Developing VR Applications with the inVRs Framework at IEEE VR’10 Part I – Introduction

Christoph Anthes Roland Landertshamer

Developing VR ApplicationsDeveloping VR Applicationswith the with the inVRsinVRs Framework Framework

at IEEE VR’10at IEEE VR’10

Part I – IntroductionPart I – Introduction

20.03.10 Developing VR Applications with the inVRs Framework

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OverviewOverview

• IntroductionIntroduction• System CoreSystem Core

– User DatabaseUser Database

– World DatabaseWorld Database

– Event ManagerEvent Manager

– Transformation ManagerTransformation Manager

• InterfacesInterfaces– Input InterfaceInput Interface

– Output InterfaceOutput Interface

• ModulesModules– NavigationNavigation

– InteractionInteraction

– NetworkNetwork

• OutlookOutlook• AcknowledgementsAcknowledgements


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Introduction andIntroduction andArchitecture OverviewArchitecture Overview


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IntroductionIntroduction

• inVRsinVRs ((iinteractive nteractive nnetworked etworked VVirtual irtual RReality eality ssystem)ystem)– PronouncedPronounced

– C++ application framework for Networked Virtual Environments (NVEs)C++ application framework for Networked Virtual Environments (NVEs)

• Publicly available under www.invrs.org (under LGPL)Publicly available under www.invrs.org (under LGPL)– Uses Trac system for distribution Uses Trac system for distribution

• Alternatively latest stable release as zipAlternatively latest stable release as zip

• Windows binary available as wellWindows binary available as well

– Available for Linux, Windows, Mac OS X, and maybe IRIXAvailable for Linux, Windows, Mac OS X, and maybe IRIX

• Variety of out-of-the-box FeaturesVariety of out-of-the-box Features– Network communication supporting close coupled collaborationNetwork communication supporting close coupled collaboration

– Clear definition for navigation and interaction (with many techniques provided)Clear definition for navigation and interaction (with many techniques provided)

– Designed for reusability of developed componentsDesigned for reusability of developed components

– Easy-to-use configuration for immersive devicesEasy-to-use configuration for immersive devices


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• Documentation available on Trac SystemDocumentation available on Trac System– Several publications (BiBTeX files)Several publications (BiBTeX files)

– Tutorial examplesTutorial examples

– Medieval Town Tutorial and Going Immersive TutorialMedieval Town Tutorial and Going Immersive Tutorial

– Programmers’ Guide (coming soon)Programmers’ Guide (coming soon)

– Doxygen (http://doxygen.invrs.org/)Doxygen (http://doxygen.invrs.org/)

• LibrariesLibraries– RequiredRequired

• OpenSG v1.8 (http://www.opensg.org/)OpenSG v1.8 (http://www.opensg.org/)

• GMTL distributed with source (http://ggt.sourceforge.net)GMTL distributed with source (http://ggt.sourceforge.net)

• IrrXML distributed with source (http://www.ambiera.com/irrxml/)IrrXML distributed with source (http://www.ambiera.com/irrxml/)

• CMake (http://www.cmake.org/)CMake (http://www.cmake.org/)

– OptionalOptional

• OpenAL and ALUT (http://www.openal.org/)OpenAL and ALUT (http://www.openal.org/)

• ODE (http://www.ode.org/)ODE (http://www.ode.org/)

• trackD (with CAVELib), VRPN (http://www.cs.unc.edu/Research/vrpn/)trackD (with CAVELib), VRPN (http://www.cs.unc.edu/Research/vrpn/)


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• Where to position Where to position inVRsinVRs in the development approaches for VR in the development approaches for VR applicationsapplications– Graphical Editors (using software components)Graphical Editors (using software components)

• (e.g. VirTools, Quest3D)(e.g. VirTools, Quest3D)

– VR systems incorporating scripting languages VR systems incorporating scripting languages

• (e.g. DIVE, ALICE, AVOCADO) (e.g. DIVE, ALICE, AVOCADO)

– Application Frameworks Application Frameworks

• (e.g. VRJuggler, instantreality)(e.g. VRJuggler, instantreality)

