def update(self, headset_pose, x, y, z):
h_x = headset_pose.m[0][3]
h_y = headset_pose.m[1][3]
h_z = headset_pose.m[2][3]
dst = ((h_x - x)**2 + (h_y - y)**2 + (h_z - z)**2)**0.5
if dst < min_dst:
dst = min_dst
if dst > max_dst:
dst = max_dst
dst_norm = 1 - (dst - min_dst) / max_dst
alpha = (dst_norm * (min_alpha - max_alpha)) + max_alpha
rotate = initRotationMatrix(0, 0)
transform = matMul33(rotate, headset_pose)
transform.m[0][3] = float(x)
transform.m[1][3] = float(y)
transform.m[2][3] = float(z)
ulOverlayHandle = self.ovr
eTrackingOrigin = openvr.TrackingUniverseRawAndUncalibrated
fn = self.vroverlay.function_table.setOverlayTransformAbsolute
pmatTrackingOriginToOverlayTransform = transform
result = fn(ulOverlayHandle, eTrackingOrigin,
openvr.byref(pmatTrackingOriginToOverlayTransform))
check_result(result)
check_result(self.vroverlay.setOverlayAlpha(self.ovr, alpha))
def move(self, point, size):
self.transform[0][3] = point.x
self.transform[1][3] = point.y
self.transform[2][3] = point.z
print(point.x, point.y, point.z)
self.size = size
fn = self.vroverlay.function_table.setOverlayTransformAbsolute
fn(self.wheel, openvr.TrackingUniverseSeated, openvr.byref(self.transform))
check_result(self.vroverlay.setOverlayWidthInMeters(self.wheel, size))
def __init__(self, x=0, y=-0.4, z=-0.35, size=0.55):
self.vrsys = openvr.VRSystem()
self.vroverlay = openvr.IVROverlay()
result, self.wheel = self.vroverlay.createOverlay(
'keyiiii'.encode(), 'keyiiii'.encode())
check_result(result)
check_result(self.vroverlay.setOverlayColor(self.wheel, 1, 1, 1))
check_result(self.vroverlay.setOverlayAlpha(self.wheel, 1))
check_result(self.vroverlay.setOverlayWidthInMeters(self.wheel, size))
this_dir = os.path.abspath(os.path.dirname(__file__))
wheel_img = os.path.join(this_dir, 'media', 'steering_wheel.png')
check_result(
self.vroverlay.setOverlayFromFile(self.wheel, wheel_img.encode()))
result, transform = self.vroverlay.setOverlayTransformAbsolute(
self.wheel, openvr.TrackingUniverseSeated)
transform[0][0] = 1.0
transform[0][1] = 0.0
transform[0][2] = 0.0
transform[0][3] = x
transform[1][0] = 0.0
transform[1][1] = 1.0
transform[1][2] = 0.0
transform[1][3] = y
transform[2][0] = 0.0
transform[2][1] = 0.0
transform[2][2] = 1.0
transform[2][3] = z
self.transform = transform
self.size = size
fn = self.vroverlay.function_table.setOverlayTransformAbsolute
pmatTrackingOriginToOverlayTransform = transform
result = fn(self.wheel, openvr.TrackingUniverseSeated,
openvr.byref(pmatTrackingOriginToOverlayTransform))
check_result(result)
check_result(self.vroverlay.showOverlay(self.wheel))
def rotate(self, angles, axis=[2,]):
try:
self.rotation_matrix
except AttributeError:
self.rotation_matrix = openvr.HmdMatrix34_t()
if not isinstance(angles, list):
angles = [angles, ]
if not isinstance(axis, list):
axis = [axis, ]
result = copy.copy(self.transform)
for angle, ax in zip(angles, axis):
initRotationMatrix(ax, -angle, self.rotation_matrix)
result = matMul33(self.rotation_matrix, result)
fn = self.vroverlay.function_table.setOverlayTransformAbsolute
fn(self.wheel, openvr.TrackingUniverseSeated, openvr.byref(result))
def __init__(self, left_ctr, right_ctr):
self._handl_closed = False
self._handr_closed = False
self.left_ctr = left_ctr
self.right_ctr = right_ctr
hand_size = 0.15
self.vrsys = openvr.VRSystem()
self.vroverlay = openvr.IVROverlay()
result, self.l_ovr = self.vroverlay.createOverlay(
'left_hand'.encode(), 'left_hand'.encode())
result, self.r_ovr = self.vroverlay.createOverlay(
'right_hand'.encode(), 'right_hand'.encode())
check_result(self.vroverlay.setOverlayColor(self.l_ovr, 1, 1, 1))
check_result(self.vroverlay.setOverlayColor(self.r_ovr, 1, 1, 1))
check_result(self.vroverlay.setOverlayAlpha(self.l_ovr, 1))
check_result(self.vroverlay.setOverlayAlpha(self.r_ovr, 1))
check_result(
self.vroverlay.setOverlayWidthInMeters(self.l_ovr, hand_size))
check_result(
self.vroverlay.setOverlayWidthInMeters(self.r_ovr, hand_size))
this_dir = os.path.abspath(os.path.dirname(__file__))
self.l_open_png = os.path.join(this_dir, 'media', 'hand_open_l.png')
self.r_open_png = os.path.join(this_dir, 'media', 'hand_open_r.png')
self.l_close_png = os.path.join(this_dir, 'media', 'hand_closed_l.png')
self.r_close_png = os.path.join(this_dir, 'media', 'hand_closed_r.png')
check_result(
self.vroverlay.setOverlayFromFile(self.l_ovr,
self.l_open_png.encode()))
check_result(
self.vroverlay.setOverlayFromFile(self.r_ovr,
self.r_open_png.encode()))
result, transform = self.vroverlay.setOverlayTransformTrackedDeviceRelative(
self.l_ovr, self.left_ctr.id)
result, transform = self.vroverlay.setOverlayTransformTrackedDeviceRelative(
self.r_ovr, self.right_ctr.id)
transform[0][0] = 1.0
transform[0][1] = 0.0
transform[0][2] = 0.0
transform[0][3] = 0
transform[1][0] = 0.0
transform[1][1] = 1.0
transform[1][2] = 0.0
transform[1][3] = 0
transform[2][0] = 0.0
transform[2][1] = 0.0
transform[2][2] = 1.0
transform[2][3] = 0
self.transform = transform
rotate = initRotationMatrix(0, -pi / 2)
self.transform = matMul33(rotate, self.transform)
fn = self.vroverlay.function_table.setOverlayTransformTrackedDeviceRelative
result = fn(self.l_ovr, self.left_ctr.id, openvr.byref(self.transform))
result = fn(self.r_ovr, self.right_ctr.id,
openvr.byref(self.transform))
check_result(result)
check_result(self.vroverlay.showOverlay(self.l_ovr))
check_result(self.vroverlay.showOverlay(self.r_ovr))
