0029384: Visualization, TKOpenGl - basic integration with OpenVR

V3d_View::AutoZFit() is now called only before redraw
within methods V3d_View::Redraw() and V3d_View::Update().

Graphic3d_CView now holds Aspect_ExtendedRealitySession object.
Aspect_OpenVRSession implements new interface via optional OpenVR library.
Graphic3d_CView::ProcessInput() - added new interface method
which should be called for processing positional input (head tracking).

Graphic3d_Camera now allows setting custom stereoscopic Projection matrices.

OpenGl_Context::Camera() - context now holds Camera object
in addition to active camera matrices.

genproj.tcl has been extended to handle optional CSF_OpenVR dependency.

src/Aspect/Aspect_ColorSpace.hxx

@@ -0,0 +1,26 @@
+// 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.
+
+#ifndef _Aspect_ColorSpace_HeaderFile
+#define _Aspect_ColorSpace_HeaderFile
+
+#include <Aspect_GraphicsLibrary.hxx>
+
+//! Texture color spaces accepted by XR composer.
+enum Aspect_ColorSpace
+{
+  Aspect_ColorSpace_sRGB   = 0, //!< non-linear sRGB color space
+  Aspect_ColorSpace_Linear = 1, //!< linear RGB color space
+};
+
+#endif // _Aspect_ColorSpace_HeaderFile

src/Aspect/Aspect_Eye.hxx

@@ -0,0 +1,24 @@
+// 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.
+
+#ifndef _Aspect_Eye_HeaderFile
+#define _Aspect_Eye_HeaderFile
+
+//! Camera eye index within stereoscopic pair.
+enum Aspect_Eye
+{
+  Aspect_Eye_Left,
+  Aspect_Eye_Right
+};
+
+#endif // _Aspect_Eye_HeaderFile

src/Aspect/Aspect_FrustumLRBT.hxx

@@ -0,0 +1,55 @@
+// 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.
+
+#ifndef _Aspect_FrustumLRBT_HeaderFile
+#define _Aspect_FrustumLRBT_HeaderFile
+
+//! Structure defining frustum boundaries.
+template<typename Elem_t>
+struct Aspect_FrustumLRBT
+{
+  Elem_t Left;
+  Elem_t Right;
+  Elem_t Bottom;
+  Elem_t Top;
+
+  //! Empty constructor.
+  Aspect_FrustumLRBT() : Left (0), Right (0), Bottom (0), Top (0) {}
+
+  //! Copy/cast constructor.
+  template<typename Other_t>
+  explicit Aspect_FrustumLRBT (const Aspect_FrustumLRBT<Other_t>& theOther)
+  : Left  (static_cast<Elem_t> (theOther.Left)),
+    Right (static_cast<Elem_t> (theOther.Right)),
+    Bottom(static_cast<Elem_t> (theOther.Bottom)),
+    Top   (static_cast<Elem_t> (theOther.Top)) {}
+
+  //! Apply multiply factor.
+  void Multiply (Elem_t theScale)
+  {
+    Left   *= theScale;
+    Right  *= theScale;
+    Bottom *= theScale;
+    Top    *= theScale;
+  }
+
+  //! Return multiplied frustum.
+  Aspect_FrustumLRBT<Elem_t> Multiplied (Elem_t theScale)
+  {
+    Aspect_FrustumLRBT<Elem_t> aCopy (*this);
+    aCopy.Multiply (theScale);
+    return aCopy;
+  }
+};
+
+#endif // _Aspect_FrustumLRBT_HeaderFile

src/Aspect/Aspect_GraphicsLibrary.hxx

@@ -0,0 +1,24 @@
+// 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.
+
+#ifndef _Aspect_GraphicsLibrary_HeaderFile
+#define _Aspect_GraphicsLibrary_HeaderFile
+
+//! Graphics API enumeration.
+enum Aspect_GraphicsLibrary
+{
+  Aspect_GraphicsLibrary_OpenGL,
+  Aspect_GraphicsLibrary_OpenGLES,
+};
+
+#endif // _Aspect_GraphicsLibrary_HeaderFile

