459 lines
16 KiB
C++
459 lines
16 KiB
C++
/*************************************************************************/
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/* mobile_vr_interface.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "mobile_vr_interface.h"
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#include "core/input/input.h"
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#include "core/os/os.h"
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#include "servers/display_server.h"
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#include "servers/rendering/rendering_server_globals.h"
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StringName MobileVRInterface::get_name() const {
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return "Native mobile";
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};
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int MobileVRInterface::get_capabilities() const {
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return XRInterface::XR_STEREO;
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};
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Vector3 MobileVRInterface::scale_magneto(const Vector3 &p_magnetometer) {
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// Our magnetometer doesn't give us nice clean data.
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// Well it may on Mac OS X because we're getting a calibrated value in the current implementation but Android we're getting raw data.
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// This is a fairly simple adjustment we can do to correct for the magnetometer data being elliptical
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Vector3 mag_raw = p_magnetometer;
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Vector3 mag_scaled = p_magnetometer;
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// update our variables every x frames
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if (mag_count > 20) {
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mag_current_min = mag_next_min;
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mag_current_max = mag_next_max;
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mag_count = 0;
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} else {
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mag_count++;
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};
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// adjust our min and max
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if (mag_raw.x > mag_next_max.x) {
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mag_next_max.x = mag_raw.x;
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}
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if (mag_raw.y > mag_next_max.y) {
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mag_next_max.y = mag_raw.y;
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}
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if (mag_raw.z > mag_next_max.z) {
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mag_next_max.z = mag_raw.z;
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}
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if (mag_raw.x < mag_next_min.x) {
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mag_next_min.x = mag_raw.x;
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}
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if (mag_raw.y < mag_next_min.y) {
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mag_next_min.y = mag_raw.y;
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}
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if (mag_raw.z < mag_next_min.z) {
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mag_next_min.z = mag_raw.z;
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}
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// scale our x, y and z
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if (!(mag_current_max.x - mag_current_min.x)) {
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mag_raw.x -= (mag_current_min.x + mag_current_max.x) / 2.0;
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mag_scaled.x = (mag_raw.x - mag_current_min.x) / ((mag_current_max.x - mag_current_min.x) * 2.0 - 1.0);
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};
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if (!(mag_current_max.y - mag_current_min.y)) {
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mag_raw.y -= (mag_current_min.y + mag_current_max.y) / 2.0;
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mag_scaled.y = (mag_raw.y - mag_current_min.y) / ((mag_current_max.y - mag_current_min.y) * 2.0 - 1.0);
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};
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if (!(mag_current_max.z - mag_current_min.z)) {
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mag_raw.z -= (mag_current_min.z + mag_current_max.z) / 2.0;
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mag_scaled.z = (mag_raw.z - mag_current_min.z) / ((mag_current_max.z - mag_current_min.z) * 2.0 - 1.0);
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};
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return mag_scaled;
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};
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Basis MobileVRInterface::combine_acc_mag(const Vector3 &p_grav, const Vector3 &p_magneto) {
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// yup, stock standard cross product solution...
