在 HoloLens 上还是在 Daydream 之外使用 Daydream Controller?

问题描述

daydream 控制器很棒，我们希望能够在我的 AR 应用中使用它.它通过蓝牙与 HoloLens 配对就好了，但不确定我是否可以在 Unity 中查看它.

The daydream controller is awesome and we want to be able to use it in my AR app. It pairs via bluetooth to the HoloLens just fine, but not sure if I can view it in Unity.

HoloLens 和 daydream 都需要自己的 Unity 技术预览.gvr 控制器代码在线但似乎直接与 GVR C api 交谈.

Both HoloLens and daydream require their own Unity technical previews. The gvr Controller code is online but seems to speak directly to GVR C api.

是否可以在 daydream 技术预览版之外访问 Unity 中的 daydream 控制器?

Any thoughts on if accessing daydream controller in Unity outside the daydream tech preview is even possible?

推荐答案

很可能在没有 GVR 服务的情况下访问 daydream 控制器.事实上，我自己也在做这方面的工作，可以分享我所知道的.

It is very possible to access the daydream controller without the GVR services. I am in fact working on that myself and can share what I know.

使用蓝牙 gatt，您可以查看所有可用数据并订阅您想要的 ID.我不知道您将如何在 Hololens/Unity 中具体执行此操作.基本上你想:

Using bluetooth gatt you can view all the data available and subscribe to the ID you want. I don't know how you would do this within Hololens/Unity specifically. Basically you want to:

1. 连接到设备
2. 选择服务(0000fe55-0000-1000-8000-00805f9b34fb)
3. 选择特征(00000001-1000-1000-8000-00805f9b34fb)
4. 请求通知(00002902-0000-1000-8000-00805f9b34fb)

Android 示例:

Android Example:

static final UUID DAYDREAM_CUSTOM_SERVICE = UUID.fromString("0000fe55-0000-1000-8000-00805f9b34fb");
static final UUID DAYDREAM_CHARACTERISTIC = UUID.fromString("00000001-1000-1000-8000-00805f9b34fb");
static final UUID CHARACTERISTIC_UPDATE_NOTIFICATION_DESCRIPTOR_UUID = UUID.fromString("00002902-0000-1000-8000-00805f9b34fb");
...
BluetoothGattService service = gatt.getService(DAYDREAM_CUSTOM_SERVICE);
BluetoothGattCharacteristic characteristic = service.getCharacteristic(DAYDREAM_CHARACTERISTIC);
gatt.setCharacteristicNotification(characteristic, true);
BluetoothGattDescriptor descriptor = characteristic.getDescriptor(CHARACTERISTIC_UPDATE_NOTIFICATION_DESCRIPTOR_UUID);
descriptor.setValue( BluetoothGattDescriptor.ENABLE_NOTIFICATION_VALUE);
gatt.writeDescriptor(descriptor);

我建议查看蓝牙 Gatt 以了解有关服务和特性的更多信息.在开始编写代码之前，我还使用了 Playstore 上的 BLE Scanner 应用程序查看了大量此类信息.

I suggest looking up Bluetooth Gatt to understand more about services and characteristics. I also used the BLE Scanner app on the playstore to view a lot of this information before starting with code.

设备提供 20 字节的数据来处理.它由时间、方向、加速度、原始陀螺仪、触摸位置和按钮标志组成.

The device gives 20 bytes of data to work with. It is comprised of time, orientation, acceleration, raw gyro, touch position, and button flags.

