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Diffstat (limited to 'modules/mobile_vr/mobile_vr_interface.cpp')
| -rw-r--r-- | modules/mobile_vr/mobile_vr_interface.cpp | 499 |
1 files changed, 499 insertions, 0 deletions
diff --git a/modules/mobile_vr/mobile_vr_interface.cpp b/modules/mobile_vr/mobile_vr_interface.cpp new file mode 100644 index 0000000000..2ec00aa72d --- /dev/null +++ b/modules/mobile_vr/mobile_vr_interface.cpp @@ -0,0 +1,499 @@ +/*************************************************************************/ +/* mobile_interface.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "mobile_vr_interface.h" +#include "core/os/input.h" +#include "core/os/os.h" +#include "servers/visual/visual_server_global.h" + +StringName MobileVRInterface::get_name() const { + return "Native mobile"; +}; + +int MobileVRInterface::get_capabilities() const { + return ARVRInterface::ARVR_STEREO; +}; + +Vector3 MobileVRInterface::scale_magneto(const Vector3 &p_magnetometer) { + // Our magnetometer doesn't give us nice clean data. + // 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. + // This is a fairly simple adjustment we can do to correct for the magnetometer data being elliptical + + Vector3 mag_raw = p_magnetometer; + Vector3 mag_scaled = p_magnetometer; + + // update our variables every x frames + if (mag_count > 20) { + mag_current_min = mag_next_min; + mag_current_max = mag_next_max; + mag_count = 0; + } else { + mag_count++; + }; + + // adjust our min and max + if (mag_raw.x > mag_next_max.x) mag_next_max.x = mag_raw.x; + if (mag_raw.y > mag_next_max.y) mag_next_max.y = mag_raw.y; + if (mag_raw.z > mag_next_max.z) mag_next_max.z = mag_raw.z; + + if (mag_raw.x < mag_next_min.x) mag_next_min.x = mag_raw.x; + if (mag_raw.y < mag_next_min.y) mag_next_min.y = mag_raw.y; + if (mag_raw.z < mag_next_min.z) mag_next_min.z = mag_raw.z; + + // scale our x, y and z + if (!(mag_current_max.x - mag_current_min.x)) { + mag_raw.x -= (mag_current_min.x + mag_current_max.x) / 2.0; + mag_scaled.x = (mag_raw.x - mag_current_min.x) / ((mag_current_max.x - mag_current_min.x) * 2.0 - 1.0); + }; + + if (!(mag_current_max.y - mag_current_min.y)) { + mag_raw.y -= (mag_current_min.y + mag_current_max.y) / 2.0; + mag_scaled.y = (mag_raw.y - mag_current_min.y) / ((mag_current_max.y - mag_current_min.y) * 2.0 - 1.0); + }; + + if (!(mag_current_max.z - mag_current_min.z)) { + mag_raw.z -= (mag_current_min.z + mag_current_max.z) / 2.0; + mag_scaled.z = (mag_raw.z - mag_current_min.z) / ((mag_current_max.z - mag_current_min.z) * 2.0 - 1.0); + }; + + return mag_scaled; +}; + +Basis MobileVRInterface::combine_acc_mag(const Vector3 &p_grav, const Vector3 &p_magneto) { + // yup, stock standard cross product solution... + Vector3 up = -p_grav.normalized(); + + Vector3 magneto_east = up.cross(p_magneto.normalized()); // or is this west?, but should be horizon aligned now + magneto_east.normalize(); + + Vector3 magneto = up.cross(magneto_east); // and now we have a horizon aligned north + magneto.normalize(); + + // We use our gravity and magnetometer vectors to construct our matrix + Basis acc_mag_m3; + acc_mag_m3.elements[0] = -magneto_east; + acc_mag_m3.elements[1] = up; + acc_mag_m3.elements[2] = magneto; + + return acc_mag_m3; +}; + +void MobileVRInterface::set_position_from_sensors() { + _THREAD_SAFE_METHOD_ + + // this is