() << "set as box template[Grip Button]\n";
ctx.output_stream() << "delete box[trackpad up]\n";
ctx.output_stream() << "change box extents[trackpad left,right,down]\n";
}
for (size_t i = 0; i < intersection_points.size(); ++i) {
ctx.output_stream()
<< "box " << intersection_box_indices[i]
<< " at (" << intersection_points[i]
<< ") with controller " << intersection_controller_indices[i] << "\n";
}
ctx.output_stream().flush();
ctx.pop_pixel_coords();
label_fbo.pop_viewport(ctx);
label_fbo.disable(ctx);
glPopAttrib();
label_outofdate = false;
label_tex.generate_mipmaps(ctx);
}
if (vr_view_ptr && vr_view_ptr->get_rendered_vr_kit() != 0 && vr_view_ptr->get_rendered_eye() == 0 && vr_view_ptr->get_rendered_vr_kit() == vr_view_ptr->get_current_vr_kit()) {
vr::vr_kit* kit_ptr = vr_view_ptr->get_current_vr_kit();
if (kit_ptr) {
vr::vr_camera* camera_ptr = kit_ptr->get_camera();
if (camera_ptr && camera_ptr->get_state() == vr::CS_STARTED) {
uint32_t width = frame_width, height = frame_height, split = frame_split;
if (shared_texture) {
box2 tex_range;
if (camera_ptr->get_gl_texture_id(camera_tex_id, width, height, undistorted, &tex_range.ref_min_pnt()(0))) {
camera_aspect = (float)width / height;
split = camera_ptr->get_frame_split();
switch (split) {
case vr::CFS_VERTICAL:
camera_aspect *= 2;
break;
case vr::CFS_HORIZONTAL:
camera_aspect *= 0.5f;
break;
}
}
else
camera_tex_id = -1;
}
else {
std::vector<uint8_t> frame_data;
if (camera_ptr->get_frame(frame_data, width, height, undistorted, max_rectangle)) {
camera_aspect = (float)width / height;
split = camera_ptr->get_frame_split();
switch (split) {
case vr::CFS_VERTICAL:
camera_aspect *= 2;
break;
case vr::CFS_HORIZONTAL:
camera_aspect *= 0.5f;
break;
}
cgv::data::data_format df(width, height, cgv::type::info::TI_UINT8, cgv::data::CF_RGBA);
cgv::data::data_view dv(&df, frame_data.data());
if (camera_tex.is_created()) {
if (camera_tex.get_width() != width || camera_tex.get_height() != height)
camera_tex.destruct(ctx);
else
camera_tex.replace(ctx, 0, 0, dv);
}
if (!camera_tex.is_created())
camera_tex.create(ctx, dv);
}
else if (camera_ptr->has_error())
cgv::gui::message(camera_ptr->get_last_error());
}
if (frame_width != width || frame_height != height) {
frame_width = width;
frame_height = height;
center_left(0) = camera_centers[2](0) / frame_width;
center_left(1) = camera_centers[2](1) / frame_height;
center_right(0) = camera_centers[3](0) / frame_width;
center_right(1) = camera_centers[3](1) / frame_height;
update_member(&frame_width);
update_member(&frame_height);
update_member(¢er_left(0));
update_member(¢er_left(1));
update_member(¢er_right(0));
update_member(¢er_right(1));
}
if (split != frame_split) {
frame_split = split;
update_member(&frame_split);
}
}
}
}
}
void vr_cobotics::draw(cgv::render::context& ctx)
{
if (MI.is_constructed()) {
dmat4 R;
mesh_orientation.put_homogeneous_matrix(R);
ctx.push_modelview_matrix();
ctx.mul_modelview_matrix(
cgv::math::translate4<double>(mesh_location)*
cgv::math::scale4<double>(mesh_scale, mesh_scale, mesh_scale) *
R);
MI.draw_all(ctx);
ctx.pop_modelview_matrix();
}
if (vr_view_ptr) {
if ((!shared_texture && camera_tex.is_created()) || (shared_texture && camera_tex_id != -1)) {
if (vr_view_ptr->get_rendered_vr_kit() != 0 && vr_view_ptr->get_rendered_vr_kit() == vr_view_ptr->get_current_vr_kit()) {
int eye = vr_view_ptr->get_rendered_eye();
// compute billboard
dvec3 vd = vr_view_ptr->get_view_dir_of_kit();
dvec3 y = vr_view_ptr->get_view_up_dir_of_kit();
dvec3 x = normalize(cross(vd, y));
y = normalize(cross(x, vd));
x *= camera_aspect * background_extent * background_distance;
y *= background_extent * background_distance;
vd *= background_distance;
dvec3 eye_pos = vr_view_ptr->get_eye_of_kit(eye);
std::vector<vec3> P;
std::vector<vec2> T;
P.push_back(eye_pos + vd - x - y);
P.push_back(eye_pos + vd + x - y);
P.push_back(eye_pos + vd - x + y);
P.push_back(eye_pos + vd + x + y);
double v_offset = 0.5 * (1 - eye);
T.push_back(dvec2(0.0, 0.5 + v_offset));
T.push_back(dvec2(1.0, 0.5 + v_offset));
T.push_back(dvec2(0.0, v_offset));
T.push_back(dvec2(1.0, v_offset));
cgv::render::shader_program& prog = seethrough;
cgv::render::attribute_array_binding::set_global_attribute_array(ctx, prog.get_position_index(), P);
cgv::render::attribute_array_binding::set_global_attribute_array(ctx, prog.get_texcoord_index(), T);
cgv::render::attribute_array_binding::enable_global_array(ctx, prog.get_position_index());
cgv::render::attribute_array_binding::enable_global_array(ctx, prog.get_texcoord_index());
GLint active_texture, texture_binding;
if (shared_texture) {
glGetIntegerv(GL_ACTIVE_TEXTURE, &active_texture);
glGetIntegerv(GL_TEXTURE_BINDING_2D, &texture_binding);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, camera_tex_id);
}
else
camera_tex.enable(ctx, 0);
prog.set_uniform(ctx, "texture", 0);
prog.set_uniform(ctx, "seethrough_gamma", seethrough_gamma);
prog.set_uniform(ctx, "use_matrix", use_matrix);
// use of convenience function
vr::configure_seethrough_shader_program(ctx, prog, frame_width, frame_height,
vr_view_ptr->get_current_vr_kit(), *vr_view_ptr->get_current_vr_state(),
0.01f, 2 * background_distance, eye, undistorted);
/* equivalent detailed code relies on more knowledge on program parameters
mat4 TM = vr::get_texture_transform(vr_view_ptr->get_current_vr_kit(), *vr_view_ptr->get_current_vr_state(), 0.01f, 2 * background_distance, eye, undistorted);
prog.set_uniform(ctx, "texture_matrix", TM);
prog.set_uniform(ctx, "extent_texcrd", extent_texcrd);
prog.set_uniform(ctx, "frame_split", frame_split);
prog.set_uniform(ctx, "center_left", center_left);
prog.set_uniform(ctx, "center_right", center_right);
prog.set_uniform(ctx, "eye", eye);
*/
prog.enable(ctx);
ctx.set_color(rgba(1, 1, 1, 1));
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
prog.disable(ctx);
if (shared_texture) {
glActiveTexture(active_texture);