def addUser():
global mainUser
# ---- Trackers ----
# Initialize an empty composite object to store all the trackers
# The composite.storeTracker() method is used to combine the individual trackers for the user's body within the composite
composite = VU.VUCompositeTrackers()
vrpn = viz.add('vrpn7.dle')
headPos = vrpn.addTracker( 'PPT0@'+PPT_MACHINE,PPT_HEAD_ID)
if not OPTICAL_HEADING:
iLabs = viz.addExtension( 'inertiallabs.dle' )
headOri = iLabs.addSensorBus(port=INERTIALLABS_HEAD_PORT)[0]
VU.onkeydownspecial('r', resetHead, headOri, 90 )
# ---- Display ----
import sensics
sensics.zSight_60()
if not OPTICAL_HEADING:
headTracker = viz.mergeLinkable( headPos, headOri )
else:
headTracker = headPos
composite.storeTracker (composite.HEAD, headTracker )
viz.setOption('viz.fullscreen', 1 ) # Go fullscreen on monitor 1
viz.setOption('viz.fov', [37.5, 1.25]) # Set fov to match sensics specs
viz.setOption('viz.setDisplayMode', [1280,1024]) # Change resolution of displays
# ---- Input ----
wandpos = vrpn.addTracker('PPT0@' + PPT_MACHINE, PPT_WAND_ID)
wandori = iLabs.addSensorBus(port=INERTIALLABS_HAND_PORT)[0]
wandtracker = viz.mergeLinkable( wandpos, wandori )
# wandjoy = VU.VUJoystickPPTWandVRPN(hostname=PPT_MACHINE, markerid=PPT_WAND_ID+1)
# wandflyer = VU.VUTrackerWandFlyerSmooth(wandjoy, wandtracker,accelerationSteps=Config.WAND_ACCELERATION_STEPS, decelerationSteps=Config.WAND_DECELERATION_STEPS, speed=Config.WAND_SPEED_SCALE, keystrokes=[Config.WAND_BUTTON1,Config.WAND_BUTTON2,Config.WAND_BUTTON3,Config.WAND_BUTTON4,Config.WAND_BUTTON5,Config.WAND_BUTTON6],buttonReset=None, buttonForward=None, buttonFist=None, oriSteer=False )
# wandflyer.getHandSensor().joystick = wandjoy
# composite.addDriverNode(wandflyer)
# composite.storeTracker( composite.RHAND, wandtracker )
#the following is beta:
global main_sphere
composite.storeTracker(composite.RHAND,wandtracker)
viz.link(wandtracker, main_sphere)
#end beta.
#not sure if u need this in beta: composite.createRightHand(wandori)
VU.onkeydownspecial('r', resetHand, wandori, 90 )
# composite.storeTracker( composite.RHAND, wandtracker )
#composite.createRightHand(wandori)
# viz.link(wandtracker,ball)
# ---- Avatar ----
composite.createAvatarNone()
# ---- Finalize Composite ----
composite.finishTrackers() # Build up internal links for all the tracking devices
composite.defineViewpoint() # Attach viewpoint to default location on the user
mainUser = composite
manager.addComposite(mainUser, 'Main-User')
def _setupHeadTrackers(hmd, OH):
global vrpn
if vrpn is None: vrpn = viz.add('vrpn7.dle')
POS_TRACKER = vrpn.addTracker(PPT_ADDRESS, 0)
ORI_TRACKER = hmd.getSensor()
if OH:
print 'vhil_devkit: Optical heading setup not yet implemented - set OH to False.'
