[occt.git] / src / Aspect / Aspect_OpenVRSession.cxx

// Copyright (c) 2020 OPEN CASCADE SAS
//
// This file is part of Open CASCADE Technology software library.
//
// This library is free software; you can redistribute it and/or modify it under
// the terms of the GNU Lesser General Public License version 2.1 as published
// by the Free Software Foundation, with special exception defined in the file
// OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
// distribution for complete text of the license and disclaimer of any warranty.
//
// Alternatively, this file may be used under the terms of Open CASCADE
// commercial license or contractual agreement.

#include <Aspect_OpenVRSession.hxx>

#include <Graphic3d_ArrayOfTriangles.hxx>
#include <Image_PixMap.hxx>
#include <Image_Texture.hxx>
#include <Message.hxx>
#include <Message_Messenger.hxx>
#include <NCollection_LocalArray.hxx>
#include <OSD.hxx>
#include <OSD_Environment.hxx>
#include <OSD_File.hxx>
#include <OSD_Process.hxx>

#ifdef HAVE_OPENVR
  #include <openvr.h>

namespace
{
  //! Print OpenVR compositor error.
  static const char* getVRCompositorError (vr::EVRCompositorError theVRError)
  {
    switch (theVRError)
    {
      case vr::VRCompositorError_None:                         return "None";
      case vr::VRCompositorError_RequestFailed:                return "Request Failed";
      case vr::VRCompositorError_IncompatibleVersion:          return "Incompatible Version";
      case vr::VRCompositorError_DoNotHaveFocus:               return "Do not have focus";
      case vr::VRCompositorError_InvalidTexture:               return "Invalid Texture";
      case vr::VRCompositorError_IsNotSceneApplication:        return "Is not scene application";
      case vr::VRCompositorError_TextureIsOnWrongDevice:       return "Texture is on wrong device";
      case vr::VRCompositorError_TextureUsesUnsupportedFormat: return "Texture uses unsupported format";
      case vr::VRCompositorError_SharedTexturesNotSupported:   return "Shared textures not supported";
      case vr::VRCompositorError_IndexOutOfRange:              return "Index out of range";
      case vr::VRCompositorError_AlreadySubmitted:             return "Already submitted";
      case vr::VRCompositorError_InvalidBounds:                return "Invalid Bounds";
      case vr::VRCompositorError_AlreadySet:                   return "Already set";
    }
    return "UNKNOWN";
  }

  //! Print OpenVR input error.
  static const char* getVRInputError (vr::EVRInputError theVRError)
  {
    switch (theVRError)
    {
      case vr::VRInputError_None:                     return "None";
      case vr::VRInputError_NameNotFound:             return "NameNotFound";
      case vr::VRInputError_WrongType:                return "WrongType";
      case vr::VRInputError_InvalidHandle:            return "InvalidHandle";
      case vr::VRInputError_InvalidParam:             return "InvalidParam";
      case vr::VRInputError_NoSteam:                  return "NoSteam:";
      case vr::VRInputError_MaxCapacityReached:       return "MaxCapacityReached";
      case vr::VRInputError_IPCError:                 return "IPCError";
      case vr::VRInputError_NoActiveActionSet:        return "NoActiveActionSet";
      case vr::VRInputError_InvalidDevice:            return "InvalidDevice";
      case vr::VRInputError_InvalidSkeleton:          return "InvalidSkeleton";
      case vr::VRInputError_InvalidBoneCount:         return "InvalidBoneCount";
      case vr::VRInputError_InvalidCompressedData:    return "InvalidCompressedData";
      case vr::VRInputError_NoData:                   return "NoData";
      case vr::VRInputError_BufferTooSmall:           return "BufferTooSmall";
      case vr::VRInputError_MismatchedActionManifest: return "MismatchedActionManifest";
      case vr::VRInputError_MissingSkeletonData:      return "MissingSkeletonData";
      case vr::VRInputError_InvalidBoneIndex:         return "InvalidBoneIndex";
      case vr::VRInputError_InvalidPriority:          return "InvalidPriority";
      case vr::VRInputError_PermissionDenied:         return "PermissionDenied";
      case vr::VRInputError_InvalidRenderModel:       return "InvalidRenderModel";
    }
    return "UNKNOWN";
  }

  //! Convert OpenVR mat4x4 into OCCT mat4x4.
  static NCollection_Mat4<double> mat44vr2Occ (const vr::HmdMatrix44_t& theMat4)
  {
    NCollection_Mat4<double> aMat4;
    for (int aRow = 0; aRow < 4; ++aRow)
    {
      aMat4.SetRow (aRow, NCollection_Vec4<double> (theMat4.m[aRow][0], theMat4.m[aRow][1], theMat4.m[aRow][2], theMat4.m[aRow][3]));
    }
    return aMat4;
  }

  //! Convert OpenVR mat3x4 into OCCT gp_Trsf.
  static gp_Trsf mat34vr2OccTrsf (const vr::HmdMatrix34_t& theMat4)
  {
    gp_Trsf aTrsf;
    aTrsf.SetValues (theMat4.m[0][0], theMat4.m[0][1], theMat4.m[0][2], theMat4.m[0][3],
                     theMat4.m[1][0], theMat4.m[1][1], theMat4.m[1][2], theMat4.m[1][3],
                     theMat4.m[2][0], theMat4.m[2][1], theMat4.m[2][2], theMat4.m[2][3]);
    return aTrsf;
  }

  //! Convert OpenVR tracked pose.
  static Aspect_TrackedDevicePose poseVr2Occ (const vr::TrackedDevicePose_t& theVrPose,
                                              const Standard_Real theUnitFactor)
  {
    Aspect_TrackedDevicePose aPose;
    aPose.Velocity.SetCoord (theVrPose.vVelocity.v[0], theVrPose.vVelocity.v[1], theVrPose.vVelocity.v[2]);
    aPose.AngularVelocity.SetCoord (theVrPose.vAngularVelocity.v[0], theVrPose.vAngularVelocity.v[1], theVrPose.vAngularVelocity.v[2]);
    aPose.IsValidPose = theVrPose.bPoseIsValid;
    aPose.IsConnectedDevice = theVrPose.bDeviceIsConnected;
    if (aPose.IsValidPose)
    {
      aPose.Orientation = mat34vr2OccTrsf (theVrPose.mDeviceToAbsoluteTracking);
      if (theUnitFactor != 1.0)
      {
        aPose.Orientation.SetTranslationPart (aPose.Orientation.TranslationPart() * theUnitFactor);
      }
    }
    return aPose;
  }

