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commonXR.py
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commonXR.py
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# ***************************************************************************
# * *
# * Copyright (c) 2023 Adrian Przekwas [email protected] *
# * *
# * Based on gl_example.py https://github.com/cmbruns/pyopenxr_examples *
# * *
# * This program is free software; you can redistribute it and/or modify *
# * it under the terms of the GNU Lesser General Public License (LGPL) *
# * as published by the Free Software Foundation; either version 3 of *
# * the License, or (at your option) any later version. *
# * for detail see the LICENCE text file. *
# * *
# * This program is distributed in the hope that it will be useful, *
# * but WITHOUT ANY WARRANTY; without even the implied warranty of *
# * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
# * GNU Library General Public License for more details. *
# * *
# * You should have received a copy of the GNU Library General Public *
# * License along with this program; if not, write to the Free Software *
# * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 *
# * USA *
# * *
# ***************************************************************************
import ctypes
import logging
try:
from PySide2.QtWidgets import QOpenGLWidget, QDockWidget
from PySide2.QtGui import QOpenGLContext, QSurfaceFormat, QOpenGLDebugLogger
from PySide2.QtCore import Qt, QTimer, QObject, SIGNAL
import shiboken2 as shiboken
except ImportError:
try:
from PySide6.QtWidgets import QDockWidget
from PySide6.QtOpenGLWidgets import QOpenGLWidget
from PySide6.QtOpenGL import QOpenGLDebugLogger
from PySide6.QtGui import QOpenGLContext, QSurfaceFormat
from PySide6.QtCore import Qt, QTimer, QObject, SIGNAL
import shiboken6 as shiboken
except ImportError:
raise ImportError ("Neither PySide2 nor PySide6 found!")
import platform
windowing_interface = ""
try:
from OpenGL import GL
if platform.system() == "Windows":
from OpenGL import WGL
windowing_interface = "WGL"
elif platform.system() == "Linux":
try:
from OpenGL import GLX
windowing_interface = "GLX"
except ImportError:
try:
from OpenGL import EGL
windowing_interface = "EGL"
print ("EGL not yet implemented, please run on X11")
except ImportError:
print ("No Windowing Interface found!")
except ImportError:
raise ImportError ("PyOpenGL is required!")
try:
import xr
if windowing_interface == 'EGL':
from xr.platform.linux import wl_display
LP_wl_display = ctypes.POINTER(wl_display)
except ImportError:
raise ImportError ("pyopenxr is required!")
from pivy.coin import SoSeparator
from pivy.coin import SbColor
from pivy.coin import SoSceneManager
from pivy.coin import SbViewportRegion
from pivy.coin import SoFrustumCamera
from pivy.coin import SbVec3f
from pivy.coin import SoCamera
from pivy.coin import SoDirectionalLight
from pivy.coin import SoScale
from pivy.coin import SbRotation
from pivy.coin import SoGroup
from pivy.coin import SoRotationXYZ
from pivy.coin import SoTransform
import FreeCADGui as Gui
from math import tan, pi
import controllerXR as conXR
ALL_SEVERITIES = (
xr.DEBUG_UTILS_MESSAGE_SEVERITY_VERBOSE_BIT_EXT
| xr.DEBUG_UTILS_MESSAGE_SEVERITY_INFO_BIT_EXT
| xr.DEBUG_UTILS_MESSAGE_SEVERITY_WARNING_BIT_EXT
| xr.DEBUG_UTILS_MESSAGE_SEVERITY_ERROR_BIT_EXT
)
ALL_TYPES = (
xr.DEBUG_UTILS_MESSAGE_TYPE_GENERAL_BIT_EXT
| xr.DEBUG_UTILS_MESSAGE_TYPE_VALIDATION_BIT_EXT
| xr.DEBUG_UTILS_MESSAGE_TYPE_PERFORMANCE_BIT_EXT
| xr.DEBUG_UTILS_MESSAGE_TYPE_CONFORMANCE_BIT_EXT
)
def py_log_level(severity_flags: int):
if severity_flags & 0x0001: # VERBOSE
return logging.DEBUG
if severity_flags & 0x0010: # INFO
return logging.INFO
if severity_flags & 0x0100: # WARNING
return logging.WARNING
if severity_flags & 0x1000: # ERROR
return logging.ERROR
return logging.CRITICAL
stringForFormat = {
GL.GL_COMPRESSED_R11_EAC: "COMPRESSED_R11_EAC",
GL.GL_COMPRESSED_RED_RGTC1: "COMPRESSED_RED_RGTC1",
GL.GL_COMPRESSED_RG_RGTC2: "COMPRESSED_RG_RGTC2",
GL.GL_COMPRESSED_RG11_EAC: "COMPRESSED_RG11_EAC",
GL.GL_COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT: "COMPRESSED_RGB_BPTC_UNSIGNED_FLOAT",
GL.GL_COMPRESSED_RGB8_ETC2: "COMPRESSED_RGB8_ETC2",
GL.GL_COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2: "COMPRESSED_RGB8_PUNCHTHROUGH_ALPHA1_ETC2",
GL.GL_COMPRESSED_RGBA8_ETC2_EAC: "COMPRESSED_RGBA8_ETC2_EAC",
