Merge branch 'VRWorldTransform' into 'master'

ENH: Physical to world scale transform added to VTKOpenVRViewer

See merge request iMSTK/iMSTK!596

Source/SimulationManager/VTKRenderer/imstkVTKOpenVRViewer.cpp

@@ -28,6 +28,7 @@
 #include "imstkVTKInteractorStyleVR.h"
 #include "imstkVTKRenderer.h"
 
+#include <vtkMatrix4x4.h>
 #include <vtkOpenVRRenderer.h>
 #include <vtkOpenVRRenderWindow.h>
 #include <vtkOpenVRRenderWindowInteractor.h>
@@ -95,6 +96,40 @@ VTKOpenVRViewer::setActiveScene(std::shared_ptr<Scene> scene)
     m_vtkInteractorStyle->SetCurrentRenderer(vtkRenderer);
 }
 
+void
+VTKOpenVRViewer::setPhysicalToWorldTransform(const Mat4d& physicalToWorldMatrix)
+{
+    vtkSmartPointer<vtkOpenVRRenderWindow> renWin =
+        vtkOpenVRRenderWindow::SafeDownCast(m_vtkRenderWindow);
+    vtkNew<vtkMatrix4x4> mat;
+    for (int i = 0; i < 4; i++)
+    {
+        for (int j = 0; j < 4; j++)
+        {
+            mat->SetElement(i, j, physicalToWorldMatrix(i, j));
+        }
+    }
+    renWin->SetPhysicalToWorldMatrix(mat);
+}
+
+Mat4d
+VTKOpenVRViewer::getPhysicalToWorldTransform()
+{
+    vtkSmartPointer<vtkOpenVRRenderWindow> renWin =
+        vtkOpenVRRenderWindow::SafeDownCast(m_vtkRenderWindow);
+    Mat4d                transform;
+    vtkNew<vtkMatrix4x4> mat;
+    renWin->GetPhysicalToWorldMatrix(mat);
+    for (int i = 0; i < 4; i++)
+    {
+        for (int j = 0; j < 4; j++)
+        {
+            transform(i, j) = mat->GetElement(i, j);
+        }
+    }
+    return transform;
+}
+
 void
 VTKOpenVRViewer::setRenderingMode(const Renderer::Mode mode)
 {

Source/SimulationManager/VTKRenderer/imstkVTKOpenVRViewer.h

@@ -58,6 +58,16 @@ public:
     ///
     void setActiveScene(std::shared_ptr<Scene> scene) override;
 
+    ///
+    /// \brief Transform to physical space
+    ///
+    void setPhysicalToWorldTransform(const Mat4d& physicalToWorldMatrix);
+
+    ///
+    /// \brief Get transform to physical space
+    ///
+    Mat4d getPhysicalToWorldTransform();
+
     ///
     /// \brief Get one of the device clients for VR
     ///