  //! Find location of default actions manifest file (based on CSF_OCCTResourcePath or CASROOT variables).
  TCollection_AsciiString defaultActionsManifestInit()
  {
    const TCollection_AsciiString THE_ACTIONS_JSON = "occtvr_actions.json";
    const TCollection_AsciiString aResRoot (OSD_Environment ("CSF_OCCTResourcePath").Value());
    if (!aResRoot.IsEmpty())
    {
      if (OSD_File (aResRoot + "/" + THE_ACTIONS_JSON).Exists())
      {
        return aResRoot + "/" + THE_ACTIONS_JSON;
      }
      if (OSD_File (aResRoot + "/XRResources/" + THE_ACTIONS_JSON).Exists())
      {
        return aResRoot + "/XRResources/" + THE_ACTIONS_JSON;
      }
    }
    const TCollection_AsciiString aCasRoot (OSD_Environment ("CASROOT").Value());
    if (!aCasRoot.IsEmpty())
    {
      if (OSD_File (aCasRoot + "/" + THE_ACTIONS_JSON).Exists())
      {
        return aCasRoot + "/" + THE_ACTIONS_JSON;
      }
      if (OSD_File (aCasRoot + "/XRResources/" + THE_ACTIONS_JSON).Exists())
      {
        return aCasRoot + "/XRResources/" + THE_ACTIONS_JSON;
      }
      if (OSD_File (aCasRoot + "/XRResources/src/" + THE_ACTIONS_JSON).Exists())
      {
        return aCasRoot + "/XRResources/src/" + THE_ACTIONS_JSON;
      }
    }
    return OSD_Process::ExecutablePath() + "/occtvr_actions.json";
  }
}
#endif

IMPLEMENT_STANDARD_RTTIEXT(Aspect_OpenVRSession, Aspect_XRSession)

struct Aspect_OpenVRSession::VRContext
{
#ifdef HAVE_OPENVR
  vr::TrackedDevicePose_t TrackedPoses[vr::k_unMaxTrackedDeviceCount]; //!< array of tracked devices poses
  vr::IVRSystem*          System; //!< OpenVR session object

  //! Empty constructor.
  Aspect_OpenVRSession::VRContext() : System (NULL)
  {
    memset (TrackedPoses, 0, sizeof(TrackedPoses));
  }

  //! IVRSystem::PollNextEvent() wrapper.
  bool PollNextEvent (vr::VREvent_t& theEvent)
  {
    return System->PollNextEvent (&theEvent, sizeof(vr::VREvent_t));
  }

  //! IVRSystem::GetControllerState() wrapper.
  bool GetControllerState (vr::VRControllerState_t& theState,
                           vr::TrackedDeviceIndex_t theDevice)
  {
    return System->GetControllerState (theDevice, &theState, sizeof(vr::VRControllerState_t&));
  }

  //! Retrieve string property from OpenVR.
  TCollection_AsciiString getVrTrackedDeviceString (vr::TrackedDeviceIndex_t  theDevice,
                                                    vr::TrackedDeviceProperty theProperty,
                                                    vr::TrackedPropertyError* theError = NULL)
  {
    const uint32_t aBuffLen = System->GetStringTrackedDeviceProperty(theDevice, theProperty, NULL, 0, theError);
    if (aBuffLen == 0)
    {
      return TCollection_AsciiString();
    }

    NCollection_LocalArray<char> aBuffer (aBuffLen + 1);
    System->GetStringTrackedDeviceProperty (theDevice, theProperty, aBuffer, aBuffLen, theError);
    aBuffer[aBuffLen] = '\0';
    const TCollection_AsciiString aResult (aBuffer);
    return aResult;
  }
#endif
};

#ifdef HAVE_OPENVR
//! Image wrapping vr::RenderModel_TextureMap_t.
class Aspect_OpenVRSession::VRImagePixmap : public Image_PixMap
{
public:
  //! Empty constructor.
  VRImagePixmap() : myVrTexture (NULL) {}

  //! Load the texture.
  bool Load (vr::TextureID_t theTexture, const TCollection_AsciiString& theVrModelName)
  {
    vr::RenderModel_TextureMap_t* aVrTexture = NULL;
    vr::EVRRenderModelError aVrError = vr::VRRenderModelError_Loading;
    for (; aVrError == vr::VRRenderModelError_Loading;)
    {
      aVrError = vr::VRRenderModels()->LoadTexture_Async (theTexture, &aVrTexture);
      OSD::MilliSecSleep (1);
    }
    if (aVrError != vr::VRRenderModelError_None
     || aVrTexture == NULL)
    {
      Message::SendFail (TCollection_AsciiString ("OpenVR, Unable to load render model texture: ") + theVrModelName + " - " + int(aVrError));
      return false;
    }

    InitWrapper (Image_Format_RGBA, (Standard_Byte* )aVrTexture->rubTextureMapData, aVrTexture->unWidth, aVrTexture->unHeight);
    myVrTexture = aVrTexture;
    return true;
  }

  virtual ~VRImagePixmap()
  {
    if (myVrTexture != NULL)
    {
      vr::VRRenderModels()->FreeTexture (myVrTexture);
    }
  }
private:
  vr::RenderModel_TextureMap_t* myVrTexture;
};

//! Image_Texture extension using vr::VRRenderModels().
class Aspect_OpenVRSession::VRTextureSource : public Image_Texture
{
public:

  //! Main constructor.
  VRTextureSource (vr::TextureID_t theTextureId, const TCollection_AsciiString& theVrModelName)
  : Image_Texture (""), myVrTextureId (theTextureId), myVrModelName (theVrModelName)
  {
    myTextureId = TCollection_AsciiString ("texturevr://map_#") + (int )theTextureId;
  }

protected:
  //! Read image.
  virtual Handle(Image_PixMap) ReadImage (const Handle(Image_SupportedFormats)& ) const Standard_OVERRIDE
  {
    Handle(VRImagePixmap) aPixmap = new VRImagePixmap();
    if (!aPixmap->Load (myVrTextureId, myVrModelName))
    {
      return Handle(VRImagePixmap)();
    }
    return aPixmap;
  }
private:
  vr::TextureID_t         myVrTextureId;
  TCollection_AsciiString myVrModelName;
};
#endif