src/Aspect/Aspect_OpenVRSession.hxx

@@ -0,0 +1,149 @@
+// 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.
+
+#ifndef _Aspect_OpenVRSession_HeaderFile
+#define _Aspect_OpenVRSession_HeaderFile
+
+#include <Aspect_XRSession.hxx>
+
+//! OpenVR wrapper implementing Aspect_XRSession interface.
+class Aspect_OpenVRSession : public Aspect_XRSession
+{
+  DEFINE_STANDARD_RTTIEXT(Aspect_OpenVRSession, Aspect_XRSession)
+public:
+
+  //! Return TRUE if an HMD may be presented on the system (e.g. to show VR checkbox in application GUI).
+  //! This is fast check, and even if it returns TRUE, opening session may fail.
+  Standard_EXPORT static bool IsHmdPresent();
+
+public:
+
+  //! Empty constructor.
+  Standard_EXPORT Aspect_OpenVRSession();
+
+  //! Destructor.
+  Standard_EXPORT virtual ~Aspect_OpenVRSession();
+
+  //! Return TRUE if session is opened.
+  Standard_EXPORT virtual bool IsOpen() const Standard_OVERRIDE;
+
+  //! Initialize session.
+  Standard_EXPORT virtual bool Open() Standard_OVERRIDE;
+
+  //! Release session.
+  Standard_EXPORT virtual void Close() Standard_OVERRIDE;
+
+  //! Fetch actual poses of tracked devices.
+  Standard_EXPORT virtual bool WaitPoses() Standard_OVERRIDE;
+
+  //! Return recommended viewport Width x Height for rendering into VR.
+  virtual NCollection_Vec2<int> RecommendedViewport() const Standard_OVERRIDE { return myRendSize; }
+
+  //! Return transformation from eye to head.
+  //! vr::GetEyeToHeadTransform() wrapper.
+  Standard_EXPORT virtual NCollection_Mat4<double> EyeToHeadTransform (Aspect_Eye theEye) const Standard_OVERRIDE;
+
+  //! Return projection matrix.
+  Standard_EXPORT virtual NCollection_Mat4<double> ProjectionMatrix (Aspect_Eye theEye,
+                                                                     double theZNear,
+                                                                     double theZFar) const Standard_OVERRIDE;
+
+  //! Return TRUE.
+  virtual bool HasProjectionFrustums() const Standard_OVERRIDE { return true; }
+
+  //! Receive XR events.
+  Standard_EXPORT virtual void ProcessEvents() Standard_OVERRIDE;
+
+  //! Submit texture eye to XR Composer.
+  //! @param theTexture     [in] texture handle
+  //! @param theGraphicsLib [in] graphics library in which texture handle is defined
+  //! @param theColorSpace  [in] texture color space;
+  //!                            sRGB means no color conversion by composer;
+  //!                            Linear means to sRGB color conversion by composer
+  //! @param theEye [in] eye to display
+  //! @return FALSE on error
+  Standard_EXPORT virtual bool SubmitEye (void* theTexture,
+                                          Aspect_GraphicsLibrary theGraphicsLib,
+                                          Aspect_ColorSpace theColorSpace,
+                                          Aspect_Eye theEye) Standard_OVERRIDE;
+
+  //! Query information.
+  Standard_EXPORT virtual TCollection_AsciiString GetString (InfoString theInfo) const Standard_OVERRIDE;
+
+  //! Return index of tracked device of known role.
+  Standard_EXPORT virtual Standard_Integer NamedTrackedDevice (Aspect_XRTrackedDeviceRole theDevice) const Standard_OVERRIDE;
+
+  //! Fetch data for digital input action (like button).
+  Standard_EXPORT virtual Aspect_XRDigitalActionData GetDigitalActionData (const Handle(Aspect_XRAction)& theAction) const Standard_OVERRIDE;
+
+  //! Fetch data for analog input action (like axis).
+  Standard_EXPORT virtual Aspect_XRAnalogActionData GetAnalogActionData (const Handle(Aspect_XRAction)& theAction) const Standard_OVERRIDE;
+
+  //! Fetch data for pose input action (like fingertip position).
+  Standard_EXPORT virtual Aspect_XRPoseActionData GetPoseActionDataForNextFrame (const Handle(Aspect_XRAction)& theAction) const Standard_OVERRIDE;
+
+  //! Set tracking origin.
+  Standard_EXPORT virtual void SetTrackingOrigin (TrackingUniverseOrigin theOrigin) Standard_OVERRIDE;
+
+protected:
+
+  //! Find location of default actions manifest file (based on CSF_OCCTResourcePath or CASROOT variables).
+  Standard_EXPORT TCollection_AsciiString defaultActionsManifest();
+
+  //! Release OpenVR device.
+  Standard_EXPORT void closeVR();
+
+  //! Update projection frustums.
+  Standard_EXPORT virtual void updateProjectionFrustums();
+
+  //! Init VR input.
+  Standard_EXPORT virtual bool initInput();
+
+  //! Handle tracked device activation.
+  Standard_EXPORT virtual void onTrackedDeviceActivated (Standard_Integer theDeviceIndex);
+
+  //! Handle tracked device deactivation.
+  Standard_EXPORT virtual void onTrackedDeviceDeactivated (Standard_Integer theDeviceIndex);
+
+  //! Handle tracked device update.
+  Standard_EXPORT virtual void onTrackedDeviceUpdated (Standard_Integer theDeviceIndex);
+
+  //! Trigger vibration.
+  Standard_EXPORT virtual void triggerHapticVibrationAction (const Handle(Aspect_XRAction)& theAction,
+                                                             const Aspect_XRHapticActionData& theParams) Standard_OVERRIDE;
+
+  //! Return model for displaying device.
+  Standard_EXPORT virtual Handle(Graphic3d_ArrayOfTriangles) loadRenderModel (Standard_Integer theDevice,
+                                                                              Standard_Boolean theToApplyUnitFactor,
+                                                                              Handle(Image_Texture)& theTexture) Standard_OVERRIDE;
+
+protected:
+
+  //! Access vr::IVRSystem* - OpenVR session object.
+  Standard_EXPORT void* getVRSystem() const;
+
+private:
+
+  //! Internal fields
+  struct VRContext;
+  class VRImagePixmap;
+  class VRTextureSource;
+
+protected:
+
+  VRContext* myContext;
+  TCollection_AsciiString myActionsManifest;
+
+};
+
+#endif // _Aspect_OpenVRSession_HeaderFile

