Bug 1151 - Working OculusVR SDK 0.5.0.1 on GNU/Linux w/ Positional Tracker (DK2)

Note: The ovrd server must run, otherwise no device is being detected.

General Stereo API Changes:
  - EyePose -> ViewerPose

    - We only use the viewer pose and derive the pupile position
      via EyeParameter.

    - Hence we reduce complexity.

    - A single ViewerPose will be maintained by StereoDeviceRenderer

    - position is in meter, allowing StereoGLEventListener to scale
      device independent.

  - StereoDevice receives knowledge of certain sensors,
    to be queried and used for start-sensors.

OVR:
  - Simply apply the above general changes

  - Build: Remove [more] unused API entries for SDK rendering

18 files changed, 422 insertions, 155 deletions

diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoClientRenderer.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoClientRenderer.java
index b1a38ab06..8ecd8b8f7 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoClientRenderer.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoClientRenderer.java
@@ -189,10 +189,7 @@ public class StereoClientRenderer implements GLEventListener {
         final int[] eyeOrder = deviceRenderer.getDevice().getEyeRenderOrder();
         final int eyeCount = eyeOrder.length;
 
-        // Update eye pos upfront to have same (almost) results
-        for(int eyeNum=0; eyeNum<eyeCount; eyeNum++) {
-            deviceRenderer.updateEyePose(eyeNum);
-        }
+        final ViewerPose viewerPose = deviceRenderer.updateViewerPose();
 
         if( 1 == fboCount ) {
             fbos[0].bind(gl);
@@ -213,7 +210,7 @@ public class StereoClientRenderer implements GLEventListener {
                 public void run(final GLAutoDrawable drawable, final GLEventListener listener) {
                     final StereoGLEventListener sl = (StereoGLEventListener) listener;
                     sl.reshapeForEye(drawable, viewport.getX(), viewport.getY(), viewport.getWidth(), viewport.getHeight(),
-                                     eye.getEyeParameter(), eye.getLastEyePose());
+                                     eye.getEyeParameter(), viewerPose);
                     sl.display(drawable, displayFlags);
                 }  };
             helper.runForAllGLEventListener(drawable, reshapeDisplayAction);
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDevice.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDevice.java
index d59863530..68d0f4b39 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDevice.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDevice.java
@@ -41,10 +41,30 @@ public interface StereoDevice {
     public static final boolean DEBUG = Debug.debug("StereoDevice");
     public static final boolean DUMP_DATA = Debug.isPropertyDefined("jogl.debug.StereoDevice.DumpData", true);
 
+    /**
+     * Sensor Bit: Orientation tracking
+     */
+    public static final int SENSOR_ORIENTATION    = 1 << 0;
+
+    /**
+     * Sensor Bit: Yaw correction
+     */
+    public static final int SENSOR_YAW_CORRECTION = 1 << 1;
+
+    /**
+     * Sensor Bit: Positional tracking
+     */
+    public static final int SENSOR_POSITION = 1 << 2;
+
     /** Return the factory used to create this device. */
     public StereoDeviceFactory getFactory();
 
-    /** Disposes this {@link StereoDevice}, if {@link #isValid() valid}. */
+    /**
+     * Disposes this {@link StereoDevice}, if {@link #isValid() valid}.
+     * <p>
+     * Implementation shall {@link #stopSensors() stop sensors} and free all resources.
+     * </p>
+     */
     public void dispose();
 
     /**
@@ -96,13 +116,59 @@ public interface StereoDevice {
      */
     public FovHVHalves[] getDefaultFOV();
 
-    /** Start or stop sensors. Returns true if action was successful, otherwise false. */
-    public boolean startSensors(boolean start);
+    /**
+     * Start desired and required sensors. Returns true if action was successful, otherwise false.
+     * <p>
+     * Method fails if required sensors are not {@link #getSupportedSensorBits() supported}.
+     * </p>
+     * @param desiredSensorBits the desired optional sensors
+     * @param requiredSensorBits the required sensors
+     * @see #stopSensors()
+     * @see #getSensorsStarted()
+     * @see #getSupportedSensorBits()
+     * @see #getEnabledSensorBits()
+     */
+    public boolean startSensors(int desiredSensorBits, int requiredSensorBits);
+
+    /**
+     * Stop sensors. Returns true if action was successful, otherwise false.
+     * @see #startSensors(int, int)
+     * @see #getSensorsStarted()
+     * @see #getSupportedSensorBits()
+     * @see #getEnabledSensorBits()
+     */
+    public boolean stopSensors();
 
-    /** Return true if sensors have been started, false otherwise */
+    /**
+     * Return true if sensors have been started, false otherwise.
+     * @see #startSensors(int, int)
+     * @see #stopSensors()
+     * @see #getSupportedSensorBits()
+     * @see #getEnabledSensorBits()
+     */
     public boolean getSensorsStarted();
 
     /**
+     * Returns the supported sensor capability bits, e.g. {@link #SENSOR_ORIENTATION}, {@link #SENSOR_POSITION}
+     * of the {@link StereoDevice}.
+     * @see #startSensors(int, int)
+     * @see #stopSensors()
+     * @see #getSensorsStarted()
+     * @see #getEnabledSensorBits()
+     */
+    public int getSupportedSensorBits();
+
+    /**
+     * Returns the actual used sensor capability bits, e.g. {@link #SENSOR_ORIENTATION}, {@link #SENSOR_POSITION}
+     * in case the {@link #getSupportedSensorBits() device supports} them and if they are enabled.
+     * @see #startSensors(int, int)
+     * @see #stopSensors()
+     * @see #getSensorsStarted()
+     * @see #getSupportedSensorBits()
+     */
+    public int getEnabledSensorBits();
+
+    /**
      * Returns an array of the preferred eye rendering order.
      * The array length reflects the supported eye count.
      * <p>
@@ -112,7 +178,7 @@ public interface StereoDevice {
     public int[] getEyeRenderOrder();
 
