update with VRPN integration

Cargo.toml

@@ -10,7 +10,7 @@ edition = "2021"
 bevy = { version = "0.9.1", features = ["dynamic"] }
 rand = "0.8.4" 
 # vrpn = "0.1.0" # not compatible with 2021
-
+vrpn = { git = "https://github.com/seichter/vrpn-rs" }
 
 [profile.release]
 opt-level = 3

src/main.rs

@@ -8,10 +8,11 @@
 use crate::scene::*;
 use crate::utils::*;
 use crate::viewer::*;
-
+use crate::tracker::*;
 
 use bevy::{prelude::*, window::PresentMode, render::camera::CameraProjectionPlugin};
 use offaxis::{offaxis_camera_setup, OffAxisProjection};
+use tracker::setup_tracker;
 
 mod offaxis;
 mod scene;
@@ -19,6 +20,7 @@ mod screeninfo;
 mod utils;
 mod viewer;
 mod projection;
+mod tracker;
 
 fn main() {
     App::new()
@@ -33,6 +35,11 @@ fn main() {
             },
             ..default()
         }))
+        // use hot reloading
+        // .add_plugins(DefaultPlugins.set(AssetPlugin {
+        //     watch_for_changes: true,
+        //     ..Default::default()
+        // }))
         // .add_plugin(scene::BuildScenePlugin)
         .add_system(bevy::window::close_on_esc)
         .add_system(cycle_msaa)
@@ -40,6 +47,9 @@ fn main() {
         // .add_system(modify_projection)
 
         .add_startup_system(offaxis_camera_setup)
+        .add_startup_system(setup_tracker)
+        .add_system(update_tracker)
+        
         .add_plugin(CameraProjectionPlugin::<OffAxisProjection>::default())
         .add_system(simulate_viewer)
         .add_system(apply_viewer_to_projections)

src/scene.rs

@@ -1,74 +1,4 @@
-use bevy::{prelude::*, math::bool, render::primitives::Frustum};
+use bevy::prelude::*;
-use rand::prelude::*;
-use bevy::render::primitives::Plane;
-
-// pub struct BuildScenePlugin;
-
-// impl Plugin for BuildScenePlugin {
-//     fn build(&self, app: &mut App) {
-//         app.add_startup_system(build_scene) // actual scene
-//             .add_system(print_positions); // debugging
-//     }
-// }
-
-#[derive(Component)]
-pub struct ProjectionScreen {
-    bottom_left: Vec3,
-    bottom_right: Vec3,
-    top_left: Vec3,
-    top_right: Vec3,
-
-    dir_right: Vec3,
-    dir_up: Vec3,
-    dir_normal: Vec3,
-
-    matrix: Mat4
-
-}
-
-
-
-fn generalized_projection_stereo(eyePos : Vec3)
-{
-
-}
-
-fn generalized_projection (
-    projectionScreen: ProjectionScreen,
-    eyePos: Vec3,
-    mut camera: Camera3dBundle,
-    clampNearPlane: bool,
-)
-{
-    let pa = projectionScreen.bottom_left;
-    let pb = projectionScreen.bottom_right;
-    let pc = projectionScreen.top_left;
-    let pd = projectionScreen.top_right;
-
-    let vu = projectionScreen.dir_up;
-    let vr = projectionScreen.dir_right;
-    let vn = projectionScreen.dir_normal;
-
-    // let m = projectionScreen.matrix;
-
-    //let m = Mat4::from_cols(vu., y_axis, z_axis, w_axis)
-
-    let va = pa - eyePos;
-    let vb = pb - eyePos;
-    let vc = pc - eyePos;
-    let vd = pd - eyePos;
-
-    let viewDir = eyePos + va + vb + vc + vd;
-
-    let d = -va.dot(vn);
-
-
-    if clampNearPlane {
-        _ = 33;
-        // camera.frustum.planes[4]. // should be near
-    }
-
-}
 
 pub fn build_scene(
     mut commands: Commands,
@@ -98,5 +28,4 @@ pub fn build_scene(
         transform: Transform::from_xyz(4.0, 1.0, -4.0),
         ..default()
     });
-
 }

src/tracker.rs

@@ -0,0 +1,65 @@
+use bevy::prelude::*;
+
+extern crate vrpn;
+// extern crate tokio;
+
+use std::sync::Arc;
+
+use vrpn::{
+    async_io::{ping, ConnectionIp, ConnectionIpStream},
+    handler::{HandlerCode, TypedHandler},
+    ping::Server,
+    prelude::*,
+    tracker::PoseReport,
+    Message, Result, ServerInfo, StaticSenderName,
+};
+
+#[derive(Component)]
+pub struct Tracker {
+    stream: ConnectionIpStream,
+    connection: Arc<ConnectionIp>
+}
+
+impl Tracker {
+    pub fn from_info(server_ip: &str, port: u16) -> Self {
+        let server = format!("tcp://{}:{}", server_ip, port)
+            .parse::<ServerInfo>()
+            .unwrap();
+
+        let connection = ConnectionIp::new_client(server, None, None).expect("msg");
+
+        let sender = connection
+            .register_sender(StaticSenderName(b"Tracker0"))
+            .expect("should be able to register sender");
+
+        let ping_client = ping::Client::new(sender, Arc::clone(&connection))
+            .expect("should be able to create ping client");
+
+        Self {
+            stream: ConnectionIpStream::new(Arc::clone(&connection)),
+            connection
+        }
+    }
+
+    fn handle_typed(&mut self, msg: &Message<PoseReport>) -> Result<HandlerCode> {
+        info!("{:?}\n   {:?}", msg.header, msg.body);
+        Ok(HandlerCode::ContinueProcessing)
+    }
+}
+
+pub fn setup_tracker(mut commands: Commands)
+{
+    commands.spawn(Tracker::from_info("127.0.0.1",3883));
+
+}
+
+pub fn update_tracker(mut query:Query<&mut Tracker>)
+{
+    for mut tracker in query.iter_mut() {
+
+        // tracker.connection.poll_endpoints();
+        // tracker
+    }
+}
+
+

src/viewer.rs

@@ -50,6 +50,8 @@ pub fn apply_viewer_to_projections(mut query: Query<(&Viewer,&ScreenInfo,&mut Of
 
         *transform = Transform::from_matrix(view.inverse());
 
+        // *transform = Transform::from_translation(eye).looking_at(Vec3::ZERO, Vec3::Y);
+
     });
 }
 
@@ -62,12 +64,12 @@ pub fn simulate_viewer(mut query: Query<&mut Viewer>,time: Res<Time>) {
 
         let radius = 1.0;
 
-        let z_distance = 2.0_f32;
+        let z_distance = 3.0_f32;
 
         v.position = Vec3::new(
             v.alpha.sin() * radius,
             v.alpha.cos() * radius,
-            z_distance,
+            z_distance + v.alpha.sin(),
         );
 
         info!("Viewer {:?}",v.position);