All posts by laht

DK2 parameters for THREE.OculusRiftEffect.js

As of Three.js r69, a updated version of the OculusRiftEffect can be found here

Currently three.js includes a function that renders a Oculus Rift friendly image to the screen. However, the function is made for the first version of the Rift, consequently it will not work with the updated DK2 version.

In order to get it working with the DK2 version, only a few lines of codes needs to be altered.

The updated function may be found here.

JOVR – Java bindings for Oculus Rift SDK

Oculus Rift Development Kit 2
Oculus Rift Development Kit 2

A software developer with the alias jericho has released JNA based Java bindings for the newly released Oculus Rift SDK.

It is available from his github page.

Prebuilt jars are available from the maven repository (.dlls are embedded)

Here is a simple  WebSocket server  I’ve wrote that provides clients with the tracking info:

Now go code some awsome Oculus demoes 😉

Numerically determinate the manipulator Jacobian

In classic kinematics, the Jacobian is used to solve the inverse velocity kinematics.

The forward kinematics equation is given by \( \quad x = f(\theta) \)and the Jacobian matrix is a linear approximation to \(f\).

$$J(\theta) = \begin{bmatrix} \frac{\partial p_x}{\partial \theta_1} & \frac{\partial p_x}{\partial \theta_2} & … & \frac{\partial p_x}{\partial \theta_n} \\[0.3em] \frac{\partial p_y}{\partial \theta_1} & \frac{\partial p_y}{\partial \theta_2} & … & \frac{\partial p_y}{\partial \theta_n} \\[0.3em] … & … & … & … \\[0.3em] \frac{\partial a_z}{\partial \theta_1} & \frac{\partial a_z}{\partial \theta_2} & … & \frac{\partial a_z}{\partial \theta_n} \end{bmatrix}$$

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