     /**
-     * Returns the supported distortion compensation by the {@link StereoDeviceRenderer},
+     * Returns the supported distortion compensation of the {@link StereoDeviceRenderer},
      * e.g. {@link StereoDeviceRenderer#DISTORTION_BARREL}, {@link StereoDeviceRenderer#DISTORTION_CHROMATIC}, etc.
      * @see StereoDeviceRenderer#getDistortionBits()
      * @see #createRenderer(int, int, float[], FovHVHalves[], float, int)
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDeviceRenderer.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDeviceRenderer.java
index 2078a00a2..0d6539634 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDeviceRenderer.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoDeviceRenderer.java
@@ -42,10 +42,10 @@ import com.jogamp.opengl.math.FovHVHalves;
  * <ul>
  *   <li>device.{@link #beginFrame(GL)}</li>
  *   <li>For both eyes:<ul>
- *     <li>device.{@link #updateEyePose(int)}</li>
+ *     <li>device.{@link #updateViewerPose(int)}</li>
  *     <li>if device.{@link #ppAvailable()}: Set the render target, e.g. FBO</li>
  *     <li>Set the viewport using {@link Eye#getViewport()}</li>
- *     <li>{@link StereoGLEventListener#reshapeForEye(com.jogamp.opengl.GLAutoDrawable, int, int, int, int, EyeParameter, EyePose) upstream.reshapeEye(..)}</li>
+ *     <li>{@link StereoGLEventListener#reshapeForEye(com.jogamp.opengl.GLAutoDrawable, int, int, int, int, EyeParameter, ViewerPose) upstream.reshapeEye(..)}</li>
  *     <li>{@link StereoGLEventListener#display(com.jogamp.opengl.GLAutoDrawable, int) upstream.display(..)}.</li>
  *   </ul></li>
  *   <li>Reset the viewport</li>
@@ -89,7 +89,7 @@ public interface StereoDeviceRenderer {
 
     /**
      * Distortion Bit: Timewarp distortion technique to predict
-     *                 {@link EyePose} movement to reduce latency.
+     *                 {@link ViewerPose} movement to reduce latency.
      * <p>
      * FIXME: Explanation needs refinement!
      * </p>
@@ -113,10 +113,6 @@ public interface StereoDeviceRenderer {
          * Returns the {@link EyeParameter} of this eye.
          */
         public EyeParameter getEyeParameter();
-        /**
-         * Returns the last {@link EyePose} of this eye.
-         */
-        public EyePose getLastEyePose();
     }
 
     /**
@@ -125,10 +121,14 @@ public interface StereoDeviceRenderer {
     public Eye getEye(final int eyeNum);
 
     /**
-     * Updates the {@link Eye#getLastEyePose()}
-     * for the denoted <code>eyeNum</code>.
+     * Updates the {@link ViewerPose} and returns it.
+     */
+    public ViewerPose updateViewerPose();
+
+    /**
+     * Returns the last {@link ViewerPose}.
      */
-    public EyePose updateEyePose(final int eyeNum);
+    public ViewerPose getLastViewerPose();
 
     /**
      * Returns used distortion compensation bits, e.g. {@link #DISTORTION_BARREL},
@@ -219,7 +219,7 @@ public interface StereoDeviceRenderer {
     /**
      * Begin stereoscopic post-processing, see {@link #ppAvailable()}.
      * <p>
-     * {@link #updateEyePose(int)} for both eyes must be called upfront
+     * {@link #updateViewerPose(int)} for both eyes must be called upfront
      * when rendering upstream {@link StereoGLEventListener}.
      * </p>
      *
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoGLEventListener.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoGLEventListener.java
index c1a06796c..59f38f2af 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoGLEventListener.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoGLEventListener.java
@@ -51,7 +51,7 @@ public interface StereoGLEventListener extends CustomGLEventListener {
      * </p>
      * <p>
      * The client shall also update it's projection- and modelview matrices according
-     * to the given {@link EyeParameter} and {@link EyePose}.
+     * to the given {@link EyeParameter} and {@link ViewerPose}.
      * </p>
      * <p>
      * For efficiency the GL viewport has already been updated
@@ -64,11 +64,11 @@ public interface StereoGLEventListener extends CustomGLEventListener {
      * @param width viewport width in pixel units
      * @param height viewport height in pixel units
      * @param eyeParam constant eye parameter, i.e. FOV and IPD
-     * @param eyePose current eye position and orientation
+     * @param viewerPose current viewer position and orientation
      * @see FloatUtil#makePerspective(float[], int, boolean, com.jogamp.opengl.math.FloatUtil.FovHVHalves, float, float)
      */
     public void reshapeForEye(final GLAutoDrawable drawable, final int x, final int y, final int width, final int height,
-                              final EyeParameter eyeParam, final EyePose eyePose);
+                              final EyeParameter eyeParam, final ViewerPose viewerPose);
 
 
 }
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoUtil.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoUtil.java
index b0ca4ddb2..b6f76a343 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoUtil.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/StereoUtil.java
@@ -97,23 +97,51 @@ public class StereoUtil {
         return sb.toString();
     }
 
+    /** See {@link StereoDevice#getSupportedSensorBits()} and {@link StereoDevice#getEnabledSensorBits()}. */
+    public static boolean usesOrientationSensor(final int sensorBits) { return 0 != ( sensorBits & StereoDevice.SENSOR_ORIENTATION ) ; }
+    /** See {@link StereoDevice#getSupportedSensorBits()} and {@link StereoDevice#getEnabledSensorBits()}. */
+    public static boolean usesYawCorrectionSensor(final int sensorBits) { return 0 != ( sensorBits & StereoDevice.SENSOR_YAW_CORRECTION ) ; }
+    /** See {@link StereoDevice#getSupportedSensorBits()} and {@link StereoDevice#getEnabledSensorBits()}. */
+    public static boolean usesPositionSensor(final int sensorBits) { return 0 != ( sensorBits & StereoDevice.SENSOR_POSITION ) ; }
+
+    /** See {@link StereoDevice#getSupportedSensorBits()} and {@link StereoDevice#getEnabledSensorBits()}. */
+    public static String sensorBitsToString(final int sensorBits) {
+        boolean appendComma = false;
+        final StringBuilder sb = new StringBuilder();
+        if( usesOrientationSensor(sensorBits) ) {
+            if( appendComma ) { sb.append(", "); };
+            sb.append("orientation"); appendComma=true;
+        }
+        if( usesYawCorrectionSensor(sensorBits) ) {
+            if( appendComma ) { sb.append(", "); };
+            sb.append("yaw-corr"); appendComma=true;
+        }
+        if( usesPositionSensor(sensorBits) ) {
+            if( appendComma ) { sb.append(", "); };
+            sb.append("position"); appendComma=true;
+        }
+        return sb.toString();
+    }
+
     /**
      * Calculates the <i>Side By Side</i>, SBS, projection- and modelview matrix for one eye.
      * <p>
-     * {@link #updateEyePose(int)} must be called upfront.
+     * {@link #updateViewerPose(int)} must be called upfront.
      * </p>
      * <p>
      * This method merely exist as an example implementation to compute the matrices,
      * which shall be adopted by the
-     * {@link CustomGLEventListener#reshape(com.jogamp.opengl.GLAutoDrawable, int, int, int, int, EyeParameter, EyePose) upstream client code}.
+     * {@link CustomGLEventListener#reshape(com.jogamp.opengl.GLAutoDrawable, int, int, int, int, EyeParameter, ViewerPose) upstream client code}.
      * </p>
-     * @param eyeNum eye denominator
+     * @param viewerPose
+     * @param eye
      * @param zNear frustum near value
      * @param zFar frustum far value
      * @param mat4Projection float[16] projection matrix result
      * @param mat4Modelview float[16] modelview matrix result
      */
-    public static void getSBSUpstreamPMV(final Eye eye, final float zNear, final float zFar,
+    public static void getSBSUpstreamPMV(final ViewerPose viewerPose, final Eye eye,
+                                         final float zNear, final float zFar,
                                          final float[] mat4Projection, final float[] mat4Modelview) {
         final float[] mat4Tmp1 = new float[16];
         final float[] mat4Tmp2 = new float[16];
@@ -122,7 +150,6 @@ public class StereoUtil {
         final float[] vec3Tmp3 = new float[3];
 