– Scene Graphs Scene Graphs

• (e.g. OpenSG, OpenSceneGraph)(e.g. OpenSG, OpenSceneGraph)

– Full development from scratch via C or C++Full development from scratch via C or C++

• OpenGL presents comparably high effort for new development of VR OpenGL presents comparably high effort for new development of VR applicationsapplications


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• Application AreasApplication Areas

Safety TrainingSafety Training Collaborative WorkCollaborative Work EntertainmentEntertainment

ArtArt Scientific VisualizationScientific Visualization

Architecture VisualizationArchitecture Visualization Product PresentationProduct Presentation

EducationEducation

World LayoutWorld Layout


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• inVRsinVRs consists of the following components consists of the following components– Interfaces (designed for flexible extension)Interfaces (designed for flexible extension)

– Modules (designed as plug-ins for exchangeability, modularity)Modules (designed as plug-ins for exchangeability, modularity)

– System Core (not to be changed in structure, provides many extensible, System Core (not to be changed in structure, provides many extensible, exchangeable sub-components)exchangeable sub-components)

• Communication in the diagram happens typically top-downCommunication in the diagram happens typically top-down


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System CoreSystem Core


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System CoreSystem Core

• Acts as glue Acts as glue – Internally between communication units and database unitsInternally between communication units and database units

– Externally to interfaces and modulesExternally to interfaces and modules

• Core functionality Core functionality – Data types Data types

– Configuration handling (parsing and updating of XML configuration)Configuration handling (parsing and updating of XML configuration)

– Logging (used for profiling application parts)Logging (used for profiling application parts)

– Timer (common timer for all Timer (common timer for all inVRsinVRs components) components)

– Interfaces (interfaces to modules and other Interfaces (interfaces to modules and other inVRsinVRs components) components)

– ID management (unique ID handling)ID management (unique ID handling)

– Application base (used for simplification of the development process)Application base (used for simplification of the development process)

• Contains subcomponents for database handling and message handlingContains subcomponents for database handling and message handling– User and world database are used for VE storageUser and world database are used for VE storage

– Event and transformation manager are used for communicationEvent and transformation manager are used for communication


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System CoreSystem Core--

User DatabaseUser Database


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System Core - User DatabaseSystem Core - User Database

• Stores information about usersStores information about users– Local userLocal user

– Remote usersRemote users

• Settings for user dependent application behavior Settings for user dependent application behavior – User RepresentationUser Representation

– Cursor RepresentationCursor Representation

– User TransformationUser Transformation

– Cursor TransformationCursor Transformation

• Coordinate SystemsCoordinate Systems1.1. Origin of the VEOrigin of the VE

2.2. Navigated transformationNavigated transformation

3.3. User transformationUser transformation

4.4. Hand transformationHand transformation

5.5. Head transformationHead transformation


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• Different models for representation are availableDifferent models for representation are available

• User RepresentationUser Representation– Simple AvatarSimple Avatar

• Simple textured geometry not articulatedSimple textured geometry not articulated

– Avatara AvatarAvatara Avatar

• Use of mesh skinning for animationsUse of mesh skinning for animations

• Separate control of head, back and handSeparate control of head, back and hand

• More detail in More detail in Going Immersive TutorialGoing Immersive Tutorial

• Cursor RepresentationCursor Representation– Simple CursorSimple Cursor

• Basic textured geometry displayed at cursor positionBasic textured geometry displayed at cursor position

– Interaction CursorInteraction Cursor

• Illustrates the state of interaction (idle, selection, manipulation)Illustrates the state of interaction (idle, selection, manipulation)

• Implemented by switching through three different graphical representationsImplemented by switching through three different graphical representations


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• Different models for user and cursor behavior are availableDifferent models for user and cursor behavior are available

• User TransformationUser Transformation– Defines the user transformationsDefines the user transformations

– Has to be modified e.g. if tracking systems are usedHas to be modified e.g. if tracking systems are used

• Cursor TransformationCursor Transformation– Defines behavior of the user cursorDefines behavior of the user cursor

– Might have to be altered to implement specific interaction techniqueMight have to be altered to implement specific interaction technique