GL.GL_COMPRESSED_SIGNED_R11_EAC: "COMPRESSED_SIGNED_R11_EAC",
GL.GL_COMPRESSED_SIGNED_RG11_EAC: "COMPRESSED_SIGNED_RG11_EAC",
GL.GL_COMPRESSED_SRGB_ALPHA_BPTC_UNORM: "COMPRESSED_SRGB_ALPHA_BPTC_UNORM",
GL.GL_COMPRESSED_SRGB8_ALPHA8_ETC2_EAC: "COMPRESSED_SRGB8_ALPHA8_ETC2_EAC",
GL.GL_COMPRESSED_SRGB8_ETC2: "COMPRESSED_SRGB8_ETC2",
GL.GL_COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2: "COMPRESSED_SRGB8_PUNCHTHROUGH_ALPHA1_ETC2",
GL.GL_DEPTH_COMPONENT16: "DEPTH_COMPONENT16",
GL.GL_DEPTH_COMPONENT24: "DEPTH_COMPONENT24",
GL.GL_DEPTH_COMPONENT32: "DEPTH_COMPONENT32",
GL.GL_DEPTH_COMPONENT32F: "DEPTH_COMPONENT32F",
GL.GL_DEPTH24_STENCIL8: "DEPTH24_STENCIL8",
GL.GL_R11F_G11F_B10F: "R11F_G11F_B10F",
GL.GL_R16_SNORM: "R16_SNORM",
GL.GL_R16: "R16",
GL.GL_R16F: "R16F",
GL.GL_R16I: "R16I",
GL.GL_R16UI: "R16UI",
GL.GL_R32F: "R32F",
GL.GL_R32I: "R32I",
GL.GL_R32UI: "R32UI",
GL.GL_R8_SNORM: "R8_SNORM",
GL.GL_R8: "R8",
GL.GL_R8I: "R8I",
GL.GL_R8UI: "R8UI",
GL.GL_RG16_SNORM: "RG16_SNORM",
GL.GL_RG16: "RG16",
GL.GL_RG16F: "RG16F",
GL.GL_RG16I: "RG16I",
GL.GL_RG16UI: "RG16UI",
GL.GL_RG32F: "RG32F",
GL.GL_RG32I: "RG32I",
GL.GL_RG32UI: "RG32UI",
GL.GL_RG8_SNORM: "RG8_SNORM",
GL.GL_RG8: "RG8",
GL.GL_RG8I: "RG8I",
GL.GL_RG8UI: "RG8UI",
GL.GL_RGB10_A2: "RGB10_A2",
GL.GL_RGB8: "RGB8",
GL.GL_RGB9_E5: "RGB9_E5",
GL.GL_RGBA16_SNORM: "RGBA16_SNORM",
GL.GL_RGBA16: "RGBA16",
GL.GL_RGBA16F: "RGBA16F",
GL.GL_RGBA16I: "RGBA16I",
GL.GL_RGBA16UI: "RGBA16UI",
GL.GL_RGBA2: "RGBA2",
GL.GL_RGBA32F: "RGBA32F",
GL.GL_RGBA32I: "RGBA32I",
GL.GL_RGBA32UI: "RGBA32UI",
GL.GL_RGBA8_SNORM: "RGBA8_SNORM",
GL.GL_RGBA8: "RGBA8",
GL.GL_RGBA8I: "RGBA8I",
GL.GL_RGBA8UI: "RGBA8UI",
GL.GL_SRGB8_ALPHA8: "SRGB8_ALPHA8",
GL.GL_SRGB8: "SRGB8",
GL.GL_RGB16F: "RGB16F",
GL.GL_DEPTH32F_STENCIL8: "DEPTH32F_STENCIL8",
GL.GL_BGR: "BGR (Out of spec)",
GL.GL_BGRA: "BGRA (Out of spec)",
}
class DockWidget(QDockWidget):
def __init__(self, parent=None):
QDockWidget.__init__(self, parent)
self.setAttribute(Qt.WA_DeleteOnClose)
mw = Gui.getMainWindow()
self.xr_widget = XRwidget(log_level=logging.WARNING) # set log_level=logging.DEBUG for more info
self.setWidget(self.xr_widget)
mw.addDockWidget(Qt.RightDockWidgetArea, self)
def closeEvent(self, event):
self.xr_widget.terminate()
event.accept()
def hide_mirror(self):
self.xr_widget.disable_mirror()
self.hide()
def unhide_mirror(self):
self.xr_widget.enable_mirror()
self.show()
class XRwidget(QOpenGLWidget):
def __init__(self, parent=None, log_level=logging.WARNING):
QOpenGLWidget.__init__(self, parent)
self.log_level = log_level
self.setAttribute(Qt.WA_DeleteOnClose)
self.context = QOpenGLContext.currentContext()
# Attempt to disable vsync on the desktop window or
# it will interfere with the OpenXR frame loop timing
frmt = self.context.format()
frmt.setSwapInterval(0)
frmt.setProfile(QSurfaceFormat.OpenGLContextProfile.CoreProfile)
frmt.setMajorVersion(4)
frmt.setMinorVersion(5)
frmt.setRedBufferSize(8)
frmt.setGreenBufferSize(8)
frmt.setBlueBufferSize(8)
frmt.setDepthBufferSize(24)
frmt.setStencilBufferSize(8)
frmt.setAlphaBufferSize(8)
frmt.setSwapBehavior(QSurfaceFormat.DoubleBuffer)
frmt.setSamples(8) # MSAA
frmt.setOption(QSurfaceFormat.DebugContext)
ctx = QOpenGLContext()
ctx.setFormat(frmt)
ctx.create()
if ctx.hasExtension(b"GL_KHR_debug"):
print ("GL_KHR_debug extension available")
else:
print ("GL_KHR_debug extension NOT available")
self.context = ctx
logging.basicConfig()
self.logger = logging.getLogger("xr_viewer")
self.logger.setLevel(log_level)
self.debug_callback = xr.PFN_xrDebugUtilsMessengerCallbackEXT(self.debug_callback_py)
self.logger.debug("OpenGL Context: %s", self.context)
# drawing QOpenGLWidget mirror window may degrade frame timing
self.mirror_window = True
self.instance = None
self.system_id = None
self.pxrCreateDebugUtilsMessengerEXT = None
self.pxrDestroyDebugUtilsMessengerEXT = None
self.pxrGetOpenGLGraphicsRequirementsKHR = None
self.graphics_requirements = xr.GraphicsRequirementsOpenGLKHR()
if windowing_interface == 'WGL':
self.graphics_binding = xr.GraphicsBindingOpenGLWin32KHR()
elif windowing_interface == 'GLX':
self.graphics_binding = xr.GraphicsBindingOpenGLXlibKHR()
elif windowing_interface == 'EGL':
self.graphics_binding = xr.GraphicsBindingOpenGLWaylandKHR()
else:
raise NotImplementedError('Unsupported platform')
self.render_target_size = None
self.window = None
self.session = None
self.projection_layer_views = (xr.CompositionLayerProjectionView * 2)(
