#!/bin/env python # file openvr_gl_renderer.py from OpenGL.GL import * # @UnusedWildImport # this comment squelches an IDE warning import numpy import openvr """ Renders OpenGL scenes to virtual reality headsets using OpenVR API """ # TODO: matrixForOpenVrMatrix() is not general, it is specific the perspective and # modelview matrices used in this example def matrixForOpenVrMatrix(mat): if len(mat.m) == 4: # HmdMatrix44_t? result = numpy.matrix( ((mat.m[0][0], mat.m[1][0], mat.m[2][0], mat.m[3][0]), (mat.m[0][1], mat.m[1][1], mat.m[2][1], mat.m[3][1]), (mat.m[0][2], mat.m[1][2], mat.m[2][2], mat.m[3][2]), (mat.m[0][3], mat.m[1][3], mat.m[2][3], mat.m[3][3]),) , numpy.float32) elif len(mat.m) == 3: # HmdMatrix34_t? result = numpy.matrix( ((mat.m[0][0], mat.m[1][0], mat.m[2][0], 0.0), (mat.m[0][1], mat.m[1][1], mat.m[2][1], 0.0), (mat.m[0][2], mat.m[1][2], mat.m[2][2], 0.0), (mat.m[0][3], mat.m[1][3], mat.m[2][3], 1.0),) , numpy.float32) return result class OpenVrFramebuffer(object): "Framebuffer for rendering one eye" def __init__(self, width, height, multisample = 0): self.fb = 0 self.depth_buffer = 0 self.texture_id = 0 self.width = width self.height = height self.compositor = None self.multisample = multisample def init_gl(self): # Set up framebuffer and render textures self.fb = glGenFramebuffers(1) glBindFramebuffer(GL_FRAMEBUFFER, self.fb) self.depth_buffer = glGenRenderbuffers(1) glBindRenderbuffer(GL_RENDERBUFFER, self.depth_buffer) if self.multisample > 0: glRenderbufferStorageMultisample(GL_RENDERBUFFER, self.multisample, GL_DEPTH24_STENCIL8, self.width, self.height) else: glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, self.width, self.height) glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT, GL_RENDERBUFFER, self.depth_buffer) self.texture_id = int(glGenTextures(1)) if self.multisample > 0: glBindTexture(GL_TEXTURE_2D_MULTISAMPLE, self.texture_id) glTexImage2DMultisample(GL_TEXTURE_2D_MULTISAMPLE, self.multisample, GL_RGBA8, self.width, self.height, True) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D_MULTISAMPLE, self.texture_id, 0) else: glBindTexture(GL_TEXTURE_2D, self.texture_id) glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, self.width, self.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, None) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAX_LEVEL, 0) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, self.texture_id, 0) status = glCheckFramebufferStatus(GL_FRAMEBUFFER) if status != GL_FRAMEBUFFER_COMPLETE: glBindFramebuffer(GL_FRAMEBUFFER, 0) raise Exception("Incomplete framebuffer") # Resolver framebuffer in case of multisample antialiasing if self.multisample > 0: self.resolve_fb = glGenFramebuffers(1) glBindFramebuffer(GL_FRAMEBUFFER, self.resolve_fb) self.resolve_texture_id = int(glGenTextures(1)) glBindTexture(GL_TEXTURE_2D, self.resolve_texture_id) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE) glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAX_LEVEL, 0) glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, self.width, self.height, 0, GL_RGBA, GL_UNSIGNED_BYTE, None) glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, self.resolve_texture_id, 0) status = glCheckFramebufferStatus(GL_FRAMEBUFFER) if status != GL_FRAMEBUFFER_COMPLETE: glBindFramebuffer(GL_FRAMEBUFFER, 0) raise Exception("Incomplete framebuffer") glBindFramebuffer(GL_FRAMEBUFFER, 0) # OpenVR texture data self.texture = openvr.Texture_t() if self.multisample > 0: self.texture.handle = self.resolve_texture_id else: self.texture.handle = self.texture_id self.texture.eType = openvr.TextureType_OpenGL self.texture.eColorSpace = openvr.ColorSpace_Gamma def submit(self, eye): if self.multisample > 0: glBindFramebuffer(GL_READ_FRAMEBUFFER, self.fb) glBindFramebuffer(GL_DRAW_FRAMEBUFFER, self.resolve_fb) glBlitFramebuffer(0, 0, self.width, self.height, 0, 