– Models are available forModels are available for

• Virtual HandVirtual Hand

• HOMERHOMER


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World DatabaseWorld Database


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System Core - World DatabaseSystem Core - World Database

• Keeps information about the objects of the virtual worldKeeps information about the objects of the virtual world

• Initially designed to partition the VEInitially designed to partition the VE– Partitioning idea relates to network scalability conceptsPartitioning idea relates to network scalability concepts

– Supports as well frustum culling of the underlying scene graphSupports as well frustum culling of the underlying scene graph

– Partitioning concept ideal for 2D layout of the scenes, usable in 3D applications Partitioning concept ideal for 2D layout of the scenes, usable in 3D applications as wellas well

• Important objects for structuringImportant objects for structuring– Entities and entity typesEntities and entity types

• Objects in a VE and their typeObjects in a VE and their type

– TilesTiles

• Element used to partition the VEElement used to partition the VE

– Environment and environment layoutEnvironment and environment layout

• Describes a local coordinate system and the layout of several coordinate Describes a local coordinate system and the layout of several coordinate systemssystems


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System Core - World DatabaseSystem Core - World Database

• World Database - Scene Graph RepresentationWorld Database - Scene Graph Representation– Data is stored inside STL vectorsData is stored inside STL vectors

– Mapping of object IDs via hash tables for improved seek performanceMapping of object IDs via hash tables for improved seek performance

– IDs stored in ID poolsIDs stored in ID pools


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Event ManagerEvent Manager


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System Core - Event ManagerSystem Core - Event Manager

• Used for handling and distribution of discrete eventsUsed for handling and distribution of discrete events– Handles discrete communicationHandles discrete communication

– Components can register via piping mechanism to the event managerComponents can register via piping mechanism to the event manager

– Events are generated by componentsEvents are generated by components

– Sent to an event pipe in the event managerSent to an event pipe in the event manager

– They can be filtered in the pipe (partially implemented)They can be filtered in the pipe (partially implemented)

– Events are stored in event queuesEvents are stored in event queues

– Receiving components poll their queuesReceiving components poll their queues

– Events are executed inside the componentsEvents are executed inside the components

– Depending on the visibility level (LOCAL, REMOTE, GLOBAL) of the Depending on the visibility level (LOCAL, REMOTE, GLOBAL) of the messages they are sent to the network module (if available) and are distributed messages they are sent to the network module (if available) and are distributed in a reliable manner (typically via TCP)in a reliable manner (typically via TCP)


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System Core - Event ManagerSystem Core - Event Manager

• Conceptual ApproachConceptual Approach


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Transformation ManagerTransformation Manager


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System Core - Transformation ManagerSystem Core - Transformation Manager

• Used for handling and distribution transformation dataUsed for handling and distribution transformation data– Handles continuous flow of transformation data packetsHandles continuous flow of transformation data packets

– Transformation MatricesTransformation Matrices

• Common type of data in VEs besides events are transformation matrices Common type of data in VEs besides events are transformation matrices (navigation, object manipulation)(navigation, object manipulation)

• Vast amount of transformations are present because of the use of position Vast amount of transformations are present because of the use of position tracking devicestracking devices

• Transmission not necessarily reliableTransmission not necessarily reliable

– Manager has several pipes with source and destinationManager has several pipes with source and destination

– Every object which is to be transformed in the VE gets it‘s own pipe which is Every object which is to be transformed in the VE gets it‘s own pipe which is opened at the start of the transformationopened at the start of the transformation

– Transformations are applied typically on the database of the VE and are (if Transformations are applied typically on the database of the VE and are (if available) partially transferred via the network module in an unreliable manneravailable) partially transferred via the network module in an unreliable manner

• Each pipe can have an arbitrary amount of stagesEach pipe can have an arbitrary amount of stages– Each stage contains one transformation modifierEach stage contains one transformation modifier

– The pipe stages are predefined at application setupThe pipe stages are predefined at application setup

• Once per frame all pipe stages on each pipe are computedOnce per frame all pipe stages on each pipe are computed


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• Pipe stages contain transformation modifiers which are set up by the Pipe stages contain transformation modifiers which are set up by the application developerapplication developer

