HelloT5Cube/HelloT5Cube.cpp at master · patrickdown/HelloT5Cube · GitHub

History

546 lines (444 loc) · 17.6 KB

Raw

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

211

212

213

214

215

216

217

218

219

220

221

222

223

224

225

226

227

228

229

230

231

232

233

234

235

236

237

238

239

240

241

242

243

244

245

246

247

248

249

250

251

252

253

254

255

256

257

258

259

260

261

262

263

264

265

266

267

268

269

270

271

272

273

274

275

276

277

278

279

280

281

282

283

284

285

286

287

288

289

290

291

292

293

294

295

296

297

298

299

300

301

302

303

304

305

306

307

308

309

310

311

312

313

314

315

316

317

318

319

320

321

322

323

324

325

326

327

328

329

330

331

332

333

334

335

336

337

338

339

340

341

342

343

344

345

346

347

348

349

350

351

352

353

354

355

356

357

358

359

360

361

362

363

364

365

366

367

368

369

370

371

372

373

374

375

376

377

378

379

380

381

382

383

384

385

386

387

388

389

390

391

392

393

394

395

396

397

398

399

400

401

402

403

404

405

406

407

408

409

410

411

412

413

414

415

416

417

418

419

420

421

422

423

424

425

426

427

428

429

430

431

432

433

434

435

436

437

438

439

440

441

442

443

444

445

446

447

448

449

450

451

452

453

454

455

456

457

458

459

460

461

462

463

464

465

466

467

468

469

470

471

472

473

474

475

476

477

478

479

480

481

482

483

484

485

486

487

488

489

490

491

492

493

494

495

496

497

498

499

500

501

502

503

504

505

506

507

508

509

510

511

512

513

514

515

516

517

518

519

520

521

522

523

524

525

526

527

528

529

530

531

532

533

534

535

536

537

538

539

540

541

542

543

544

545

546

#include <iostream>

#include <t5wrapper/Conversions.h>

#include <glapplication/Transform.h>

#include "HelloT5Cube.h"

#include "VertexDefinition.h"

/****************************************************************************

Get static data defined in InlineVertexData and InlineShaderCode

*****************************************************************************/

std::span<const VertexPC> GetCubeVertices();

const char* GetVertexShaderCode(bool multiview = false);

const char* GetFragmentShaderCode();

/****************************************************************************

Set up for window and OpenGL context creation.

*****************************************************************************/

bool HelloT5Cube::InitializeApplication()

{

glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 4);

glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 6);

glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);

std::cout << "Press P to dump pose." << std::endl;

return true;

}

/****************************************************************************

After the window and GL context are created try to get a pair of T5 glasses

and set up assets for rendering.

*****************************************************************************/

bool HelloT5Cube::InitializeContext()

{

if(glDebug)

{

EnableDebug();

std::cerr << "OpenGL debugging enabled" << std::endl;

}

// All T5 init in here

if (!InitializeT5())

return false;

if(GLAD_GL_OVR_multiview2)

std::cerr << "OVR_multiview2 supported " << std::endl;

isMultiviewCapable = GLAD_GL_OVR_multiview2;

useMultiview = useMultiview && isMultiviewCapable;

copyMultviewTextures = useMultiview && copyMultviewTextures;

if(useMultiview) {

std::cerr << "Rendering using OVR_multiview2" << std::endl;

}

if(copyMultviewTextures) {

std::cerr << "Copying multiview layers to single textures" << std::endl;

}

// Compile shaders

cubeShader = MakeOwned<GLW::ShaderProgram>();

if (!cubeShader->Compile(GetVertexShaderCode(useMultiview), GetFragmentShaderCode()))

{

std::cerr << cubeShader->GetErrorMessage() << std::endl;

return false;

}

//Setup vertex arrays

cubeVertexBuffer = MakeOwned<GLW::Buffer>();

cubeVertexBuffer->Create();

cubeVertexBuffer->StoreData(GetCubeVertices());

cubeVertexArrays = MakeOwned<GLW::VertexArray>();

cubeVertexArrays->Create();

cubeVertexArrays->AttachBuffer(*cubeVertexBuffer, cubeShader->GetAttribLocation("vPos"), VertexPC::positionMem);

cubeVertexArrays->AttachBuffer(*cubeVertexBuffer, cubeShader->GetAttribLocation("vCol"), VertexPC::colorMem);

