381 lines
9.9 KiB
C#
381 lines
9.9 KiB
C#
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/************************************************************************************
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Copyright : Copyright 2017 Oculus VR, LLC. All Rights reserved.
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Licensed under the Oculus VR Rift SDK License Version 3.4.1 (the "License");
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you may not use the Oculus VR Rift SDK except in compliance with the License,
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which is provided at the time of installation or download, or which
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otherwise accompanies this software in either electronic or hard copy form.
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You may obtain a copy of the License at
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https://developer.oculus.com/licenses/sdk-3.4.1
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Unless required by applicable law or agreed to in writing, the Oculus VR SDK
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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************************************************************************************/
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using UnityEngine;
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using System;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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/// <summary>
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/// Miscellaneous extension methods that any script can use.
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/// </summary>
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public static class OVRExtensions
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{
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/// <summary>
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/// Converts the given world-space transform to an OVRPose in tracking space.
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/// </summary>
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public static OVRPose ToTrackingSpacePose(this Transform transform, Camera camera)
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{
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OVRPose headPose;
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#if UNITY_2017_2_OR_NEWER
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headPose.position = UnityEngine.XR.InputTracking.GetLocalPosition(UnityEngine.XR.XRNode.Head);
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headPose.orientation = UnityEngine.XR.InputTracking.GetLocalRotation(UnityEngine.XR.XRNode.Head);
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#else
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headPose.position = UnityEngine.VR.InputTracking.GetLocalPosition(UnityEngine.VR.VRNode.Head);
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headPose.orientation = UnityEngine.VR.InputTracking.GetLocalRotation(UnityEngine.VR.VRNode.Head);
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#endif
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var ret = headPose * transform.ToHeadSpacePose(camera);
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return ret;
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}
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/// <summary>
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/// Converts the given pose from tracking-space to world-space.
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/// </summary>
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public static OVRPose ToWorldSpacePose(OVRPose trackingSpacePose)
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{
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OVRPose headPose;
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#if UNITY_2017_2_OR_NEWER
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headPose.position = UnityEngine.XR.InputTracking.GetLocalPosition(UnityEngine.XR.XRNode.Head);
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headPose.orientation = UnityEngine.XR.InputTracking.GetLocalRotation(UnityEngine.XR.XRNode.Head);
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#else
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headPose.position = UnityEngine.VR.InputTracking.GetLocalPosition(UnityEngine.VR.VRNode.Head);
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headPose.orientation = UnityEngine.VR.InputTracking.GetLocalRotation(UnityEngine.VR.VRNode.Head);
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#endif
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// Transform from tracking-Space to head-Space
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OVRPose poseInHeadSpace = headPose.Inverse() * trackingSpacePose;
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// Transform from head space to world space
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OVRPose ret = Camera.main.transform.ToOVRPose() * poseInHeadSpace;
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return ret;
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}
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/// <summary>
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/// Converts the given world-space transform to an OVRPose in head space.
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/// </summary>
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public static OVRPose ToHeadSpacePose(this Transform transform, Camera camera)
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{
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return camera.transform.ToOVRPose().Inverse() * transform.ToOVRPose();
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}
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internal static OVRPose ToOVRPose(this Transform t, bool isLocal = false)
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{
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OVRPose pose;
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pose.orientation = (isLocal) ? t.localRotation : t.rotation;
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pose.position = (isLocal) ? t.localPosition : t.position;
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return pose;
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}
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internal static void FromOVRPose(this Transform t, OVRPose pose, bool isLocal = false)
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{
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if (isLocal)
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{
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t.localRotation = pose.orientation;
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t.localPosition = pose.position;
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}
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else
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{
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t.rotation = pose.orientation;
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t.position = pose.position;
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}
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}
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internal static OVRPose ToOVRPose(this OVRPlugin.Posef p)
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{
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return new OVRPose()
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{
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position = new Vector3(p.Position.x, p.Position.y, -p.Position.z),
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orientation = new Quaternion(-p.Orientation.x, -p.Orientation.y, p.Orientation.z, p.Orientation.w)
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};
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}
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internal static OVRTracker.Frustum ToFrustum(this OVRPlugin.Frustumf f)
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{
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return new OVRTracker.Frustum()
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{
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nearZ = f.zNear,
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farZ = f.zFar,
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fov = new Vector2()
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{
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x = Mathf.Rad2Deg * f.fovX,
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y = Mathf.Rad2Deg * f.fovY
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}
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};
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}
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internal static Color FromColorf(this OVRPlugin.Colorf c)
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{
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return new Color() { r = c.r, g = c.g, b = c.b, a = c.a };
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}
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internal static OVRPlugin.Colorf ToColorf(this Color c)
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{
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return new OVRPlugin.Colorf() { r = c.r, g = c.g, b = c.b, a = c.a };
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}
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internal static Vector3 FromVector3f(this OVRPlugin.Vector3f v)
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{
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return new Vector3() { x = v.x, y = v.y, z = v.z };
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}
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internal static Vector3 FromFlippedZVector3f(this OVRPlugin.Vector3f v)
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{
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return new Vector3() { x = v.x, y = v.y, z = -v.z };
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}
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internal static OVRPlugin.Vector3f ToVector3f(this Vector3 v)
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{
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return new OVRPlugin.Vector3f() { x = v.x, y = v.y, z = v.z };
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}
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internal static OVRPlugin.Vector3f ToFlippedZVector3f(this Vector3 v)
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{
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return new OVRPlugin.Vector3f() { x = v.x, y = v.y, z = -v.z };
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}
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internal static Quaternion FromQuatf(this OVRPlugin.Quatf q)
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{
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return new Quaternion() { x = q.x, y = q.y, z = q.z, w = q.w };
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}
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internal static Quaternion FromFlippedZQuatf(this OVRPlugin.Quatf q)
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{
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return new Quaternion() { x = -q.x, y = -q.y, z = q.z, w = q.w };
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}
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internal static OVRPlugin.Quatf ToQuatf(this Quaternion q)
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{
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return new OVRPlugin.Quatf() { x = q.x, y = q.y, z = q.z, w = q.w };
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}
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internal static OVRPlugin.Quatf ToFlippedZQuatf(this Quaternion q)
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{
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return new OVRPlugin.Quatf() { x = -q.x, y = -q.y, z = q.z, w = q.w };
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}
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}
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/// <summary>
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/// An affine transformation built from a Unity position and orientation.