• If more than one transformation pipe exists for a single object the If more than one transformation pipe exists for a single object the transformations are processed to one resulting transformationtransformations are processed to one resulting transformation– Implemented as a merger modifierImplemented as a merger modifier

• Transformation ModifiersTransformation Modifiers– Various modules can influence the transformation pipes via the modifiersVarious modules can influence the transformation pipes via the modifiers

• Network, interaction, navigation, physics, collision detection, …Network, interaction, navigation, physics, collision detection, …

• Pipe Stages – Different types of modifiers can be appliedPipe Stages – Different types of modifiers can be applied– ModifiersModifiers

• Modify pipe content, can write values to other Modify pipe content, can write values to other inVRsinVRs components components– WritersWriters

• Write values to other Write values to other inVRsinVRs components, do not modify pipe content components, do not modify pipe content– MergersMergers

• Used to merge pipes Used to merge pipes – InterruptersInterrupters

• Pipes have to be interrupted after mergingPipes have to be interrupted after merging


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• Transformation Manager – Program FlowTransformation Manager – Program Flow


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InterfacesInterfaces--

Input InterfaceInput Interface


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Interfaces - Input InterfaceInterfaces - Input Interface

• Input InterfaceInput Interface– Used for the abstraction of input devicesUsed for the abstraction of input devices

– Important since it is not often possible to develop on the VR installation and in Important since it is not often possible to develop on the VR installation and in case of Networked Virtual Environment seldom similar installations are case of Networked Virtual Environment seldom similar installations are interconnectedinterconnected

– Low-level device drivers or high-level libraries can be used for gathering inputLow-level device drivers or high-level libraries can be used for gathering input


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Interfaces - Input InterfaceInterfaces - Input Interface

• Input InterfaceInput Interface– Data of the input devices is exposed in a unified form (buttons, sensors, axes) Data of the input devices is exposed in a unified form (buttons, sensors, axes)

as an abstract controlleras an abstract controller

– This abstract controller can be accessed by This abstract controller can be accessed by inVRsinVRs components like modules or components like modules or core componentscore components


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InterfacesInterfaces--

Output InterfaceOutput Interface


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Interfaces - Output InterfaceInterfaces - Output Interface

• Output InterfaceOutput Interface– Used for the abstraction of output devicesUsed for the abstraction of output devices

– Interface to common scene graphs (OpenSG, OpenSceneGraph) and audio Interface to common scene graphs (OpenSG, OpenSceneGraph) and audio library (only partially implemented yet)library (only partially implemented yet)

– Use of OpenSG allows easy rendering on arbitrary multi-display installationsUse of OpenSG allows easy rendering on arbitrary multi-display installations


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ModulesModules--

NavigationNavigation


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Modules - NavigationModules - Navigation

• Navigation Module – ArchitectureNavigation Module – Architecture– Transformation results from speed, direction and orientationTransformation results from speed, direction and orientation

– These three components are individually configurableThese three components are individually configurable


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ModulesModules--

InteractionInteraction


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Modules - InteractionModules - Interaction

• Interaction ModuleInteraction Module– Different interaction techniques exist e.g.Different interaction techniques exist e.g.

• Virtual Hand (aka Natural Interaction)Virtual Hand (aka Natural Interaction)– Most common interaction technique in VRMost common interaction technique in VR– Direct mapping of cursor transformation for selection and manipulationDirect mapping of cursor transformation for selection and manipulation

• HOMERHOMER– Combination of ray-casting for selection und Virtual Hand for manipulation at Combination of ray-casting for selection und Virtual Hand for manipulation at

distancedistance

• GoGoGoGo– Non-Linear scaling of distance vector between user sensors for Non-Linear scaling of distance vector between user sensors for

determination of the cursor transformationdetermination of the cursor transformation

– Interactions techniques can be split up into individual reusable components Interactions techniques can be split up into individual reusable components for different parts of the interactionfor different parts of the interaction