// =======================================================================
// function : IsHmdPresent
// purpose  :
// =======================================================================
bool Aspect_OpenVRSession::IsHmdPresent()
{
#ifdef HAVE_OPENVR
  return vr::VR_IsHmdPresent();
#else
  return false;
#endif
}

// =======================================================================
// function : defaultActionsManifest
// purpose  :
// =======================================================================
TCollection_AsciiString Aspect_OpenVRSession::defaultActionsManifest()
{
#ifdef HAVE_OPENVR
  static const TCollection_AsciiString THE_ACTIONS_JSON_FULL = defaultActionsManifestInit();
  return THE_ACTIONS_JSON_FULL;
#else
  return TCollection_AsciiString();
#endif
}

// =======================================================================
// function : Aspect_OpenVRSession
// purpose  :
// =======================================================================
Aspect_OpenVRSession::Aspect_OpenVRSession()
: myContext (new VRContext())
{
#ifdef HAVE_OPENVR
  myActionsManifest = defaultActionsManifest();
  myTrackedPoses.Resize (0, (Standard_Integer )vr::k_unMaxTrackedDeviceCount - 1, false);
  {
    Handle(Aspect_XRActionSet) aHeadActionSet = new Aspect_XRActionSet ("/actions/generic_head");
    myActionSets.Add (aHeadActionSet->Id(), aHeadActionSet);

    Handle(Aspect_XRAction) aHeadsetOn = new Aspect_XRAction (aHeadActionSet->Id() + "/in/headset_on_head", Aspect_XRActionType_InputDigital);
    aHeadActionSet->AddAction (aHeadsetOn);
    NCollection_Array1<Handle(Aspect_XRAction)>& aGenericSet = myRoleActions[Aspect_XRTrackedDeviceRole_Head];
    aGenericSet[Aspect_XRGenericAction_IsHeadsetOn] = aHeadsetOn;
  }
  for (int aHand = 0; aHand < 2; ++aHand)
  {
    NCollection_Array1<Handle(Aspect_XRAction)>& aGenericSet = myRoleActions[aHand == 0 ? Aspect_XRTrackedDeviceRole_LeftHand : Aspect_XRTrackedDeviceRole_RightHand];
    Handle(Aspect_XRActionSet) anActionSet = new Aspect_XRActionSet (aHand == 0 ? "/actions/generic_left" : "/actions/generic_right");
    myActionSets.Add (anActionSet->Id(), anActionSet);

    Handle(Aspect_XRAction) anAppMenuClick = new Aspect_XRAction (anActionSet->Id() + "/in/appmenu_click", Aspect_XRActionType_InputDigital);
    anActionSet->AddAction (anAppMenuClick);
    aGenericSet[Aspect_XRGenericAction_InputAppMenu] = anAppMenuClick;

    Handle(Aspect_XRAction) aSysMenuClick = new Aspect_XRAction (anActionSet->Id() + "/in/sysmenu_click", Aspect_XRActionType_InputDigital);
    anActionSet->AddAction (aSysMenuClick);
    aGenericSet[Aspect_XRGenericAction_InputSysMenu] = aSysMenuClick;

    Handle(Aspect_XRAction) aTriggerPull = new Aspect_XRAction (anActionSet->Id() + "/in/trigger_pull", Aspect_XRActionType_InputAnalog);
    anActionSet->AddAction (aTriggerPull);
    aGenericSet[Aspect_XRGenericAction_InputTriggerPull] = aTriggerPull;

    Handle(Aspect_XRAction) aTriggerClick = new Aspect_XRAction (anActionSet->Id() + "/in/trigger_click", Aspect_XRActionType_InputDigital);
    anActionSet->AddAction (aTriggerClick);
    aGenericSet[Aspect_XRGenericAction_InputTriggerClick] = aTriggerClick;

    Handle(Aspect_XRAction) aGripClick = new Aspect_XRAction (anActionSet->Id() + "/in/grip_click", Aspect_XRActionType_InputDigital);
    anActionSet->AddAction (aGripClick);
    aGenericSet[Aspect_XRGenericAction_InputGripClick] = aGripClick;

    Handle(Aspect_XRAction) aPadPos = new Aspect_XRAction (anActionSet->Id() + "/in/trackpad_position", Aspect_XRActionType_InputAnalog);
    anActionSet->AddAction (aPadPos);
    aGenericSet[Aspect_XRGenericAction_InputTrackPadPosition] = aPadPos;

    Handle(Aspect_XRAction) aPadTouch = new Aspect_XRAction (anActionSet->Id() + "/in/trackpad_touch", Aspect_XRActionType_InputDigital);
    anActionSet->AddAction (aPadTouch);
    aGenericSet[Aspect_XRGenericAction_InputTrackPadTouch] = aPadTouch;

    Handle(Aspect_XRAction) aPadClick = new Aspect_XRAction (anActionSet->Id() + "/in/trackpad_click", Aspect_XRActionType_InputDigital);
    anActionSet->AddAction (aPadClick);
    aGenericSet[Aspect_XRGenericAction_InputTrackPadClick] = aPadClick;

    Handle(Aspect_XRAction) aPoseBase = new Aspect_XRAction (anActionSet->Id() + "/in/pose_base", Aspect_XRActionType_InputPose);
    anActionSet->AddAction (aPoseBase);
    aGenericSet[Aspect_XRGenericAction_InputPoseBase] = aPoseBase;

    Handle(Aspect_XRAction) aPoseFront = new Aspect_XRAction (anActionSet->Id() + "/in/pose_front", Aspect_XRActionType_InputPose);
    anActionSet->AddAction (aPoseFront);
    aGenericSet[Aspect_XRGenericAction_InputPoseFront] = aPoseFront;

    Handle(Aspect_XRAction) aPoseGrip = new Aspect_XRAction (anActionSet->Id() + "/in/pose_handgrip", Aspect_XRActionType_InputPose);
    anActionSet->AddAction (aPoseGrip);
    aGenericSet[Aspect_XRGenericAction_InputPoseHandGrip] = aPoseGrip;