src/Aspect/Aspect_TrackedDevicePose.hxx

@@ -0,0 +1,36 @@
+// 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.
+
+#ifndef _Aspect_TrackedDevicePose_HeaderFile
+#define _Aspect_TrackedDevicePose_HeaderFile
+
+#include <gp_Trsf.hxx>
+#include <NCollection_Array1.hxx>
+
+//! Describes a single pose for a tracked object (for XR).
+struct Aspect_TrackedDevicePose
+{
+  gp_Trsf Orientation;       //!< device to absolute transformation
+  gp_Vec  Velocity;          //!< velocity in tracker space in m/s
+  gp_Vec  AngularVelocity;   //!< angular velocity in radians/s
+  bool    IsValidPose;       //!< indicates valid pose
+  bool    IsConnectedDevice; //!< indicates connected state
+
+  //! Empty constructor.
+  Aspect_TrackedDevicePose() : IsValidPose (false), IsConnectedDevice (false) {}
+};
+
+//! Array of tracked poses.
+typedef NCollection_Array1<Aspect_TrackedDevicePose> Aspect_TrackedDevicePoseArray;
+
+#endif // _Aspect_TrackedDevicePose_HeaderFile

src/Aspect/Aspect_XRAction.hxx

@@ -0,0 +1,58 @@
+// 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.
+
+#ifndef _Aspect_XRAction_HeaderFile
+#define _Aspect_XRAction_HeaderFile
+
+#include <Aspect_XRActionType.hxx>
+#include <NCollection_IndexedDataMap.hxx>
+#include <Standard_Transient.hxx>
+#include <Standard_Type.hxx>
+#include <TCollection_AsciiString.hxx>
+
+//! XR action definition.
+class Aspect_XRAction : public Standard_Transient
+{
+  DEFINE_STANDARD_RTTIEXT(Aspect_XRAction, Standard_Transient)
+public:
+
+  //! Return action id.
+  const TCollection_AsciiString& Id() const { return myId; }
+
+  //! Return action type.
+  Aspect_XRActionType Type() const { return myType; }
+
+  //! Return TRUE if action is defined.
+  bool IsValid() const { return myRawHandle != 0; }
+
+  //! Return action handle.
+  uint64_t RawHandle() const { return myRawHandle; }
+
+  //! Set action handle.
+  void SetRawHandle (uint64_t theHande) { myRawHandle = theHande; }
+
+  //! Main constructor.
+  Aspect_XRAction (const TCollection_AsciiString& theId,
+                   const Aspect_XRActionType theType)
+  : myId (theId), myRawHandle (0), myType (theType) {}
+
+protected:
+  TCollection_AsciiString myId;        //!< action id
+  uint64_t                myRawHandle; //!< action handle
+  Aspect_XRActionType     myType;      //!< action type
+};
+
+//! Map of actions with action Id as a key.
+typedef NCollection_IndexedDataMap<TCollection_AsciiString, Handle(Aspect_XRAction), TCollection_AsciiString> Aspect_XRActionMap;
+
+#endif // _Aspect_XRAction_HeaderFile

src/Aspect/Aspect_XRActionSet.hxx

@@ -0,0 +1,55 @@
+// 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.
+
+#ifndef _Aspect_XRActionSet_HeaderFile
+#define _Aspect_XRActionSet_HeaderFile
+
+#include <Aspect_XRAction.hxx>
+
+//! XR action set.
+class Aspect_XRActionSet : public Standard_Transient
+{
+  DEFINE_STANDARD_RTTIEXT(Aspect_XRActionSet, Standard_Transient)
+public:
+
+  //! Return action id.
+  const TCollection_AsciiString& Id() const { return myId; }
+
+  //! Return action handle.
+  uint64_t RawHandle() const { return myRawHandle; }
+
+  //! Set action handle.
+  void SetRawHandle (uint64_t theHande) { myRawHandle = theHande; }
+
+  //! Add action.
+  void AddAction (const Handle(Aspect_XRAction)& theAction)
+  {
+    myActions.Add (theAction->Id(), theAction);
+  }
+
+  //! Return map of actions.
+  const Aspect_XRActionMap& Actions() const { return myActions; }
+
+  //! Main constructor.
+  Aspect_XRActionSet (const TCollection_AsciiString& theId)
+  : myId (theId), myRawHandle (0) {}
+
+protected:
+  TCollection_AsciiString myId;        //!< action set id
+  uint64_t                myRawHandle; //!< action set handle
+  Aspect_XRActionMap      myActions;   //!< map of actions
+};
+
+typedef NCollection_IndexedDataMap<TCollection_AsciiString, Handle(Aspect_XRActionSet), TCollection_AsciiString> Aspect_XRActionSetMap;
+
+#endif // _Aspect_XRActionSet_HeaderFile