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• Interaction Module is implemented as an automatonInteraction Module is implemented as an automaton– Input alphabet Input alphabet Σ Σ defined through components of abstract controller and defined through components of abstract controller and

system statessystem states

– q = {qq = {q00 (Idle), q (Idle), q11 (Selection), q (Selection), q22 (Manipulation)} (Manipulation)}

– Transition functions Transition functions δ δ defined through components of interaction techniquesdefined through components of interaction techniques

– Begin and end state = qBegin and end state = q00


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• Collaborative interaction from a scene graph perspectiveCollaborative interaction from a scene graph perspective

– Collaborative interaction allows concurrent manipulation of an object through Collaborative interaction allows concurrent manipulation of an object through several users at the same attribute (typically transformation matrix)several users at the same attribute (typically transformation matrix)

– Having more than one parent nodes in a scene graph (if allowed) lead to Having more than one parent nodes in a scene graph (if allowed) lead to multiple rendering of an objectmultiple rendering of an object

– Transformation changes initiated by different sources, which refer to the Transformation changes initiated by different sources, which refer to the same object are detected as a conflict an resolved with the help of the same object are detected as a conflict an resolved with the help of the transformation managertransformation manager


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ModulesModules--

NetworkNetwork


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Modules - NetworkModules - Network

• Network ModuleNetwork Module– General problem with network solutions is their ambivalenceGeneral problem with network solutions is their ambivalence

• Thus the Thus the inVRsinVRs network module is designed for exchangeability network module is designed for exchangeability

– Consists of two layersConsists of two layers

• High-Level: general interface to the frameworkHigh-Level: general interface to the framework

• Low-Level: implementation of network communication and topologyLow-Level: implementation of network communication and topology

– Different implementations of the low-level layer existDifferent implementations of the low-level layer exist

• Separation of the virtual world on different servers (e.g. via Grid Separation of the virtual world on different servers (e.g. via Grid computing)computing)

• Standard implementation of the network module uses peer-to-peer Standard implementation of the network module uses peer-to-peer communication and topologycommunication and topology

– Typically events are distributed via TCP (reliable) and transformation data is Typically events are distributed via TCP (reliable) and transformation data is distributed via UDP (unreliable but fast)distributed via UDP (unreliable but fast)


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OutlookOutlook


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OutlookOutlook

Physics ModulePhysics Module Joint InteractionJoint Interaction AvatarsAvatars

3D Menus3D Menus Particle System WrapperParticle System Wrapper

Collision MapsCollision Maps CAVE Scene ManagerCAVE Scene Manager

Height MapsHeight Maps

Free Form Deformation ModuleFree Form Deformation Module

• Additional ToolsAdditional Tools


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OutlookOutlook

• Novel conceptsNovel concepts– Clear distinction in the area of communication patternsClear distinction in the area of communication patterns

– Events and transformations are handled independentlyEvents and transformations are handled independently

– Transformation management allows for concurrent object manipulationTransformation management allows for concurrent object manipulation

– Composeable and clearly defined interaction and navigationComposeable and clearly defined interaction and navigation

– Automatic data distribution mechanism Automatic data distribution mechanism

• Next slide sets Next slide sets – Medieval Town TutorialMedieval Town Tutorial

– Going Immersive TutorialGoing Immersive Tutorial


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AcknowledgementsAcknowledgements

• ContributorsContributors– Architecture and Main DevelopmentArchitecture and Main Development

Christoph Anthes, Helmut Bressler, Roland Landertshamer, Marina LengerChristoph Anthes, Helmut Bressler, Roland Landertshamer, Marina Lenger

– ToolsTools

Helmut Garstenauer, Martin Garstenauer, Adrian Haffegee, Marlene Helmut Garstenauer, Martin Garstenauer, Adrian Haffegee, Marlene Hochrieser, Roland Hopferwieser, Robert Owen, Stephan Reiter, Thomas Hochrieser, Roland Hopferwieser, Robert Owen, Stephan Reiter, Thomas Weberndorfer, Christian Wressnegger, Johannes ZarlWeberndorfer, Christian Wressnegger, Johannes Zarl

Questions ?Questions ?


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Documents

Developing VR Applications with the inVRs Framework at IEEE VR’10 Part I – Introduction