    Handle(Aspect_XRAction) aPoseTip = new Aspect_XRAction (anActionSet->Id() + "/in/pose_tip", Aspect_XRActionType_InputPose);
    anActionSet->AddAction (aPoseTip);
    aGenericSet[Aspect_XRGenericAction_InputPoseFingerTip] = aPoseTip;

    Handle(Aspect_XRAction) aHaptic = new Aspect_XRAction (anActionSet->Id() + "/out/haptic", Aspect_XRActionType_OutputHaptic);
    anActionSet->AddAction (aHaptic);
    aGenericSet[Aspect_XRGenericAction_OutputHaptic] = aHaptic;

    Handle(Aspect_XRAction) aThumbsctickPos = new Aspect_XRAction (anActionSet->Id() + "/in/thumbstick_position", Aspect_XRActionType_InputAnalog);
    anActionSet->AddAction (aThumbsctickPos);
    aGenericSet[Aspect_XRGenericAction_InputThumbstickPosition] = aThumbsctickPos;

    Handle(Aspect_XRAction) aThumbsctickTouch = new Aspect_XRAction (anActionSet->Id() + "/in/thumbstick_touch", Aspect_XRActionType_InputDigital);
    anActionSet->AddAction (aThumbsctickTouch);
    aGenericSet[Aspect_XRGenericAction_InputThumbstickTouch] = aThumbsctickTouch;

    Handle(Aspect_XRAction) aThumbsctickClick = new Aspect_XRAction (anActionSet->Id() + "/in/thumbstick_click", Aspect_XRActionType_InputDigital);
    anActionSet->AddAction (aThumbsctickClick);
    aGenericSet[Aspect_XRGenericAction_InputThumbstickClick] = aThumbsctickClick;
  }
#endif
}

// =======================================================================
// function : ~Aspect_OpenVRSession
// purpose  :
// =======================================================================
Aspect_OpenVRSession::~Aspect_OpenVRSession()
{
  closeVR();
  delete myContext;
}

// =======================================================================
// function : closeVR
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::closeVR()
{
#ifdef HAVE_OPENVR
  if (myContext->System != NULL)
  {
    vr::VR_Shutdown();
    myContext->System = NULL;
  }
#endif
}

// =======================================================================
// function : getVRSystem
// purpose  :
// =======================================================================
void* Aspect_OpenVRSession::getVRSystem() const
{
#ifdef HAVE_OPENVR
  return myContext->System;
#else
  return NULL;
#endif
}

// =======================================================================
// function : Close
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::Close()
{
  closeVR();
}

// =======================================================================
// function : IsOpen
// purpose  :
// =======================================================================
bool Aspect_OpenVRSession::IsOpen() const
{
#ifdef HAVE_OPENVR
  return myContext->System != NULL;
#else
  return false;
#endif
}

// =======================================================================
// function : Open
// purpose  :
// =======================================================================
bool Aspect_OpenVRSession::Open()
{
#ifdef HAVE_OPENVR
  if (myContext->System != NULL)
  {
    return true;
  }

  vr::EVRInitError aVrError = vr::VRInitError_None;
  myContext->System = vr::VR_Init (&aVrError, vr::VRApplication_Scene);
  if (aVrError != vr::VRInitError_None)
  {
    myContext->System = NULL;
    Message::SendFail (TCollection_AsciiString ("OpenVR, Unable to init VR runtime: ") + vr::VR_GetVRInitErrorAsEnglishDescription (aVrError));
    Close();
    return false;
  }

  /*vr::IVRRenderModels* aRenderModels = (vr::IVRRenderModels* )vr::VR_GetGenericInterface (vr::IVRRenderModels_Version, &aVrError);
  if (aRenderModels == NULL)
  {
    Message::SendFail (TCollection_AsciiString ("Unable to get render model interface: ") + vr::VR_GetVRInitErrorAsEnglishDescription (aVrError));;
  }*/

  NCollection_Vec2<uint32_t> aRenderSize;
  myContext->System->GetRecommendedRenderTargetSize (&aRenderSize.x(), &aRenderSize.y());
  myRendSize = NCollection_Vec2<int> (aRenderSize);
  myDispFreq = myContext->System->GetFloatTrackedDeviceProperty (vr::k_unTrackedDeviceIndex_Hmd, vr::Prop_DisplayFrequency_Float);
  if (myRendSize.x() <= 0
   || myRendSize.y() <= 0)
  {
    Close();
    return false;
  }
  updateProjectionFrustums();
  initInput();
  return true;
#else
  Message::SendFail ("Open CASCADE has been built without OpenVR support");
  return false;
#endif
}

// =======================================================================
// function : initInput
// purpose  :
// =======================================================================
bool Aspect_OpenVRSession::initInput()
{
#ifdef HAVE_OPENVR
  if (myContext->System == NULL)
  {
    return false;
  }

  if (!OSD_File (myActionsManifest).Exists())
  {
    Message::SendFail (TCollection_AsciiString ("OpenVR, Unable to open actions manifest '") + myActionsManifest  + "'");
    return false;
  }

  vr::EVRInputError aVrError = vr::VRInput()->SetActionManifestPath (myActionsManifest.ToCString());
  if (aVrError != vr::VRInputError_None)
  {
    Message::SendFail (TCollection_AsciiString ("OpenVR, Unable to load actions manifest '") + myActionsManifest
                     + "': " + getVRInputError (aVrError));
    return false;
  }

  bool hasErrors = false;
  for (Aspect_XRActionSetMap::Iterator aSetIter (myActionSets); aSetIter.More(); aSetIter.Next())
  {
    const Handle(Aspect_XRActionSet)& anActionSet = aSetIter.Value();
    for (Aspect_XRActionMap::Iterator anActionIter (anActionSet->Actions()); anActionIter.More(); anActionIter.Next())
    {
      const Handle(Aspect_XRAction)& anAction = anActionIter.Value();
      vr::VRActionHandle_t anActionHandle = 0;
      aVrError = vr::VRInput()->GetActionHandle (anAction->Id().ToCString(), &anActionHandle);
      if (aVrError == vr::VRInputError_None)
      {
        anAction->SetRawHandle (anActionHandle);
      }
      else
      {
        hasErrors = true;
        Message::SendFail (TCollection_AsciiString ("OpenVR, Unable to load action '") + anAction->Id() + "' from '" + myActionsManifest
                         + "': " + getVRInputError (aVrError));
      }
    }

    vr::VRActionSetHandle_t anActionSetHandle = 0;
    aVrError = vr::VRInput()->GetActionSetHandle (anActionSet->Id().ToCString(), &anActionSetHandle);
    if (aVrError == vr::VRInputError_None)
    {
      anActionSet->SetRawHandle (anActionSetHandle);
    }
    else
    {
      hasErrors = true;
      Message::SendFail (TCollection_AsciiString ("OpenVR, Unable to load action set '") + anActionSet->Id() + "' from '" + myActionsManifest
                       + "': " + getVRInputError (aVrError));
    }
  }
  return !hasErrors;
#else
  return false;
#endif
}