else:
tracker = viz.mergeLinkable(POS_TRACKER, ORI_TRACKER)
oculusViewLink = viz.link(tracker, MainView)
oculusViewLink.preTrans(OCULUSVIEWLINK_PRETRANS)
def setup():
global lhPPT, rhPPT, headPPT, headLink;
global lhSphere, rhSphere
nvis.nvisorSX111();
#nvis.nvisorSX60();
viz.mouse.setVisible(False)
#viz.cursor(viz.OFF);
view = viz.MainView
isense = viz.add('intersense.dle')
headTracker = isense.addTracker(port=1)
vizact.onkeydown('r',headTracker.resetHeading)
vrpn = viz.add('vrpn7.dle');
PPT_HOSTNAME = '171.64.33.43';
headPPTorig = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 0);
#Merge two links together
headPPT = viz.mergeLinkable(headPPTorig,headTracker)
headLink = viz.link(headPPT, viz.MainView);
headLink.postTrans([EYE_VECTOR[0], EYE_VECTOR[1], EYE_VECTOR[2]]);
#now add the PPT hands tracker
rhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 1)
lhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 2)
grid = vizshape.addGrid();
grid.color([0.5] * 3);
viz.callback(viz.KEYDOWN_EVENT, onKeyDown);
if(DEBUG_MODE):
print "adding spheres";
rhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
rfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
return;
def link(tracker, target, ori=None, offset=[0, 0, 0], pre_trans=[0, 0, 0]):
"""
Link the tracker to a target (with an optional rotation sensor ori)
:param tracker: tracker to be linked
:param target: target to link to
:param ori: orientation tracker
:param offset: offset from tracker to target
:param pre_trans: pre multiplied with input matrix
:return: link object
"""
if ori:
# merge orientation and position trackers
merged_trackers = viz.mergeLinkable(pos=tracker, ori=ori)
else:
merged_trackers = tracker
# link to target (usually viz.MainView or an object like a glove)
complete_link = viz.link(merged_trackers, target)
complete_link.setOffset(offset)
# distance between tracker and actual position of target
complete_link.preTrans(pre_trans)
# TODO: maybe different solution (offsets and stuff)
return complete_link
def setup():
global leftWristPPT, rightWristPPT, lfPPT, rfPPT, headPPT, viewLink, navigationNode
global lhSphere, rhSphere
global hmdLink
#add more trackers for trying things out
global rightFingersPPT, leftFingersPPT, leftForeArmPPT, rightForeArmPPT, rightHandViveController, leftHandViveController
#nvis.nvisorSX111();
#nvis.nvisorSX60();
#try the oculus rift
hmd = None
headOriTracker = None
if some_global_variables.PPT1:
vrpn = viz.add('vrpn7.dle')
#trying to connect the vive now
if not some_global_variables.DONT_USE_VIVE:
hmd = steamvr.HMD()
headOriTracker = hmd.getSensor()
headPosTracker = None
headPosLink = None
if headOriTracker is None:
print "HTC Vive is not connected. Trying Oculus Rift now"
hmd = oculus.Rift()
headOriTracker = hmd.getSensor()
if headOriTracker is None:
print "Rift is also not connected!"
else:
print "Connected to Rift!"
vizact.onkeydown('r',headOriTracker.reset)
if some_global_variables.PPT1:
headPosTracker = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_HEAD_VIRTUAL_ID - 1)
headPosTrackerNode = viz.addGroup()
headPosLink = viz.link(headPosTracker, headPosTrackerNode)
headPosLink.preTrans(list(EYE_VECTOR))
else:
print "Connected to Vive!"
#Merge position and orientation links for the head tracker, if needed
if headPosLink is not None:
#using DK2 in PPT1 with a PPT marker for head tracking
headPPT = viz.mergeLinkable(headPosLink,headOriTracker)
else:
#like using vive, or DK2 outside PPT1
headPPT = headOriTracker
if headOriTracker is not None:
some_global_variables.headTrackingActive = True
viz.mouse.setVisible(False)
#viz.cursor(viz.OFF);
view = viz.MainView
viewLink = None
navigationNode = viz.addGroup()
viewLink = viz.link(navigationNode, viz.MainView)
if headPPT is not None:
viewLink.preMultLinkable(headPPT)
if not some_global_variables.PPT1:
viewLink.setOffset([0,1.4,0])
# viewLink = viz.link(headPPT, viz.MainView)
#viewLink.postTrans([EYE_VECTOR[0], EYE_VECTOR[1], EYE_VECTOR[2]])
#hmdLink.preTrans(EYE_VECTOR)
#view.preTrans(EYE_VECTOR)
#headPPT.preTrans([0,10,0]);
#now add the PPT hands tracker
if some_global_variables.PPT1:
rightForeArmPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_RIGHT_FOREARM_VIRTUAL_ID-1)
if rightForeArmPPT is not None: print "right forearm tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_RIGHT_FOREARM_VIRTUAL_ID)
leftForeArmPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_LEFT_FOREARM_VIRTUAL_ID-1)
if leftForeArmPPT is not None: print "left forearm tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_LEFT_FOREARM_VIRTUAL_ID)
appendageControlWithVive = vizinput.choose('Using Vive controllers or a bunch of PPT markers?', ['Vive','4 extra PPT marker!'])