         final EyeParameter eyeParam = eye.getEyeParameter();
-        final EyePose eyePose = eye.getLastEyePose();
 
         //
         // Projection
@@ -135,10 +162,10 @@ public class StereoUtil {
         final Quaternion rollPitchYaw = new Quaternion();
         // private final float eyeYaw = FloatUtil.PI; // 180 degrees in radians
         // rollPitchYaw.rotateByAngleY(eyeYaw);
-        final float[] shiftedEyePos = rollPitchYaw.rotateVector(vec3Tmp1, 0, eyePose.position, 0);
+        final float[] shiftedEyePos = rollPitchYaw.rotateVector(vec3Tmp1, 0, viewerPose.position, 0);
         VectorUtil.addVec3(shiftedEyePos, shiftedEyePos, eyeParam.positionOffset);
 
-        rollPitchYaw.mult(eyePose.orientation);
+        rollPitchYaw.mult(viewerPose.orientation);
         final float[] up = rollPitchYaw.rotateVector(vec3Tmp2, 0, VectorUtil.VEC3_UNIT_Y, 0);
         final float[] forward = rollPitchYaw.rotateVector(vec3Tmp3, 0, VectorUtil.VEC3_UNIT_Z_NEG, 0);
         final float[] center = VectorUtil.addVec3(forward, shiftedEyePos, forward);
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/EyePose.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java
index aa64ff130..40411ac88 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/EyePose.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/ViewerPose.java
@@ -30,29 +30,34 @@ package com.jogamp.opengl.util.stereo;
 import com.jogamp.opengl.math.Quaternion;
 
 /**
- * Position and orientation of one eye.
+ * Position and orientation of viewer.
  */
-public final class EyePose {
-    /** Eye number, <code>0</code> for the left eye and <code>1</code> for the right eye. */
-    public final int number;
-
-    /** float[3] eye position vector. */
+public final class ViewerPose {
+    /**
+     * float[3] position of viewer in meter.
+     * <p>
+     * Apply the following to resolve the actual eye position:
+     * <ul>
+     * <li>{@link EyeParameter#positionOffset positionOffset} for head.</li>
+     * <li>[{@link EyeParameter#distNoseToPupilX distNoseToPupilX}, {@link EyeParameter#distMiddleToPupilY distMiddleToPupilY}, {@link EyeParameter#eyeReliefZ eyeReliefZ}] for pupil</li>
+     * </ul>
+     * </p>
+     */
     public final float[] position;
 
-    /** Eye orientation */
+    /** Orientation of viewer. */
     public final Quaternion orientation;
 
-    public EyePose(final int number) {
-        this.number = number;
+    public ViewerPose() {
         this.position = new float[3];
         this.orientation = new Quaternion();
     }
-    public EyePose(final int number, final float[] position, final Quaternion orientation) {
-        this(number);
+    public ViewerPose(final float[] position, final Quaternion orientation) {
+        this();
         set(position, orientation);
     }
 
-    /** Set position and orientation of this instance. */
+    /** Set {@link #position} and {@link #orientation}. */
     public final void set(final float[] position, final Quaternion orientation) {
         System.arraycopy(position, 0, this.position, 0, 3);
         this.orientation.set(orientation);
@@ -64,6 +69,6 @@ public final class EyePose {
         position[2] = posZ;
     }
     public final String toString() {
-        return "EyePose[num "+number+", pos["+position[0]+", "+position[1]+", "+position[2]+"], "+orientation+"]";
+        return "ViewerPose[pos["+position[0]+", "+position[1]+", "+position[2]+"], "+orientation+"]";
     }
 }
\ No newline at end of file
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceConfig.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceConfig.java
index 04fd8343c..44129de02 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceConfig.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceConfig.java
@@ -37,6 +37,7 @@ import com.jogamp.opengl.util.stereo.EyeParameter;
 import com.jogamp.opengl.util.stereo.StereoDeviceConfig;
 import com.jogamp.opengl.util.stereo.StereoDeviceRenderer;
 import com.jogamp.opengl.util.stereo.StereoUtil;
+import com.jogamp.opengl.util.stereo.StereoDevice;
 
 /**
  * Configuration for {@link GenericStereoDevice}s.
@@ -54,6 +55,7 @@ public class GenericStereoDeviceConfig extends StereoDeviceConfig {
                   final float interpupillaryDistanceInMeters,
                   final int[] eyeRenderOrder,
                   final EyeParameter[] defaultEyeParam,
+                  final int supportedSensorBits,
                   final DistortionMesh.Producer distortionMeshProducer,
                   final int supportedDistortionBits,
                   final int recommendedDistortionBits,
@@ -71,6 +73,7 @@ public class GenericStereoDeviceConfig extends StereoDeviceConfig {
         this.interpupillaryDistanceInMeters = interpupillaryDistanceInMeters;
         this.eyeRenderOrder = eyeRenderOrder;
         this.defaultEyeParam = defaultEyeParam;
+        this.supportedSensorBits = supportedSensorBits;
         this.distortionMeshProducer = distortionMeshProducer;
         this.supportedDistortionBits = supportedDistortionBits;
         this.recommendedDistortionBits = recommendedDistortionBits;
@@ -92,6 +95,7 @@ public class GenericStereoDeviceConfig extends StereoDeviceConfig {
         this.interpupillaryDistanceInMeters = source.interpupillaryDistanceInMeters;
         this.eyeRenderOrder = source.eyeRenderOrder;
         this.defaultEyeParam = source.defaultEyeParam;
+        this.supportedSensorBits = source.supportedSensorBits;
         this.distortionMeshProducer = source.distortionMeshProducer;
         this.supportedDistortionBits = source.supportedDistortionBits;
         this.recommendedDistortionBits = source.recommendedDistortionBits;
@@ -141,7 +145,8 @@ public class GenericStereoDeviceConfig extends StereoDeviceConfig {
                                " [m], eyeParam "+Arrays.toString(defaultEyeParam)+
                                ", distortionBits[supported ["+StereoUtil.distortionBitsToString(supportedDistortionBits)+
                                               "], recommended ["+StereoUtil.distortionBitsToString(recommendedDistortionBits)+
-                                              "], minimum ["+StereoUtil.distortionBitsToString(minimumDistortionBits)+"]]]";
+                                              "], minimum ["+StereoUtil.distortionBitsToString(minimumDistortionBits)+"]]"+
+                               ", sensorBits[supported ["+StereoUtil.sensorBitsToString(supportedSensorBits)+"]]]";
     }
 