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Vector3 up = -p_grav.normalized();
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Vector3 magneto_east = up.cross(p_magneto.normalized()); // or is this west?, but should be horizon aligned now
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magneto_east.normalize();
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Vector3 magneto = up.cross(magneto_east); // and now we have a horizon aligned north
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magneto.normalize();
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// We use our gravity and magnetometer vectors to construct our matrix
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Basis acc_mag_m3;
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acc_mag_m3.elements[0] = -magneto_east;
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acc_mag_m3.elements[1] = up;
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acc_mag_m3.elements[2] = magneto;
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return acc_mag_m3;
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};
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void MobileVRInterface::set_position_from_sensors() {
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_THREAD_SAFE_METHOD_
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// this is a helper function that attempts to adjust our transform using our 9dof sensors
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// 9dof is a misleading marketing term coming from 3 accelerometer axis + 3 gyro axis + 3 magnetometer axis = 9 axis
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// but in reality this only offers 3 dof (yaw, pitch, roll) orientation
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uint64_t ticks = OS::get_singleton()->get_ticks_usec();
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uint64_t ticks_elapsed = ticks - last_ticks;
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float delta_time = (double)ticks_elapsed / 1000000.0;
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// few things we need
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Input *input = Input::get_singleton();
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Vector3 down(0.0, -1.0, 0.0); // Down is Y negative
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Vector3 north(0.0, 0.0, 1.0); // North is Z positive
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// make copies of our inputs
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bool has_grav = false;
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Vector3 acc = input->get_accelerometer();
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Vector3 gyro = input->get_gyroscope();
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Vector3 grav = input->get_gravity();
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Vector3 magneto = scale_magneto(input->get_magnetometer()); // this may be overkill on iOS because we're already getting a calibrated magnetometer reading
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if (sensor_first) {
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sensor_first = false;
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} else {
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acc = scrub(acc, last_accerometer_data, 2, 0.2);
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magneto = scrub(magneto, last_magnetometer_data, 3, 0.3);
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};
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last_accerometer_data = acc;
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last_magnetometer_data = magneto;
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if (grav.length() < 0.1) {
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// not ideal but use our accelerometer, this will contain shaky user behaviour
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// maybe look into some math but I'm guessing that if this isn't available, it's because we lack the gyro sensor to actually work out
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// what a stable gravity vector is
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grav = acc;
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if (grav.length() > 0.1) {
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has_grav = true;
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};
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} else {
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has_grav = true;
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};
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bool has_magneto = magneto.length() > 0.1;
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if (gyro.length() > 0.1) {
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/* this can return to 0.0 if the user doesn't move the phone, so once on, it's on */
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has_gyro = true;
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};
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if (has_gyro) {
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// start with applying our gyro (do NOT smooth our gyro!)
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Basis rotate;
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rotate.rotate(orientation.get_axis(0), gyro.x * delta_time);
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rotate.rotate(orientation.get_axis(1), gyro.y * delta_time);
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rotate.rotate(orientation.get_axis(2), gyro.z * delta_time);
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orientation = rotate * orientation;
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tracking_state = XRInterface::XR_NORMAL_TRACKING;
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};
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///@TODO improve this, the magnetometer is very fidgety sometimes flipping the axis for no apparent reason (probably a bug on my part)
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// if you have a gyro + accelerometer that combo tends to be better than combining all three but without a gyro you need the magnetometer..
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if (has_magneto && has_grav && !has_gyro) {
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// convert to quaternions, easier to smooth those out
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Quat transform_quat(orientation);
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Quat acc_mag_quat(combine_acc_mag(grav, magneto));
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transform_quat = transform_quat.slerp(acc_mag_quat, 0.1);
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orientation = Basis(transform_quat);
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tracking_state = XRInterface::XR_NORMAL_TRACKING;
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} else if (has_grav) {
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// use gravity vector to make sure down is down...
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// transform gravity into our world space
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grav.normalize();
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Vector3 grav_adj = orientation.xform(grav);
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float dot = grav_adj.dot(down);
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if ((dot > -1.0) && (dot < 1.0)) {
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// axis around which we have this rotation
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Vector3 axis = grav_adj.cross(down);
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axis.normalize();
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Basis drift_compensation(axis, acos(dot) * delta_time * 10);
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orientation = drift_compensation * orientation;
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};
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};
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// JIC
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orientation.orthonormalize();
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last_ticks = ticks;
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};
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void MobileVRInterface::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_eye_height", "eye_height"), &MobileVRInterface::set_eye_height);
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ClassDB::bind_method(D_METHOD("get_eye_height"), &MobileVRInterface::get_eye_height);
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ClassDB::bind_method(D_METHOD("set_iod", "iod"), &MobileVRInterface::set_iod);
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ClassDB::bind_method(D_METHOD("get_iod"), &MobileVRInterface::get_iod);
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ClassDB::bind_method(D_METHOD("set_display_width", "display_width"), &MobileVRInterface::set_display_width);
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ClassDB::bind_method(D_METHOD("get_display_width"), &MobileVRInterface::get_display_width);
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ClassDB::bind_method(D_METHOD("set_display_to_lens", "display_to_lens"), &MobileVRInterface::set_display_to_lens);
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ClassDB::bind_method(D_METHOD("get_display_to_lens"), &MobileVRInterface::get_display_to_lens);