//Setup frame buffers for stereo

if(useMultiview) {

stereoEyeDisplay.InitializeMultiview(defaultWidth, defaultHeight, 2);

leftLayerTexture = stereoEyeDisplay.GetTextureLayer(0);

rightLayerTexture = stereoEyeDisplay.GetTextureLayer(1);

rightLayerFramebuffer = MakeOwned<GLW::Framebuffer>();

rightLayerFramebuffer->Create();

rightLayerFramebuffer->ColorAttachment(*rightLayerTexture);

rightLayerFramebuffer->DrawBuffers(0);

if(!rightLayerFramebuffer->IsReady()) {

std::cerr << "blitFramebuffer: " << rightLayerFramebuffer->GetErrorMessage() << std::endl;

return false;

}

leftLayerFramebuffer = MakeOwned<GLW::Framebuffer>();

leftLayerFramebuffer->Create();

leftLayerFramebuffer->ColorAttachment(*leftLayerTexture);

leftLayerFramebuffer->DrawBuffers(0);

if(!leftLayerFramebuffer->IsReady()) {

std::cerr << "blitFramebuffer: " << leftLayerFramebuffer->GetErrorMessage() << std::endl;

return false;

}

leftEyeDisplay.Initialize(defaultWidth, defaultHeight, false);

rightEyeDisplay.Initialize(defaultWidth, defaultHeight, false);

}

else {

leftEyeDisplay.Initialize(defaultWidth, defaultHeight);

rightEyeDisplay.Initialize(defaultWidth, defaultHeight);

}

float ipd = glasses->GetIpd();

leftEyePose.SetPosition(-ipd / 2.0f,0,0);

rightEyePose.SetPosition(ipd / 2.0f,0,0);

glEnable(GL_CULL_FACE);

glEnable(GL_DEPTH_TEST);

return true;

}

/****************************************************************************

Initialize a framebuffer to be a render target.

*****************************************************************************/

bool HelloT5Cube::DisplaySurface::Initialize(int width, int height, bool hasDepth)

{

this->width = width;

this->height = height;

// Make a texture to hold the image that will be passed to the glasses

texture = MakeOwned<GLW::Texture>();

texture->Create(GL_TEXTURE_2D);

texture->SetTextureStorage(GL_RGBA8, width, height);

texture->SetMinFilter(GL_LINEAR);

texture->SetMagFilter(GL_LINEAR);

if(hasDepth) {

// Make a depth buffer

depth = MakeOwned<GLW::Texture>();

depth->Create(GL_TEXTURE_2D);

depth->SetDepthStorage(width, height);

depth->SetMinFilter(GL_LINEAR);

depth->SetMagFilter(GL_LINEAR);

}

// Attach texture and depth

framebuffer = MakeOwned<GLW::Framebuffer>();

framebuffer->Create();

framebuffer->ColorAttachment(*texture);

if(hasDepth) {

framebuffer->DepthAttachment(*depth);

}

framebuffer->DrawBuffers(0);

if (!framebuffer->IsReady())

{

std::cerr << "Framebuffer: " << framebuffer->GetErrorMessage() << std::endl;

return false;

}

return true;

}

/****************************************************************************

Initialize a framebuffer to be a render target.

*****************************************************************************/

bool HelloT5Cube::DisplaySurface::InitializeMultiview(int width, int height, int layers) {

this->width = width;

this->height = height;

this->layers = layers;

// Make a texture to hold the image that will be passed to the glasses

texture = MakeOwned<GLW::Texture>();

texture->Create(GL_TEXTURE_2D_ARRAY);

texture->SetTextureStorage(GL_RGBA8, width, height, layers);

texture->SetMinFilter(GL_LINEAR);

texture->SetMagFilter(GL_LINEAR);

// Make a depth buffer

depth = MakeOwned<GLW::Texture>();

depth->Create(GL_TEXTURE_2D_ARRAY);

depth->SetDepthStorage(width, height, layers);

depth->SetMinFilter(GL_LINEAR);

depth->SetMagFilter(GL_LINEAR);

