////  OculusControllerManager.cpp//  input-plugins/src/input-plugins////  Created by Bradley Austin Davis 2016/03/04.//  Copyright 2013-2016 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "OculusControllerManager.h" #include <QtCore/QLoggingCategory> #include <ui-plugins/PluginContainer.h>#include <controllers/UserInputMapper.h>#include <controllers/StandardControls.h> #include <AvatarConstants.h>#include <PerfStat.h>#include <PathUtils.h>#include <NumericalConstants.h>#include <StreamUtils.h> #include <ovr_capi.h> #include "OculusHelpers.h" using namespace hifi; const char* OculusControllerManager::NAME = "Oculus";const QString OCULUS_LAYOUT = "OculusConfiguration.qml"; const quint64 LOST_TRACKING_DELAY = 3000000; bool OculusControllerManager::isSupported() const {    return hifi::ovr::available();} bool OculusControllerManager::activate() {    InputPlugin::activate();    checkForConnectedDevices();    return true;} QString OculusControllerManager::configurationLayout() {    return OCULUS_LAYOUT;} void OculusControllerManager::setConfigurationSettings(const QJsonObject configurationSettings) {    if (configurationSettings.contains("trackControllersInOculusHome")) {        _trackControllersInOculusHome.set(configurationSettings["trackControllersInOculusHome"].toBool());    }} QJsonObject OculusControllerManager::configurationSettings() {    QJsonObject configurationSettings;    configurationSettings["trackControllersInOculusHome"] = _trackControllersInOculusHome.get();    return configurationSettings;} void OculusControllerManager::checkForConnectedDevices() {    if (_touch && _remote) {        return;    }     ovr::withSession([&] (ovrSession session) {        unsigned int controllerConnected = ovr_GetConnectedControllerTypes(session);         if (!_remote && (controllerConnected & ovrControllerType_Remote) == ovrControllerType_Remote) {            if (OVR_SUCCESS(ovr_GetInputState(session, ovrControllerType_Remote, &_remoteInputState))) {                auto userInputMapper = DependencyManager::get<controller::UserInputMapper>();                _remote = std::make_shared<RemoteDevice>(*this);                userInputMapper->registerDevice(_remote);            }        }         if (!_touch && (controllerConnected & ovrControllerType_Touch) != 0) {            if (OVR_SUCCESS(ovr_GetInputState(session, ovrControllerType_Touch, &_touchInputState))) {                auto userInputMapper = DependencyManager::get<controller::UserInputMapper>();                _touch = std::make_shared<TouchDevice>(*this);                userInputMapper->registerDevice(_touch);            }        }    });} void OculusControllerManager::deactivate() {    InputPlugin::deactivate();     // unregister with UserInputMapper    auto userInputMapper = DependencyManager::get<controller::UserInputMapper>();    if (_touch) {        userInputMapper->removeDevice(_touch->getDeviceID());    }    if (_remote) {        userInputMapper->removeDevice(_remote->getDeviceID());    }} void OculusControllerManager::pluginUpdate(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {    PerformanceTimer perfTimer("OculusControllerManager::TouchDevice::update");     checkForConnectedDevices();     bool updateRemote = false, updateTouch = false;     ovr::withSession([&](ovrSession session) {        if (_touch) {            updateTouch = OVR_SUCCESS(ovr_GetInputState(session, ovrControllerType_Touch, &_touchInputState));            if (!updateTouch) {                qCWarning(oculusLog) << "Unable to read Oculus touch input state" << ovr::getError();            }        }        if (_remote) {            updateRemote = OVR_SUCCESS(ovr_GetInputState(session, ovrControllerType_Remote, &_remoteInputState));            if (!updateRemote) {                qCWarning(oculusLog) << "Unable to read Oculus remote input state" << ovr::getError();            }        }    });      if (_touch && updateTouch) {        _touch->update(deltaTime, inputCalibrationData);    }     if (_remote && updateRemote) {        _remote->update(deltaTime, inputCalibrationData);    }} void OculusControllerManager::pluginFocusOutEvent() {    if (_touch) {        _touch->focusOutEvent();    }    if (_remote) {        _remote->focusOutEvent();    }} void OculusControllerManager::stopHapticPulse(bool leftHand) {    if (_touch) {        _touch->stopHapticPulse(leftHand);    }} QStringList OculusControllerManager::getSubdeviceNames() {    QStringList devices;    if (_touch) {        devices << _touch->getName();    }    if (_remote) {        devices << _remote->getName();    }    return devices;} using namespace controller; static const std::vector<std::pair<ovrButton, StandardButtonChannel>> BUTTON_MAP { {    { ovrButton_Up, DU },    { ovrButton_Down, DD },    { ovrButton_Left, DL },    { ovrButton_Right, DR },    { ovrButton_Enter, START },    { ovrButton_Back, BACK },    { ovrButton_X, X },    { ovrButton_Y, Y },    { ovrButton_A, A },    { ovrButton_B, B },    { ovrButton_LThumb, LS },    { ovrButton_RThumb, RS },    //{ ovrButton_LShoulder, LB },    //{ ovrButton_RShoulder, RB },} }; static const std::vector<std::pair<ovrTouch, StandardButtonChannel>> TOUCH_MAP { {    { ovrTouch_X, LEFT_PRIMARY_THUMB_TOUCH },    { ovrTouch_Y, LEFT_SECONDARY_THUMB_TOUCH },    { ovrTouch_A, RIGHT_PRIMARY_THUMB_TOUCH },    { ovrTouch_B, RIGHT_SECONDARY_THUMB_TOUCH },    { ovrTouch_LIndexTrigger, LEFT_PRIMARY_INDEX_TOUCH },    { ovrTouch_RIndexTrigger, RIGHT_PRIMARY_INDEX_TOUCH },    { ovrTouch_LThumb, LS_TOUCH },    { ovrTouch_RThumb, RS_TOUCH },    { ovrTouch_LThumbUp, LEFT_THUMB_UP },    { ovrTouch_RThumbUp, RIGHT_THUMB_UP },    { ovrTouch_LIndexPointing, LEFT_INDEX_POINT },    { ovrTouch_RIndexPointing, RIGHT_INDEX_POINT },} };  controller::Input::NamedVector OculusControllerManager::RemoteDevice::getAvailableInputs() const {    using namespace controller;    QVector<Input::NamedPair> availableInputs {        makePair(DU, "DU"),        makePair(DD, "DD"),        makePair(DL, "DL"),        makePair(DR, "DR"),        makePair(START, "Start"),        makePair(BACK, "Back"),    };    return availableInputs;} QString OculusControllerManager::RemoteDevice::getDefaultMappingConfig() const {    static const QString MAPPING_JSON = PathUtils::resourcesPath() + "/controllers/oculus_remote.json";    return MAPPING_JSON;} void OculusControllerManager::RemoteDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {    _buttonPressedMap.clear();    const auto& inputState = _parent._remoteInputState;    for (const auto& pair : BUTTON_MAP) {        if (inputState.Buttons & pair.first) {            _buttonPressedMap.insert(pair.second);        }    }} void OculusControllerManager::RemoteDevice::focusOutEvent() {    _buttonPressedMap.clear();} void OculusControllerManager::TouchDevice::update(float deltaTime,                                                  const controller::InputCalibrationData& inputCalibrationData) {    _buttonPressedMap.clear();     int numTrackedControllers = 0;    quint64 currentTime = usecTimestampNow();    static const auto REQUIRED_HAND_STATUS = ovrStatus_OrientationTracked | ovrStatus_PositionTracked;    bool hasInputFocus = ovr::hasInputFocus();    bool trackControllersInOculusHome = _parent._trackControllersInOculusHome.get();    auto tracking = ovr::getTrackingState(); // ovr_GetTrackingState(_parent._session, 0, false);    ovr::for_each_hand([&](ovrHandType hand) {        ++numTrackedControllers;        int controller = (hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND);         // Disable hand tracking while in Oculus Dash (Dash renders it's own hands)        if (!hasInputFocus && !trackControllersInOculusHome) {            _poseStateMap.erase(controller);            _poseStateMap[controller].valid = false;            return;        }         if (REQUIRED_HAND_STATUS == (tracking.HandStatusFlags[hand] & REQUIRED_HAND_STATUS)) {            _poseStateMap.erase(controller);            handlePose(deltaTime, inputCalibrationData, hand, tracking.HandPoses[hand]);            _lostTracking[controller] = false;            _lastControllerPose[controller] = tracking.HandPoses[hand];            