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make proper setup for VRPN with buttons and trackers

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This commit is contained in:
Hartmut Seichter 2025-07-07 22:43:04 +02:00
parent ea953e92a6
commit 3f823111d1
10 changed files with 115 additions and 39 deletions
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11
addons/vrpn/docs/Examples.md Normal file
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@ -0,0 +1,11 @@
---
---
```sh
[you@yourpc uvrpn]$ vrpn_server -f addons/vrpn/tests/vrpn.test.cfg
Reading from config file addons/vrpn/tests/vrpn.test.cfg
Opening vrpn_Tracker_Spin: Tracker0 with 1 sensors, rate 200.000000
Opening vrpn_Tracker_Spin: Tracker1 with 1 sensors, rate 200.000000
Opening vrpn_Tracker_Spin: Tracker2 with 1 sensors, rate 200.000000
Opening vrpn_Button_Example: Button0 with 2 sensors, toggle rate 2.000000
```

11
addons/vrpn/examples/optitrack.tscn
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@ -1,7 +1,7 @@
[gd_scene load_steps=5 format=3 uid="uid://en7tpf1d6yak"]
[ext_resource type="Script" uid="uid://dmq3i7qmo1qe0" path="res://addons/vrpn/scripts/VRPN.gd" id="1_jrm7s"]
[ext_resource type="Script" uid="uid://dpj1wrvfsiq4v" path="res://addons/vrpn/scripts/VRPN_Receiver.gd" id="2_fp2uy"]
[ext_resource type="Script" uid="uid://dpj1wrvfsiq4v" path="res://addons/vrpn/scripts/VRPN_Tracker.gd" id="2_fp2uy"]
[ext_resource type="PackedScene" uid="uid://b426fy7d6jw2d" path="res://addons/vrpn/assets/axis.blend" id="3_73ywu"]
[sub_resource type="PlaneMesh" id="PlaneMesh_24d08"]
@ -19,20 +19,21 @@ shadow_enabled = true
[node name="Root" type="Node3D" parent="."]
[node name="VRPN" type="Node3D" parent="Root" node_paths=PackedStringArray("tracker_receivers")]
[node name="VRPN" type="Node3D" parent="Root"]
script = ExtResource("1_jrm7s")
tracker_receivers = [NodePath("RB1"), NodePath("RB2")]
vrpn_server = "212.201.64.122"
[node name="RB1" type="Node3D" parent="Root/VRPN"]
[node name="RB1" type="Node3D" parent="Root/VRPN" node_paths=PackedStringArray("vrpn")]
script = ExtResource("2_fp2uy")
vrpn = NodePath("..")
tracker_name = "RB1"
[node name="axis" parent="Root/VRPN/RB1" instance=ExtResource("3_73ywu")]
transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0)
[node name="RB2" type="Node3D" parent="Root/VRPN"]
[node name="RB2" type="Node3D" parent="Root/VRPN" node_paths=PackedStringArray("vrpn")]
script = ExtResource("2_fp2uy")
vrpn = NodePath("..")
tracker_name = "RB2"
[node name="axis" parent="Root/VRPN/RB2" instance=ExtResource("3_73ywu")]