*([xr.CompositionLayerProjectionView()] * 2))
self.projection_layer = xr.CompositionLayerProjection(
views=self.projection_layer_views)
self.swapchain_create_info = xr.SwapchainCreateInfo()
self.swapchain = None
self.swapchain_images = None
self.fbo_id = None
self.fbo_depth_buffer = None
self.quit = False
self.session_state = xr.SessionState.IDLE
self.frame_state = xr.FrameState()
self.eye_view_states = None
self.window_size = None
self.enable_debug = True
self.linux_steamvr_broken_destroy_instance = False
self.hand_count = 2
self.old_time = 0
self.primary_con = 0 # set which controller should be used for primary functionality (eg. movement)
# 0 is the left one most systems
self.secondary_con = 1
self.user_mov_speed = 1.0 # adjust to user preferences
self.user_rot_speed = 1.0
self.prepare_xr_instance()
self.prepare_xr_system()
self.prepare_window()
self.prepare_xr_session()
self.prepare_xr_swapchain()
self.prepare_xr_composition_layers()
self.prepare_xr_controls()
self.setup_cameras()
self.setup_controllers()
self.setup_scene() # have to be last, after cameras and controllers setup
self.timer = QTimer()
QObject.connect(self.timer, SIGNAL("timeout()"), self.update)
self.timer.start(0)
def debug_callback_py(
self,
severity: xr.DebugUtilsMessageSeverityFlagsEXT,
_type: xr.DebugUtilsMessageTypeFlagsEXT,
data: ctypes.POINTER(xr.DebugUtilsMessengerCallbackDataEXT),
_user_data: ctypes.c_void_p,
) -> bool:
d = data.contents
# TODO structure properties to return unicode strings
self.logger.log(py_log_level(severity), f"{d.function_name.decode()}: {d.message.decode()}")
return True
def setup_cameras(self):
self.nearPlane = 0.01
self.farPlane = 10000.0
self.camera = [SoFrustumCamera(), SoFrustumCamera()]
self.hmdrot = SbRotation()
self.hmdpos = SbVec3f()
# 0 - left eye, 1 - right eye
for eye_index in range (2):
self.camera[eye_index].viewportMapping.setValue(SoCamera.LEAVE_ALONE)
def setup_scene(self):
# coin3d setup
self.vpReg = SbViewportRegion(self.render_target_size[0], self.render_target_size[1])
self.m_sceneManager = SoSceneManager() #scene manager overhead over render manager seems to be pretty #small
self.m_sceneManager.setViewportRegion(self.vpReg)
self.m_sceneManager.setBackgroundColor(SbColor(0.0, 0.0, 0.8))
light = SoDirectionalLight()
light2 = SoDirectionalLight()
light2.direction.setValue(-1,-1,-1)
light2.intensity.setValue(0.6)
light2.color.setValue(0.8,0.8,1)
scale = SoScale()
scale.scaleFactor.setValue(0.001, 0.001, 0.001) #OpenXR uses meters not millimeters
sg = Gui.ActiveDocument.ActiveView.getSceneGraph()#get active scenegraph
rot = SoRotationXYZ() # rotate scene to set Z as vertical
rot.axis.setValue(SoRotationXYZ.X)
rot.angle.setValue(-pi/2)
self.world_transform = SoTransform() # store complete transformation of world, including arttif movement
self.cgrp = [SoGroup(), SoGroup()] # group for camera
self.sgrp = [SoGroup(), SoGroup()] # group for scenegraph
self.rootScene = [SoSeparator(), SoSeparator()]
for eye_index in range (2):
self.rootScene[eye_index].ref()
self.rootScene[eye_index].addChild(self.cgrp[eye_index])
self.cgrp[eye_index].addChild(self.camera[eye_index])
self.rootScene[eye_index].addChild(self.sgrp[eye_index])
self.sgrp[eye_index].addChild(light)
self.sgrp[eye_index].addChild(light2)
self.sgrp[eye_index].addChild(self.xr_con[0].get_controller_scenegraph())
self.sgrp[eye_index].addChild(self.xr_con[1].get_controller_scenegraph())
self.sgrp[eye_index].addChild(rot) # this rotation is only to make FC scene Z-Up
self.sgrp[eye_index].addChild(scale)
self.sgrp[eye_index].addChild(sg) # add FreeCAD active scenegraph
def setup_controllers(self):
self.xr_con = [conXR.xrController(0, log_level=self.log_level), conXR.xrController(1, log_level=self.log_level)] # initialise scengraphs for controllers
def prepare_xr_instance(self):
discovered_extensions = xr.enumerate_instance_extension_properties()
if xr.EXT_DEBUG_UTILS_EXTENSION_NAME not in discovered_extensions:
self.enable_debug = False
requested_extensions = [xr.KHR_OPENGL_ENABLE_EXTENSION_NAME]
if self.enable_debug:
requested_extensions.append(xr.EXT_DEBUG_UTILS_EXTENSION_NAME)
for extension in requested_extensions:
assert extension in discovered_extensions
app_info = xr.ApplicationInfo(
application_name="xr_viewer",
application_version=0,
engine_name="pyopenxr",
engine_version=xr.PYOPENXR_CURRENT_API_VERSION,
api_version=xr.Version(1, 0, xr.XR_VERSION_PATCH),