// Attach texture and depth

framebuffer = MakeOwned<GLW::Framebuffer>();

framebuffer->Create();

framebuffer->Bind(GL_DRAW_FRAMEBUFFER);

framebuffer->ColorAttachmentMultiview(*texture, 0, layers);

framebuffer->DepthAttachmentMultiview(*depth, 0, layers);

framebuffer->DrawBuffers(0);

framebuffer->Unbind(GL_DRAW_FRAMEBUFFER);

if(!framebuffer->IsReady()) {

std::cerr << "Multiview Framebuffer: " << framebuffer->GetErrorMessage() << std::endl;

return false;

}

return true;

}

/****************************************************************************

Bind framebuffer for drawing

*****************************************************************************/

void HelloT5Cube::DisplaySurface::BeginDraw()

{

framebuffer->Bind(GL_DRAW_FRAMEBUFFER);

glViewport(0, 0, width, height);

}

/****************************************************************************

Bind default framebuffer for drawing

*****************************************************************************/

void HelloT5Cube::DisplaySurface::EndDraw()

{

glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);

}

/****************************************************************************

Used to mirror the rendered image to the display

*****************************************************************************/

void HelloT5Cube::DisplaySurface::BlitToScreen(int dstWidth, int dstHeight)

{

framebuffer->BlitToScreen(0, 0, width, height, 0, 0, dstWidth, dstHeight, GL_COLOR_BUFFER_BIT, GL_NEAREST);

}

void HelloT5Cube::DisplaySurface::BlitToFrameBuffer(GLW::Framebuffer& dstFramebuffer, int dstHeight, int dstWidth) {

framebuffer->BlitToFramebuffer(dstFramebuffer, 0, 0, width, height, 0, 0, dstWidth, dstHeight, GL_COLOR_BUFFER_BIT, GL_NEAREST);

}

void HelloT5Cube::DisplaySurface::BlitFromFrameBuffer(GLW::Framebuffer& dstFramebuffer) {

dstFramebuffer.BlitToFramebuffer(*framebuffer, 0, 0, width, height, 0, 0, width, height, GL_COLOR_BUFFER_BIT, GL_NEAREST);

}

Owned<GLW::Texture> HelloT5Cube::DisplaySurface::GetTextureLayer(int layer) {

return texture->CreateView(GL_TEXTURE_2D, GL_RGBA8, 0, 1, layer, 1);

}

/****************************************************************************

'P' key dumps a head pose to standard out

*****************************************************************************/

void HelloT5Cube::OnKey(int key, int scancode, int action, int mods)

{

Application::OnKey(key, scancode, action, mods);

if (key == GLFW_KEY_P && action == GLFW_PRESS)

isOutputingOnePoseFrame = true;

}

/****************************************************************************

Initialize the T5 context, get a list of glasses, connect to the first

one found.

There might be delays in starting the service and the main gui shouldn't be hung

up waiting. So in a real application parts of this should probably be an done

in a non blocking way as part of the render loop.

*****************************************************************************/

bool HelloT5Cube::InitializeT5()

{

context = MakeOwned<T5W::Context>();

auto result = context->Create(windowTitle, "0.0.1");

if (result != T5_SUCCESS)

{

std::cerr << "Error: " << t5GetResultMessage(result) << std::endl;

return false;

}

serviceVersion = context->GetServiceVersion();

std::cout << "Service version: " << serviceVersion << std::endl;

auto glassesResult = context->GetConnectedGlasses();

if (!glassesResult.TryGet(glassesIDList))

{

std::cerr << "Error: " << glassesResult.GetErrorMessage() << std::endl;

return false;

}

for (auto glassesID : glassesIDList)

{

std::cout << "Found glasses: " << glassesID << std::endl;

}

if (glassesIDList.size() > 0)

{

if (!ConnectGlasses(glassesIDList[0]))

return false;

}

else

{

std::cerr << "Didn't find any glasses" << std::endl;

return false;

}

return true;

}

/****************************************************************************

Connect one pair of T5 glasses by ID.

There might be delays in getting connected and the main gui shouldn't be hung

up waiting. So in a real application parts of this should probably be an done

in a non blocking way as part of the render loop.