21
addons/vrpn/examples/spin_tracker.tscn
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@ -1,8 +1,9 @@
[gd_scene load_steps=5 format=3 uid="uid://bj5ykdjle10tt"]
[gd_scene load_steps=6 format=3 uid="uid://bj5ykdjle10tt"]
[ext_resource type="Script" uid="uid://dmq3i7qmo1qe0" path="res://addons/vrpn/scripts/VRPN.gd" id="2_24d08"]
[ext_resource type="Script" uid="uid://dpj1wrvfsiq4v" path="res://addons/vrpn/scripts/VRPN_Receiver.gd" id="2_170dk"]
[ext_resource type="Script" uid="uid://dpj1wrvfsiq4v" path="res://addons/vrpn/scripts/VRPN_Tracker.gd" id="2_170dk"]
[ext_resource type="PackedScene" uid="uid://b426fy7d6jw2d" path="res://addons/vrpn/assets/axis.blend" id="3_170dk"]
[ext_resource type="Script" uid="uid://bmlyip5xa5df4" path="res://addons/vrpn/scripts/VRPN_Button.gd" id="4_j4l28"]
[sub_resource type="PlaneMesh" id="PlaneMesh_24d08"]
size = Vector2(6, 2)
@ -18,9 +19,8 @@ shadow_enabled = true
[node name="Root" type="Node3D" parent="."]
[node name="VRPN" type="Node3D" parent="Root" node_paths=PackedStringArray("tracker_receivers")]
[node name="VRPN" type="Node3D" parent="Root"]
script = ExtResource("2_24d08")
tracker_receivers = [NodePath("../SpinTracker/Offset0/Tracker0"), NodePath("../SpinTracker/Tracker1"), NodePath("../SpinTracker/Offset2/Tracker2")]
[node name="Floor" type="MeshInstance3D" parent="Root"]
mesh = SubResource("PlaneMesh_24d08")
@ -28,8 +28,9 @@ mesh = SubResource("PlaneMesh_24d08")
[node name="SpinTracker" type="Node3D" parent="Root"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.764802, 0)
[node name="Tracker1" type="Node3D" parent="Root/SpinTracker"]
[node name="Tracker1" type="Node3D" parent="Root/SpinTracker" node_paths=PackedStringArray("vrpn")]
script = ExtResource("2_170dk")
vrpn = NodePath("../../VRPN")
tracker_name = "Tracker1"
tracker_use_position = false
@ -43,8 +44,9 @@ text = "Y-Axis"
[node name="Offset2" type="Node3D" parent="Root/SpinTracker"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 2, 0, 0)
[node name="Tracker2" type="Node3D" parent="Root/SpinTracker/Offset2"]
[node name="Tracker2" type="Node3D" parent="Root/SpinTracker/Offset2" node_paths=PackedStringArray("vrpn")]
script = ExtResource("2_170dk")
vrpn = NodePath("../../../VRPN")
tracker_name = "Tracker2"
tracker_use_position = false
@ -58,8 +60,9 @@ text = "Z-Axis"
[node name="Offset0" type="Node3D" parent="Root/SpinTracker"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -2, 0, 0)
[node name="Tracker0" type="Node3D" parent="Root/SpinTracker/Offset0"]
[node name="Tracker0" type="Node3D" parent="Root/SpinTracker/Offset0" node_paths=PackedStringArray("vrpn")]
script = ExtResource("2_170dk")
vrpn = NodePath("../../../VRPN")
tracker_use_position = false
[node name="axis" parent="Root/SpinTracker/Offset0/Tracker0" instance=ExtResource("3_170dk")]
@ -68,3 +71,7 @@ transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0)
[node name="Label3D" type="Label3D" parent="Root/SpinTracker/Offset0/Tracker0"]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.769847, 0)
text = "X-Axis"
[node name="Button0" type="Node3D" parent="Root/SpinTracker" node_paths=PackedStringArray("vrpn")]
script = ExtResource("4_j4l28")
vrpn = NodePath("../../VRPN")

35
addons/vrpn/scripts/VRPN.gd
View file

@ -3,6 +3,7 @@ extends Node
# tracking associated data
enum TrackingDataType { POS_QUAT, VELOCITY, ACCELERATION }
enum ButtonDataType { BUTTON_STATE, BUTTON_CHANGE }
# magic cookie
const magic_cookie_start : String = "vrpn: ver."
@ -21,7 +22,8 @@ signal error(msg:String)
@export var vrpn_server : String = "127.0.0.1"
@export var vrpn_port : int = 3883
@export var tracker_receivers : Array[VRPN_Receiver] = []
var tracker : Array[VRPN_Tracker] = []
var buttons : Array[VRPN_Button] = []
@onready var _stream: StreamPeerTCP = StreamPeerTCP.new()
@ -174,8 +176,8 @@ static func marshall_body(data : PackedByteArray,message_type : int, sender_id:
# VRPN quat layout and Godot Quaternion c'tor identical with x,y,z,w
var quat = Quaternion(body.get_double(),body.get_double(),body.get_double(),body.get_double()).normalized()
# submit to listener
for r in session.tracker_receivers:
r._on_tracker({
for r in session.tracker:
r._on_vrpn({
"type" : TrackingDataType.POS_QUAT,
"tracker" : session.sensors[sender_id],
"sensor" : sensor_id,
@ -191,8 +193,8 @@ static func marshall_body(data : PackedByteArray,message_type : int, sender_id:
# VRPN quat layout and Godot Quaternion c'tor identical with x,y,z,w
var vel_rot = Quaternion(body.get_double(),body.get_double(),body.get_double(),body.get_double()).normalized()
# submit to listener
for r in session.tracker_receivers:
r._on_tracker({
for r in session.tracker:
r._on_vrpn({
"type" : TrackingDataType.VELOCITY,
"tracker" : session.sensors[sender_id],
"sensor" : sensor_id,
@ -210,8 +212,8 @@ static func marshall_body(data : PackedByteArray,message_type : int, sender_id:
var acc_dt = body.get_double() # padding
# submit to listener
for r in session.tracker_receivers:
r._on_tracker({
for r in session.tracker:
r._on_vrpn({
"type" : TrackingDataType.ACCELERATION,
"tracker" : session.sensors[sender_id],
"sensor" : sensor_id,
@ -219,6 +221,25 @@ static func marshall_body(data : PackedByteArray,message_type : int, sender_id:
"acceleration_rotation" : acc_rot,
"acceleration_dt" : acc_dt
})
'vrpn_Button Change':
var num_buttons : int = body.get_32()
var button_changes : Dictionary = {}
for i in range(num_buttons):
button_changes[i] = body.get_32()
for button in session.buttons:
button._on_vrpn(
{
"type" : ButtonDataType.BUTTON_CHANGE,
"sensor" : session.sensors[sender_id],
"changes" : button_changes
}
)
'vrpn_Button States':
var num_buttons : int = body.get_32()
for i in range(num_buttons):
var button_state = body.get_32()
#print("button state {0} : {1}".format([i,button_state]))
_:
pass

