diff --git a/Examples/OpenVRController/CMakeLists.txt b/Examples/OpenVRController/CMakeLists.txt
index b22e1eee19c3b506f452a976f4960d1e649edaa9..5190298dac6aab05718309664d690b6d7b161c03 100644
--- a/Examples/OpenVRController/CMakeLists.txt
+++ b/Examples/OpenVRController/CMakeLists.txt
@@ -21,7 +21,10 @@ project(Example-OpenVRController)
#-----------------------------------------------------------------------------
# Create executable
#-----------------------------------------------------------------------------
-imstk_add_executable(${PROJECT_NAME} OpenVRControllerExample.cpp)
+imstk_add_executable(${PROJECT_NAME}
+ OpenVRControllerExample.cpp
+ CameraOpenVRControl.h
+ CameraOpenVRControl.cpp)
#-----------------------------------------------------------------------------
# Add the target to Examples folder
diff --git a/Examples/OpenVRController/CameraOpenVRControl.cpp b/Examples/OpenVRController/CameraOpenVRControl.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fc2aa9663a1c53df7190a42f127427266f8559e9
--- /dev/null
+++ b/Examples/OpenVRController/CameraOpenVRControl.cpp
@@ -0,0 +1,60 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+=========================================================================*/
+
+#include "CameraOpenVRControl.h"
+#include "imstkCamera.h"
+#include "imstkLogger.h"
+#include "imstkOpenVRDeviceClient.h"
+
+using namespace imstk;
+
+void
+CameraOpenVRControl::printControls()
+{
+ LOG(INFO) << "Mouse Scene Controls: Only usable in debug mode";
+ LOG(INFO) << "----------------------------------------------------------------------";
+ LOG(INFO) << " | Left Trackpad - rotate view";
+ LOG(INFO) << " | Right Trakcpad - translate view";
+ LOG(INFO) << "----------------------------------------------------------------------";
+}
+
+void
+CameraOpenVRControl::update(const double dt)
+{
+ // We may switch cameras on the controller
+ if (m_camera == nullptr)
+ {
+ return;
+ }
+
+ if (m_rotateDevice != nullptr)
+ {
+ const Vec2d& pos = m_rotateDevice->getTrackpadPosition();
+ const Mat4d& view = m_camera->getView();
+ m_camera->setView(view * mat4dRotation(Rotd(-pos[0] * m_rotateSpeedScale * dt, Vec3d(0.0, 1.0, 0.0))));
+ }
+ if (m_translateDevice != nullptr)
+ {
+ const Vec2d& pos = m_translateDevice->getTrackpadPosition();
+ const Mat4d& view = m_camera->getView();
+ m_camera->setView(view * mat4dTranslate(Vec3d(pos[0], 0.0, -pos[1]) * m_translateSpeedScale * dt));
+ }
+}
\ No newline at end of file
diff --git a/Examples/OpenVRController/CameraOpenVRControl.h b/Examples/OpenVRController/CameraOpenVRControl.h
new file mode 100644
index 0000000000000000000000000000000000000000..ed74ff89c548e56b2d09fb5940bc3324e6bba55f
--- /dev/null
+++ b/Examples/OpenVRController/CameraOpenVRControl.h
@@ -0,0 +1,96 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+=========================================================================*/
+
+#pragma once
+
+#include "imstkDeviceControl.h"
+#include "imstkMath.h"
+
+namespace imstk
+{
+class Camera;
+class OpenVRDeviceClient;
+class SceneManager;
+}
+
+using namespace imstk;
+
+///
+/// \class CameraOpenVRControl
+///
+/// \brief Controls pose of a camera given two trackpads from OpenVRDeviceClient's
+///
+///
+class CameraOpenVRControl : public DeviceControl
+{
+public:
+ CameraOpenVRControl() = default;
+ virtual ~CameraOpenVRControl() override = default;
+
+public:
+ ///
+ /// \brief Get/Set how fast the camera translates
+ ///
+ void setTranslateSpeedScale(const double translateSpeedScale) { m_translateSpeedScale = translateSpeedScale; }
+ double getTranslateSpeedScale() const { return m_translateSpeedScale; }
+
+ ///
+ /// \brief Get/Set how fast the camera rotates
+ ///
+ void setRotateSpeedScale(const double rotateSpeedScale) { m_rotateSpeedScale = rotateSpeedScale; }
+ double getRotateSpeedScale() const { return m_rotateSpeedScale; }
+
+ ///
+ /// \brief Get/Set the device that can translate the camera
+ ///