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/// </summary>
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[System.Serializable]
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public struct OVRPose
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{
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/// <summary>
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/// A pose with no translation or rotation.
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/// </summary>
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public static OVRPose identity
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{
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get {
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return new OVRPose()
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{
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position = Vector3.zero,
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orientation = Quaternion.identity
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};
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}
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}
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public override bool Equals(System.Object obj)
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{
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return obj is OVRPose && this == (OVRPose)obj;
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}
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public override int GetHashCode()
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{
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return position.GetHashCode() ^ orientation.GetHashCode();
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}
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public static bool operator ==(OVRPose x, OVRPose y)
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{
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return x.position == y.position && x.orientation == y.orientation;
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}
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public static bool operator !=(OVRPose x, OVRPose y)
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{
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return !(x == y);
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}
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/// <summary>
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/// The position.
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/// </summary>
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public Vector3 position;
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/// <summary>
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/// The orientation.
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/// </summary>
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public Quaternion orientation;
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/// <summary>
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/// Multiplies two poses.
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/// </summary>
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public static OVRPose operator*(OVRPose lhs, OVRPose rhs)
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{
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var ret = new OVRPose();
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ret.position = lhs.position + lhs.orientation * rhs.position;
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ret.orientation = lhs.orientation * rhs.orientation;
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return ret;
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}
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/// <summary>
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/// Computes the inverse of the given pose.
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/// </summary>
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public OVRPose Inverse()
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{
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OVRPose ret;
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ret.orientation = Quaternion.Inverse(orientation);
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ret.position = ret.orientation * -position;
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return ret;
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}
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/// <summary>
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/// Converts the pose from left- to right-handed or vice-versa.
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/// </summary>
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internal OVRPose flipZ()
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{
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var ret = this;
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ret.position.z = -ret.position.z;
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ret.orientation.z = -ret.orientation.z;
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ret.orientation.w = -ret.orientation.w;
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return ret;
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}
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internal OVRPlugin.Posef ToPosef()
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{
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return new OVRPlugin.Posef()
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{
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Position = position.ToVector3f(),
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Orientation = orientation.ToQuatf()
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};
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}
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}
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/// <summary>
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/// Encapsulates an 8-byte-aligned of unmanaged memory.
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/// </summary>
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public class OVRNativeBuffer : IDisposable
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{
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private bool disposed = false;
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private int m_numBytes = 0;
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private IntPtr m_ptr = IntPtr.Zero;
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/// <summary>
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/// Creates a buffer of the specified size.
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/// </summary>
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public OVRNativeBuffer(int numBytes)
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{
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Reallocate(numBytes);
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}
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/// <summary>
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/// Releases unmanaged resources and performs other cleanup operations before the <see cref="OVRNativeBuffer"/> is
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/// reclaimed by garbage collection.
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/// </summary>
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~OVRNativeBuffer()
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{
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Dispose(false);
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}
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/// <summary>
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/// Reallocates the buffer with the specified new size.
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/// </summary>
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public void Reset(int numBytes)
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{
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Reallocate(numBytes);
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}
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/// <summary>
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/// The current number of bytes in the buffer.
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/// </summary>
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public int GetCapacity()
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{
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return m_numBytes;
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}
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/// <summary>
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/// A pointer to the unmanaged memory in the buffer, starting at the given offset in bytes.
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/// </summary>
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public IntPtr GetPointer(int byteOffset = 0)
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{
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if (byteOffset < 0 || byteOffset >= m_numBytes)
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return IntPtr.Zero;
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return (byteOffset == 0) ? m_ptr : new IntPtr(m_ptr.ToInt64() + byteOffset);
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}
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/// <summary>
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/// Releases all resource used by the <see cref="OVRNativeBuffer"/> object.
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/// </summary>
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/// <remarks>Call <see cref="Dispose"/> when you are finished using the <see cref="OVRNativeBuffer"/>. The <see cref="Dispose"/>
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/// method leaves the <see cref="OVRNativeBuffer"/> in an unusable state. After calling <see cref="Dispose"/>, you must
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/// release all references to the <see cref="OVRNativeBuffer"/> so the garbage collector can reclaim the memory that
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/// the <see cref="OVRNativeBuffer"/> was occupying.</remarks>
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public void Dispose()
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{
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Dispose(true);
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GC.SuppressFinalize(this);
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}
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private void Dispose(bool disposing)
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{
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if (disposed)
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return;
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if (disposing)
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{
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// dispose managed resources
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}
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// dispose unmanaged resources
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Release();
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disposed = true;
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}
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private void Reallocate(int numBytes)
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{
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Release();
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if (numBytes > 0)
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{
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m_ptr = Marshal.AllocHGlobal(numBytes);
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m_numBytes = numBytes;
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}
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else
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{
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m_ptr = IntPtr.Zero;
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m_numBytes = 0;
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}
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}
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private void Release()
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{
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if (m_ptr != IntPtr.Zero)
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{
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Marshal.FreeHGlobal(m_ptr);
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m_ptr = IntPtr.Zero;
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m_numBytes = 0;
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}
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}
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}
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