     /** Configuration Name */
@@ -164,9 +169,13 @@ public class GenericStereoDeviceConfig extends StereoDeviceConfig {
     public final float[/*per-eye*/][/*xy*/] pupilCenterFromTopLeft;
     public final int[] eyeRenderOrder;
     public final EyeParameter[] defaultEyeParam;
+
+    /** Supported sensor bits, see {@link StereoDevice#SENSOR_ORIENTATION}. */
+    public final int supportedSensorBits;
+
     public final DistortionMesh.Producer distortionMeshProducer;
 
-    /** Supported distortion bits, see {@link StereoDeviceRenderer.DISTORTION_BARREL}. */
+    /** Supported distortion bits, see {@link StereoDeviceRenderer#DISTORTION_BARREL}. */
     public final int supportedDistortionBits;
     /** Recommended distortion bits, see {@link StereoDeviceRenderer.DISTORTION_BARREL}. */
     public final int recommendedDistortionBits;
diff --git a/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceFactory.java b/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceFactory.java
index 6adb96ba4..957758e78 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceFactory.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/stereo/generic/GenericStereoDeviceFactory.java
@@ -70,6 +70,7 @@ public class GenericStereoDeviceFactory extends StereoDeviceFactory {
                                              // degrees: 45/2 l, 45/2 r, 45/2 * aspect t, 45/2 * aspect b
                                              FovHVHalves.byFovyRadianAndAspect(45f*d2r, 1280f / 800f),
                                              0f /* distNoseToPupil */, 0f /* verticalDelta */, 0f /* eyeReliefInMeters */) },
+                        0,      // supported sensor bits
                         null, // mash producer distortion bits
                         0,    // supported distortion bits
                         0,    // recommended distortion bits
@@ -114,6 +115,7 @@ public class GenericStereoDeviceFactory extends StereoDeviceFactory {
                                           interpupillaryDistanceInMeters/2f /* distNoseToPupil */, 0f /* verticalDelta */, 0.010f /* eyeReliefInMeters */),
                             new EyeParameter(1, defaultEyePositionOffset, defaultSBSEyeFovRight,
                                          -interpupillaryDistanceInMeters/2f /* distNoseToPupil */, 0f /* verticalDelta */, 0.010f /* eyeReliefInMeters */) },
+                        0,      // supported sensor bits
                         null,   // mash producer distortion bits
                         0,      // supported distortion bits
                         0,      // recommended distortion bits
@@ -171,6 +173,7 @@ public class GenericStereoDeviceFactory extends StereoDeviceFactory {
                                           interpupillaryDistanceInMeters/2f /* distNoseToPupil */, 0f /* verticalDelta */, 0.010f /* eyeReliefInMeters */),
                             new EyeParameter(1, defaultEyePositionOffset, defaultSBSEyeFovRight,
                                          -interpupillaryDistanceInMeters/2f /* distNoseToPupil */, 0f /* verticalDelta */, 0.010f /* eyeReliefInMeters */) },
+                        0,      // supported sensor bits
                         lenseDistMeshProduce,
                         // supported distortion bits
                         StereoDeviceRenderer.DISTORTION_BARREL | StereoDeviceRenderer.DISTORTION_CHROMATIC | StereoDeviceRenderer.DISTORTION_VIGNETTE,
diff --git a/src/jogl/classes/jogamp/opengl/util/stereo/GenericStereoDevice.java b/src/jogl/classes/jogamp/opengl/util/stereo/GenericStereoDevice.java
index 9c0a5045b..491535dc1 100644
--- a/src/jogl/classes/jogamp/opengl/util/stereo/GenericStereoDevice.java
+++ b/src/jogl/classes/jogamp/opengl/util/stereo/GenericStereoDevice.java
@@ -39,6 +39,7 @@ import com.jogamp.opengl.util.stereo.EyeParameter;
 import com.jogamp.opengl.util.stereo.StereoDevice;
 import com.jogamp.opengl.util.stereo.StereoDeviceFactory;
 import com.jogamp.opengl.util.stereo.StereoDeviceRenderer;
+import com.jogamp.opengl.util.stereo.StereoUtil;
 import com.jogamp.opengl.util.stereo.generic.GenericStereoDeviceConfig;
 import com.jogamp.opengl.util.stereo.generic.GenericStereoDeviceFactory;
 
@@ -117,6 +118,7 @@ public class GenericStereoDevice implements StereoDevice {
     public final Point surfacePos;
     private final FovHVHalves[] defaultEyeFov;
 
+    private int usedSensorBits;
     private boolean sensorsStarted = false;
 
     public GenericStereoDevice(final StereoDeviceFactory factory, final int deviceIndex, final StereoDeviceConfig customConfig) {
@@ -137,6 +139,9 @@ public class GenericStereoDevice implements StereoDevice {
         for(int i=0; i<defaultEyeFov.length; i++) {
             defaultEyeFov[i] = config.defaultEyeParam[i].fovhv;
         }
+
+        // default
+        usedSensorBits = 0;
     }
 
     @Override
@@ -144,7 +149,8 @@ public class GenericStereoDevice implements StereoDevice {
 
     @Override
     public String toString() {
-        return "GenericStereoDevice["+config+", surfacePos "+surfacePos+"]";
+        return "GenericStereoDevice["+config+", surfacePos "+surfacePos+
+                ", sensorBits[enabled ["+StereoUtil.sensorBitsToString(getEnabledSensorBits())+"]]]";
     }
 
     public void setSurfacePosition(final int x, final int y) {
@@ -153,7 +159,7 @@ public class GenericStereoDevice implements StereoDevice {
 
     @Override
     public final void dispose() {
-        // NOP
+        stopSensors();
     }
 
     @Override
@@ -184,21 +190,42 @@ public class GenericStereoDevice implements StereoDevice {
     }
 