a helper function that attempts to adjust our transform using our 9dof sensors + // 9dof is a misleading marketing term coming from 3 accelerometer axis + 3 gyro axis + 3 magnetometer axis = 9 axis + // but in reality this only offers 3 dof (yaw, pitch, roll) orientation + + uint64_t ticks = OS::get_singleton()->get_ticks_usec(); + uint64_t ticks_elapsed = ticks - last_ticks; + float delta_time = (double)ticks_elapsed / 1000000.0; + + // few things we need + Input *input = Input::get_singleton(); + Vector3 down(0.0, -1.0, 0.0); // Down is Y negative + Vector3 north(0.0, 0.0, 1.0); // North is Z positive + + // make copies of our inputs + bool has_grav = false; + Vector3 acc = input->get_accelerometer(); + Vector3 gyro = input->get_gyroscope(); + Vector3 grav = input->get_gravity(); + Vector3 magneto = scale_magneto(input->get_magnetometer()); // this may be overkill on iOS because we're already getting a calibrated magnetometer reading + + if (sensor_first) { + sensor_first = false; + } else { + acc = scrub(acc, last_accerometer_data, 2, 0.2); + magneto = scrub(magneto, last_magnetometer_data, 3, 0.3); + }; + + last_accerometer_data = acc; + last_magnetometer_data = magneto; + + if (grav.length() < 0.1) { + // not ideal but use our accelerometer, this will contain shakey shakey user behaviour + // maybe look into some math but I'm guessing that if this isn't available, its because we lack the gyro sensor to actually work out + // what a stable gravity vector is + grav = acc; + if (grav.length() > 0.1) { + has_grav = true; + }; + } else { + has_grav = true; + }; + + bool has_magneto = magneto.length() > 0.1; + if (gyro.length() > 0.1) { + /* this can return to 0.0 if the user doesn't move the phone, so once on, it's on */ + has_gyro = true; + }; + + if (has_gyro) { + // start with applying our gyro (do NOT smooth our gyro!) + Basis rotate; + rotate.rotate(orientation.get_axis(0), gyro.x * delta_time); + rotate.rotate(orientation.get_axis(1), gyro.y * delta_time); + rotate.rotate(orientation.get_axis(2), gyro.z * delta_time); + orientation = rotate * orientation; + + tracking_state = ARVRInterface::ARVR_NORMAL_TRACKING; + }; + + ///@TODO improve this, the magnetometer is very fidgity sometimes flipping the axis for no apparent reason (probably a bug on my part) + // if you have a gyro + accelerometer that combo tends to be better then combining all three but without a gyro you need the magnetometer.. + if (has_magneto && has_grav && !has_gyro) { + // convert to quaternions, easier to smooth those out + Quat transform_quat(orientation); + Quat acc_mag_quat(combine_acc_mag(grav, magneto)); + transform_quat = transform_quat.slerp(acc_mag_quat, 0.1); + orientation = Basis(transform_quat); + + tracking_state = ARVRInterface::ARVR_NORMAL_TRACKING; + } else if (has_grav) { + // use gravity vector to make sure down is down... + // transform gravity into our world space + grav.normalize(); + Vector3 grav_adj = orientation.xform(grav); + float dot = grav_adj.dot(down); + if ((dot > -1.0) && (dot < 1.0)) { + // axis around which we have this rotation + Vector3 axis = grav_adj.cross(down); + axis.normalize(); + + Basis drift_compensation(axis, acos(dot) * delta_time * 10); + orientation = drift_compensation * orientation; + }; + }; + + // JIC + orientation.orthonormalize(); + + last_ticks = ticks; +}; + +void