示例(平放在桌子上):

Example (laying flat on a table):

5BEBFFB825FDB000041000B00000000000000000
63EFFFB825FDB000041000B00000000000000008
6C73FFB825FDB000041000B00000000000000038

示例(使用触摸板):

480BFE87EB00E801841000B00000000191FBA008
4F8FFE47EB00E800441000B0000003FEB1FBA038
5893FE27EB00EFFF041000B0000003FF51FBA000

字节定义如下:

Bytes:

  - 1: TTTT TTTT * T for time, loops
  - 2: TNNN NNKK * N is sequence number
  - 3: KKKK KKKK * IJK is orientation
  - 4: KKKI IIII
  - 5: IIII IIII
  - 6: JJJJ JJJJ
  - 7: JJJJ JOOO * MNO is acceleration
  - 8: OOOO OOOO
  - 9: OONN NNNN
  -10: NNNN NNNM
  -11: MMMM MMMM
  -12: MMMM CCCC * CDE for raw gyro
  -13: CCCC CCCC
  -14: CDDD DDDD
  -15: DDDD DDEE
  -16: EEEE EEEE
  -17: EEEX XXXX * All the X is the X touch position (8 bits)
  -18: XXXY YYYY * Y the Y touch position (8 bits)
  -19: YYYB BBBB * B the buttons (5 bits | [+][-][App][Home][Click])
  -20: Values vary

有了这个，我的触摸板和按钮可以与我可以为其构建应用程序的任何蓝牙设备一起使用.此外，您需要添加返回功能以重置设备位置、控制音频等.

With this I have the touch pad and buttons able to work with any bluetooth device I can build apps for. In addition, you would need to add back functionality to reset the device position, control audio, etc.

在 Android 上使用此定义:

Using this definition on Android:

static final int CLICK_BTN = 0x1;
static final int HOME_BTN = 0x2;
static final int APP_BTN = 0x4;
static final int VOL_DOWN_BTN = 0x8;
static final int VOL_UP_BTN = 0x10;
float xTouch=0, yTouch=0;
...
final boolean isClickDown = (data[18] & CLICK_BTN) > 0;
final boolean isHomeDown = (data[18] & HOME_BTN) > 0;
final boolean isAppDown = (data[18] & APP_BTN) > 0;
final boolean isVolMinusDown = (data[18] & VOL_DOWN_BTN) > 0;
final boolean isVolPlusDown = (data[18] & VOL_UP_BTN) > 0;

final int time = ((data[0] & 0xFF) << 1 | (data[1] & 0x80) >> 7 );

final int seq = (data[1] & 0x7C) >> 2;

int xOri = (data[1] & 0x03) << 11 | (data[2] & 0xFF) << 3 | (data[3] & 0xE0) >> 5;
xOri = (xOri << 19) >> 19;

int yOri = (data[3] & 0x1F) << 8 | (data[4] & 0xFF);
yOri = (yOri << 19) >> 19;

int zOri = (data[5] & 0xFF) << 5 | (data[6] & 0xF8) >> 3;
zOri = (zOri << 19) >> 19;

int xAcc = (data[6] & 0x07) << 10 | (data[7] & 0xFF) << 2 | (data[8] & 0xC0) >> 6;
xAcc = (xAcc << 19) >> 19;

int yAcc = (data[8] & 0x3F) << 7 | (data[9] & 0xFE) >>> 1;
yAcc = (yAcc << 19) >> 19;

int zAcc = (data[9] & 0x01) << 12 | (data[10] & 0xFF) << 4 | (data[11] & 0xF0) >> 4;
zAcc = (zAcc << 19) >> 19;

int xGyro = ((data[11] & 0x0F) << 9 | (data[12] & 0xFF) << 1 | (data[13] & 0x80) >> 7);
xGyro = (xGyro << 19) >> 19;

int yGyro = ((data[13] & 0x7F) << 6 | (data[14] & 0xFC) >> 2 );
yGyro = (yGyro << 19) >> 19;

int zGyro = ((data[14] & 0x03) << 11 | (data[15] & 0xFF) << 3 | (data[16] & 0xE0) >> 5);
zGyro = (zGyro << 19) >> 19;

xTouch = ((data[16] & 0x1F) << 3 | (data[17] & 0xE0) >> 5) / 255.0f;
yTouch = ((data[17] & 0x1F) << 3 | (data[18] & 0xE0) >> 5) / 255.0f;

这可以优化，但它分配除最后一个字节之外的所有位.代码value = (value <>19 也可以是 value = (value >> 12) == 0 ?值:~0x1FFF |价值.只是将有符号位扩展为32位有符号整数.