*****************************************************************************/

bool HelloT5Cube::ConnectGlasses(std::string glassesID)

{

glasses = MakeOwned<T5W::Glasses>();

auto err = glasses->Create(*context, glassesID);

if (err != T5_SUCCESS)

{

std::cerr << "Error: [" << t5GetResultMessage(err) << "] creating glasses " << glassesID << std::endl;

return false;

}

std::cout << "Created glasses: " << glassesID << std::endl;

std::cout << "Glasses " << glassesID << " state: " << GetConnectionText(glasses->GetConnectionState()) << std::endl;

err = glasses->Acquire(windowTitle);

if (err != T5_SUCCESS)

{

std::cerr << "Error: [" << t5GetResultMessage(err) << "] acquiring glasses " << glassesID << std::endl;

return false;

}

std::cout << "Glasses " << glassesID << " state: " << GetConnectionText(glasses->GetConnectionState()) << std::endl;

for (;;)

{

err = glasses->EnsureReady();

if (err == T5_SUCCESS)

break;

if (err == T5_ERROR_TRY_AGAIN)

continue;

std::cerr << "Error: [" << t5GetResultMessage(err) << "] readying glasses " << glassesID << std::endl;

return false;

}

std::cout << "Glasses " << glassesID << " state: " << GetConnectionText(glasses->GetConnectionState()) << std::endl;

err = glasses->InitGlassesOpenGLContext(useMultiview && !copyMultviewTextures);

if (err != T5_SUCCESS)

{

std::cerr << "Error: [" << t5GetResultMessage(err) << "] initializing OpenGL for glasses " << glassesID << std::endl;

return false;

}

std::cout << "IPD = " << glasses->GetIpd() << std::endl;

return true;

}

/****************************************************************************

This is the main loop

A real application should be watching for glasses connection and disconnection

and handling those event. It should probably also be watching for parameter

changes like IPD.

*****************************************************************************/

void HelloT5Cube::Update()

{

UpdateGlassesPose();

Render();

SendFramesToGlasses();

}

/****************************************************************************

Read the pose from the glasses and set the application headPose transform.

It will also dump the pose to standard out when 'P' is pressed.

*****************************************************************************/

void HelloT5Cube::UpdateGlassesPose()

{

auto poseResult = glasses->GetGlassesPose();

T5_GlassesPose pose;

isPoseValid = poseResult.TryGet(pose);

if (isPoseValid)

{

isPoseValid = true;

auto position = T5W::toGLM(pose.posGLS_GBD);

auto orientation = T5W::toGLM(pose.rotToGLS_GBD);

headPose.SetPosition(position);

headPose.SetOrientation(orientation);

if (isOutputingOnePoseFrame)

{

auto xAxis = glm::rotate(orientation, glm::vec3(1, 0, 0));

auto yAxis = glm::rotate(orientation, glm::vec3(0, 1, 0));

auto zAxis = glm::rotate(orientation, glm::vec3(0, 0, 1));

std::cout << "Pos = (" << position.x << ", " << position.y << ", " << position.z << ")" << std::endl;

std::cout << "xAxis = (" << xAxis.x << ", " << xAxis.y << ", " << xAxis.z << ")" << std::endl;

std::cout << "yAxis = (" << yAxis.x << ", " << yAxis.y << ", " << yAxis.z << ")" << std::endl;

std::cout << "zAxis = (" << zAxis.x << ", " << zAxis.y << ", " << zAxis.z << ")" << std::endl;

isOutputingOnePoseFrame = false;

}

if (isPoseValid.IsChanged())

{

std::cout << (isPoseValid ? "Gained tracking" : "Lost tracking") << std::endl;

}

/****************************************************************************

Render the scene. The view matrix is composed from three transforms.

gameboardPose - represents the pose of the gameboard in world frame

headPose - represents the pose of the glasses/head in the gameboard frame

leftEyePose/righteyePose - represents the offset of the eye in head frame

*****************************************************************************/

void HelloT5Cube::Render()

{

const float ratio = defaultWidth / (float)defaultHeight;

// Rotate cube

GLApp::Transform modelTran;

modelTran.SetEuler(0, 0, (float)glfwGetTime());

modelTran.SetScale(0.1f);

// Model to world

auto modelMat = modelTran.MatrixToParentFrame();

// World to eye

auto viewLeftMat = leftEyePose.MatrixToLocalFrame() * headPose.MatrixToLocalFrame() * gameboardPose.MatrixToLocalFrame();

auto viewRightMat = rightEyePose.MatrixToLocalFrame() * headPose.MatrixToLocalFrame() * gameboardPose.MatrixToLocalFrame();