MobileVRInterface::_bind_methods() { + ClassDB::bind_method(D_METHOD("set_iod", "iod"), &MobileVRInterface::set_iod); + ClassDB::bind_method(D_METHOD("get_iod"), &MobileVRInterface::get_iod); + + ClassDB::bind_method(D_METHOD("set_display_width", "display_width"), &MobileVRInterface::set_display_width); + ClassDB::bind_method(D_METHOD("get_display_width"), &MobileVRInterface::get_display_width); + + ClassDB::bind_method(D_METHOD("set_display_to_lens", "display_to_lens"), &MobileVRInterface::set_display_to_lens); + ClassDB::bind_method(D_METHOD("get_display_to_lens"), &MobileVRInterface::get_display_to_lens); + + ClassDB::bind_method(D_METHOD("set_oversample", "oversample"), &MobileVRInterface::set_oversample); + ClassDB::bind_method(D_METHOD("get_oversample"), &MobileVRInterface::get_oversample); + + ClassDB::bind_method(D_METHOD("set_k1", "k"), &MobileVRInterface::set_k1); + ClassDB::bind_method(D_METHOD("get_k1"), &MobileVRInterface::get_k1); + + ClassDB::bind_method(D_METHOD("set_k2", "k"), &MobileVRInterface::set_k2); + ClassDB::bind_method(D_METHOD("get_k2"), &MobileVRInterface::get_k2); + + ADD_PROPERTY(PropertyInfo(Variant::REAL, "iod", PROPERTY_HINT_RANGE, "4.0,10.0,0.1"), "set_iod", "get_iod"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "display_width", PROPERTY_HINT_RANGE, "5.0,25.0,0.1"), "set_display_width", "get_display_width"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "display_to_lens", PROPERTY_HINT_RANGE, "5.0,25.0,0.1"), "set_display_to_lens", "get_display_to_lens"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "oversample", PROPERTY_HINT_RANGE, "1.0,2.0,0.1"), "set_oversample", "get_oversample"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "k1", PROPERTY_HINT_RANGE, "0.1,10.0,0.0001"), "set_k1", "get_k1"); + ADD_PROPERTY(PropertyInfo(Variant::REAL, "k2", PROPERTY_HINT_RANGE, "0.1,10.0,0.0001"), "set_k2", "get_k2"); +} + +void MobileVRInterface::set_iod(const real_t p_iod) { + intraocular_dist = p_iod; +}; + +real_t MobileVRInterface::get_iod() const { + return intraocular_dist; +}; + +void MobileVRInterface::set_display_width(const real_t p_display_width) { + display_width = p_display_width; +}; + +real_t MobileVRInterface::get_display_width() const { + return display_width; +}; + +void MobileVRInterface::set_display_to_lens(const real_t p_display_to_lens) { + display_to_lens = p_display_to_lens; +}; + +real_t MobileVRInterface::get_display_to_lens() const { + return display_to_lens; +}; + +void MobileVRInterface::set_oversample(const real_t p_oversample) { + oversample = p_oversample; +}; + +real_t MobileVRInterface::get_oversample() const { + return oversample; +}; + +void MobileVRInterface::set_k1(const real_t p_k1) { + k1 = p_k1; +}; + +real_t MobileVRInterface::get_k1() const { + return k1; +}; + +void MobileVRInterface::set_k2(const real_t p_k2) { + k2 = p_k2; +}; + +real_t MobileVRInterface::get_k2() const { + return k2; +}; + +bool MobileVRInterface::is_stereo() { + // needs stereo... + return true; +}; + +bool MobileVRInterface::is_initialized() const { + return (initialized); +}; + +bool MobileVRInterface::initialize() { + ARVRServer *arvr_server = ARVRServer::get_singleton(); + ERR_FAIL_NULL_V(arvr_server, false); + + if (!initialized) { + // reset our sensor data and orientation + mag_count = 0; + has_gyro = false; + sensor_first = true; + mag_next_min = Vector3(10000, 10000, 10000); + mag_next_max = Vector3(-10000, -10000, -10000); + mag_current_min = Vector3(0, 0, 0); + mag_current_max = Vector3(0, 0, 0); + + // reset our orientation + orientation = Basis(); + + // make this our primary interface + arvr_server->set_primary_interface(this); + + last_ticks = OS::get_singleton()->get_ticks_usec(); + ; + initialized = true; + }; + + return true; +}; + +void MobileVRInterface::uninitialize() { + if (initialized) { + ARVRServer *arvr_server = ARVRServer::get_singleton(); + if (arvr_server != NULL) { + // no longer our primary interface + arvr_server->clear_primary_interface_if(this); + } + + initialized = false; + }; +}; + +Size2 MobileVRInterface::get_render_targetsize() { + _THREAD_SAFE_METHOD_ + + // we use half our window size + Size2 target_size = OS::get_singleton()->get_window_size(); + target_size.x *= 0.5 * oversample; + target_size.y *= oversample; + + return target_size; +}; + +Transform MobileVRInterface::get_transform_for_eye(ARVRInterface::Eyes p_eye, const Transform &p_cam_transform) { + _THREAD_SAFE_METHOD_ + + Transform transform_for_eye; + + ARVRServer *arvr_server = ARVRServer::get_singleton(); + ERR_FAIL_NULL_V(arvr_server, transform_for_eye); + + if (initialized) { + float world_scale = arvr_server->get_world_scale(); + + // we don't need to check for the existence of our HMD, doesn't effect our values... + // note * 0.01 to convert cm to m and * 0.5 as we're moving half in each direction... + if (p_eye == ARVRInterface::EYE_LEFT) { + transform_for_eye.origin.x = -(intraocular_dist * 0.01 * 0.5 * world_scale); + } else if (p_eye == ARVRInterface::EYE_RIGHT) { + transform_for_eye.origin.x = intraocular_dist * 0.01 * 0.5 * world_scale; + } else { + // for mono we don't reposition, we want our center position. + }; + + // just scale our origin point of our transform + Transform hmd_transform; + hmd_transform.basis = orientation; + hmd_transform.origin = Vector3(0.0, eye_height * world_scale, 0.0); + + transform_for_eye = p_cam_transform * (arvr_server->get_reference_frame()) * hmd_transform * transform_for_eye; + } else { + // huh? well just return what we got.... + transform_for_eye = p_cam_transform; + }; + + return transform_for_eye; +}; + +CameraMatrix MobileVRInterface::get_projection_for_eye(ARVRInterface::Eyes p_eye, real_t p_aspect, real_t p_z_near, real_t p_z_far) { + _THREAD_SAFE_METHOD_ + + CameraMatrix eye; + + if (p_eye == ARVRInterface::EYE_MONO) { + ///@TODO for now hardcode some of this, what is really needed here is that this needs to be in sync with the real cameras properties + // which probably means implementing a specific class for iOS and Android. For now this is purely here as an example. + // Note also that if you use a normal viewport with AR/VR turned off you can still use the tracker output of this interface + // to position a stock standard Godot camera and have control over this. + // This will make more sense when we implement ARkit on iOS (probably a separate interface). + eye.set_perspective(60.0, p_aspect, p_z_near, p_z_far, false); + } else { + eye.set_for_hmd(p_eye == ARVRInterface::EYE_LEFT ? 