     @Override
-    public final boolean startSensors(final boolean start) {
-        if( start && !sensorsStarted ) {
-            if( startSensorsImpl(true) ) {
+    public final boolean startSensors(final int desiredSensorBits, final int requiredSensorBits) {
+        if( !sensorsStarted ) {
+            if( requiredSensorBits != ( config.supportedSensorBits & requiredSensorBits ) ) {
+                // required sensors not available
+                return false;
+            }
+            if( 0 == ( config.supportedSensorBits & ( requiredSensorBits | desiredSensorBits ) ) ) {
+                // no sensors available
+                return false;
+            }
+            if( startSensorsImpl(true, desiredSensorBits, requiredSensorBits) ) {
                 sensorsStarted = true;
                 return true;
             } else {
-                sensorsStarted = false;
                 return false;
             }
-        } else if( sensorsStarted ) {
-            if( startSensorsImpl(false) ) {
+        } else {
+            // No state change -> Success
+            return true;
+        }
+    }
+    protected boolean startSensorsImpl(final boolean start, final int desiredSensorBits, final int requiredSensorBits) {
+        // TODO: Add SPI for sensors
+        // TODO: start sensors in override / or SPI
+        // TODO: set usedSensorBits
+        return false;
+    }
+
+    @Override
+    public final boolean stopSensors() {
+        if( sensorsStarted ) {
+            if( startSensorsImpl(false, 0, 0) ) {
                 sensorsStarted = false;
+                usedSensorBits = 0;
                 return true;
             } else {
-                sensorsStarted = true;
                 return false;
             }
         } else {
@@ -206,12 +233,21 @@ public class GenericStereoDevice implements StereoDevice {
             return true;
         }
     }
-    private boolean startSensorsImpl(final boolean start) { return start; }
 
     @Override
     public boolean getSensorsStarted() { return sensorsStarted; }
 
     @Override
+    public final int getSupportedSensorBits() {
+        return config.supportedSensorBits;
+    }
+
+    @Override
+    public final int getEnabledSensorBits() {
+        return usedSensorBits;
+    }
+
+    @Override
     public int[] getEyeRenderOrder() { return config.eyeRenderOrder; }
 
     @Override
diff --git a/src/jogl/classes/jogamp/opengl/util/stereo/GenericStereoDeviceRenderer.java b/src/jogl/classes/jogamp/opengl/util/stereo/GenericStereoDeviceRenderer.java
index 6650342e7..21567a0f1 100644
--- a/src/jogl/classes/jogamp/opengl/util/stereo/GenericStereoDeviceRenderer.java
+++ b/src/jogl/classes/jogamp/opengl/util/stereo/GenericStereoDeviceRenderer.java
@@ -49,7 +49,7 @@ import com.jogamp.opengl.util.GLArrayDataServer;
 import com.jogamp.opengl.util.glsl.ShaderCode;
 import com.jogamp.opengl.util.glsl.ShaderProgram;
 import com.jogamp.opengl.util.stereo.EyeParameter;
-import com.jogamp.opengl.util.stereo.EyePose;
+import com.jogamp.opengl.util.stereo.ViewerPose;
 import com.jogamp.opengl.util.stereo.StereoDevice;
 import com.jogamp.opengl.util.stereo.StereoDeviceRenderer;
 import com.jogamp.opengl.util.stereo.StereoUtil;
@@ -82,7 +82,6 @@ public class GenericStereoDeviceRenderer implements StereoDeviceRenderer {
 
         private final EyeParameter eyeParameter;
 
-        private final EyePose eyePose;
 
         @Override
         public final RectangleImmutable getViewport() { return viewport; }
@@ -90,12 +89,9 @@ public class GenericStereoDeviceRenderer implements StereoDeviceRenderer {
         @Override
         public final EyeParameter getEyeParameter() { return eyeParameter; }
 
-        @Override
-        public final EyePose getLastEyePose() { return eyePose; }
-
-        private GenericEye(final GenericStereoDevice device, final int distortionBits,
-                         final float[] eyePositionOffset, final EyeParameter eyeParam,
-                         final DimensionImmutable textureSize, final RectangleImmutable eyeViewport) {
+        /* pp */ GenericEye(final GenericStereoDevice device, final int distortionBits,
+                            final float[] eyePositionOffset, final EyeParameter eyeParam,
+                            final DimensionImmutable textureSize, final RectangleImmutable eyeViewport) {
             this.eyeName = eyeParam.number;
             this.distortionBits = distortionBits;
             this.viewport = eyeViewport;
@@ -123,10 +119,6 @@ public class GenericStereoDeviceRenderer implements StereoDeviceRenderer {
 
             this.eyeParameter = eyeParam;
 
-            this.eyePose = new EyePose(eyeName);
-
-            updateEyePose(device); // 1st init
-
             // Setup: eyeToSourceUVScale, eyeToSourceUVOffset
             if( usePP ) {
                 final ScaleAndOffset2D textureScaleAndOffset = new ScaleAndOffset2D(eyeParam.fovhv, textureSize, eyeViewport);
@@ -333,18 +325,18 @@ public class GenericStereoDeviceRenderer implements StereoDeviceRenderer {
             indices.enableBuffer(gl, false);
         }
 
-        private void dispose(final GL2ES2 gl) {
+        /* pp */ void dispose(final GL2ES2 gl) {
             if( null == iVBO ) return;
             iVBO.destroy(gl);
             indices.destroy(gl);
         }
-        private void enableVBO(final GL2ES2 gl, final boolean enable) {
+        /* pp */ void enableVBO(final GL2ES2 gl, final boolean enable) {
             if( null == iVBO ) return;
             iVBO.enableBuffer(gl, enable);
             indices.bindBuffer(gl, enable); // keeps VBO binding if enable:=true
         }
 
-        private void updateUniform(final GL2ES2 gl, final ShaderProgram sp) {
+        /* pp */ void updateUniform(final GL2ES2 gl, final ShaderProgram sp) {
             if( null == iVBO ) return;
             gl.glUniform(eyeToSourceUVScale);
             gl.glUniform(eyeToSourceUVOffset);
@@ -354,15 +346,6 @@ public class GenericStereoDeviceRenderer implements StereoDeviceRenderer {
             }
         }
 