if appendageControlWithVive == 0: #using vive hand controllers
some_global_variables.usingViveHandControllers = True
viveHandControllerList = steamvr.getControllerList()
controllerCount = 0
for controller in steamvr.getControllerList():
controllerCount += 1
#Right Hand Controller Setup
if controllerCount == 1:
rightHandViveController = viveHandControllerList[0]
#Left Hand Controller Setup
elif controllerCount == 2:
leftHandViveController = viveHandControllerList[1]
else: #using four extra PPT markers - could be noisy due to interference
rightFingersPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_RIGHT_FINGERS_VIRTUAL_ID-1)
if rightFingersPPT is not None: print "right fingers tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_RIGHT_FINGERS_VIRTUAL_ID)
leftFingersPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_LEFT_FINGERS_VIRTUAL_ID-1)
if leftFingersPPT is not None: print "left fingers tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_LEFT_FINGERS_VIRTUAL_ID)
rightWristPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_RIGHT_WRIST_VIRTUAL_ID-1)
if rightWristPPT is not None: print "right wrist tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_RIGHT_WRIST_VIRTUAL_ID)
leftWristPPT = vrpn.addTracker('PPT0@' + some_global_variables.PPT_HOSTNAME, some_global_variables.PPT_LEFT_WRIST_VIRTUAL_ID-1)
if leftWristPPT is not None: print "left wrist tracker is active with virtual PPT ID = " + str(some_global_variables.PPT_LEFT_WRIST_VIRTUAL_ID)
grid = vizshape.addGrid()
grid.color([0.5] * 3)
viz.callback(viz.KEYDOWN_EVENT, onKeyDown)
if(DEBUG_MODE):
print "adding spheres";
rhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
rfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
return
def setup(isLeftHanded):
global lhPPT, rhPPT, lfPPT, rfPPT, headPPT, headLink, headPPTmarker, rhPPTlink, lhPPTlink, offsetTimerEvent
global lhSphere, rhSphere
global riftLink
#nvis.nvisorSX111();
#nvis.nvisorSX60();
viz.mouse.setVisible(False)
#viz.cursor(viz.OFF);
view = viz.MainView
#isense = viz.add('intersense.dle')
#headTracker = isense.addTracker(port=1)
vrpn = viz.add('vrpn7.dle');
PPT_HOSTNAME = '171.64.33.43';
#ading the headPPT marker
# headPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 0);
headPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.headPPTmarkerVirtualID - 1);
headMarkerNode = viz.addGroup()
headMarker = viz.link(headPPTmarker, headMarkerNode)
# headMarker.preTrans(list(EYE_VECTOR))
# headMarker.setOffset(some_global_variables.pptMarkerWeirdOffset)
#now add the PPT hands tracker
if isLeftHanded == 0:
#user right-handed
# rhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 1)
# rhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.rhPPTmarkerVirtualID - 1)
rhPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.rhPPTmarkerVirtualID - 1)
# lhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 2)
lhPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.lhPPTmarkerVirtualID - 1)
else:
#user left-handed
# rhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 2)
rhPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.rhPPTmarkerVirtualID)
# lhPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 1)
lhPPTmarker = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, some_global_variables.lhPPTmarkerVirtualID)
if USE_LEG:
rfPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 3)
lfPPT = vrpn.addTracker('PPT0@' + PPT_HOSTNAME, 4)
headPPT = None
headTracker = None
#loading rift
#rift = oculus.Rift()
#headTracker = rift.getSensor()
if headTracker is None:
#DK2 not found, trying the vive now
hmd = steamvr.HMD()
headTracker = hmd.getSensor()
headPPT = headTracker
#activating a timer to adjust the PPT-Vive offset at runtime
if some_global_variables.ADJUST_PPT_VIVE_OFFSET_AT_RUNTIME:
offsetTimerEvent = vizact.ontimer(0, offsetTimer)
else:
vizact.onkeydown('r',headTracker.reset)
headPPT = viz.mergeLinkable(headMarker,headTracker)
#if rift is not available
#Merge two links together
#headPPT = viz.mergeLinkable(headPPTmarker,headTracker)
headLink = viz.link(headPPT, viz.MainView);
#headLink.postTrans([EYE_VECTOR[0], EYE_VECTOR[1], EYE_VECTOR[2]]);
riftLink = headLink
#riftLink.preTrans(EYE_VECTOR)
#view.preTrans(EYE_VECTOR)
#headPPT.preTrans([0,10,0]);
rhPPT = viz.addGroup()
rhPPTlink = viz.link(rhPPTmarker, rhPPT)
# rhPPTlink.setOffset(some_global_variables.pptMarkerWeirdOffset)
lhPPT = viz.addGroup()
lhPPTlink = viz.link(lhPPTmarker, lhPPT)
# lhPPTlink.setOffset(some_global_variables.pptMarkerWeirdOffset)
grid = vizshape.addGrid();
grid.color([0.5] * 3);
viz.callback(viz.KEYDOWN_EVENT, onKeyDown);
if(DEBUG_MODE):
print "adding spheres";
rhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lhSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
rfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
lfSphere = vizshape.addSphere(radius = 0.1, color = viz.WHITE);
return;
def initTrackers(initFlag=vizconnect.INIT_INDEPENDENT, initList=None):
#VC: place any general initialization code here
rawTracker = vizconnect.getRawTrackerDict()
#VC: initialize a new tracker
_name = 'vrpn'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
trackerId = 'Tracker0'
ip = 'localhost'
sensorIndex = 38
#VC: create the raw object
vrpn7 = viz.add('vrpn7.dle')
rawTracker[_name] = vrpn7.addTracker(trackerId + "@" + ip,
sensorIndex)
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name],
_name,
make='Generic',
model='VRPN')
#VC: init the offsets
if initFlag & vizconnect.INIT_OFFSETS:
_link = vizconnect.getTracker(_name).getLink()
#VC: clear link offsets
_link.reset(viz.RESET_OPERATORS)
#VC: apply swap
_link.swapPos([-1, 2, 3])
#VC: set the parent of the node
if initFlag & vizconnect.INIT_PARENTS:
vizconnect.getTracker(_name).setParent(
vizconnect.getAvatar('male').getAttachmentPoint('head'))
#VC: initialize a new tracker
_name = 'inertiacube'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
port = 0
#VC: create the raw object
isense = viz.add('intersense.dle')
isenseTracker = isense.addTracker(port=port)
if not isenseTracker.valid():
viz.logWarn(
"** WARNING: can't connect to InterSense InertiaCube at {0}."
.format(port))
rawTracker[_name] = isenseTracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name],
_name,
make='InterSense',
model='InertiaCube')
#VC: initialize a new tracker
_name = 'merged'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: request that any dependencies be created
if initFlag & vizconnect.INIT_INDEPENDENT:
initTrackers(vizconnect.INIT_INDEPENDENT, ['vrpn'])
initTrackers(vizconnect.INIT_INDEPENDENT, ['inertiacube'])
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
posTracker = vizconnect.getTracker('vrpn').getNode3d()
oriTracker = vizconnect.getTracker('inertiacube').getNode3d()
#VC: create the raw object
try:
raw = viz.mergeLinkable(posTracker, oriTracker)
except:
viz.logError(
'Error **: unable to create merged tracker, providing empty tracker object.'
)
raw = viz.addGroup()
raw.invalidTracker = True
rawTracker[_name] = raw
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name],
_name,
make='Virtual',
model='Merged')
#VC: initialize a new tracker
_name = 'vrpn3'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
trackerId = 'Tracker0'
ip = 'localhost'
sensorIndex = 40
#VC: create the raw object
vrpn7 = viz.add('vrpn7.dle')
rawTracker[_name] = vrpn7.addTracker(trackerId + "@" + ip,
sensorIndex)
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name],
_name,
make='Generic',
model='VRPN')
#VC: init the offsets
if initFlag & vizconnect.INIT_OFFSETS:
_link = vizconnect.getTracker(_name).getLink()
#VC: clear link offsets
_link.reset(viz.RESET_OPERATORS)
#VC: apply swap
_link.swapPos([-1, 2, 3])
_link.swapQuat([-1, 2, 3, -4])
#VC: set the parent of the node
if initFlag & vizconnect.INIT_PARENTS:
vizconnect.getTracker(_name).setParent(vizconnect.getRoot())
#VC: initialize a new tracker
_name = 'vrpn2'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag & vizconnect.INIT_RAW:
#VC: set some parameters
trackerId = 'Tracker0'
ip = 'localhost'
sensorIndex = 39
#VC: create the raw object
vrpn7 = viz.add('vrpn7.dle')
rawTracker[_name] = vrpn7.addTracker(trackerId + "@" + ip,
sensorIndex)
#VC: init the wrapper (DO NOT EDIT)
if initFlag & vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name],
_name,
make='Generic',
model='VRPN')
#VC: init the offsets
if initFlag & vizconnect.INIT_OFFSETS:
_link = vizconnect.getTracker(_name).getLink()
#VC: clear link offsets
_link.reset(viz.RESET_OPERATORS)
#VC: apply swap
_link.swapPos([-1, 2, 3])
_link.swapQuat([-1, 2, 3, -4])
#VC: return values can be modified here
return None
def initTrackers(initFlag=vizconnect.INIT_INDEPENDENT, initList=None):
#VC: place any general initialization code here
rawTracker = vizconnect.getRawTrackerDict()
#VC: initialize a new tracker
_name = 'ppt_left_eye'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
pptHostname = '171.64.33.43'
markerId = 1
#VC: create the raw object
vrpn7 = viz.add('vrpn7.dle')
rawTracker[_name] = vrpn7.addTracker('PPT0@'+pptHostname, markerId-1)
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='WorldViz', model='PPT')
#VC: initialize a new tracker
_name = 'rift_orientation_tracker'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
index = 0
#VC: create the raw object
import oculus
sensorList = oculus.getSensors()
if index < len(sensorList):
orientationTracker = sensorList[index]
else:
viz.logWarn("** WARNING: Oculus VR Rift Orientation Tracker not present.")