)
ici = xr.InstanceCreateInfo(
application_info=app_info,
enabled_extension_names=requested_extensions,
)
dumci = xr.DebugUtilsMessengerCreateInfoEXT()
if self.enable_debug:
dumci.message_severities = ALL_SEVERITIES
dumci.message_types = ALL_TYPES
dumci.user_data = None # TODO
dumci.user_callback = self.debug_callback
ici.next = ctypes.cast(ctypes.pointer(dumci), ctypes.c_void_p) # TODO: yuck
self.instance = xr.create_instance(ici)
# TODO: pythonic wrapper
self.pxrGetOpenGLGraphicsRequirementsKHR = ctypes.cast(
xr.get_instance_proc_addr(
self.instance,
"xrGetOpenGLGraphicsRequirementsKHR",
),
xr.PFN_xrGetOpenGLGraphicsRequirementsKHR
)
instance_props = xr.get_instance_properties(self.instance)
self.logger.debug("Instance properties: %s", instance_props)
if platform.system() == 'Linux' and instance_props.runtime_name == b"SteamVR/OpenXR" and instance_props.runtime_version != 4294967296: # 4294967296 is linux_v1.14 1.14.16
print("SteamVR/OpenXR on Linux detected, enabling workarounds")
# Enabling workaround for https://github.com/ValveSoftware/SteamVR-for-Linux/issues/422,
# and https://github.com/ValveSoftware/SteamVR-for-Linux/issues/479
# destroy_instance() causes SteamVR to hang and never recover
self.linux_steamvr_broken_destroy_instance = True
def prepare_xr_system(self):
get_info = xr.SystemGetInfo(xr.FormFactor.HEAD_MOUNTED_DISPLAY)
self.system_id = xr.get_system(self.instance, get_info) # TODO: not a pointer
view_configs = xr.enumerate_view_configurations(self.instance, self.system_id)
assert view_configs[0] == xr.ViewConfigurationType.PRIMARY_STEREO.value # TODO: equality...
view_config_views = xr.enumerate_view_configuration_views(
self.instance, self.system_id, xr.ViewConfigurationType.PRIMARY_STEREO)
assert len(view_config_views) == 2
assert view_config_views[0].recommended_image_rect_height == view_config_views[1].recommended_image_rect_height
self.render_target_size = (
view_config_views[0].recommended_image_rect_width * 2,
view_config_views[0].recommended_image_rect_height)
result = self.pxrGetOpenGLGraphicsRequirementsKHR(
self.instance, self.system_id, ctypes.byref(self.graphics_requirements)) # TODO: pythonic wrapper
result = xr.exception.check_result(xr.Result(result))
if result.is_exception():
raise result
def initializeGL(self):
funcs = self.context.functions()
funcs.initializeOpenGLFunctions()
self.gl_logger = QOpenGLDebugLogger(self)
self.gl_logger.initialize()
self.gl_logger.messageLogged.connect(self.log_message)
self.gl_logger.startLogging()
GL.glEnable(GL.GL_MULTISAMPLE)
self.fbo_depth_buffer = GL.glGenRenderbuffers(1)
GL.glBindRenderbuffer(GL.GL_RENDERBUFFER, self.fbo_depth_buffer)
if self.swapchain_create_info.sample_count == 1:
GL.glRenderbufferStorage(
GL.GL_RENDERBUFFER,
GL.GL_DEPTH24_STENCIL8,
self.swapchain_create_info.width,
self.swapchain_create_info.height,
)
else:
GL.glRenderbufferStorageMultisample(
GL.GL_RENDERBUFFER,
self.swapchain_create_info.sample_count,
GL.GL_DEPTH24_STENCIL8,
self.swapchain_create_info.width,
self.swapchain_create_info.height,
)
self.fbo_id = GL.glGenFramebuffers(1)
GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self.fbo_id)
GL.glFramebufferRenderbuffer(
GL.GL_DRAW_FRAMEBUFFER,
GL.GL_DEPTH_STENCIL_ATTACHMENT,
GL.GL_RENDERBUFFER,
self.fbo_depth_buffer,
)
GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, 0)
def prepare_window(self):
self.resize(self.render_target_size[0] // 4, self.render_target_size[1] // 4)
def prepare_xr_session(self):
if windowing_interface == 'WGL':
self.graphics_binding.h_dc = WGL.wglGetCurrentDC()
self.graphics_binding.h_glrc = WGL.wglGetCurrentContext()
elif windowing_interface == 'GLX':
self.graphics_binding.x_display = GLX.glXGetCurrentDisplay()
self.graphics_binding.glx_context = GLX.glXGetCurrentContext()
self.graphics_binding.glx_drawable = GLX.glXGetCurrentDrawable()
elif windowing_interface == 'EGL':
display_instance = LP_wl_display(EGL.wl_display())
self.graphics_binding.display = display_instance
else:
print ("Cannot create XR Session")
return;
pp = ctypes.cast(ctypes.pointer(self.graphics_binding), ctypes.c_void_p)
sci = xr.SessionCreateInfo(0, self.system_id, next=pp)
self.session = xr.create_session(self.instance, sci)
reference_spaces = xr.enumerate_reference_spaces(self.session)
for rs in reference_spaces:
self.logger.debug(f"Session supports reference space {xr.ReferenceSpaceType(rs)}")