-        /**
-         * Updates {@link #ovrEyePose} and it's extracted
-         * {@link #eyeRenderPoseOrientation} and {@link #eyeRenderPosePosition}.
-         * @param hmdCtx used get the {@link #ovrEyePose} via {@link OVR#ovrHmd_GetEyePose(OvrHmdContext, int)}
-         */
-        private EyePose updateEyePose(final GenericStereoDevice hmdCtx) {
-            return eyePose;
-        }
-
         @Override
         public String toString() {
             final String ppTxt = null == iVBO ? ", no post-processing" :
@@ -373,12 +356,13 @@ public class GenericStereoDeviceRenderer implements StereoDeviceRenderer {
                         ", "+eyeParameter+
                         ", vertices "+vertexCount+", indices "+indexCount+
                         ppTxt+
-                        ", desc"+eyeParameter+", "+eyePose+"]";
+                        ", desc "+eyeParameter+"]";
         }
     }
 
     private final GenericStereoDevice device;
     private final GenericEye[] eyes;
+    private final ViewerPose viewerPose;
     private final int distortionBits;
     private final int textureCount;
     private final DimensionImmutable[] eyeTextureSizes;
@@ -445,9 +429,11 @@ public class GenericStereoDeviceRenderer implements StereoDeviceRenderer {
             this.totalTextureSize = zeroSize;
             texUnit0 = null;
         }
+        viewerPose = new ViewerPose();
         for(int i=0; i<eyeParam.length; i++) {
             eyes[i] = new GenericEye(context, this.distortionBits, eyePositionOffset, eyeParam[i], textureSizes[i], eyeViewports[i]);
         }
+
         sp = null;
     }
 
@@ -559,8 +545,14 @@ public class GenericStereoDeviceRenderer implements StereoDeviceRenderer {
     }
 
     @Override
-    public final EyePose updateEyePose(final int eyeNum) {
-        return eyes[eyeNum].updateEyePose(device);
+    public final ViewerPose updateViewerPose() {
+        // NOP
+        return viewerPose;
+    }
+
+    @Override
+    public final ViewerPose getLastViewerPose() {
+        return viewerPose;
     }
 
     @Override
diff --git a/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDevice.java b/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDevice.java
index 3abea5839..fc46a9aab 100644
--- a/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDevice.java
+++ b/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDevice.java
@@ -38,6 +38,7 @@ import com.jogamp.oculusvr.ovrEyeRenderDesc;
 import com.jogamp.oculusvr.ovrFovPort;
 import com.jogamp.oculusvr.ovrHmdDesc;
 import com.jogamp.oculusvr.ovrSizei;
+import com.jogamp.oculusvr.ovrTrackingState;
 import com.jogamp.opengl.math.FovHVHalves;
 import com.jogamp.opengl.util.stereo.StereoDevice;
 import com.jogamp.opengl.util.stereo.StereoDeviceFactory;
@@ -54,7 +55,11 @@ public class OVRStereoDevice implements StereoDevice {
 
     public ovrHmdDesc hmdDesc;
     public OvrHmdContext handle;
+
+    private final int supportedSensorBits;
+    private int usedSensorBits;
     private boolean sensorsStarted = false;
+
     private final int[] eyeRenderOrder;
     private final int supportedDistortionBits, recommendedDistortionBits, minimumDistortionBits;
 
@@ -84,9 +89,12 @@ public class OVRStereoDevice implements StereoDevice {
         eyeRenderOrder = new int[ovrHmdDesc.getEyeRenderOrderArrayLength()];
         hmdDesc.getEyeRenderOrder(0, eyeRenderOrder);
         supportedDistortionBits = OVRUtil.ovrDistCaps2DistBits(hmdDesc.getDistortionCaps());
-        recommendedDistortionBits = supportedDistortionBits & ~StereoDeviceRenderer.DISTORTION_TIMEWARP;
+        recommendedDistortionBits = supportedDistortionBits; //  & ~StereoDeviceRenderer.DISTORTION_TIMEWARP;
         minimumDistortionBits = StereoDeviceRenderer.DISTORTION_BARREL;
 
+        usedSensorBits = 0;
+        supportedSensorBits = OVRUtil.ovrTrackingCaps2SensorBits(hmdDesc.getTrackingCaps());
+
         // DK1 delivers unrotated resolution in target orientation
         // DK2 delivers rotated resolution in target orientation, monitor screen is rotated 90deg clockwise
         deviceName = hmdDesc.getDisplayDeviceNameAsString();
@@ -122,13 +130,16 @@ public class OVRStereoDevice implements StereoDevice {
         sb.append(", surfacePos "+getPosition());
         sb.append(", distortionBits[supported ["+StereoUtil.distortionBitsToString(getSupportedDistortionBits())+
                       "], recommended ["+StereoUtil.distortionBitsToString(getRecommendedDistortionBits())+
-                      "], minimum ["+StereoUtil.distortionBitsToString(getMinimumDistortionBits())+"]]]");
+                      "], minimum ["+StereoUtil.distortionBitsToString(getMinimumDistortionBits())+"]]");
+        sb.append(", sensorBits[supported ["+StereoUtil.sensorBitsToString(getSupportedSensorBits())+
+                      "], enabled ["+StereoUtil.sensorBitsToString(getEnabledSensorBits())+"]]]");
         return sb.toString();
     }
 
     @Override
     public final void dispose() {
        if( isValid() ) {
+           stopSensors();
            OVR.ovrHmd_Destroy(hmdDesc);
            hmdDesc = null;
            handle = null;
@@ -158,25 +169,69 @@ public class OVRStereoDevice implements StereoDevice {
         return defaultEyeFov;
     }
 