+ void setTranslateDevice(std::shared_ptr<OpenVRDeviceClient> translateDevice) { m_translateDevice = translateDevice; }
+ std::shared_ptr<OpenVRDeviceClient> getTranslateDevice() const { return m_translateDevice; }
+
+ ///
+ /// \brief Get/Set the device that can rotate the camera
+ ///
+ void setRotateDevice(std::shared_ptr<OpenVRDeviceClient> rotateDevice) { m_rotateDevice = rotateDevice; }
+ std::shared_ptr<OpenVRDeviceClient> getRotateDevice() const { return m_rotateDevice; }
+
+ ///
+ /// \brief Get/Set the camera to be controlled
+ ///
+ void setCamera(std::shared_ptr<Camera> camera) { m_camera = camera; }
+ std::shared_ptr<Camera> getCamera() const { return m_camera; }
+
+public:
+ void printControls() override;
+
+ ///
+ /// \brief Updates control based on current device state
+ ///
+ void update(const double dt) override;
+
+protected:
+ std::shared_ptr<OpenVRDeviceClient> m_translateDevice = nullptr;
+ std::shared_ptr<OpenVRDeviceClient> m_rotateDevice = nullptr;
+
+ std::shared_ptr<Camera> m_camera = nullptr;
+
+ // User changeable values
+ double m_rotateSpeedScale = 1.0;
+ double m_translateSpeedScale = 1.0;
+};
\ No newline at end of file
diff --git a/Examples/OpenVRController/OpenVRControllerExample.cpp b/Examples/OpenVRController/OpenVRControllerExample.cpp
index e0b66c2a91f3f23f5a375bc37d8490b84c1f2eb2..cc612e79b88e34df225c6886da166e6fcd2f2ac4 100644
--- a/Examples/OpenVRController/OpenVRControllerExample.cpp
+++ b/Examples/OpenVRController/OpenVRControllerExample.cpp
@@ -35,6 +35,10 @@
#include "imstkVisualModel.h"
#include "imstkVisualObjectImporter.h"
#include "imstkVTKOpenVRViewer.h"
+#include "CameraOpenVRControl.h"
+#include "imstkVTKViewer.h"
+
+#include "imstkTimer.h"
using namespace imstk;
@@ -125,80 +129,111 @@ main()
{
// Add a module to run the viewer
- imstkNew<VTKOpenVRViewer> viewer;
+ imstkNew<VTKViewer> viewer;
+ viewer->setExecutionType(Module::ExecutionType::SEQUENTIAL);
viewer->setActiveScene(scene);
// Add a module to run the scene
- imstkNew<SceneManager> sceneManager;
- sceneManager->setActiveScene(scene);
+ /*imstkNew<SceneManager> sceneManager;
+ sceneManager->setActiveScene(scene);*/
imstkNew<SimulationManager> driver;
driver->addModule(viewer);
- driver->addModule(sceneManager);
-
- // Add a VR controller for the scalpel handle
- imstkNew<SceneObjectController> controller1(scalpelHandle, viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER));
- scene->addController(controller1);
- // Add a VR controller for the scalpel blade
- imstkNew<SceneObjectController> controller2(scalpelBlade10, viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER));
- scene->addController(controller2);
-
- // This button event is emitted from the viewer's thread, thus it is queued to the scene so that we do not
- // run it while the scene is updating
- bool blade10InHand = true;
- queueConnect<ButtonEvent>(viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER), &OpenVRDeviceClient::buttonStateChanged, sceneManager,
- [&](ButtonEvent* e)
+ //driver->addModule(sceneManager);
+ //driver->setDesiredDt(0.01);
+
+ //// Add a VR controller for the scalpel handle
+ //imstkNew<SceneObjectController> controller1(scalpelHandle, viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER));
+ //scene->addController(controller1);
+ //// Add a VR controller for the scalpel blade
+ //imstkNew<SceneObjectController> controller2(scalpelBlade10, viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER));
+ //scene->addController(controller2);
+
+ //imstkNew<CameraOpenVRControl> camControl;
+ //camControl->setRotateDevice(viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER));
+ //camControl->setTranslateDevice(viewer->getVRDeviceClient(OPENVR_LEFT_CONTROLLER));
+ //camControl->setTranslateSpeedScale(1.0);
+ //camControl->setRotateSpeedScale(1.0);
+ //camControl->setCamera(scene->getActiveCamera());
+ //viewer->addControl(camControl); // Only needs to update every render
+
+ StopWatch timer;
+ timer.start();
+ int i = 0;
+ //connect<Event>(viewer, &Viewer::postUpdate, [&](Event*)