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ClassDB::bind_method(D_METHOD("set_oversample", "oversample"), &MobileVRInterface::set_oversample);
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ClassDB::bind_method(D_METHOD("get_oversample"), &MobileVRInterface::get_oversample);
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ClassDB::bind_method(D_METHOD("set_k1", "k"), &MobileVRInterface::set_k1);
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ClassDB::bind_method(D_METHOD("get_k1"), &MobileVRInterface::get_k1);
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ClassDB::bind_method(D_METHOD("set_k2", "k"), &MobileVRInterface::set_k2);
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ClassDB::bind_method(D_METHOD("get_k2"), &MobileVRInterface::get_k2);
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "eye_height", PROPERTY_HINT_RANGE, "0.0,3.0,0.1"), "set_eye_height", "get_eye_height");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "iod", PROPERTY_HINT_RANGE, "4.0,10.0,0.1"), "set_iod", "get_iod");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "display_width", PROPERTY_HINT_RANGE, "5.0,25.0,0.1"), "set_display_width", "get_display_width");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "display_to_lens", PROPERTY_HINT_RANGE, "5.0,25.0,0.1"), "set_display_to_lens", "get_display_to_lens");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "oversample", PROPERTY_HINT_RANGE, "1.0,2.0,0.1"), "set_oversample", "get_oversample");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "k1", PROPERTY_HINT_RANGE, "0.1,10.0,0.0001"), "set_k1", "get_k1");
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ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "k2", PROPERTY_HINT_RANGE, "0.1,10.0,0.0001"), "set_k2", "get_k2");
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}
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void MobileVRInterface::set_eye_height(const real_t p_eye_height) {
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eye_height = p_eye_height;
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}
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real_t MobileVRInterface::get_eye_height() const {
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return eye_height;
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}
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void MobileVRInterface::set_iod(const real_t p_iod) {
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intraocular_dist = p_iod;
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};
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real_t MobileVRInterface::get_iod() const {
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return intraocular_dist;
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};
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void MobileVRInterface::set_display_width(const real_t p_display_width) {
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display_width = p_display_width;
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};
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real_t MobileVRInterface::get_display_width() const {
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return display_width;
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};
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void MobileVRInterface::set_display_to_lens(const real_t p_display_to_lens) {
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display_to_lens = p_display_to_lens;
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};
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real_t MobileVRInterface::get_display_to_lens() const {
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return display_to_lens;
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};
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void MobileVRInterface::set_oversample(const real_t p_oversample) {
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oversample = p_oversample;
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};
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real_t MobileVRInterface::get_oversample() const {
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return oversample;
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};
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void MobileVRInterface::set_k1(const real_t p_k1) {
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k1 = p_k1;
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};
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real_t MobileVRInterface::get_k1() const {
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return k1;
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};
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void MobileVRInterface::set_k2(const real_t p_k2) {
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k2 = p_k2;
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};
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real_t MobileVRInterface::get_k2() const {
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return k2;
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};
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bool MobileVRInterface::is_stereo() {
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// needs stereo...
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return true;
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};
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bool MobileVRInterface::is_initialized() const {
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return (initialized);
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};
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bool MobileVRInterface::initialize() {
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XRServer *xr_server = XRServer::get_singleton();
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ERR_FAIL_NULL_V(xr_server, false);
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if (!initialized) {
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// reset our sensor data and orientation
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mag_count = 0;
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has_gyro = false;
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sensor_first = true;
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mag_next_min = Vector3(10000, 10000, 10000);
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mag_next_max = Vector3(-10000, -10000, -10000);
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mag_current_min = Vector3(0, 0, 0);
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mag_current_max = Vector3(0, 0, 0);
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// reset our orientation
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orientation = Basis();
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// make this our primary interface
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xr_server->set_primary_interface(this);
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last_ticks = OS::get_singleton()->get_ticks_usec();
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initialized = true;
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};
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return true;
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};
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void MobileVRInterface::uninitialize() {
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if (initialized) {
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XRServer *xr_server = XRServer::get_singleton();
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if (xr_server != nullptr) {
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// no longer our primary interface
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xr_server->clear_primary_interface_if(this);
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}
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initialized = false;
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};
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};
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Size2 MobileVRInterface::get_render_targetsize() {
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_THREAD_SAFE_METHOD_
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// we use half our window size
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Size2 target_size = DisplayServer::get_singleton()->window_get_size();
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target_size.x *= 0.5 * oversample;
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target_size.y *= oversample;
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return target_size;
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};
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Transform MobileVRInterface::get_transform_for_eye(XRInterface::Eyes p_eye, const Transform &p_cam_transform) {
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_THREAD_SAFE_METHOD_
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Transform transform_for_eye;
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XRServer *xr_server = XRServer::get_singleton();
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ERR_FAIL_NULL_V(xr_server, transform_for_eye);
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if (initialized) {
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float world_scale = xr_server->get_world_scale();
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// we don't need to check for the existence of our HMD, doesn't affect our values...