+    public void updateUsedSensorBits(final ovrTrackingState trackingState) {
+        final int pre = usedSensorBits;
+        if( sensorsStarted && null != trackingState ) {
+            usedSensorBits = StereoDevice.SENSOR_ORIENTATION |
+                             OVRUtil.ovrTrackingStats2SensorBits(trackingState.getStatusFlags());
+        } else {
+            usedSensorBits = 0;
+        }
+        if( StereoDevice.DEBUG ) {
+            if( pre != usedSensorBits ) {
+                System.err.println("XXX: Sensor Change: "+
+                        ": pre["+StereoUtil.sensorBitsToString(pre)+"]"+
+                        " -> now["+StereoUtil.sensorBitsToString(usedSensorBits)+"]");
+            }
+        }
+    }
+
     @Override
-    public final boolean startSensors(final boolean start) {
-        if( start && !sensorsStarted ) {
+    public final boolean startSensors(final int desiredSensorBits, final int requiredSensorBits) {
+        if( !sensorsStarted ) {
+            if( requiredSensorBits != ( supportedSensorBits & requiredSensorBits ) ) {
+                // required sensors not available
+                if( StereoDevice.DEBUG ) {
+                    System.err.println("XXX: startSensors failed: n/a required sensors ["+StereoUtil.sensorBitsToString(requiredSensorBits)+"]");
+                }
+                return false;
+            }
+            if( 0 == ( supportedSensorBits & ( requiredSensorBits | desiredSensorBits ) ) ) {
+                // no sensors available
+                if( StereoDevice.DEBUG ) {
+                    System.err.println("XXX: startSensors failed: n/a any sensors");
+                }
+                return false;
+            }
             // Start the sensor which provides the Rift’s pose and motion.
-            final int requiredTrackingCaps = 0;
-            final int supportedTrackingCaps = requiredTrackingCaps |
-                                            OVR.ovrTrackingCap_Orientation |
-                                            OVR.ovrTrackingCap_MagYawCorrection |
-                                            OVR.ovrTrackingCap_Position;
-            if( OVR.ovrHmd_ConfigureTracking(hmdDesc, supportedTrackingCaps, requiredTrackingCaps) ) {
+            final int requiredTrackingCaps = OVRUtil.sensorBits2TrackingCaps(requiredSensorBits);
+            final int desiredTrackingCaps = requiredTrackingCaps | OVRUtil.sensorBits2TrackingCaps(desiredSensorBits);
+            final boolean res;
+            if( OVR.ovrHmd_ConfigureTracking(hmdDesc, desiredTrackingCaps, requiredTrackingCaps) ) {
                 sensorsStarted = true;
-                return true;
+                updateUsedSensorBits(OVR.ovrHmd_GetTrackingState(hmdDesc, 0.0));
+                res = true;
             } else {
-                sensorsStarted = false;
-                return false;
+                res = false;
+            }
+            if( StereoDevice.DEBUG ) {
+                System.err.println("XXX: startSensors: "+res+", started "+sensorsStarted+
+                        ": required["+StereoUtil.sensorBitsToString(requiredSensorBits)+"]"+
+                        ", desired["+StereoUtil.sensorBitsToString(desiredSensorBits)+"]"+
+                        ", enabled["+StereoUtil.sensorBitsToString(usedSensorBits)+"]");
             }
-        } else if( sensorsStarted ) {
+            return res;
+        } else {
+            // No state change -> Success
+            return true;
+        }
+    }
+    @Override
+    public final boolean stopSensors() {
+        if( sensorsStarted ) {
             OVR.ovrHmd_ConfigureTracking(hmdDesc, 0, 0); // STOP
             sensorsStarted = false;
+            usedSensorBits = 0;
             return true;
         } else {
             // No state change -> Success
@@ -187,6 +242,16 @@ public class OVRStereoDevice implements StereoDevice {
     public final boolean getSensorsStarted() { return sensorsStarted; }
 
     @Override
+    public final int getSupportedSensorBits() {
+        return supportedSensorBits;
+    }
+
+    @Override
+    public final int getEnabledSensorBits() {
+        return usedSensorBits;
+    }
+
+    @Override
     public final int[] getEyeRenderOrder() {
         return eyeRenderOrder;
     }
diff --git a/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDeviceFactory.java b/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDeviceFactory.java
index f9969a9ad..a0836b5a3 100644
--- a/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDeviceFactory.java
+++ b/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDeviceFactory.java
@@ -40,7 +40,9 @@ public class OVRStereoDeviceFactory extends StereoDeviceFactory {
         if( OVR.ovr_Initialize(OVRVersion.defaultInitParams) ) { // recursive ..
             boolean res = false;
             final int count = OVR.ovrHmd_Detect();
-            System.err.println("Detect.0: ovrHmd_Detect() -> "+count);
+            if( StereoDevice.DEBUG ) {
+                System.err.println("Detect.0: ovrHmd_Detect() -> "+count);
+            }
             if( 0 < count ) {
                 res = true;
             } else {
@@ -53,6 +55,10 @@ public class OVRStereoDeviceFactory extends StereoDeviceFactory {
                         System.err.println("Detect.1: hmdDesc: "+hmdDesc.getProductNameAsString());
                     }
                     OVR.ovrHmd_Destroy(hmdDesc);
+                } else {
+                    if( StereoDevice.DEBUG ) {
+                        System.err.println("Detect.1: hmdDesc: null");
+                    }
                 }
             }
             return res;
diff --git a/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDeviceRenderer.java b/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDeviceRenderer.java
index 60fb8301e..7d05bb7ac 100644
--- a/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDeviceRenderer.java
+++ b/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRStereoDeviceRenderer.java
@@ -54,6 +54,7 @@ import com.jogamp.oculusvr.ovrMatrix4f;
 import com.jogamp.oculusvr.ovrPosef;
 import com.jogamp.oculusvr.ovrRecti;
 import com.jogamp.oculusvr.ovrSizei;
+import com.jogamp.oculusvr.ovrTrackingState;
 import com.jogamp.oculusvr.ovrVector2f;
 import com.jogamp.oculusvr.ovrVector3f;
 import com.jogamp.opengl.JoglVersion;
@@ -62,7 +63,7 @@ import com.jogamp.opengl.util.GLArrayDataServer;
 import com.jogamp.opengl.util.glsl.ShaderCode;
 import com.jogamp.opengl.util.glsl.ShaderProgram;
 import com.jogamp.opengl.util.stereo.EyeParameter;
-import com.jogamp.opengl.util.stereo.EyePose;
+import com.jogamp.opengl.util.stereo.ViewerPose;
 import com.jogamp.opengl.util.stereo.StereoDevice;
 import com.jogamp.opengl.util.stereo.StereoDeviceRenderer;
 import com.jogamp.opengl.util.stereo.StereoUtil;
@@ -93,12 +94,11 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
         private final GLArrayData vboPos, vboParams, vboTexCoordsR, vboTexCoordsG, vboTexCoordsB;
         private final GLArrayDataServer indices;
 
-        private final ovrEyeRenderDesc ovrEyeDesc;
+        /* pp */ final ovrEyeRenderDesc ovrEyeDesc;
         private final ovrFovPort ovrEyeFov;
         private final EyeParameter eyeParameter;
 
-        private ovrPosef ovrEyePose;
-        private final EyePose eyePose;
+        private final ovrMatrix4f[] timeWarpMatrices;
 
         @Override
         public final RectangleImmutable getViewport() { return viewport; }
@@ -106,12 +106,9 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
         @Override
         public final EyeParameter getEyeParameter() { return eyeParameter; }
 