// =======================================================================
// function : GetString
// purpose  :
// =======================================================================
TCollection_AsciiString Aspect_OpenVRSession::GetString (InfoString theInfo) const
{
#ifdef HAVE_OPENVR
  if (myContext->System != NULL)
  {
    vr::ETrackedDeviceProperty aVrProp = vr::Prop_Invalid;
    switch (theInfo)
    {
      case InfoString_Vendor:       aVrProp = vr::Prop_ManufacturerName_String; break;
      case InfoString_Device:       aVrProp = vr::Prop_ModelNumber_String; break;
      case InfoString_Tracker:      aVrProp = vr::Prop_TrackingSystemName_String; break;
      case InfoString_SerialNumber: aVrProp = vr::Prop_SerialNumber_String; break;
    }
    if (aVrProp != vr::Prop_Invalid)
    {
      return myContext->getVrTrackedDeviceString (vr::k_unTrackedDeviceIndex_Hmd, aVrProp);
    }
  }
#else
  (void )theInfo;
#endif
  return TCollection_AsciiString();
}

// =======================================================================
// function : NamedTrackedDevice
// purpose  :
// =======================================================================
Standard_Integer Aspect_OpenVRSession::NamedTrackedDevice (Aspect_XRTrackedDeviceRole theDevice) const
{
#ifdef HAVE_OPENVR
  if (myContext->System != NULL)
  {
    vr::TrackedDeviceIndex_t aDevIndex = vr::k_unTrackedDeviceIndexInvalid;
    switch (theDevice)
    {
      case Aspect_XRTrackedDeviceRole_Head:      aDevIndex = vr::k_unTrackedDeviceIndex_Hmd; break;
      case Aspect_XRTrackedDeviceRole_LeftHand:  aDevIndex = myContext->System->GetTrackedDeviceIndexForControllerRole (vr::TrackedControllerRole_LeftHand);  break;
      case Aspect_XRTrackedDeviceRole_RightHand: aDevIndex = myContext->System->GetTrackedDeviceIndexForControllerRole (vr::TrackedControllerRole_RightHand); break;
      case Aspect_XRTrackedDeviceRole_Other: break;
    }
    if (aDevIndex == vr::k_unTrackedDeviceIndexInvalid)
    {
      return -1;
    }
    return (Standard_Integer )aDevIndex;
  }
#else
  (void )theDevice;
#endif
  return -1;
}

// =======================================================================
// function : loadRenderModel
// purpose  :
// =======================================================================
Handle(Graphic3d_ArrayOfTriangles) Aspect_OpenVRSession::loadRenderModel (Standard_Integer theDevice,
                                                                          Standard_Boolean theToApplyUnitFactor,
                                                                          Handle(Image_Texture)& theTexture)
{
  if (theDevice < 0)
  {
    return Handle(Graphic3d_ArrayOfTriangles)();
  }
#ifdef HAVE_OPENVR
  if (myContext->System == NULL)
  {
    return Handle(Graphic3d_ArrayOfTriangles)();
  }

  const TCollection_AsciiString aRenderModelName = myContext->getVrTrackedDeviceString (theDevice, vr::Prop_RenderModelName_String);
  if (aRenderModelName.IsEmpty())
  {
    return Handle(Graphic3d_ArrayOfTriangles)();
  }

  vr::RenderModel_t* aVrModel = NULL;
  vr::EVRRenderModelError aVrError = vr::VRRenderModelError_Loading;
  for (; aVrError == vr::VRRenderModelError_Loading;)
  {
    aVrError = vr::VRRenderModels()->LoadRenderModel_Async (aRenderModelName.ToCString(), &aVrModel);
    OSD::MilliSecSleep (1);
  }
  if (aVrError != vr::VRRenderModelError_None)
  {
    Message::SendFail (TCollection_AsciiString ("OpenVR, Unable to load render model: ") + aRenderModelName + " - " + int(aVrError));
    return Handle(Graphic3d_ArrayOfTriangles)();
  }

  if (aVrModel->diffuseTextureId >= 0)
  {
    theTexture = new VRTextureSource (aVrModel->diffuseTextureId, aRenderModelName);
  }

  const float aScale = theToApplyUnitFactor ? float(myUnitFactor) : 1.0f;
  Handle(Graphic3d_ArrayOfTriangles) aTris = new Graphic3d_ArrayOfTriangles ((int )aVrModel->unVertexCount, (int )aVrModel->unTriangleCount * 3,
                                                                             Graphic3d_ArrayFlags_VertexNormal | Graphic3d_ArrayFlags_VertexTexel);
  for (uint32_t aVertIter = 0; aVertIter < aVrModel->unVertexCount; ++aVertIter)
  {
    const vr::RenderModel_Vertex_t& aVert = aVrModel->rVertexData[aVertIter];
    aTris->AddVertex (aVert.vPosition.v[0] * aScale, aVert.vPosition.v[1] * aScale, aVert.vPosition.v[2] * aScale,
                      aVert.vNormal.v[0], aVert.vNormal.v[1], aVert.vNormal.v[2],
                      aVert.rfTextureCoord[0], aVert.rfTextureCoord[1]);
  }
  for (uint32_t aTriIter = 0; aTriIter < aVrModel->unTriangleCount; ++aTriIter)
  {
    aTris->AddEdges (aVrModel->rIndexData[aTriIter * 3 + 0] + 1,
                     aVrModel->rIndexData[aTriIter * 3 + 1] + 1,
                     aVrModel->rIndexData[aTriIter * 3 + 2] + 1);
  }

  vr::VRRenderModels()->FreeRenderModel (aVrModel);
  return aTris;
#else
  (void )theToApplyUnitFactor;
  (void )theTexture;
  return Handle(Graphic3d_ArrayOfTriangles)();
#endif
}