1 : 2, p_aspect, intraocular_dist, display_width, display_to_lens, oversample, p_z_near, p_z_far); + }; + + return eye; +}; + +void MobileVRInterface::commit_for_eye(ARVRInterface::Eyes p_eye, RID p_render_target, const Rect2 &p_screen_rect) { + _THREAD_SAFE_METHOD_ + + // We must have a valid render target + ERR_FAIL_COND(!p_render_target.is_valid()); + + // Because we are rendering to our device we must use our main viewport! + ERR_FAIL_COND(p_screen_rect == Rect2()); + + float offset_x = 0.0; + float aspect_ratio = 0.5 * p_screen_rect.size.x / p_screen_rect.size.y; + Vector2 eye_center; + + if (p_eye == ARVRInterface::EYE_LEFT) { + offset_x = -1.0; + eye_center.x = ((-intraocular_dist / 2.0) + (display_width / 4.0)) / (display_width / 2.0); + } else if (p_eye == ARVRInterface::EYE_RIGHT) { + eye_center.x = ((intraocular_dist / 2.0) - (display_width / 4.0)) / (display_width / 2.0); + } + + // unset our render target so we are outputting to our main screen by making RasterizerStorageGLES3::system_fbo our current FBO + VSG::rasterizer->set_current_render_target(RID()); + + // now output to screen + // VSG::rasterizer->blit_render_target_to_screen(p_render_target, screen_rect, 0); + + // get our render target + RID eye_texture = VSG::storage->render_target_get_texture(p_render_target); + uint32_t texid = VS::get_singleton()->texture_get_texid(eye_texture); + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D, texid); + + lens_shader.bind(); + lens_shader.set_uniform(LensDistortedShaderGLES3::OFFSET_X, offset_x); + lens_shader.set_uniform(LensDistortedShaderGLES3::K1, k1); + lens_shader.set_uniform(LensDistortedShaderGLES3::K2, k2); + lens_shader.set_uniform(LensDistortedShaderGLES3::EYE_CENTER, eye_center); + lens_shader.set_uniform(LensDistortedShaderGLES3::UPSCALE, oversample); + lens_shader.set_uniform(LensDistortedShaderGLES3::ASPECT_RATIO, aspect_ratio); + + glBindVertexArray(half_screen_array); + glDrawArrays(GL_TRIANGLE_FAN, 0, 4); + glBindVertexArray(0); +}; + +void MobileVRInterface::process() { + _THREAD_SAFE_METHOD_ + + if (initialized) { + set_position_from_sensors(); + }; +}; + +MobileVRInterface::MobileVRInterface() { + initialized = false; + + // Just set some defaults for these. At some point we need to look at adding a lookup table for common device + headset combos and/or support reading cardboard QR codes + eye_height = 1.85; + intraocular_dist = 6.0; + display_width = 14.5; + display_to_lens = 4.0; + oversample = 1.5; + k1 = 0.215; + k2 = 0.215; + last_ticks = 0; + + // create our shader stuff + lens_shader.init(); + + { + glGenBuffers(1, &half_screen_quad); + glBindBuffer(GL_ARRAY_BUFFER, half_screen_quad); + { + /* clang-format off */ + const float qv[16] = { + 0, -1, + -1, -1, + 0, 1, + -1, 1, + 1, 1, + 1, 1, + 1, -1, + 1, -1, + }; + /* clang-format on */ + + glBufferData(GL_ARRAY_BUFFER, sizeof(float) * 16, qv, GL_STATIC_DRAW); + } + + glBindBuffer(GL_ARRAY_BUFFER, 0); //unbind + + glGenVertexArrays(1, &half_screen_array); + glBindVertexArray(half_screen_array); + glBindBuffer(GL_ARRAY_BUFFER, half_screen_quad); + glVertexAttribPointer(VS::ARRAY_VERTEX, 2, GL_FLOAT, GL_FALSE, sizeof(float) * 4, 0); + glEnableVertexAttribArray(0); + glVertexAttribPointer(VS::ARRAY_TEX_UV, 2, GL_FLOAT, GL_FALSE, sizeof(float) * 4, ((uint8_t *)NULL) + 8); + glEnableVertexAttribArray(4); + glBindVertexArray(0); + glBindBuffer(GL_ARRAY_BUFFER, 0); //unbind + } +}; + +MobileVRInterface::~MobileVRInterface() { + // and make sure we cleanup if we haven't already + if (is_initialized()) { + uninitialize(); + }; +}; |