src/Aspect/Aspect_XRActionType.hxx

@@ -0,0 +1,27 @@
+// 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.
+
+#ifndef _Aspect_XRActionType_HeaderFile
+#define _Aspect_XRActionType_HeaderFile
+
+//! XR action type.
+enum Aspect_XRActionType
+{
+  Aspect_XRActionType_InputDigital,  //!< boolean input (like button)
+  Aspect_XRActionType_InputAnalog,   //!< analog input (1/2/3 axes)
+  Aspect_XRActionType_InputPose,     //!< positional input
+  Aspect_XRActionType_InputSkeletal, //!< skeletal input
+  Aspect_XRActionType_OutputHaptic   //!< haptic output (vibration)
+};
+
+#endif // _Aspect_XRActionType_HeaderFile

src/Aspect/Aspect_XRAnalogActionData.hxx

@@ -0,0 +1,35 @@
+// 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.
+
+#ifndef _Aspect_XRAnalogActionData_HeaderFile
+#define _Aspect_XRAnalogActionData_HeaderFile
+
+#include <NCollection_Vec3.hxx>
+
+//! Analog input XR action data.
+struct Aspect_XRAnalogActionData
+{
+  uint64_t                ActiveOrigin; //!< The origin that caused this action's current state
+  float                   UpdateTime;   //!< Time relative to now when this event happened. Will be negative to indicate a past time
+  NCollection_Vec3<float> VecXYZ;       //!< the current state of this action
+  NCollection_Vec3<float> DeltaXYZ;     //!< deltas since the previous update
+  bool                    IsActive;     //!< whether or not this action is currently available to be bound in the active action set
+
+  //! Return TRUE if delta is non-zero.
+  bool IsChanged() { return !DeltaXYZ.IsEqual (NCollection_Vec3<float> (0.0f, 0.0f, 0.0f)); }
+
+  //! Empty constructor.
+  Aspect_XRAnalogActionData() : ActiveOrigin (0), UpdateTime (0.0f), IsActive (false) {}
+};
+
+#endif // _Aspect_XRAnalogActionData_HeaderFile

src/Aspect/Aspect_XRDigitalActionData.hxx

@@ -0,0 +1,32 @@
+// 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.
+
+#ifndef _Aspect_XRDigitalActionData_HeaderFile
+#define _Aspect_XRDigitalActionData_HeaderFile
+
+#include <Standard_TypeDef.hxx>
+
+//! Digital input XR action data.
+struct Aspect_XRDigitalActionData
+{
+  uint64_t ActiveOrigin; //!< The origin that caused this action's current state
+  float    UpdateTime;   //!< Time relative to now when this event happened. Will be negative to indicate a past time
+  bool     IsActive;     //!< whether or not this action is currently available to be bound in the active action set
+  bool     IsPressed;    //!< Aspect_InputActionType_Digital state - The current state of this action; will be true if currently pressed
+  bool     IsChanged;    //!< Aspect_InputActionType_Digital state - this is true if the state has changed since the last frame
+
+  //! Empty constructor.
+  Aspect_XRDigitalActionData() : ActiveOrigin (0), UpdateTime (0.0f), IsActive (false), IsPressed (false), IsChanged (false) {}
+};
+
+#endif // _Aspect_XRDigitalActionData_HeaderFile

src/Aspect/Aspect_XRGenericAction.hxx

@@ -0,0 +1,40 @@
+// 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.
+
+#ifndef _Aspect_XRGenericAction_HeaderFile
+#define _Aspect_XRGenericAction_HeaderFile
+
+//! Generic XR action.
+enum Aspect_XRGenericAction
+{
+  Aspect_XRGenericAction_IsHeadsetOn,             //!< headset is on/off head
+  Aspect_XRGenericAction_InputAppMenu,            //!< application menu button pressed/released
+  Aspect_XRGenericAction_InputSysMenu,            //!< system menu button pressed/released
+  Aspect_XRGenericAction_InputTriggerPull,        //!< trigger squeezing [0..1], 1 to click
+  Aspect_XRGenericAction_InputTriggerClick,       //!< trigger clicked/released
+  Aspect_XRGenericAction_InputGripClick,          //!< grip state on/off
+  Aspect_XRGenericAction_InputTrackPadPosition,   //!< trackpad 2D position [-1,+1] with X and Y axes
+  Aspect_XRGenericAction_InputTrackPadTouch,      //!< trackpad touched/untouched
+  Aspect_XRGenericAction_InputTrackPadClick,      //!< trackpad clicked/released
+  Aspect_XRGenericAction_InputThumbstickPosition, //!< thumbstick 2D position [-1,+1] with X and Y axes
+  Aspect_XRGenericAction_InputThumbstickTouch,    //!< thumbstick touched/untouched
+  Aspect_XRGenericAction_InputThumbstickClick,    //!< thumbstick clicked/released
+  Aspect_XRGenericAction_InputPoseBase,           //!< base position of hand
+  Aspect_XRGenericAction_InputPoseFront,          //!< front position of hand
+  Aspect_XRGenericAction_InputPoseHandGrip,       //!< position of main handgrip
+  Aspect_XRGenericAction_InputPoseFingerTip,      //!< position of main fingertip
+  Aspect_XRGenericAction_OutputHaptic             //!< haptic output (vibration)
+};
+enum { Aspect_XRGenericAction_NB = Aspect_XRGenericAction_OutputHaptic + 1 };
+
+#endif // _Aspect_XRGenericAction_HeaderFile