// =======================================================================
// function : EyeToHeadTransform
// purpose  :
// =======================================================================
NCollection_Mat4<double> Aspect_OpenVRSession::EyeToHeadTransform (Aspect_Eye theEye) const
{
#ifdef HAVE_OPENVR
  if (myContext->System != NULL)
  {
    const vr::HmdMatrix34_t aMatVr = myContext->System->GetEyeToHeadTransform (theEye == Aspect_Eye_Right ? vr::Eye_Right : vr::Eye_Left);
    gp_Trsf aTrsf = mat34vr2OccTrsf (aMatVr);
    if (myUnitFactor != 1.0)
    {
      aTrsf.SetTranslationPart (aTrsf.TranslationPart() * myUnitFactor);
    }
    NCollection_Mat4<double> aMat4;
    aTrsf.GetMat4 (aMat4);
    return aMat4;
  }
#else
  (void )theEye;
#endif
  return NCollection_Mat4<double>();
}

// =======================================================================
// function : ProjectionMatrix
// purpose  :
// =======================================================================
NCollection_Mat4<double> Aspect_OpenVRSession::ProjectionMatrix (Aspect_Eye theEye,
                                                                 double theZNear,
                                                                 double theZFar) const
{
#ifdef HAVE_OPENVR
  if (myContext->System != NULL)
  {
    const vr::HmdMatrix44_t aMat4 = myContext->System->GetProjectionMatrix (theEye == Aspect_Eye_Right ? vr::Eye_Right : vr::Eye_Left,
                                                                            (float )theZNear, (float )theZFar);
    return mat44vr2Occ (aMat4);
  }
#else
  (void )theEye;
  (void )theZNear;
  (void )theZFar;
#endif
  return NCollection_Mat4<double>();
}

// =======================================================================
// function : updateProjectionFrustums
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::updateProjectionFrustums()
{
#ifdef HAVE_OPENVR
  Aspect_FrustumLRBT<float> aFrustL, aFrustR;
  myContext->System->GetProjectionRaw (vr::Eye_Left,  &aFrustL.Left, &aFrustL.Right, &aFrustL.Top, &aFrustL.Bottom);
  myContext->System->GetProjectionRaw (vr::Eye_Right, &aFrustR.Left, &aFrustR.Right, &aFrustR.Top, &aFrustR.Bottom);
  myFrustumL = Aspect_FrustumLRBT<double> (aFrustL);
  myFrustumR = Aspect_FrustumLRBT<double> (aFrustR);
  std::swap (myFrustumL.Top, myFrustumL.Bottom);
  std::swap (myFrustumR.Top, myFrustumR.Bottom);

  const NCollection_Vec2<double> aTanHalfFov (NCollection_Vec4<float>(-aFrustL.Left, aFrustL.Right,  -aFrustR.Left, aFrustR.Right).maxComp(),
                                              NCollection_Vec4<float>(-aFrustL.Top,  aFrustL.Bottom, -aFrustR.Top,  aFrustR.Bottom).maxComp());
  myAspect = aTanHalfFov.x() / aTanHalfFov.y();
  myFieldOfView = 2.0 * ATan(aTanHalfFov.y()) * 180.0 / M_PI;

  // Intra-ocular Distance can be changed in runtime
  //const vr::HmdMatrix34_t aLeftToHead  = myContext->System->GetEyeToHeadTransform (vr::Eye_Left);
  //const vr::HmdMatrix34_t aRightToHead = myContext->System->GetEyeToHeadTransform (vr::Eye_Right);
  //myIod = aRightToHead.m[0][3] - aLeftToHead.m[0][3];
  myIod = myContext->System->GetFloatTrackedDeviceProperty (vr::k_unTrackedDeviceIndex_Hmd, vr::Prop_UserIpdMeters_Float);
  myIod *= myUnitFactor;
#endif
}

// =======================================================================
// function : SetTrackingOrigin
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::SetTrackingOrigin (TrackingUniverseOrigin theOrigin)
{
#ifdef HAVE_OPENVR
  if (myContext->System != NULL)
  {
    vr::ETrackingUniverseOrigin anOrigin = vr::TrackingUniverseStanding;
    switch (theOrigin)
    {
      case TrackingUniverseOrigin_Seated:   anOrigin = vr::TrackingUniverseSeated;   break;
      case TrackingUniverseOrigin_Standing: anOrigin = vr::TrackingUniverseStanding; break;
    }
    vr::VRCompositor()->SetTrackingSpace (anOrigin);
  }
#endif
  myTrackOrigin = theOrigin;
}

// =======================================================================
// function : WaitPoses
// purpose  :
// =======================================================================
bool Aspect_OpenVRSession::WaitPoses()
{
#ifdef HAVE_OPENVR
  if (myContext->System == NULL)
  {
    return false;
  }

  switch (vr::VRCompositor()->GetTrackingSpace())
  {
    case vr::TrackingUniverseSeated:
      myTrackOrigin = TrackingUniverseOrigin_Seated;
      break;
    case vr::TrackingUniverseRawAndUncalibrated:
    case vr::TrackingUniverseStanding:
      myTrackOrigin = TrackingUniverseOrigin_Standing;
      break;
  }

  const vr::EVRCompositorError aVRError = vr::VRCompositor()->WaitGetPoses (myContext->TrackedPoses, vr::k_unMaxTrackedDeviceCount, NULL, 0);
  if (aVRError != vr::VRCompositorError_None)
  {
    Message::SendTrace (TCollection_AsciiString ("Compositor wait poses error: ") + getVRCompositorError (aVRError));
  }

  for (Standard_Integer aPoseIter = myTrackedPoses.Lower(); aPoseIter <= myTrackedPoses.Upper(); ++aPoseIter)
  {
    const vr::TrackedDevicePose_t& aVrPose = myContext->TrackedPoses[aPoseIter];
    myTrackedPoses[aPoseIter] = poseVr2Occ (aVrPose, myUnitFactor);
  }

  if (myContext->TrackedPoses[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid)
  {
    myHeadPose = myTrackedPoses[vr::k_unTrackedDeviceIndex_Hmd].Orientation;
    updateProjectionFrustums();
  }
  return aVRError != vr::VRCompositorError_None;
#else
  return false;
#endif
}