# TODO: default constructors for Quaternion, Vector3f, Posef, ReferenceSpaceCreateInfo
rsci = xr.ReferenceSpaceCreateInfo(
xr.ReferenceSpaceType.STAGE,
xr.Posef(xr.Quaternionf(0, 0, 0, 1), xr.Vector3f(0, 0, 0))
)
self.projection_layer.space = xr.create_reference_space(self.session, rsci)
swapchain_formats = xr.enumerate_swapchain_formats(self.session)
for scf in swapchain_formats:
self.logger.debug(f"Session supports swapchain format {stringForFormat[scf]}")
def prepare_xr_swapchain(self):
self.swapchain_create_info.usage_flags = xr.SWAPCHAIN_USAGE_TRANSFER_DST_BIT
self.swapchain_create_info.format = GL.GL_SRGB8_ALPHA8
self.swapchain_create_info.sample_count = 1
self.swapchain_create_info.array_size = 1
self.swapchain_create_info.face_count = 1
self.swapchain_create_info.mip_count = 1
self.swapchain_create_info.width = self.render_target_size[0]
self.swapchain_create_info.height = self.render_target_size[1]
self.swapchain = xr.create_swapchain(self.session, self.swapchain_create_info)
self.swapchain_images = xr.enumerate_swapchain_images(self.swapchain, xr.SwapchainImageOpenGLKHR)
for i, si in enumerate(self.swapchain_images):
self.logger.debug(f"Swapchain image {i} type = {xr.StructureType(si.type)}")
def prepare_xr_composition_layers(self):
self.projection_layer.view_count = 2
self.projection_layer.views = self.projection_layer_views
for eye_index in range(2):
layer_view = self.projection_layer_views[eye_index]
layer_view.sub_image.swapchain = self.swapchain
layer_view.sub_image.image_rect.extent = xr.Extent2Di(
self.render_target_size[0] // 2,
self.render_target_size[1],
)
if eye_index == 1:
layer_view.sub_image.image_rect.offset.x = layer_view.sub_image.image_rect.extent.width
def prepare_xr_controls(self):
hand_count = self.hand_count
self.action_set = xr.create_action_set(
instance=self.instance,
create_info=xr.ActionSetCreateInfo(
action_set_name="baseactionset",
localized_action_set_name="Base Action Set",
priority=0,
),
)
self.hand_paths = (xr.Path * hand_count)(
xr.string_to_path(self.instance, "/user/hand/left"),
xr.string_to_path(self.instance, "/user/hand/right"),
)
self.pose_action = xr.create_action(
action_set=self.action_set,
create_info=xr.ActionCreateInfo(
action_type=xr.ActionType.POSE_INPUT, # XR_ACTION_TYPE_POSE_INPUT
action_name="hand_pose",
localized_action_name="Hand pose",
count_subaction_paths=len(self.hand_paths),
subaction_paths=self.hand_paths,
),
)
self.x_lever_action = xr.create_action(
action_set=self.action_set,
create_info=xr.ActionCreateInfo(
action_type=xr.ActionType.FLOAT_INPUT, # XR_ACTION_TYPE_FLOAT_INPUT
action_name="x_lever",
localized_action_name="Move a lever left or right",
count_subaction_paths=len(self.hand_paths),
subaction_paths=self.hand_paths,
),
)
self.y_lever_action = xr.create_action(
action_set=self.action_set,
create_info=xr.ActionCreateInfo(
action_type=xr.ActionType.FLOAT_INPUT,
action_name="y_lever",
localized_action_name="Move a lever forward or backward",
count_subaction_paths=len(self.hand_paths),
subaction_paths=self.hand_paths,
),
)
self.grab_action = xr.create_action(
action_set=self.action_set,
create_info=xr.ActionCreateInfo(
action_type=xr.ActionType.FLOAT_INPUT,
action_name="triggergrab",
localized_action_name="Grab Object with Trigger Button",
count_subaction_paths=len(self.hand_paths),
subaction_paths=self.hand_paths,
),
)
pose_path = (xr.Path * hand_count)(
xr.string_to_path(self.instance, "/user/hand/left/input/aim/pose"),
xr.string_to_path(self.instance, "/user/hand/right/input/aim/pose"),
)
trigger_value_path = (xr.Path * hand_count)(
xr.string_to_path(self.instance, "/user/hand/left/input/trigger/value"),
xr.string_to_path(self.instance, "/user/hand/right/input/trigger/value"),
)
thumbstick_x_path = (xr.Path * hand_count)(
xr.string_to_path(self.instance, "/user/hand/left/input/thumbstick/x"),
xr.string_to_path(self.instance, "/user/hand/right/input/thumbstick/x"),
)
thumbstick_y_path = (xr.Path * hand_count)(
xr.string_to_path(self.instance, "/user/hand/left/input/thumbstick/y"),
xr.string_to_path(self.instance, "/user/hand/right/input/thumbstick/y"),
)
trackpad_x_path = (xr.Path * hand_count)(
xr.string_to_path(self.instance, "/user/hand/left/input/trackpad/x"),
xr.string_to_path(self.instance, "/user/hand/right/input/trackpad/x"),
)
trackpad_y_path = (xr.Path * hand_count)(
xr.string_to_path(self.instance, "/user/hand/left/input/trackpad/y"),
xr.string_to_path(self.instance, "/user/hand/right/input/trackpad/y"),
)