src/Aspect/Aspect_XRHapticActionData.hxx

@@ -0,0 +1,38 @@
+// 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.
+
+#ifndef _Aspect_XRHapticActionData_HeaderFile
+#define _Aspect_XRHapticActionData_HeaderFile
+
+//! Haptic output XR action data.
+struct Aspect_XRHapticActionData
+{
+  float Delay;     //!< delay in seconds before start
+  float Duration;  //!< duration in seconds
+  float Frequency; //!< vibration frequency
+  float Amplitude; //!< vibration amplitude
+
+  //! Return TRUE if data is not empty.
+  bool IsValid() const
+  {
+    return Duration > 0.0f
+        && Amplitude > 0.0f
+        && Frequency > 0.0f
+        && Delay >= 0.0f;
+  }
+
+  //! Empty constructor.
+  Aspect_XRHapticActionData() : Delay (0.0f), Duration (0.0f), Frequency (0.0f), Amplitude (0.0f) {}
+};
+
+#endif // _Aspect_XRHapticActionData_HeaderFile

src/Aspect/Aspect_XRPoseActionData.hxx

@@ -0,0 +1,31 @@
+// 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.
+
+#ifndef _Aspect_XRPoseActionData_HeaderFile
+#define _Aspect_XRPoseActionData_HeaderFile
+
+#include <Aspect_TrackedDevicePose.hxx>
+#include <Standard_TypeDef.hxx>
+
+//! Pose input XR action data.
+struct Aspect_XRPoseActionData
+{
+  Aspect_TrackedDevicePose Pose;         //!< pose state
+  uint64_t                 ActiveOrigin; //!< The origin that caused this action's current state
+  bool                     IsActive;     //!< whether or not this action is currently available to be bound in the active action set
+
+  //! Empty constructor.
+  Aspect_XRPoseActionData() : ActiveOrigin (0), IsActive (false) {}
+};
+
+#endif // _Aspect_XRPoseActionData_HeaderFile

src/Aspect/Aspect_XRSession.cxx

@@ -0,0 +1,60 @@
+// 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_XRSession.hxx>
+
+IMPLEMENT_STANDARD_RTTIEXT(Aspect_XRSession,   Standard_Transient)
+IMPLEMENT_STANDARD_RTTIEXT(Aspect_XRAction,    Standard_Transient)
+IMPLEMENT_STANDARD_RTTIEXT(Aspect_XRActionSet, Standard_Transient)
+
+// =======================================================================
+// function : Aspect_XRSession
+// purpose  :
+// =======================================================================
+Aspect_XRSession::Aspect_XRSession()
+: myTrackOrigin (TrackingUniverseOrigin_Standing),
+  myTrackedPoses (0, 0),
+  myUnitFactor (1.0),
+  myAspect (1.0),
+  myFieldOfView (90.0),
+  myIod (0.0),
+  myDispFreq (0.0f)
+{
+  for (Standard_Integer aRoleIter = 0; aRoleIter < Aspect_XRTrackedDeviceRole_NB; ++aRoleIter)
+  {
+    myRoleActions[aRoleIter].Resize (0, Aspect_XRGenericAction_NB - 1, false);
+  }
+}
+
+// =======================================================================
+// function : AbortHapticVibrationAction
+// purpose  :
+// =======================================================================
+void Aspect_XRSession::AbortHapticVibrationAction (const Handle(Aspect_XRAction)& theAction)
+{
+  triggerHapticVibrationAction (theAction, Aspect_XRHapticActionData());
+}
+
+// =======================================================================
+// function : TriggerHapticVibrationAction
+// purpose  :
+// =======================================================================
+void Aspect_XRSession::TriggerHapticVibrationAction (const Handle(Aspect_XRAction)& theAction,
+                                                     const Aspect_XRHapticActionData& theParams)
+{
+  if (!theParams.IsValid())
+  {
+    throw Standard_ProgramError("Aspect_OpenVRSession::TriggerHapticVibrationAction() called for wrong action");
+  }
+  triggerHapticVibrationAction (theAction, theParams);
+}