orientationTracker = viz.addGroup()
orientationTracker.invalidTracker = True
rawTracker[_name] = orientationTracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Oculus VR', model='Rift Orientation Tracker')
#VC: init the mappings for the wrapper
if initFlag&vizconnect.INIT_WRAPPER_MAPPINGS:
#VC: on-state mappings
if initFlag&vizconnect.INIT_MAPPINGS_ON_STATE:
vizconnect.getTracker(_name).setOnStateEventList([
vizconnect.onstate(lambda rawInput: rawInput['keyboard'].isButtonDown(19), vizconnect.getTracker(_name).resetHeading),# make=Generic, model=Keyboard, name=keyboard, signal=Key R
])
#VC: initialize a new tracker
_name = 'merged'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: request that any dependencies be created
if initFlag&vizconnect.INIT_INDEPENDENT:
initTrackers(vizconnect.INIT_INDEPENDENT, ['ppt_left_eye'])
initTrackers(vizconnect.INIT_INDEPENDENT, ['rift_orientation_tracker'])
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
posTracker = vizconnect.getTracker('ppt_left_eye').getNode3d()
oriTracker = vizconnect.getTracker('rift_orientation_tracker').getNode3d()
#VC: create the raw object
try:
raw = viz.mergeLinkable(posTracker, oriTracker)
except:
viz.logError('Error **: unable to create merged tracker, providing empty tracker object.')
raw = viz.addGroup()
raw.invalidTracker = True
rawTracker[_name] = raw
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Virtual', model='Merged')
#VC: init the offsets
if initFlag&vizconnect.INIT_OFFSETS:
_link = vizconnect.getTracker(_name).getLink()
#VC: clear link offsets
_link.reset(viz.RESET_OPERATORS)
#VC: reset orientation
_link.preEuler([0, 0, 0], target=viz.LINK_ORI_OP, priority=-20)
#VC: apply offsets
_link.preTrans([0.0975, -0.08, -0.07])
#VC: set the parent of the node
if initFlag&vizconnect.INIT_PARENTS:
vizconnect.getTracker(_name).setParent(vizconnect.getTransport('wandmagiccarpet'))
#VC: initialize a new tracker
_name = 'rift_with_mouse_and_keyboard'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
addMouseOrientation = True
positionSensitivity = 2.5
heightOffset = 1.82
sensorIndex = 0
#VC: create the raw object
import oculus
sensorList = oculus.getSensors()
if sensorIndex < len(sensorList):
dk2Tracker = sensorList[sensorIndex]
from vizconnect.util import virtual_trackers
tracker = virtual_trackers.TrackerAndKeyboardWalking(dk2Tracker, addMouseOrientation=addMouseOrientation, positionSensitivity=positionSensitivity, heightOffset=heightOffset)
else:
viz.logWarn("** WARNING: Oculus Tracker not present.")