# Suggest bindings for the Valve Index Controller.
valve_index_bindings = [
xr.ActionSuggestedBinding(self.pose_action, pose_path[0]),
xr.ActionSuggestedBinding(self.pose_action, pose_path[1]),
xr.ActionSuggestedBinding(self.x_lever_action, thumbstick_x_path[0]),
xr.ActionSuggestedBinding(self.x_lever_action, thumbstick_x_path[1]),
xr.ActionSuggestedBinding(self.y_lever_action, thumbstick_y_path[0]),
xr.ActionSuggestedBinding(self.y_lever_action, thumbstick_y_path[1]),
xr.ActionSuggestedBinding(self.grab_action, trigger_value_path[0]),
xr.ActionSuggestedBinding(self.grab_action, trigger_value_path[1]),
]
xr.suggest_interaction_profile_bindings(
instance=self.instance,
suggested_bindings=xr.InteractionProfileSuggestedBinding(
interaction_profile=xr.string_to_path(
self.instance,
"/interaction_profiles/valve/index_controller",
),
count_suggested_bindings=len(valve_index_bindings),
suggested_bindings=(xr.ActionSuggestedBinding * len(valve_index_bindings))(*valve_index_bindings),
),
)
# Suggest bindings for the Vive Controller.
vive_bindings = [
xr.ActionSuggestedBinding(self.pose_action, pose_path[0]),
xr.ActionSuggestedBinding(self.pose_action, pose_path[1]),
xr.ActionSuggestedBinding(self.x_lever_action, trackpad_x_path[0]),
xr.ActionSuggestedBinding(self.x_lever_action, trackpad_x_path[1]),
xr.ActionSuggestedBinding(self.y_lever_action, trackpad_y_path[0]),
xr.ActionSuggestedBinding(self.y_lever_action, trackpad_y_path[1]),
xr.ActionSuggestedBinding(self.grab_action, trigger_value_path[0]),
xr.ActionSuggestedBinding(self.grab_action, trigger_value_path[1]),
]
xr.suggest_interaction_profile_bindings(
instance=self.instance,
suggested_bindings=xr.InteractionProfileSuggestedBinding(
interaction_profile=xr.string_to_path(
self.instance,
"/interaction_profiles/htc/vive_controller",
),
count_suggested_bindings=len(vive_bindings),
suggested_bindings=(xr.ActionSuggestedBinding * len(vive_bindings))(*vive_bindings),
),
)
# Suggest bindings for the Oculus Touch Controller.
oculus_touch_bindings = [
xr.ActionSuggestedBinding(self.pose_action, pose_path[0]),
xr.ActionSuggestedBinding(self.pose_action, pose_path[1]),
xr.ActionSuggestedBinding(self.x_lever_action, thumbstick_x_path[0]),
xr.ActionSuggestedBinding(self.x_lever_action, thumbstick_x_path[1]),
xr.ActionSuggestedBinding(self.y_lever_action, thumbstick_y_path[0]),
xr.ActionSuggestedBinding(self.y_lever_action, thumbstick_y_path[1]),
xr.ActionSuggestedBinding(self.grab_action, trigger_value_path[0]),
xr.ActionSuggestedBinding(self.grab_action, trigger_value_path[1]),
]
xr.suggest_interaction_profile_bindings(
instance=self.instance,
suggested_bindings=xr.InteractionProfileSuggestedBinding(
interaction_profile=xr.string_to_path(
self.instance,
"/interaction_profiles/oculus/touch_controller",
),
count_suggested_bindings=len(oculus_touch_bindings),
suggested_bindings=(xr.ActionSuggestedBinding * len(oculus_touch_bindings))(*oculus_touch_bindings),
),
)
# Suggest bindings for the Microsoft Motion Controller.
microsoft_motion_bindings = [
xr.ActionSuggestedBinding(self.pose_action, pose_path[0]),
xr.ActionSuggestedBinding(self.pose_action, pose_path[1]),
xr.ActionSuggestedBinding(self.x_lever_action, thumbstick_x_path[0]),
xr.ActionSuggestedBinding(self.x_lever_action, thumbstick_x_path[1]),
xr.ActionSuggestedBinding(self.y_lever_action, thumbstick_y_path[0]),
xr.ActionSuggestedBinding(self.y_lever_action, thumbstick_y_path[1]),
xr.ActionSuggestedBinding(self.grab_action, trigger_value_path[0]),
xr.ActionSuggestedBinding(self.grab_action, trigger_value_path[1]),
]
xr.suggest_interaction_profile_bindings(
instance=self.instance,
suggested_bindings=xr.InteractionProfileSuggestedBinding(
interaction_profile=xr.string_to_path(
self.instance,
"/interaction_profiles/microsoft/motion_controller",
),
count_suggested_bindings=len(microsoft_motion_bindings),
suggested_bindings=(xr.ActionSuggestedBinding * len(microsoft_motion_bindings))(*microsoft_motion_bindings),
),
)