src/Aspect/Aspect_XRSession.hxx

@@ -0,0 +1,262 @@
+// 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.
+
+#ifndef _Aspect_XRSession_HeaderFile
+#define _Aspect_XRSession_HeaderFile
+
+#include <Aspect_ColorSpace.hxx>
+#include <Aspect_Eye.hxx>
+#include <Aspect_FrustumLRBT.hxx>
+#include <Aspect_GraphicsLibrary.hxx>
+#include <Aspect_XRActionSet.hxx>
+#include <Aspect_XRAnalogActionData.hxx>
+#include <Aspect_XRDigitalActionData.hxx>
+#include <Aspect_XRGenericAction.hxx>
+#include <Aspect_XRHapticActionData.hxx>
+#include <Aspect_XRPoseActionData.hxx>
+#include <Aspect_XRTrackedDeviceRole.hxx>
+#include <gp_Trsf.hxx>
+#include <NCollection_Array1.hxx>
+
+class Graphic3d_ArrayOfTriangles;
+class Image_Texture;
+
+//! Extended Reality (XR) Session interface.
+class Aspect_XRSession : public Standard_Transient
+{
+  DEFINE_STANDARD_RTTIEXT(Aspect_XRSession, Standard_Transient)
+public:
+
+  //! Identifies which style of tracking origin the application wants to use for the poses it is requesting.
+  enum TrackingUniverseOrigin
+  {
+    TrackingUniverseOrigin_Seated,   //! poses are provided relative to the seated zero pose
+    TrackingUniverseOrigin_Standing, //! poses are provided relative to the safe bounds configured by the user
+  };
+
+public:
+
+  //! Return TRUE if session is opened.
+  virtual bool IsOpen() const = 0;
+
+  //! Initialize session.
+  virtual bool Open() = 0;
+
+  //! Release session.
+  virtual void Close() = 0;
+
+  //! Fetch actual poses of tracked devices.
+  virtual bool WaitPoses() = 0;
+
+  //! Return recommended viewport Width x Height for rendering into VR.
+  virtual NCollection_Vec2<int> RecommendedViewport() const = 0;
+
+  //! Return transformation from eye to head.
+  virtual NCollection_Mat4<double> EyeToHeadTransform (Aspect_Eye theEye) const = 0;
+
+  //! Return transformation from head to eye.
+  NCollection_Mat4<double> HeadToEyeTransform (Aspect_Eye theEye) const
+  {
+    NCollection_Mat4<double> aMat;
+    EyeToHeadTransform (theEye).Inverted (aMat);
+    return aMat;
+  }
+
+  //! Return projection matrix.
+  virtual NCollection_Mat4<double> ProjectionMatrix (Aspect_Eye theEye,
+                                                     double theZNear,
+                                                     double theZFar) const = 0;
+
+  //! Return FALSE if projection frustums are unsupported and general 4x4 projection matrix should be fetched instead
+  virtual bool HasProjectionFrustums() const = 0;
+
+  //! Receive XR events.
+  virtual void ProcessEvents() = 0;
+
+  //! Submit texture eye to XR Composer.
+  //! @param theTexture     [in] texture handle
+  //! @param theGraphicsLib [in] graphics library in which texture handle is defined
+  //! @param theColorSpace  [in] texture color space;
+  //!                            sRGB means no color conversion by composer;
+  //!                            Linear means to sRGB color conversion by composer
+  //! @param theEye [in] eye to display
+  //! @return FALSE on error
+  virtual bool SubmitEye (void* theTexture,
+                          Aspect_GraphicsLibrary theGraphicsLib,
+                          Aspect_ColorSpace theColorSpace,
+                          Aspect_Eye theEye) = 0;
+
+  //! Return unit scale factor defined as scale factor for m (meters); 1.0 by default.
+  Standard_Real UnitFactor() const { return myUnitFactor; }
+
+  //! Set unit scale factor.
+  void SetUnitFactor (Standard_Real theFactor) { myUnitFactor = theFactor; }
+
+  //! Return aspect ratio.
+  Standard_Real Aspect() const { return myAspect; }
+
+  //! Return field of view.
+  Standard_Real FieldOfView() const { return myFieldOfView; }
+
+  //! Return Intra-ocular Distance (IOD); also known as Interpupillary Distance (IPD).
+  //! Defined in meters by default (@sa UnitFactor()).
+  Standard_Real IOD() const { return myIod; }
+
+  //! Return display frequency or 0 if unknown.
+  Standard_ShortReal DisplayFrequency() const { return myDispFreq; }
+
+  //! Return projection frustum.
+  //! @sa HasProjectionFrustums().
+  const Aspect_FrustumLRBT<double>& ProjectionFrustum (Aspect_Eye theEye) const
+  {
+    return theEye == Aspect_Eye_Right ? myFrustumR : myFrustumL;
+  }
+
+  //! Return head orientation in right-handed system:
+  //! +y is up
+  //! +x is to the right
+  //! -z is forward
+  //! Distance unit is meters by default (@sa UnitFactor()).
+  const gp_Trsf& HeadPose() const { return myHeadPose; }
+
+  //! Return left hand orientation.
+  gp_Trsf LeftHandPose()  const
+  {
+    const Standard_Integer aDevice = NamedTrackedDevice (Aspect_XRTrackedDeviceRole_LeftHand);
+    return aDevice != -1 ? myTrackedPoses[aDevice].Orientation : gp_Trsf();
+  }
+
+  //! Return right hand orientation.
+  gp_Trsf RightHandPose() const
+  {
+    const Standard_Integer aDevice = NamedTrackedDevice (Aspect_XRTrackedDeviceRole_RightHand);
+    return aDevice != -1 ? myTrackedPoses[aDevice].Orientation : gp_Trsf();
+  }
+
+  //! Return number of tracked poses array.
+  const Aspect_TrackedDevicePoseArray& TrackedPoses() const { return myTrackedPoses; }
+
+  //! Return TRUE if device orientation is defined.
+  bool HasTrackedPose (Standard_Integer theDevice) const { return myTrackedPoses[theDevice].IsValidPose; }
+