This could be optimized but it assigns all the bits except for the last byte. The code value = (value << 19) >> 19 can also be value = (value >> 12) == 0 ? value : ~0x1FFF | value. It is just to extend the signed bit to a 32bit signed int.

我希望这会有所帮助并期待更多答案.

I hope this helps and look forward to additional answers.

在查看 gvr 代码后，我发现我之前的假设存在一些问题.它实际上是方向/加速度/陀螺仪.此外，序列多 1 位，时间少 1 位.我已经更新了字节定义和 android 示例.

After looking at the gvr code I found I had some issues with my previous assumptions. It's actually Orientation/Acceleration/Gyro. Also there was 1 more bit for sequence and 1 less for time. I've updated the byte definition and android example.

此外，X、Y、Z 值需要缩放为浮点数.对于 Unity，您可以将整数放入 Vector3s 中，然后使用以下内容.对于 Unity，我还否定了 oriVector 中的 x 和 y.

In addition the X,Y,Z values need to be scaled to floats. For Unity you could put the ints into Vector3s and then use the following. I also negated the x and y in oriVector, for Unity.

Vector3 oriVector = new Vector3 (-xOri, -yOri, zOri);
...
oriVector *= (2 * Mathf.PI / 4095.0);
accVector *= (8 * 9.8 / 4095.0);
gyroVector *= (2048 / 180 * Mathf.PI / 4095.0);

然后要获得旋转，您只需要 oriVector.这实际上是一个轴角存储为:单位向量 * 角度.

Then to get the rotation you just need the oriVector. Which is actually an axis-angle stored as: unit vector * angle.

public Quaternion orientation = Quaternion.identity;
private Quaternion controllerPoseInSensorSpace = Quaternion.identity;
private Quaternion startFromSensorTransformation = Quaternion.identity;
...
// do this bit after getting the data and scaling it
float sqrMagnitude = oriVector.sqrMagnitude;
if (sqrMagnitude > 0) {
    // extract radian angle
    float w = Mathf.Sqrt (sqrMagnitude);
    // normalize vector
    oriVector /= w;
    // set orientation space
    setOrientationInSensorSpace (w,oriVector);
}
...
// then assign to a Transform
controller.localRotation = this.orientation;
...
// sets orientation with rotation offset
void setOrientationInSensorSpace(float angle, Vector3 axis) {
    // set orientation space
    this.controllerPoseInSensorSpace = Quaternion.AngleAxis(angle*Mathf.Rad2Deg,axis);
    // rotate based on centered offset
    this.orientation = this.startFromSensorTransformation * this.controllerPoseInSensorSpace;
}
...
// after holding home for 600 milliseconds
private void setStartFromSensorTransformation() {
    Vector3 angles = this.controllerPoseInSensorSpace.eulerAngles;
    // reset rotation on Y
    this.startFromSensorTransformation.Set(0,Mathf.Sin(-angles.y * Mathf.Deg2Rad / 2f), 0, Mathf.Cos(angles.y * Mathf.Deg2Rad / 2f));
    // could also reset all, easier to work with
    //this.startFromSensorTransformation = Quaternion.Inverse (this.controllerPoseInSensorSpace);
}

这就是与使用普通蓝牙设备实现白日梦相关的一切.我也在 Unity3D 中使用了上面的 C# 代码.

That is everything related to getting daydream working with regular bluetooth devices. I also used the above C# code within Unity3D.

In order to use the device data with other platforms you would need to put the data through similar equations used for 9DoF/IMU devices. I don't have knowledge of exactly how to address this.

这可能是为标志保留的，我不确定其含义，但我有一些发现要列出.版本号为控制器的固件版本.

This is likely reserved for flags and I'm not sure on the meaning but I have some findings to list. Version number is the firmware version of the controller.

1.0.10 (out of the box): 0xF0/0xF8
1.0.10 (previously used with gvr): 0x00/0x08/0x38/0x51
1.0.15: 0x00/0x70

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