+ // {
+ // double ms = timer.getTimeElapsed();
+ // //if (i++ % 100 == 0)
+ // {
+ // printf("%f\n", ms);
+ // }
+ // timer.start();
+ // });
+ viewer->init();
+ while(true)
{
- // When any button pressed, swap blade
- if (e->m_buttonState == BUTTON_PRESSED)
- {
- const Vec3d& posControl = viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER)->getPosition();
- if (blade10InHand)
- {
- // Swap to blade 15 only if it's close in space
- Vec3d min, max;
- scalpelBlade15->getVisualGeometry()->computeBoundingBox(min, max);
- const Vec3d posBlade = (min + max) * 0.5;
- const double dist = (posControl - posBlade).norm();
- LOG(INFO) << "Dist: " << dist;
- if (dist < 2.0)
- {
- const Vec3d t = scalpelBlade15->getVisualGeometry()->getTranslation();
- const Mat3d r = scalpelBlade15->getVisualGeometry()->getRotation();
-
- // Set the new blade to move
- controller2->setControlledSceneObject(scalpelBlade15);
- blade10InHand = false;
-
- scalpelBlade10->getVisualGeometry()->setTranslation(t);
- scalpelBlade10->getVisualGeometry()->setRotation(r);
- }
- }
- else
- {
- // Swap to blade 10 only if it's close in space
- Vec3d min, max;
- scalpelBlade10->getVisualGeometry()->computeBoundingBox(min, max);
- const Vec3d posBlade = (min + max) * 0.5;
- const double dist = (posControl - posBlade).norm();
- LOG(INFO) << "Dist: " << dist;
- if (dist < 2.0)
- {
- const Vec3d t = scalpelBlade10->getVisualGeometry()->getTranslation();
- const Mat3d r = scalpelBlade10->getVisualGeometry()->getRotation();
-
- controller2->setControlledSceneObject(scalpelBlade10);
- blade10InHand = true;
-
- // Swap transforms of the blades
- scalpelBlade15->getVisualGeometry()->setTranslation(t);
- scalpelBlade15->getVisualGeometry()->setRotation(r);
- }
- }
- }
- });
-
- driver->start();
+ double ms = timer.getTimeElapsed();
+ printf("%f\n", ms);
+ timer.start();
+ viewer->update();
+ }
+
+ //// This button event is emitted from the viewer's thread, thus it is queued to the scene so that we do not
+ //// run it while the scene is updating
+ //bool blade10InHand = true;
+ //queueConnect<ButtonEvent>(viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER), &OpenVRDeviceClient::buttonStateChanged, sceneManager,
+ // [&](ButtonEvent* e)
+ //{
+ // // When any button pressed, swap blade
+ // if (e->m_buttonState == BUTTON_PRESSED)
+ // {
+ // const Vec3d& posControl = viewer->getVRDeviceClient(OPENVR_RIGHT_CONTROLLER)->getPosition();
+ // if (blade10InHand)
+ // {
+ // // Swap to blade 15 only if it's close in space
+ // Vec3d min, max;
+ // scalpelBlade15->getVisualGeometry()->computeBoundingBox(min, max);
+ // const Vec3d posBlade = (min + max) * 0.5;
+ // const double dist = (posControl - posBlade).norm();
+ // LOG(INFO) << "Dist: " << dist;
+ // if (dist < 2.0)
+ // {
+ // const Vec3d t = scalpelBlade15->getVisualGeometry()->getTranslation();
+ // const Mat3d r = scalpelBlade15->getVisualGeometry()->getRotation();
+
+ // // Set the new blade to move
+ // controller2->setControlledSceneObject(scalpelBlade15);
+ // blade10InHand = false;
+
+ // scalpelBlade10->getVisualGeometry()->setTranslation(t);
+ // scalpelBlade10->getVisualGeometry()->setRotation(r);
+ // }
+ // }
+ // else
+ // {
+ // // Swap to blade 10 only if it's close in space
+ // Vec3d min, max;
+ // scalpelBlade10->getVisualGeometry()->computeBoundingBox(min, max);
+ // const Vec3d posBlade = (min + max) * 0.5;
+ // const double dist = (posControl - posBlade).norm();
+ // LOG(INFO) << "Dist: " << dist;
+ // if (dist < 2.0)
+ // {
+ // const Vec3d t = scalpelBlade10->getVisualGeometry()->getTranslation();
+ // const Mat3d r = scalpelBlade10->getVisualGeometry()->getRotation();
+
+ // controller2->setControlledSceneObject(scalpelBlade10);
+ // blade10InHand = true;
+
+ // // Swap transforms of the blades
+ // scalpelBlade15->getVisualGeometry()->setTranslation(t);
+ // scalpelBlade15->getVisualGeometry()->setRotation(r);
+ // }
+ // }
+ // }
+ //});
+
+ //driver->start();
}
return 0;