return;        }         if (_lostTracking[controller]) {            if (currentTime > _regainTrackingDeadline[controller]) {                _poseStateMap.erase(controller);                _poseStateMap[controller].valid = false;                return;            }         } else {            quint64 deadlineToRegainTracking = currentTime + LOST_TRACKING_DELAY;            _regainTrackingDeadline[controller] = deadlineToRegainTracking;            _lostTracking[controller] = true;        }        handleRotationForUntrackedHand(inputCalibrationData, hand, tracking.HandPoses[hand]);    });     if (ovr::hmdMounted()) {        handleHeadPose(deltaTime, inputCalibrationData, tracking.HeadPose);    } else {        _poseStateMap[controller::HEAD].valid = false;    }     using namespace controller;    // Axes    const auto& inputState = _parent._touchInputState;    _axisStateMap[LX].value = inputState.Thumbstick[ovrHand_Left].x;    _axisStateMap[LY].value = inputState.Thumbstick[ovrHand_Left].y;    _axisStateMap[LT].value = inputState.IndexTrigger[ovrHand_Left];    _axisStateMap[LEFT_GRIP].value = inputState.HandTrigger[ovrHand_Left];     _axisStateMap[RX].value = inputState.Thumbstick[ovrHand_Right].x;    _axisStateMap[RY].value = inputState.Thumbstick[ovrHand_Right].y;    _axisStateMap[RT].value = inputState.IndexTrigger[ovrHand_Right];    _axisStateMap[RIGHT_GRIP].value = inputState.HandTrigger[ovrHand_Right];     // Buttons    for (const auto& pair : BUTTON_MAP) {        if (inputState.Buttons & pair.first) {            _buttonPressedMap.insert(pair.second);        }    }    // Touches    for (const auto& pair : TOUCH_MAP) {        if (inputState.Touches & pair.first) {            _buttonPressedMap.insert(pair.second);        }    }     // Haptics    {        Locker locker(_lock);        if (_leftHapticDuration > 0.0f) {            _leftHapticDuration -= deltaTime * 1000.0f; // milliseconds        } else {            stopHapticPulse(true);        }        if (_rightHapticDuration > 0.0f) {            _rightHapticDuration -= deltaTime * 1000.0f; // milliseconds        } else {            stopHapticPulse(false);        }    }} void OculusControllerManager::TouchDevice::focusOutEvent() {    _axisStateMap.clear();    _buttonPressedMap.clear();}; void OculusControllerManager::TouchDevice::handlePose(float deltaTime,                                                      const controller::InputCalibrationData& inputCalibrationData,                                                      ovrHandType hand, const ovrPoseStatef& handPose) {    auto poseId = hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND;    auto& pose = _poseStateMap[poseId];    pose = ovr::toControllerPose(hand, handPose);    // transform into avatar frame    glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;    pose = pose.transform(controllerToAvatar);} void OculusControllerManager::TouchDevice::handleHeadPose(float deltaTime,                                                          const controller::InputCalibrationData& inputCalibrationData,                                                          const ovrPoseStatef& headPose) {    glm::mat4 mat = createMatFromQuatAndPos(ovr::toGlm(headPose.ThePose.Orientation),                                            ovr::toGlm(headPose.ThePose.Position));     //perform a 180 flip to make the HMD face the +z instead of -z, beacuse the head faces +z    glm::mat4 matYFlip = mat * Matrices::Y_180;    controller::Pose pose(extractTranslation(matYFlip),                          glmExtractRotation(matYFlip),                          ovr::toGlm(headPose.LinearVelocity), // XXX * matYFlip ?                          