18
addons/vrpn/scripts/VRPN_Button.gd Normal file
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@ -0,0 +1,18 @@
class_name VRPN_Button
extends Node
@export var vrpn : VRPN = null
@export var button_sensor : String = "Button0"
@export var register_on_start : bool = true
var state : int = 0
func _ready():
if not vrpn:
push_warning("No VRPN client for button on '%s' given." % [self.name])
elif register_on_start:
vrpn.buttons.append(self)
func _on_vrpn(vrpn_data : Dictionary) -> void:
if vrpn_data['sensor'] == button_sensor:
pass

1
addons/vrpn/scripts/VRPN_Button.gd.uid Normal file
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@ -0,0 +1 @@
uid://bmlyip5xa5df4

20
addons/vrpn/scripts/VRPN_Receiver.gd
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@ -1,20 +0,0 @@
extends Node3D
class_name VRPN_Receiver
@export var tracker_name : String = "Tracker0"
@export var tracker_sensor : int = 0
@export var tracker_use_position : bool = true
@export var tracker_use_rotation : bool = true
func _on_tracker(tracker_data : Dictionary):
match tracker_data['type'] as VRPN.TrackingDataType:
VRPN.TrackingDataType.POS_QUAT:
if tracker_data['tracker'] == tracker_name and tracker_data['sensor'] == tracker_sensor:
if tracker_use_position:
self.global_position = tracker_data['position']
if tracker_use_rotation:
var rotation := tracker_data['rotation'] as Quaternion
self.global_basis = Basis(rotation)
_:
push_warning("unknown tracker datatype")

33
addons/vrpn/scripts/VRPN_Tracker.gd Normal file
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@ -0,0 +1,33 @@
class_name VRPN_Tracker
extends Node3D
@export var vrpn : VRPN = null
@export var tracker_name : String = "Tracker0"
@export var tracker_sensor : int = 0
@export var tracker_use_position : bool = true
@export var tracker_use_rotation : bool = true
@export var register_on_start : bool = true
func _ready() -> void:
if vrpn and register_on_start:
vrpn.tracker.append(self)
func _on_vrpn(vrpn_data : Dictionary):
match vrpn_data['type'] as VRPN.TrackingDataType:
VRPN.TrackingDataType.POS_QUAT:
if vrpn_data['tracker'] == tracker_name and vrpn_data['sensor'] == tracker_sensor:
if tracker_use_position:
self.global_position = vrpn_data['position']
if tracker_use_rotation:
var rotation := vrpn_data['rotation'] as Quaternion
self.global_basis = Basis(rotation)
VRPN.TrackingDataType.ACCELERATION:
pass
VRPN.TrackingDataType.VELOCITY:
pass
_:
push_warning("unknown tracker datatype")
func _on_vrpn_connected(s):
pass # Replace with function body.

0
addons/vrpn/scripts/VRPN_Receiver.gd.uid → addons/vrpn/scripts/VRPN_Tracker.gd.uid
View file

4
project.godot
View file

@ -14,3 +14,7 @@ config/name="uvrpn"
run/main_scene="uid://bj5ykdjle10tt"
config/features=PackedStringArray("4.4", "Forward Plus")
config/icon="uid://cdprcmtx102rp"
[rendering]
anti_aliasing/quality/screen_space_aa=1