// =======================================================================
// function : GetDigitalActionData
// purpose  :
// =======================================================================
Aspect_XRDigitalActionData Aspect_OpenVRSession::GetDigitalActionData (const Handle(Aspect_XRAction)& theAction) const
{
  if (theAction.IsNull()
   || theAction->Type() != Aspect_XRActionType_InputDigital)
  {
    throw Standard_ProgramError("Aspect_OpenVRSession::GetDigitalActionData() called for wrong action");
  }

  Aspect_XRDigitalActionData anActionData;
#ifdef HAVE_OPENVR
  if (myContext->System != NULL
   && theAction->RawHandle() != 0)
  {
    vr::InputDigitalActionData_t aNewData = {};
    vr::EVRInputError anInErr = vr::VRInput()->GetDigitalActionData (theAction->RawHandle(), &aNewData, sizeof(aNewData), vr::k_ulInvalidInputValueHandle);
    if (anInErr != vr::VRInputError_None)
    {
      Message::SendFail (TCollection_AsciiString ("Input Error on '") + theAction->Id() + "': " + getVRInputError (anInErr));
      return anActionData;
    }

    anActionData.IsActive     = aNewData.bActive;
    anActionData.IsChanged    = aNewData.bChanged;
    anActionData.IsPressed    = aNewData.bState;
    anActionData.UpdateTime   = aNewData.fUpdateTime;
    anActionData.ActiveOrigin = aNewData.activeOrigin;
  }
#endif
  return anActionData;
}

// =======================================================================
// function : GetAnalogActionData
// purpose  :
// =======================================================================
Aspect_XRAnalogActionData Aspect_OpenVRSession::GetAnalogActionData (const Handle(Aspect_XRAction)& theAction) const
{
  if (theAction.IsNull()
   || theAction->Type() != Aspect_XRActionType_InputAnalog)
  {
    throw Standard_ProgramError("Aspect_OpenVRSession::GetAnalogActionData() called for wrong action");
  }

  Aspect_XRAnalogActionData anActionData;
#ifdef HAVE_OPENVR
  if (myContext->System != NULL
   && theAction->RawHandle() != 0)
  {
    vr::InputAnalogActionData_t aNewData = {};
    vr::EVRInputError anInErr = vr::VRInput()->GetAnalogActionData (theAction->RawHandle(), &aNewData, sizeof(aNewData), vr::k_ulInvalidInputValueHandle);
    if (anInErr != vr::VRInputError_None)
    {
      Message::SendFail (TCollection_AsciiString ("Input Error on '") + theAction->Id() + "': " + getVRInputError (anInErr));
      return anActionData;
    }

    anActionData.IsActive = aNewData.bActive;
    anActionData.VecXYZ.SetValues (aNewData.x, aNewData.y, aNewData.z);
    anActionData.DeltaXYZ.SetValues (aNewData.deltaX, aNewData.deltaY, aNewData.deltaZ);
    anActionData.UpdateTime = aNewData.fUpdateTime;
    anActionData.ActiveOrigin = aNewData.activeOrigin;
  }
#endif
  return anActionData;
}

// =======================================================================
// function : GetPoseActionDataForNextFrame
// purpose  :
// =======================================================================
Aspect_XRPoseActionData Aspect_OpenVRSession::GetPoseActionDataForNextFrame (const Handle(Aspect_XRAction)& theAction) const
{
  if (theAction.IsNull()
   || theAction->Type() != Aspect_XRActionType_InputPose)
  {
    throw Standard_ProgramError("Aspect_OpenVRSession::GetPoseActionDataForNextFrame() called for wrong action");
  }

  Aspect_XRPoseActionData anActionData;
#ifdef HAVE_OPENVR
  if (myContext->System != NULL
   && theAction->RawHandle() != 0)
  {
    vr::ETrackingUniverseOrigin anOrigin = vr::TrackingUniverseSeated;
    switch (myTrackOrigin)
    {
      case TrackingUniverseOrigin_Seated:   anOrigin = vr::TrackingUniverseSeated;   break;
      case TrackingUniverseOrigin_Standing: anOrigin = vr::TrackingUniverseStanding; break;
    }
    vr::InputPoseActionData_t aNewData = {};
    vr::EVRInputError anInErr = vr::VRInput()->GetPoseActionDataForNextFrame (theAction->RawHandle(), anOrigin, &aNewData, sizeof(aNewData), vr::k_ulInvalidInputValueHandle);
    if (anInErr != vr::VRInputError_None)
    {
      Message::SendFail (TCollection_AsciiString ("Input Error on '") + theAction->Id() + "': " + getVRInputError (anInErr));
      return anActionData;
    }

    anActionData.Pose = poseVr2Occ (aNewData.pose, myUnitFactor);
    anActionData.IsActive = aNewData.bActive;
    anActionData.ActiveOrigin = aNewData.activeOrigin;
  }
#endif
  return anActionData;
}

// =======================================================================
// function : triggerHapticVibrationAction
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::triggerHapticVibrationAction (const Handle(Aspect_XRAction)& theAction,
                                                         const Aspect_XRHapticActionData& theParams)
{
  if (theAction.IsNull()
   || theAction->Type() != Aspect_XRActionType_OutputHaptic)
  {
    throw Standard_ProgramError("Aspect_OpenVRSession::triggerHapticVibrationAction() called for wrong action");
  }

#ifdef HAVE_OPENVR
  if (myContext->System != NULL
   && theAction->RawHandle() != 0)
  {
    Aspect_XRHapticActionData aParams = theParams;
    if (!theParams.IsValid())
    {
      // preset for aborting
      aParams.Duration  = 0.0f;
      aParams.Frequency = 1.0f;
      aParams.Amplitude = 0.1f;
    }
    vr::EVRInputError anInErr = vr::VRInput()->TriggerHapticVibrationAction (theAction->RawHandle(),
                                                                             aParams.Delay, aParams.Duration, aParams.Frequency, aParams.Amplitude,
                                                                             vr::k_ulInvalidInputValueHandle);
    if (anInErr != vr::VRInputError_None)
    {
      Message::SendFail (TCollection_AsciiString ("Output Error on '") + theAction->Id() + "': " + getVRInputError (anInErr));
    }
  }
#else
  (void )theParams;
#endif
}