0, self.width, self.height, GL_COLOR_BUFFER_BIT, GL_LINEAR) glBindFramebuffer(GL_READ_FRAMEBUFFER, 0) glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0) openvr.VRCompositor().submit(eye, self.texture) def dispose_gl(self): glDeleteTextures([self.texture_id]) glDeleteRenderbuffers(1, [self.depth_buffer]) glDeleteFramebuffers(1, [self.fb]) self.fb = 0 if self.multisample > 0: glDeleteTextures([self.resolve_texture_id]) glDeleteFramebuffers(1, [self.resolve_fb]) class OpenVrGlRenderer(list): "Renders to virtual reality headset using OpenVR and OpenGL APIs" def __init__(self, actor=None, window_size=(800,600), multisample=0): self.vr_system = None self.left_fb = None self.right_fb = None self.window_size = window_size poses_t = openvr.TrackedDevicePose_t * openvr.k_unMaxTrackedDeviceCount self.poses = poses_t() if actor is not None: try: len(actor) self.extend(actor) except TypeError: self.append(actor) self.do_mirror = False self.multisample = multisample self.compositor = None def init_gl(self): "allocate OpenGL resources" self.vr_system = openvr.init(openvr.VRApplication_Scene) w, h = self.vr_system.getRecommendedRenderTargetSize() self.left_fb = OpenVrFramebuffer(w, h, multisample=self.multisample) self.right_fb = OpenVrFramebuffer(w, h, multisample=self.multisample) self.compositor = openvr.VRCompositor() if self.compositor is None: raise Exception("Unable to create compositor") self.left_fb.init_gl() self.right_fb.init_gl() # Compute projection matrix zNear = 0.2 zFar = 500.0 self.projection_left = numpy.asarray(matrixForOpenVrMatrix(self.vr_system.getProjectionMatrix( openvr.Eye_Left, zNear, zFar))) self.projection_right = numpy.asarray(matrixForOpenVrMatrix(self.vr_system.getProjectionMatrix( openvr.Eye_Right, zNear, zFar))) self.view_left = matrixForOpenVrMatrix( self.vr_system.getEyeToHeadTransform(openvr.Eye_Left)).I # head_X_eye in Kane notation self.view_right = matrixForOpenVrMatrix( self.vr_system.getEyeToHeadTransform(openvr.Eye_Right)).I # head_X_eye in Kane notation for actor in self: actor.init_gl() def render_scene(self): if self.compositor is None: return self.compositor.waitGetPoses(self.poses, None) hmd_pose0 = self.poses[openvr.k_unTrackedDeviceIndex_Hmd] if not hmd_pose0.bPoseIsValid: return hmd_pose1 = hmd_pose0.mDeviceToAbsoluteTracking # head_X_room in Kane notation hmd_pose = matrixForOpenVrMatrix(hmd_pose1).I # room_X_head in Kane notation # Use the pose to compute things modelview = hmd_pose mvl = modelview * self.view_left # room_X_eye(left) in Kane notation mvr = modelview * self.view_right # room_X_eye(right) in Kane notation # Repack the resulting matrices to have default stride, to avoid # problems with weird strides and OpenGL mvl = numpy.asarray(numpy.matrix(mvl, dtype=numpy.float32)) mvr = numpy.asarray(numpy.matrix(mvr, dtype=numpy.float32)) # 1) On-screen render: if self.do_mirror: glViewport(0, 0, self.window_size[0], self.window_size[1]) # Display left eye view to screen self.display_gl(mvl, self.projection_left) # 2) VR render # Left eye view glBindFramebuffer(GL_FRAMEBUFFER, self.left_fb.fb) glViewport(0, 0, self.left_fb.width, self.left_fb.height) self.display_gl(mvl, self.projection_left) self.left_fb.submit(openvr.Eye_Left) # self.compositor.submit(openvr.Eye_Left, self.left_fb.texture) # Right eye view glBindFramebuffer(GL_FRAMEBUFFER, self.right_fb.fb) self.display_gl(mvr, self.projection_right) self.right_fb.submit(openvr.Eye_Right) # self.compositor.submit(openvr.Eye_Right, self.right_fb.texture) glBindFramebuffer(GL_FRAMEBUFFER, 0) def display_gl(self, modelview, projection): glClearColor(0.5, 0.5, 0.5, 0.0) # gray background glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) for actor in self: actor.display_gl(modelview, projection) def dispose_gl(self): for actor in self: actor.dispose_gl() if self.vr_system is not None: openvr.shutdown() self.vr_system = None if self.left_fb is not None: self.left_fb.dispose_gl() self.right_fb.dispose_gl()