+  //! Return index of tracked device of known role, or -1 if undefined.
+  virtual Standard_Integer NamedTrackedDevice (Aspect_XRTrackedDeviceRole theDevice) const = 0;
+
+  //! Load model for displaying device.
+  //! @param theDevice  [in] device index
+  //! @param theTexture [out] texture source
+  //! @return model triangulation or NULL if not found
+  Handle(Graphic3d_ArrayOfTriangles) LoadRenderModel (Standard_Integer theDevice,
+                                                      Handle(Image_Texture)& theTexture)
+  {
+    return loadRenderModel (theDevice, true, theTexture);
+  }
+
+  //! Load model for displaying device.
+  //! @param theDevice  [in] device index
+  //! @param theToApplyUnitFactor [in] flag to apply unit scale factor
+  //! @param theTexture [out] texture source
+  //! @return model triangulation or NULL if not found
+  Handle(Graphic3d_ArrayOfTriangles) LoadRenderModel (Standard_Integer theDevice,
+                                                      Standard_Boolean theToApplyUnitFactor,
+                                                      Handle(Image_Texture)& theTexture)
+  {
+    return loadRenderModel (theDevice, theToApplyUnitFactor, theTexture);
+  }
+
+  //! Fetch data for digital input action (like button).
+  //! @param theAction [in] action of Aspect_XRActionType_InputDigital type
+  virtual Aspect_XRDigitalActionData GetDigitalActionData (const Handle(Aspect_XRAction)& theAction) const = 0;
+
+  //! Fetch data for digital input action (like axis).
+  //! @param theAction [in] action of Aspect_XRActionType_InputAnalog type
+  virtual Aspect_XRAnalogActionData GetAnalogActionData (const Handle(Aspect_XRAction)& theAction) const = 0;
+
+  //! Fetch data for pose input action (like fingertip position).
+  //! The returned values will match the values returned by the last call to WaitPoses().
+  //! @param theAction [in] action of Aspect_XRActionType_InputPose type
+  virtual Aspect_XRPoseActionData GetPoseActionDataForNextFrame (const Handle(Aspect_XRAction)& theAction) const = 0;
+
+  //! Trigger vibration.
+  Standard_EXPORT void TriggerHapticVibrationAction (const Handle(Aspect_XRAction)& theAction,
+                                                     const Aspect_XRHapticActionData& theParams);
+
+  //! Abort vibration.
+  Standard_EXPORT void AbortHapticVibrationAction (const Handle(Aspect_XRAction)& theAction);
+
+  //! Return tracking origin.
+  TrackingUniverseOrigin TrackingOrigin() const { return myTrackOrigin; }
+
+  //! Set tracking origin.
+  virtual void SetTrackingOrigin (TrackingUniverseOrigin theOrigin) { myTrackOrigin = theOrigin; }
+
+  //! Return generic action for specific hand or NULL if undefined.
+  const Handle(Aspect_XRAction)& GenericAction (Aspect_XRTrackedDeviceRole theDevice,
+                                                Aspect_XRGenericAction theAction) const
+  {
+    const NCollection_Array1<Handle(Aspect_XRAction)>& anActions = myRoleActions[theDevice];
+    return anActions[theAction];
+  }
+
+public:
+
+  //! Info string enumeration.
+  enum InfoString
+  {
+    InfoString_Vendor,
+    InfoString_Device,
+    InfoString_Tracker,
+    InfoString_SerialNumber,
+  };
+
+  //! Query information.
+  virtual TCollection_AsciiString GetString (InfoString theInfo) const = 0;
+
+protected:
+
+  //! Empty constructor.
+  Standard_EXPORT Aspect_XRSession();
+
+  //! Load model for displaying device.
+  //! @param theDevice  [in] device index
+  //! @param theToApplyUnitFactor [in] flag to apply unit scale factor
+  //! @param theTexture [out] texture source
+  //! @return model triangulation or NULL if not found
+  virtual Handle(Graphic3d_ArrayOfTriangles) loadRenderModel (Standard_Integer theDevice,
+                                                              Standard_Boolean theToApplyUnitFactor,
+                                                              Handle(Image_Texture)& theTexture) = 0;
+
+  //! Trigger vibration.
+  virtual void triggerHapticVibrationAction (const Handle(Aspect_XRAction)& theAction,
+                                             const Aspect_XRHapticActionData& theParams) = 0;
+
+protected:
+
+  NCollection_Array1<Handle(Aspect_XRAction)>
+                                  myRoleActions[Aspect_XRTrackedDeviceRole_NB]; //!< generic actions
+  Aspect_XRActionSetMap           myActionSets;   //!< actions sets
+  TrackingUniverseOrigin          myTrackOrigin;  //!< tracking origin
+  Aspect_TrackedDevicePoseArray   myTrackedPoses; //!< array of tracked poses
+  gp_Trsf                         myHeadPose;     //!< head orientation
+  NCollection_Vec2<int>           myRendSize;     //!< viewport Width x Height for rendering into VR
+  Aspect_FrustumLRBT<double>      myFrustumL;     //!< left  eye projection frustum
+  Aspect_FrustumLRBT<double>      myFrustumR;     //!< right eye projection frustum
+  Standard_Real                   myUnitFactor;   //!< unit scale factor defined as scale factor for m (meters)
+  Standard_Real                   myAspect;       //!< aspect ratio
+  Standard_Real                   myFieldOfView;  //!< field of view
+  Standard_Real                   myIod;          //!< intra-ocular distance in meters
+  Standard_ShortReal              myDispFreq;     //!< display frequency
+
+};
+
+#endif // _Aspect_XRSession_HeaderFile