action_space_info = xr.ActionSpaceCreateInfo(
action=self.pose_action,
# pose_in_action_space # w already defaults to 1 in python...
subaction_path=self.hand_paths[0],
)
self.hand_space = (xr.Space * hand_count)(*([xr.Space()] * hand_count))
assert action_space_info.pose_in_action_space.orientation.w == 1
self.hand_space[0] = xr.create_action_space(
session=self.session,
create_info=action_space_info,
)
action_space_info = xr.ActionSpaceCreateInfo(
action=self.pose_action,
subaction_path=self.hand_paths[1],
)
assert action_space_info.pose_in_action_space.orientation.w == 1
self.hand_space[1] = xr.create_action_space(
session=self.session,
create_info=action_space_info,
)
xr.attach_session_action_sets(
session=self.session,
attach_info=xr.SessionActionSetsAttachInfo(
count_action_sets=1,
action_sets=ctypes.pointer(self.action_set),
),
)
def update_xr_controls(self):
hand_count = self.hand_count
# Sync actions
active_action_set = xr.ActiveActionSet(self.action_set, xr.NULL_PATH)
try:
xr.sync_actions(
self.session,
xr.ActionsSyncInfo(
count_active_action_sets=1,
active_action_sets=ctypes.pointer(active_action_set)
),
)
except xr.exception.SessionNotFocused:
self.logger.debug("session not focused")
return
# # Get pose and actions for each hand
for hand in range(hand_count):
# session.getActionStatePose(getInfo, poseState);
pose_state = xr.get_action_state_pose(
session=self.session,
get_info=xr.ActionStateGetInfo(
action=self.pose_action,
subaction_path=self.hand_paths[hand],
),
)
# xrSpaceLocation contains "pose" field with position and orientation
space_location = xr.locate_space(
space=self.hand_space[hand],
base_space=self.projection_layer.space,
time=self.frame_state.predicted_display_time,
)
self.xr_con[hand].update_pose(space_location, self.world_transform) # definition in controllerXR.py
# Update actions
x_lever_value = xr.get_action_state_float(
self.session,
xr.ActionStateGetInfo(
action=self.x_lever_action,
subaction_path=self.hand_paths[hand],
),
)
y_lever_value = xr.get_action_state_float(
self.session,
xr.ActionStateGetInfo(
action=self.y_lever_action,
subaction_path=self.hand_paths[hand],
),
)
grab_value = xr.get_action_state_float(
self.session,
xr.ActionStateGetInfo(
action=self.grab_action,
subaction_path=self.hand_paths[hand],
),
)
self.xr_con[hand].update_lever(x_lever_value, y_lever_value)
self.xr_con[hand].update_grab(grab_value)
def poll_xr_events(self):
while True:
try:
event_buffer = xr.poll_event(self.instance)
event_type = xr.StructureType(event_buffer.type)
if event_type == xr.StructureType.EVENT_DATA_SESSION_STATE_CHANGED:
self.on_session_state_changed(event_buffer)
except xr.EventUnavailable:
break
def on_session_state_changed(self, session_state_changed_event):
# TODO: it would be nice to avoid this horrible cast...
event = ctypes.cast(
ctypes.byref(session_state_changed_event),
ctypes.POINTER(xr.EventDataSessionStateChanged)).contents
# TODO: enum property
self.session_state = xr.SessionState(event.state)
if self.session_state == xr.SessionState.READY:
if not self.quit:
sbi = xr.SessionBeginInfo(xr.ViewConfigurationType.PRIMARY_STEREO)
xr.begin_session(self.session, sbi)
elif self.session_state == xr.SessionState.STOPPING:
xr.end_session(self.session)
self.session = None
self.quit = True
def start_xr_frame(self) -> bool:
if self.session_state in [
xr.SessionState.READY,
xr.SessionState.FOCUSED,
xr.SessionState.SYNCHRONIZED,
xr.SessionState.VISIBLE,
]:
frame_wait_info = xr.FrameWaitInfo(None)
try:
self.frame_state = xr.wait_frame(self.session, frame_wait_info)
xr.begin_frame(self.session, None)
return True
except xr.ResultException:
return False
return False
def end_xr_frame(self):
frame_end_info = xr.FrameEndInfo(
self.frame_state.predicted_display_time,
xr.EnvironmentBlendMode.OPAQUE
)
if self.frame_state.should_render:
for eye_index in range(2):
layer_view = self.projection_layer_views[eye_index]
eye_view = self.eye_view_states[eye_index]
layer_view.fov = eye_view.fov
layer_view.pose = eye_view.pose
frame_end_info.layers = [ctypes.byref(self.projection_layer), ]
xr.end_frame(self.session, frame_end_info)
def update_xr_movement(self):
curr_time = self.frame_state.predicted_display_time / 1e9 # XrTime is measured in nanoseconds (int64)
frame_duration = curr_time - self.old_time
self.old_time = curr_time
final_mov_speed = frame_duration * self.user_mov_speed # translation (movement) speed
final_rot_speed = frame_duration * self.user_rot_speed
transform_modifier = SoTransform() # transformation with movement at this particular moment
#*********************************************************************
# Arch-like movement
# analog stick/trackpad of the first controller
# moves viewer up/down and left/right
# analog stick/trackpad of the second controller
# rotates viewer around center of the HMD and moves forward/backward
# adjust self.primary_con and self.secondary_con to your prefereces
#*********************************************************************
# qx, qz, qz, qw = xr_con[self.primary_con].get_local_q() # retrieves rotation of the controller
qx = self.hmdrot.getValue()[0]