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// note * 0.01 to convert cm to m and * 0.5 as we're moving half in each direction...
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if (p_eye == XRInterface::EYE_LEFT) {
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transform_for_eye.origin.x = -(intraocular_dist * 0.01 * 0.5 * world_scale);
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} else if (p_eye == XRInterface::EYE_RIGHT) {
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transform_for_eye.origin.x = intraocular_dist * 0.01 * 0.5 * world_scale;
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} else {
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// for mono we don't reposition, we want our center position.
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};
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// just scale our origin point of our transform
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Transform hmd_transform;
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hmd_transform.basis = orientation;
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hmd_transform.origin = Vector3(0.0, eye_height * world_scale, 0.0);
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transform_for_eye = p_cam_transform * (xr_server->get_reference_frame()) * hmd_transform * transform_for_eye;
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} else {
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// huh? well just return what we got....
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transform_for_eye = p_cam_transform;
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};
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return transform_for_eye;
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};
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CameraMatrix MobileVRInterface::get_projection_for_eye(XRInterface::Eyes p_eye, real_t p_aspect, real_t p_z_near, real_t p_z_far) {
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_THREAD_SAFE_METHOD_
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CameraMatrix eye;
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if (p_eye == XRInterface::EYE_MONO) {
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///@TODO for now hardcode some of this, what is really needed here is that this needs to be in sync with the real camera's properties
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// which probably means implementing a specific class for iOS and Android. For now this is purely here as an example.
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// Note also that if you use a normal viewport with AR/VR turned off you can still use the tracker output of this interface
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// to position a stock standard Godot camera and have control over this.
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// This will make more sense when we implement ARkit on iOS (probably a separate interface).
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eye.set_perspective(60.0, p_aspect, p_z_near, p_z_far, false);
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} else {
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eye.set_for_hmd(p_eye == XRInterface::EYE_LEFT ? 1 : 2, p_aspect, intraocular_dist, display_width, display_to_lens, oversample, p_z_near, p_z_far);
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};
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return eye;
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};
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void MobileVRInterface::commit_for_eye(XRInterface::Eyes p_eye, RID p_render_target, const Rect2 &p_screen_rect) {
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_THREAD_SAFE_METHOD_
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// We must have a valid render target
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ERR_FAIL_COND(!p_render_target.is_valid());
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// Because we are rendering to our device we must use our main viewport!
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ERR_FAIL_COND(p_screen_rect == Rect2());
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Rect2 dest = p_screen_rect;
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Vector2 eye_center;
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// we output half a screen
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dest.size.x *= 0.5;
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if (p_eye == XRInterface::EYE_LEFT) {
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eye_center.x = ((-intraocular_dist / 2.0) + (display_width / 4.0)) / (display_width / 2.0);
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} else if (p_eye == XRInterface::EYE_RIGHT) {
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dest.position.x = dest.size.x;
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eye_center.x = ((intraocular_dist / 2.0) - (display_width / 4.0)) / (display_width / 2.0);
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}
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// we don't offset the eye center vertically (yet)
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eye_center.y = 0.0;
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}
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void MobileVRInterface::process() {
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_THREAD_SAFE_METHOD_
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if (initialized) {
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set_position_from_sensors();
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};
|
|
};
|
|
|
|
MobileVRInterface::MobileVRInterface() {}
|
|
|
|
MobileVRInterface::~MobileVRInterface() {
|
|
// and make sure we cleanup if we haven't already
|
|
if (is_initialized()) {
|
|
uninitialize();
|
|
};
|
|
};
|