tracker = viz.addGroup()
tracker.invalidTracker = True
rawTracker[_name] = tracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Oculus VR', model='Rift With Mouse And Keyboard')
#VC: return values can be modified here
return None
cardisplay.setPosition(0.9, 0.02)
geardisplay = viz.addTextbox()
geardisplay.setPosition(0.11, 0.915)
headLight = viz.MainView.getHeadLight()
headLight.disable()
myLight = viz.addLight()
view = viz.MainView
if environmentchoice == 0:
myLight.intensity(1)
else:
myLight.intensity(0.25)
myLight.setEuler(45, 12, 0)
camera = vizconnect.getTransport('orientation')
rotcam = viz.link(offsetNode, camera.getNode3d())
viz.mergeLinkable(rotcam, view)
def ChangeCar(direction):
global carchoice
global speed
global accel
global steer
if direction == 2:
carchoice += 1
if carchoice > NUM_CARS:
carchoice = 1
else:
carchoice -= 1
if carchoice <= 0:
carchoice = NUM_CARS
def initTrackers(initFlag=vizconnect.INIT_INDEPENDENT, initList=None):
#VC: place any general initialization code here
rawTracker = vizconnect.getRawTrackerDict()
#VC: initialize a new tracker
_name = 'merged'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: request that any dependencies be created
if initFlag&vizconnect.INIT_INDEPENDENT:
initTrackers(vizconnect.INIT_INDEPENDENT, ['mouse_and_keyboard_flying'])
initTrackers(vizconnect.INIT_INDEPENDENT, ['dk2'])
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
posTracker = vizconnect.getTracker('mouse_and_keyboard_flying').getNode3d()
oriTracker = vizconnect.getTracker('dk2').getNode3d()
#VC: create the raw object
try:
raw = viz.mergeLinkable(posTracker, oriTracker)
except:
viz.logError('Error **: unable to create merged tracker, providing empty tracker object.')
raw = viz.addGroup()
raw.invalidTracker = True
rawTracker[_name] = raw
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Virtual', model='Merged')
#VC: initialize a new tracker
_name = 'dk2'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
index = 0
#VC: create the raw object
import oculus
sensorList = oculus.getSensors()
if index < len(sensorList):
orientationTracker = sensorList[index]
else:
viz.logWarn("** WARNING: Oculus VR Rift Orientation Tracker not present.")
orientationTracker = viz.addGroup()
orientationTracker.invalidTracker = True
rawTracker[_name] = orientationTracker
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Oculus VR', model='DK2')
#VC: set the parent of the node
if initFlag&vizconnect.INIT_PARENTS:
vizconnect.getTracker(_name).setParent(vizconnect.getRoot())
#VC: initialize a new tracker
_name = 'mouse_and_keyboard_flying'
if vizconnect.isPendingInit('tracker', _name, initFlag, initList):
#VC: init the raw object
if initFlag&vizconnect.INIT_RAW:
#VC: set some parameters
positionSensitivity = 2.5
rotationSensitivity = 0.15
debug = False
#VC: create the raw object
from vizconnect.util.virtual_trackers import MouseAndKeyboardFlying
rawTracker[_name] = MouseAndKeyboardFlying(positionSensitivity=positionSensitivity, rotationSensitivity=rotationSensitivity, debug=debug)
#VC: init the wrapper (DO NOT EDIT)
if initFlag&vizconnect.INIT_WRAPPERS:
vizconnect.addTracker(rawTracker[_name], _name, make='Virtual', model='Mouse and Keyboard Flying')
#VC: set the parent of the node
if initFlag&vizconnect.INIT_PARENTS:
vizconnect.getTracker(_name).setParent(vizconnect.getRoot())
#VC: return values can be modified here
return None
OCULUSVIEWLINK_PRETRANS = [0.195/2, -0.08, -0.07]
x = 0
viz.go()
if RIFT:
hmd = oculus.Rift()
# PPT1 code
if PPT1:
# setup the head tracker
vrpn = viz.add('vrpn7.dle')
POS_TRACKER = vrpn.addTracker(PPT_ADDRESS, 0)
ORI_TRACKER = hmd.getSensor()
tracker = viz.mergeLinkable(POS_TRACKER, ORI_TRACKER)
oculusViewLink = viz.link(tracker, viz.MainView)
oculusViewLink.preTrans(OCULUSVIEWLINK_PRETRANS)
if OBJ:
OBJ_TRACKER = vrpn.addTracker(PPT_ADDRESS, 4)
else:
oculusLink = viz.link(hmd.getSensor(), viz.MainView, mask=viz.LINK_ORI)
#add bus
BUS_OBJ_SCALE = .0365
BUS_OSGB_SCALE = 35
curscale = BUS_OSGB_SCALE
bus = viz.add('bus_obj/Bus_Sept3.OSGB')
bus.setScale([curscale]*3)