// =======================================================================
// function : ProcessEvents
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::ProcessEvents()
{
#ifdef HAVE_OPENVR
  if (myContext->System == NULL)
  {
    return;
  }

  // process OpenVR events
  vr::VREvent_t aVREvent = {};
  for (; myContext->PollNextEvent (aVREvent);)
  {
    switch (aVREvent.eventType)
    {
      case vr::VREvent_TrackedDeviceActivated:   onTrackedDeviceActivated  ((int )aVREvent.trackedDeviceIndex); break;
      case vr::VREvent_TrackedDeviceDeactivated: onTrackedDeviceDeactivated((int )aVREvent.trackedDeviceIndex); break;
      case vr::VREvent_TrackedDeviceUpdated:     onTrackedDeviceUpdated    ((int )aVREvent.trackedDeviceIndex); break;
    }
  }

  // process OpenVR action state
  if (myActionSets.Extent() > 0)
  {
    NCollection_LocalArray<vr::VRActiveActionSet_t, 8> anActionSets (myActionSets.Extent());
    memset (anActionSets, 0, sizeof(vr::VRActiveActionSet_t) * myActionSets.Extent());
    for (Standard_Integer aSetIter = 0; aSetIter < myActionSets.Extent(); ++aSetIter)
    {
      anActionSets[aSetIter].ulActionSet = myActionSets.FindFromIndex (aSetIter + 1)->RawHandle();
    }
    vr::VRInput()->UpdateActionState (anActionSets, sizeof(vr::VRActiveActionSet_t), myActionSets.Extent());
  }

  WaitPoses();

  for (Aspect_XRActionSetMap::Iterator aSetIter (myActionSets); aSetIter.More(); aSetIter.Next())
  {
    const Handle(Aspect_XRActionSet)& anActionSet = aSetIter.Value();
    for (Aspect_XRActionMap::Iterator anActionIter (anActionSet->Actions()); anActionIter.More(); anActionIter.Next())
    {
      const Handle(Aspect_XRAction)& anAction = anActionIter.Value();
      if (anAction->RawHandle() == 0
       || anAction->Id().IsEmpty())
      {
        continue;
      }

      switch (anAction->Type())
      {
        case Aspect_XRActionType_InputDigital:
        {
          Aspect_XRDigitalActionData aData = GetDigitalActionData (anAction);
          //if (aData.IsChanged) { std::cout << "  " << anAction->Id() << " pressed: " << aData.IsPressed << "\n"; }
          break;
        }
        case Aspect_XRActionType_InputAnalog:
        {
          Aspect_XRAnalogActionData aData = GetAnalogActionData (anAction);
          //if (aData.IsChanged()) { std::cout << "  " << anAction->Id() << " changed: " << aData.VecXYZ[0] << " " << aData.VecXYZ[1] << " " << aData.VecXYZ[2] << "\n"; }
          break;
        }
        case Aspect_XRActionType_InputPose:
        {
          GetPoseActionDataForNextFrame (anAction);
          break;
        }
      }
    }
  }

  // process OpenVR controller state using deprecated API
  //for (vr::TrackedDeviceIndex_t aDevIter = 0; aDevIter < vr::k_unMaxTrackedDeviceCount; ++aDevIter) {
  //  vr::VRControllerState_t aCtrlState = {}; if (myContext->GetControllerState (aCtrlState, aDevIter)) { aCtrlState.ulButtonPressed == 0; }
  //}
#endif
}

// =======================================================================
// function : onTrackedDeviceActivated
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::onTrackedDeviceActivated (Standard_Integer theDeviceIndex)
{
  Message::SendTrace (TCollection_AsciiString ("OpenVR, Device ") + theDeviceIndex + " attached");
}

// =======================================================================
// function : onTrackedDeviceDeactivated
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::onTrackedDeviceDeactivated (Standard_Integer theDeviceIndex)
{
  Message::SendTrace (TCollection_AsciiString ("OpenVR, Device ") + theDeviceIndex + " detached");
}

// =======================================================================
// function : onTrackedDeviceUpdated
// purpose  :
// =======================================================================
void Aspect_OpenVRSession::onTrackedDeviceUpdated (Standard_Integer theDeviceIndex)
{
  Message::SendTrace (TCollection_AsciiString ("OpenVR, Device ") + theDeviceIndex + " updated");
}

// =======================================================================
// function : SubmitEye
// purpose  :
// =======================================================================
bool Aspect_OpenVRSession::SubmitEye (void* theTexture,
                                      Aspect_GraphicsLibrary theGraphicsLib,
                                      Aspect_ColorSpace theColorSpace,
                                      Aspect_Eye theEye)
{
  if (theTexture == NULL)
  {
    return false;
  }
#ifdef HAVE_OPENVR
  if (myContext->System == NULL)
  {
    return false;
  }

  vr::Texture_t aVRTexture = { (void* )theTexture, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
  switch (theGraphicsLib)
  {
    case Aspect_GraphicsLibrary_OpenGL:
      aVRTexture.eType = vr::TextureType_OpenGL;
      break;
    default:
      Message::SendFail ("Compositor error: unsupported Graphics API");
      return false;
  }
  switch (theColorSpace)
  {
    case Aspect_ColorSpace_sRGB:   aVRTexture.eColorSpace = vr::ColorSpace_Gamma;  break;
    case Aspect_ColorSpace_Linear: aVRTexture.eColorSpace = vr::ColorSpace_Linear; break;
  }

  const vr::EVRCompositorError aVRError = vr::VRCompositor()->Submit (theEye == Aspect_Eye_Right ? vr::Eye_Right : vr::Eye_Left, &aVRTexture);
  if (aVRError != vr::VRCompositorError_None)
  {
    if (aVRError != vr::VRCompositorError_AlreadySubmitted)
    {
      Message::SendFail (TCollection_AsciiString ("Compositor Error: ") + getVRCompositorError (aVRError));
    }
    else
    {
      Message::SendTrace (TCollection_AsciiString ("Compositor Error: ") + getVRCompositorError (aVRError));
    }
    return false;
  }
  return true;
#else
  (void )theGraphicsLib;
  (void )theColorSpace;
  (void )theEye;
  return false;
#endif
}