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Hip locomotion

For hip locomotion information and instructions, go to the Hip Locomotion branch.

Simple OpenVR Driver bridge

This is my fork if simple OpenVR driver tutorial, which is made to be used as a bridge between any program and SteamVR. If you have any tracking system that you wish to use as SteamVR trackers, this is probably a good place to start.

This driver opens a named pipe, on which it listens for commands. This enables an easy way to create and move trackers in SteamVR by simply connecting to a named pipe and sending messages to it. A c++ example is included, but it should be possible to use in any language. The driver has both a windows and a linux version.

For an example in python, you can check the mediapipepose project that uses this same driver to forward positions from googles MediaPipe pose estimator to SteamVR. What you want to use is the SendToSteamVR() function here. To see an example of it being used, check the code here.

A quick overview of the commands you want to send:

  • numtrackers : the driver will return the number of trackers currently connected. Used to check how many trackers you need to connect and how many are already connected
  • addtracker 'name' 'role' : add another tracker with the name and role. Only needs to be done on first connect to prevent duplicates.
  • updatepos 'id' 'x' 'y' 'z' 'qw' 'qx' 'qy' 'qz' 'delay' : update pose of tracker with id to position x y z and rotation quaternion qw qx qy qz. You can also send how old the pose is, but you can also just send 0.

Some other commands you may find useful:

  • getdevicepose 'id' : useful to get position of HMD, which is id 0. You should be able to get positions of controllers, but is very unreliable so other methods are prefered
  • synctime : returns avarage frametime and time since last frame, useful if you need to sync something to the HMD refresh rate
  • settings 'numOfValues' 'smoothingWindow' 'additionalSmoothing' : update the drivers smoothing and interpolation settings.

To see how the smoothing and delay values affect tracking, you can check the graphs here.

The main project for which I use this driver is ApriltagTrackes, which is why the trackers are named as such in the driver. If you have any questions or want to use this driver, feel free to join the ApriltagsTrackers discord and write in the dev-talk channel, link on its github page.

Bellow is the original Readme. Most of the installation should stay the same.

Simple OpenVR Driver Tutorial

I created this driver as a demonstration for how to write some of the most common things a SteamVR/OpenVR driver would want to do. You will need to understand C++11 and some C++17 features at least to make the most use of this repo. It features:

Building

  • Clone the project and submodules
    • git clone --recursive https://github.com/terminal29/Simple-OpenVR-Driver-Tutorial.git
  • Build project with CMake
    • cd Simple-OpenVR-Driver-Tutorial && cmake -B build && cmake --build build --config Release --target install
  • Open project with Visual Studio and hit build
    • Driver folder structure and files will be copied to the output folder as example.

Installation

There are two ways to "install" your plugin:

  • Find your SteamVR driver directory, which should be at: C:\Program Files (x86)\Steam\steamapps\common\SteamVR\drivers and copy the example directory from the project's build directory into the SteamVR drivers directory. Your folder structure should look something like this:

Drivers folder structure or

  • Navigate to C:\Users\<Username>\AppData\Local\openvr and find the openvrpaths.vrpath file. Open this file with your text editor of choice, and under "external_drivers", add another entry with the location of the example folder. For example mine looks like this after adding the entry:
{
	"config" :
	[
		"C:\\Program Files (x86)\\Steam\\config",
		"c:\\program files (x86)\\steam\\config"
	],
	"external_drivers" :
	[
		"C:\\Users\\<Username>\\Documents\\Programming\\c++\\Simple-OpenVR-Driver-Tutorial\\build\\Debug\\example"
	],
	"jsonid" : "vrpathreg",
	"log" :
	[
		"C:\\Program Files (x86)\\Steam\\logs",
		"c:\\program files (x86)\\steam\\logs"
	],
	"runtime" :
	[
		"C:\\Program Files (x86)\\Steam\\steamapps\\common\\SteamVR"
	],
	"version" : 1
}

Debugging

Debugging SteamVR is not as simple as it seems because of the startup procedure it uses. The SteamVR ecosystem consists of a couple programs:

  • vrserver: the driver host
  • vrcompositor: the render engine
  • vrmonitor: the popup that displays status information
  • vrdashboard: the VR menu/overlay
  • vrstartup: a program to start everything up

To debug effectively in Visual Studio, you can use an extension called Microsoft Child Process Debugging Power Tool and enable debugging child processes, disable debugging for all other child processes, and add vrserver.exe as a child process to debug as below:

Child process debugging settings

Set the program the project should run in debug mode to vrstartup (Usually located C:\Program Files (x86)\Steam\steamapps\common\SteamVR\bin\win64\vrstartup.exe). Now we can start up SteamVR without needing to go through Steam, and can properly startup all the other programs vrserver needs.

Issues

I don't have an issue template, but if you find what you think is a bug, and can describe how to reproduce it, please leave an issue and/or pull request with the details.

License

MIT License

Copyright (c) 2022 https://github.com/ju1ce/

Copyright (c) 2020 Jacob Hilton (Terminal29)

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.