src/Aspect/Aspect_XRTrackedDeviceRole.hxx

@@ -0,0 +1,27 @@
+// 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.
+
+#ifndef _Aspect_XRTrackedDeviceRole_HeaderFile
+#define _Aspect_XRTrackedDeviceRole_HeaderFile
+
+//! Predefined tracked devices.
+enum Aspect_XRTrackedDeviceRole
+{
+  Aspect_XRTrackedDeviceRole_Head,      //!< head
+  Aspect_XRTrackedDeviceRole_LeftHand,  //!< left hand
+  Aspect_XRTrackedDeviceRole_RightHand, //!< right hand
+  Aspect_XRTrackedDeviceRole_Other,     //!< other devices
+};
+enum { Aspect_XRTrackedDeviceRole_NB = Aspect_XRTrackedDeviceRole_Other + 1 };
+
+#endif // _Aspect_XRTrackedDeviceRole_HeaderFile

src/Aspect/FILES

@@ -5,26 +5,32 @@ Aspect_Background.cxx
 Aspect_Background.hxx
 Aspect_CircularGrid.cxx
 Aspect_CircularGrid.hxx
+Aspect_ColorSpace.hxx
 Aspect_Convert.hxx
 Aspect_Display.hxx
 Aspect_DisplayConnection.cxx
 Aspect_DisplayConnection.hxx
 Aspect_DisplayConnectionDefinitionError.hxx
 Aspect_Drawable.hxx
+Aspect_Eye.hxx
 Aspect_FBConfig.hxx
 Aspect_FillMethod.hxx
+Aspect_FrustumLRBT.hxx
 Aspect_GenId.cxx
 Aspect_GenId.hxx
 Aspect_GradientBackground.cxx
 Aspect_GradientBackground.hxx
 Aspect_GradientFillMethod.hxx
 Aspect_GraphicDeviceDefinitionError.hxx
+Aspect_GraphicsLibrary.hxx
 Aspect_Grid.cxx
 Aspect_Grid.hxx
 Aspect_GridDrawMode.hxx
 Aspect_GridType.hxx
 Aspect_NeutralWindow.cxx
 Aspect_NeutralWindow.hxx
+Aspect_OpenVRSession.cxx
+Aspect_OpenVRSession.hxx
 Aspect_Handle.hxx
 Aspect_HatchStyle.hxx
 Aspect_IdentDefinitionError.hxx
@@ -37,6 +43,7 @@ Aspect_SequenceOfColor.hxx
 Aspect_ScrollDelta.hxx
 Aspect_Touch.hxx
 Aspect_TouchMap.hxx
+Aspect_TrackedDevicePose.hxx
 Aspect_TypeOfColorScaleData.hxx
 Aspect_TypeOfColorScaleOrientation.hxx
 Aspect_TypeOfColorScalePosition.hxx
@@ -60,4 +67,15 @@ Aspect_Window.hxx
 Aspect_WindowDefinitionError.hxx
 Aspect_WindowError.hxx
 Aspect_XAtom.hxx
+Aspect_XRAction.hxx
+Aspect_XRActionSet.hxx
+Aspect_XRActionType.hxx
+Aspect_XRAnalogActionData.hxx
+Aspect_XRDigitalActionData.hxx
+Aspect_XRGenericAction.hxx
+Aspect_XRHapticActionData.hxx
+Aspect_XRPoseActionData.hxx
+Aspect_XRSession.cxx
+Aspect_XRSession.hxx
+Aspect_XRTrackedDeviceRole.hxx
 Aspect_XWD.hxx