ovr::toGlm(headPose.AngularVelocity));     glm::mat4 sensorToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;    glm::mat4 defaultHeadOffset;    if (inputCalibrationData.hmdAvatarAlignmentType == controller::HmdAvatarAlignmentType::Eyes) {        // align the eyes of the user with the eyes of the avatar        defaultHeadOffset = glm::inverse(inputCalibrationData.defaultCenterEyeMat) * inputCalibrationData.defaultHeadMat;    } else {        // align the head of the user with the head of the avatar        defaultHeadOffset = createMatFromQuatAndPos(Quaternions::IDENTITY, -DEFAULT_AVATAR_HEAD_TO_MIDDLE_EYE_OFFSET);    }     pose.valid = true;    _poseStateMap[controller::HEAD] = pose.postTransform(defaultHeadOffset).transform(sensorToAvatar);} void OculusControllerManager::TouchDevice::handleRotationForUntrackedHand(const controller::InputCalibrationData& inputCalibrationData,                                                                          ovrHandType hand, const ovrPoseStatef& handPose) {    auto poseId = (hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND);    auto& pose = _poseStateMap[poseId];    auto lastHandPose = _lastControllerPose[poseId];    pose = ovr::toControllerPose(hand, handPose, lastHandPose);    glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;    pose = pose.transform(controllerToAvatar);} bool OculusControllerManager::TouchDevice::triggerHapticPulse(float strength, float duration, uint16_t index) {    if (index > 2) {        return false;    }     controller::Hand hand = (controller::Hand)index;     Locker locker(_lock);    bool toReturn = true;    ovr::withSession([&](ovrSession session) {        if (hand == controller::BOTH || hand == controller::LEFT) {            if (strength == 0.0f) {                _leftHapticStrength = 0.0f;                _leftHapticDuration = 0.0f;            } else {                _leftHapticStrength = (duration > _leftHapticDuration) ? strength : _leftHapticStrength;                if (ovr_SetControllerVibration(session, ovrControllerType_LTouch, 1.0f, _leftHapticStrength) != ovrSuccess) {                    toReturn = false;                }                _leftHapticDuration = std::max(duration, _leftHapticDuration);            }        }        if (hand == controller::BOTH || hand == controller::RIGHT) {            if (strength == 0.0f) {                _rightHapticStrength = 0.0f;                _rightHapticDuration = 0.0f;            } else {                _rightHapticStrength = (duration > _rightHapticDuration) ? strength : _rightHapticStrength;                if (ovr_SetControllerVibration(session, ovrControllerType_RTouch, 1.0f, _rightHapticStrength) != ovrSuccess) {                    toReturn = false;                }                _rightHapticDuration = std::max(duration, _rightHapticDuration);            }        }    });    return toReturn;} void OculusControllerManager::TouchDevice::stopHapticPulse(bool leftHand) {    auto handType = (leftHand ? ovrControllerType_LTouch : ovrControllerType_RTouch);    ovr::withSession([&](ovrSession session) {        ovr_SetControllerVibration(session, handType, 0.0f, 0.0f);    });} /*@jsdoc * <p>The <code>Controller.Hardware.OculusTouch</code> object has properties representing the Oculus Rift. The property values  * are integer IDs, uniquely identifying each output. <em>Read-only.</em></p> * <p>These outputs can be mapped to actions or functions or <code>Controller.Standard</code> items in a {@link RouteObject}  * mapping.</p> * <table> *   <thead> *     <tr><th>Property</th><th>Type</th><th>Data</th><th>Description</th></tr> *   </thead> *   <tbody> *     <tr><td colspan="4"><strong>Buttons</strong></td></tr> *     <tr><td><code>A</code></td><td>number</td><td>number</td><td>"A" button pressed.</td></tr> *     <tr><td><code>B</code></td><td>number</td><td>number</td><td>"B" button pressed.</td></tr> *     <tr><td><code>X</code></td><td>number</td><td>number</td><td>"X" button pressed.</td></tr> *     <tr><td><code>Y</code></td><td>number</td><td>number</td><td>"Y" button pressed.</td></tr> *     <tr><td><code>LeftApplicationMenu</code></td><td>number</td><td>number</td><td>Left application menu button pressed. *       </td></tr> *     <tr><td><code>RightApplicationMenu</code></td><td>number</td><td>number</td><td>Right application menu button pressed. *       </td></tr> *     <tr><td colspan="4"><strong>Sticks</strong></td></tr> *     <tr><td><code>LX</code></td><td>number</td><td>number</td><td>Left stick x-axis scale.