// Perspective projection

auto perspectiveProj = glm::perspective(glm::radians(defaultFOV), ratio, 0.1f, 100.0f);

cubeShader->Use();

cubeVertexArrays->Bind();

// Render left eye

auto mvpLeft = perspectiveProj * viewLeftMat * modelMat;

// Render right eye

auto mvpRight = perspectiveProj * viewRightMat * modelMat;

int width = 0;

int height = 0;

GetFramebufferSize(width, height);

if(useMultiview) {

glm::highp_mat4 mvpArr[2];

mvpArr[0] = mvpLeft;

mvpArr[1] = mvpRight;

cubeShader->Set("MVP", mvpArr);

stereoEyeDisplay.BeginDraw();

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

glDrawArrays(GL_TRIANGLES, 0, 36);

stereoEyeDisplay.EndDraw();

leftEyeDisplay.BlitFromFrameBuffer(*leftLayerFramebuffer);

rightEyeDisplay.BlitFromFrameBuffer(*rightLayerFramebuffer);

rightEyeDisplay.BlitToScreen(width, height);

}

else {

cubeShader->Set("MVP", mvpLeft);

leftEyeDisplay.BeginDraw();

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

glDrawArrays(GL_TRIANGLES, 0, 36);

leftEyeDisplay.EndDraw();

cubeShader->Set("MVP", mvpRight);

rightEyeDisplay.BeginDraw();

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

glDrawArrays(GL_TRIANGLES, 0, 36);

rightEyeDisplay.EndDraw();

// Blit right eye to display

rightEyeDisplay.BlitToScreen(width, height);

}

/****************************************************************************

Send the rendered textures and the pose they were rendered as to the glasses

for projection.

*****************************************************************************/

void HelloT5Cube::SendFramesToGlasses()

{

T5_Result result;

if (isPoseValid)

{

T5_FrameInfo frameInfo;

frameInfo.vci.startY_VCI = -tan(glm::radians(defaultFOV) * 0.5f);

frameInfo.vci.startX_VCI = frameInfo.vci.startY_VCI * leftEyeDisplay.width / (float)leftEyeDisplay.height;

frameInfo.vci.width_VCI = -2.0f * frameInfo.vci.startX_VCI;

frameInfo.vci.height_VCI = -2.0f * frameInfo.vci.startY_VCI;

frameInfo.texWidth_PIX = leftEyeDisplay.width;

frameInfo.texHeight_PIX = leftEyeDisplay.height;

if(useMultiview && !copyMultviewTextures)

{

frameInfo.leftTexHandle = stereoEyeDisplay.texture->HandleAsVoidPtr();

frameInfo.rightTexHandle = 0;

}

else

{

frameInfo.leftTexHandle = leftEyeDisplay.texture->HandleAsVoidPtr();

frameInfo.rightTexHandle = rightEyeDisplay.texture->HandleAsVoidPtr();

}

auto leftPos = leftEyePose.TransformPointToParentFrame(glm::vec3(0,0,0));

leftPos = headPose.TransformPointToParentFrame(leftPos);

frameInfo.posLVC_GBD = T5W::toT5(leftPos);

frameInfo.rotToLVC_GBD = T5W::toT5(headPose.GetOrientation());

auto rightPos = rightEyePose.TransformPointToParentFrame(glm::vec3(0, 0, 0));

rightPos = headPose.TransformPointToParentFrame(rightPos);

frameInfo.posRVC_GBD = T5W::toT5(rightPos);

frameInfo.rotToRVC_GBD = T5W::toT5(headPose.GetOrientation());

frameInfo.isUpsideDown = false;

frameInfo.isSrgb = false;

result = glasses->SendFrameToGlasses(frameInfo);

isFrameSent = (result == T5_SUCCESS);

if (isFrameSent.IsChanged())

{

if(!isFrameSent)

{

std::cerr << "Stopped sending frames because: " << t5GetResultMessage(result) << std::endl;

}

else

{

std::cerr << "Started sending frames" << std::endl;

}

frameCounter++;

}

HelloT5Cube/HelloT5Cube.cpp at master · patrickdown/HelloT5Cube · GitHub

Expand file tree

Breadcrumbs

HelloT5Cube.cpp

Latest commit

History

Breadcrumbs

HelloT5Cube.cpp

File metadata and controls