qy = self.hmdrot.getValue()[1]
qz = self.hmdrot.getValue()[2]
qw = self.hmdrot.getValue()[3]
# https://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/index.htm
mat02 = 2 * qx * qz + 2 * qy * qw
mat22 = 1 - 2 * qx * qx - 2 * qy * qy
z0 = mat02
z2 = mat22
# primary controller
xaxis = self.xr_con[self.primary_con].get_buttons_states().lever_x
yaxis = self.xr_con[self.primary_con].get_buttons_states().lever_y
step = SbVec3f(0, yaxis * final_mov_speed, 0)
step = step + SbVec3f(xaxis * z2 * final_mov_speed, 0, -xaxis * z0 * final_mov_speed)
transform_modifier.center.setValue(self.hmdpos)
transform_modifier.translation.setValue(step)
self.world_transform.combineLeft(transform_modifier)
# secondary controller
xaxis = self.xr_con[self.secondary_con].get_buttons_states().lever_x
yaxis = self.xr_con[self.secondary_con].get_buttons_states().lever_y
step = SbVec3f(-yaxis * z0 * final_mov_speed, 0, -yaxis * z2 * final_mov_speed)
transform_modifier.center.setValue(self.hmdpos)
transform_modifier.translation.setValue(step)
world_z_rot = SbRotation(SbVec3f(0, 1, 0), -xaxis)
world_z_rot.scaleAngle(final_rot_speed)
transform_modifier.rotation.setValue(world_z_rot)
self.world_transform.combineLeft(transform_modifier)
def update_xr_views(self):
nearPlane = self.nearPlane
farPlane = self.farPlane
vi = xr.ViewLocateInfo(
xr.ViewConfigurationType.PRIMARY_STEREO,
self.frame_state.predicted_display_time,
self.projection_layer.space,
)
vs, self.eye_view_states = xr.locate_views(self.session, vi)
for eye_index, view_state in enumerate(self.eye_view_states):
self.hmdrot = SbRotation(view_state.pose.orientation.x, view_state.pose.orientation.y, view_state.pose.orientation.z, view_state.pose.orientation.w)
self.hmdpos = SbVec3f(view_state.pose.position.x, view_state.pose.position.y, view_state.pose.position.z) #get global position and orientation for both cameras
cam_transform = SoTransform()
cam_transform.translation.setValue(self.world_transform.translation.getValue()) #transfer values only
cam_transform.rotation.setValue(self.world_transform.rotation.getValue())
cam_transform.center.setValue(self.world_transform.center.getValue())
hmd_transform = SoTransform()
hmd_transform.translation.setValue(self.hmdpos)
hmd_transform.rotation.setValue(self.hmdrot)
cam_transform.combineLeft(hmd_transform) # combine real hmd and arificial (stick-driven) camera movement
pfLeft = tan(view_state.fov.angle_left)
pfRight = tan(view_state.fov.angle_right)
pfTop = tan(view_state.fov.angle_up)
pfBottom = tan(view_state.fov.angle_down)
self.camera[eye_index].orientation.setValue(cam_transform.rotation.getValue())
self.camera[eye_index].position.setValue(cam_transform.translation.getValue())
self.camera[eye_index].aspectRatio.setValue((pfTop - pfBottom)/(pfRight - pfLeft))
self.camera[eye_index].nearDistance.setValue(nearPlane)
self.camera[eye_index].farDistance.setValue(farPlane)
self.camera[eye_index].left.setValue(nearPlane * pfLeft)
self.camera[eye_index].right.setValue(nearPlane * pfRight)
self.camera[eye_index].top.setValue(nearPlane * pfTop)
self.camera[eye_index].bottom.setValue(nearPlane * pfBottom)
def paintGL(self):
if self.fbo_id != None: # make sure that initializeGL happened
self.poll_xr_events()
if self.quit:
return
if self.start_xr_frame():
if self.frame_state.should_render:
self.update_xr_controls()
self.update_xr_movement()
self.update_xr_views()
self.oldfb = self.defaultFramebufferObject() # widget's (not context) DFO
ai = xr.SwapchainImageAcquireInfo(None)
swapchain_index = xr.acquire_swapchain_image(self.swapchain, ai)
wi = xr.SwapchainImageWaitInfo(xr.INFINITE_DURATION)
xr.wait_swapchain_image(self.swapchain, wi)
GL.glUseProgram(0)
GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self.fbo_id)
sw_image = self.swapchain_images[swapchain_index]
GL.glFramebufferTexture(
GL.GL_FRAMEBUFFER,
GL.GL_COLOR_ATTACHMENT0,
sw_image.image,
0,
)
w, h = self.render_target_size
# "render" to the swapchain image
GL.glBlendFunc(GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
GL.glEnable(GL.GL_BLEND)
GL.glEnable(GL.GL_SCISSOR_TEST)
GL.glScissor(0, 0, w // 2, h)
self.vpReg.setViewportPixels(0, 0, w // 2, h)
self.m_sceneManager.setViewportRegion(self.vpReg)
self.m_sceneManager.setSceneGraph(self.rootScene[0])
GL.glEnable(GL.GL_CULL_FACE)
GL.glEnable(GL.GL_DEPTH_TEST)
self.m_sceneManager.render()
GL.glDisable(GL.GL_CULL_FACE)
GL.glDisable(GL.GL_DEPTH_TEST)
GL.glScissor(w // 2, 0, w // 2, h)
self.vpReg.setViewportPixels(w // 2, 0, w // 2, h)
self.m_sceneManager.setViewportRegion(self.vpReg)
self.m_sceneManager.setSceneGraph(self.rootScene[1])
GL.glEnable(GL.GL_CULL_FACE)
GL.glEnable(GL.GL_DEPTH_TEST)
self.m_sceneManager.render()
GL.glDisable(GL.GL_CULL_FACE)
GL.glDisable(GL.GL_DEPTH_TEST)
GL.glDisable(GL.GL_SCISSOR_TEST)
if self.mirror_window:
# fast blit from the fbo to the window surface
GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self.oldfb)
GL.glBlitFramebuffer(
0, 0, w, h, 0, 0,
self.size().width(), self.size().height(),
GL.GL_COLOR_BUFFER_BIT,
GL.GL_NEAREST
)
GL.glFramebufferTexture(GL.GL_READ_FRAMEBUFFER, GL.GL_COLOR_ATTACHMENT0, 0, 0)