</td></tr> *     <tr><td><code>LY</code></td><td>number</td><td>number</td><td>Left stick y-axis scale.</td></tr> *     <tr><td><code>RX</code></td><td>number</td><td>number</td><td>Right stick x-axis scale.</td></tr> *     <tr><td><code>RY</code></td><td>number</td><td>number</td><td>Right stick y-axis scale.</td></tr> *     <tr><td><code>LS</code></td><td>number</td><td>number</td><td>Left stick button pressed.</td></tr> *     <tr><td><code>RS</code></td><td>number</td><td>number</td><td>Right stick button pressed.</td></tr> *     <tr><td><code>LSTouch</code></td><td>number</td><td>number</td><td>Left stick is touched.</td></tr> *     <tr><td><code>RSTouch</code></td><td>number</td><td>number</td><td>Right stick is touched.</td></tr> *     <tr><td colspan="4"><strong>Triggers</strong></td></tr> *     <tr><td><code>LT</code></td><td>number</td><td>number</td><td>Left trigger scale.</td></tr> *     <tr><td><code>RT</code></td><td>number</td><td>number</td><td>Right trigger scale.</td></tr> *     <tr><td><code>LeftGrip</code></td><td>number</td><td>number</td><td>Left grip scale.</td></tr> *     <tr><td><code>RightGrip</code></td><td>number</td><td>number</td><td>Right grip scale.</td></tr> *     <tr><td colspan="4"><strong>Finger Abstractions</strong></td></tr> *     <tr><td><code>LeftPrimaryThumbTouch</code></td><td>number</td><td>number</td><td>Left thumb touching primary thumb  *       button.</td></tr> *     <tr><td><code>LeftSecondaryThumbTouch</code></td><td>number</td><td>number</td><td>Left thumb touching secondary thumb  *       button.</td></tr> *     <tr><td><code>LeftThumbUp</code></td><td>number</td><td>number</td><td>Left thumb not touching primary or secondary  *       thumb buttons.</td></tr> *     <tr><td><code>RightPrimaryThumbTouch</code></td><td>number</td><td>number</td><td>Right thumb touching primary thumb  *       button.</td></tr> *     <tr><td><code>RightSecondaryThumbTouch</code></td><td>number</td><td>number</td><td>Right thumb touching secondary thumb  *       button.</td></tr> *     <tr><td><code>RightThumbUp</code></td><td>number</td><td>number</td><td>Right thumb not touching primary or secondary  *       thumb buttons.</td></tr> *     <tr><td><code>LeftPrimaryIndexTouch</code></td><td>number</td><td>number</td><td>Left index finger is touching primary  *       index finger control.</td></tr> *     <tr><td><code>LeftIndexPoint</code></td><td>number</td><td>number</td><td>Left index finger is pointing, not touching  *       primary or secondary index finger controls.</td></tr> *     <tr><td><code>RightPrimaryIndexTouch</code></td><td>number</td><td>number</td><td>Right index finger is touching primary  *       index finger control.</td></tr> *     <tr><td><code>RightIndexPoint</code></td><td>number</td><td>number</td><td>Right index finger is pointing, not touching  *       primary or secondary index finger controls.</td></tr> *     <tr><td colspan="4"><strong>Avatar Skeleton</strong></td></tr> *     <tr><td><code>Head</code></td><td>number</td><td>{@link Pose}</td><td>Head pose.</td></tr> *     <tr><td><code>LeftHand</code></td><td>number</td><td>{@link Pose}</td><td>Left hand pose.</td></tr> *     <tr><td><code>RightHand</code></td><td>number</td><td>{@link Pose}</td><td>right hand pose.</td></tr> *   </tbody> * </table> * @typedef {object} Controller.Hardware-OculusTouch */controller::Input::NamedVector OculusControllerManager::TouchDevice::getAvailableInputs() const {    using namespace controller;    QVector<Input::NamedPair> availableInputs{        // buttons        makePair(A, "A"),        makePair(B, "B"),        makePair(X, "X"),        makePair(Y, "Y"),         // trackpad analogs        makePair(LX, "LX"),        makePair(LY, "LY"),        makePair(RX, "RX"),        makePair(RY, "RY"),         // triggers        makePair(LT, "LT"),        makePair(RT, "RT"),         // trigger buttons        //makePair(LB, "LB"),        //makePair(RB, "RB"),

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