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ducks.py
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ducks.py
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# ducks.py
#
# emit ducks when Vive controller trigger pressed
# to view, go to url like https://xr.andrew.cmu.edu/?scene=duck&fixedCamera=duck
import json
import random
import time
import paho.mqtt.client as mqtt
import paho.mqtt.publish as publish
from scipy.spatial.transform import Rotation as R
HOST = "oz.andrew.cmu.edu"
CONTROLLER_TOPIC = "realm/s/duck/vive-rightHand_duck_duck"
TOPIC = "realm/s/duck"
USER = "camera_duck_duck"
FORCE = 50
def randrot():
return (round((random.random() * 2 - 1), 3))
def randcolor():
return "%06x" % random.randint(0, 0xFFFFFF)
# Globals (yes, Sharon)
trigger_state = "up"
counter = 0
click_x = 0
click_y = 0
click_z = 0
rot_x = 0
rot_y = 0
rot_z = 0
rot_w = 1
x = 0
y = 0
z = 0
xf = 0
yf = 0
zf = 0
r = [0.0, 0.0, 0.0]
# define callbacks
def on_click_input(client, userdata, msg):
global click_x
global click_y
global click_z
global rot_x
global rot_y
global rot_z
global rot_w
global x
global y
global z
global counter
global trigger_state
global xf
global yf
global zf
global r
obj_id = str(counter)
name = "duck_" + obj_id
# print("got %s \"%s\"" % (msg.topic, msg.payload))
jsonMsg = json.loads(msg.payload.decode("utf-8"))
# filter non-event messages
if jsonMsg["action"] == "update":
click_x = jsonMsg["data"]["position"]["x"]
click_y = jsonMsg["data"]["position"]["y"]
click_z = jsonMsg["data"]["position"]["z"]
rot_x = jsonMsg["data"]["rotation"]["x"]
rot_y = jsonMsg["data"]["rotation"]["y"]
rot_z = jsonMsg["data"]["rotation"]["z"]
rot_w = jsonMsg["data"]["rotation"]["w"]
rq = R.from_quat([rot_x, rot_y, rot_z, rot_w])
v = [0, 0, -1]
r = rq.apply(v) # multiply unit vector by rotation to get direction
xf = round((r[0] * FORCE),3)
yf = round(r[1] * FORCE,3)
zf = round(r[2] * FORCE,3)
if jsonMsg["action"] != "clientEvent":
return
# filter non-mouse messages
if jsonMsg["type"] == "triggerdown":
trigger_state = "down"
counter += 1
elif jsonMsg["type"] == "triggerup":
trigger_state = "up"
else:
return
if trigger_state == "down":
# print("got click: %s \"%s\"" % (msg.topic, msg.payload))
# print(xf,yf,zf)
MESSAGE = {
"object_id": name,
"action": "create",
"ttl": 10,
"data": {
"dynamic-body": {"type": "dynamic"},
"impulse": {
"on": "mousedown",
"force": str(xf) + " " + str(yf) + " " + str(zf),
"click-listener": "",
"position": "1 1 1",
},
"object_type": "gltf-model",
"url": "models/Duck.glb",
"position": {
"x": click_x,
"y": click_y,
"z": click_z,
},
"scale": {"x": 0.2, "y": 0.2, "z": 0.2},
"rotation": {
"x": randrot(),
"y": randrot(),
"z": randrot(),
"w": randrot(),
},
},
}
print(json.dumps(MESSAGE));
client.publish(TOPIC, json.dumps(MESSAGE))
time.sleep(0.15) # if we don't pause, mousedown events don't always get through
MESSAGE = {
"object_id": name,
"action": "clientEvent",
"type": "mousedown",
"data": {"position": {"x": 0, "y": 0, "z": 0}, "source": "duckprogram"},
}
print(json.dumps(MESSAGE));
client.publish(TOPIC, json.dumps(MESSAGE))
client = mqtt.Client(str(random.random()), clean_session=True, userdata=None)
client.connect(HOST)
print("subscribing")
client.subscribe(CONTROLLER_TOPIC)
print("adding callback")
client.message_callback_add(CONTROLLER_TOPIC, on_click_input)
print("starting main loop")
client.loop_start() # doesn't really do anything but wait for events
while True:
time.sleep(1)
client.disconnect()
client.loop.stop()