-        @Override
-        public final EyePose getLastEyePose() { return eyePose; }
-
-        private OVREye(final ovrHmdDesc hmdDesc, final int distortionBits,
-                       final float[] eyePositionOffset, final ovrEyeRenderDesc eyeDesc,
-                       final ovrSizei ovrTextureSize, final RectangleImmutable eyeViewport) {
+        /* pp */ OVREye(final ovrHmdDesc hmdDesc, final int distortionBits,
+                        final float[] eyePositionOffset, final ovrEyeRenderDesc eyeDesc,
+                        final ovrSizei ovrTextureSize, final RectangleImmutable eyeViewport) {
             this.eyeName = eyeDesc.getEye();
             this.distortionBits = distortionBits;
             this.viewport = eyeViewport;
@@ -125,9 +122,13 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
             if( usesTimewarp ) {
                 eyeRotationStart = new GLUniformData("ovr_EyeRotationStart", 4, 4, Buffers.slice2Float(fstash, 4, 16));
                 eyeRotationEnd = new GLUniformData("ovr_EyeRotationEnd", 4, 4, Buffers.slice2Float(fstash, 20, 16));
+                timeWarpMatrices = new ovrMatrix4f[2];
+                timeWarpMatrices[0] = ovrMatrix4f.create();
+                timeWarpMatrices[1] = ovrMatrix4f.create();
             } else {
                 eyeRotationStart = null;
                 eyeRotationEnd = null;
+                timeWarpMatrices = null;
             }
 
             this.ovrEyeDesc = eyeDesc;
@@ -137,14 +138,10 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
             this.eyeParameter = new EyeParameter(eyeName, eyePositionOffset, OVRUtil.getFovHV(ovrEyeFov),
                                                  eyeViewAdjust.getX(), eyeViewAdjust.getY(), eyeViewAdjust.getZ());
 
-            this.eyePose = new EyePose(eyeName);
-
-            updateEyePose(hmdDesc); // 1st init
-
             // Setup: eyeToSourceUVScale, eyeToSourceUVOffset
             {
                 final ovrVector2f[] uvScaleOffsetOut = new ovrVector2f[2];
-                uvScaleOffsetOut[0] = ovrVector2f.create(); // FIXME: remove ctor / double check
+                uvScaleOffsetOut[0] = ovrVector2f.create();
                 uvScaleOffsetOut[1] = ovrVector2f.create();
 
                 final ovrRecti ovrEyeRenderViewport = OVRUtil.createOVRRecti(eyeViewport);
@@ -194,7 +191,7 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
             /** 2+2+2+2+2: { vec2 position, vec2 color, vec2 texCoordR, vec2 texCoordG, vec2 texCoordB } */
             final FloatBuffer iVBOFB = (FloatBuffer)iVBO.getBuffer();
             final ovrDistortionVertex[] ovRes = new ovrDistortionVertex[1];
-            ovRes[0] = ovrDistortionVertex.create(); // FIXME: remove ctor / double check
+            ovRes[0] = ovrDistortionVertex.create();
 
             for ( int vertNum = 0; vertNum < vertexCount; vertNum++ ) {
                 final ovrDistortionVertex ov = meshData.getPVertexData(vertNum, ovRes)[0];
@@ -275,7 +272,7 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
             OVR.ovrHmd_DestroyDistortionMesh(meshData);
         }
 
-        private void linkData(final GL2ES2 gl, final ShaderProgram sp) {
+        /* pp */  void linkData(final GL2ES2 gl, final ShaderProgram sp) {
             if( 0 > vboPos.setLocation(gl, sp.program()) ) {
                 throw new GLException("Couldn't locate "+vboPos);
             }
@@ -313,16 +310,16 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
             indices.enableBuffer(gl, false);
         }
 
-        private void dispose(final GL2ES2 gl) {
+        /* pp */  void dispose(final GL2ES2 gl) {
             iVBO.destroy(gl);
             indices.destroy(gl);
         }
-        private void enableVBO(final GL2ES2 gl, final boolean enable) {
+        /* pp */  void enableVBO(final GL2ES2 gl, final boolean enable) {
             iVBO.enableBuffer(gl, enable);
             indices.bindBuffer(gl, enable); // keeps VBO binding if enable:=true
         }
 
-        private void updateUniform(final GL2ES2 gl, final ShaderProgram sp) {
+        /* pp */ void updateUniform(final GL2ES2 gl, final ShaderProgram sp) {
             gl.glUniform(eyeToSourceUVScale);
             gl.glUniform(eyeToSourceUVOffset);
             if( StereoUtil.usesTimewarpDistortion(distortionBits) ) {
@@ -331,10 +328,7 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
             }
         }
 
-        private void updateTimewarp(final ovrHmdDesc hmdDesc, final ovrPosef eyeRenderPose, final float[] mat4Tmp1, final float[] mat4Tmp2) {
-            final ovrMatrix4f[] timeWarpMatrices = new ovrMatrix4f[2];
-            timeWarpMatrices[0] = ovrMatrix4f.create(); // FIXME: remove ctor / double check
-            timeWarpMatrices[1] = ovrMatrix4f.create();
+        /* pp */ void updateTimewarp(final ovrHmdDesc hmdDesc, final ovrPosef eyeRenderPose, final float[] mat4Tmp1, final float[] mat4Tmp2) {
             OVR.ovrHmd_GetEyeTimewarpMatrices(hmdDesc, eyeName, eyeRenderPose, timeWarpMatrices);
 
             final float[] eyeRotationStartM = FloatUtil.transposeMatrix(timeWarpMatrices[0].getM(0, mat4Tmp1), mat4Tmp2);
@@ -348,19 +342,6 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
             eyeRotationEndU.rewind();
         }
 
-        /**
-         * Updates {@link #ovrEyePose} and it's extracted
-         * {@link #eyeRenderPoseOrientation} and {@link #eyeRenderPosePosition}.
-         * @param hmdCtx used get the {@link #ovrEyePose} via {@link OVR#ovrHmd_GetHmdPosePerEye(ovrHmdDesc, int)}
-         */
-        private EyePose updateEyePose(final ovrHmdDesc hmdDesc) {
-            ovrEyePose = OVR.ovrHmd_GetHmdPosePerEye(hmdDesc, eyeName);
-            final ovrVector3f pos = ovrEyePose.getPosition();
-            eyePose.setPosition(pos.getX(), pos.getY(), pos.getZ());
-            OVRUtil.copyToQuaternion(ovrEyePose.getOrientation(), eyePose.orientation);
-            return eyePose;
-        }
-
         @Override
         public String toString() {
             return "Eye["+eyeName+", viewport "+viewport+
@@ -368,12 +349,16 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
                         ", vertices "+vertexCount+", indices "+indexCount+
                         ", uvScale["+eyeToSourceUVScale.floatBufferValue().get(0)+", "+eyeToSourceUVScale.floatBufferValue().get(1)+
                         "], uvOffset["+eyeToSourceUVOffset.floatBufferValue().get(0)+", "+eyeToSourceUVOffset.floatBufferValue().get(1)+
-                        "], desc"+OVRUtil.toString(ovrEyeDesc)+", "+eyePose+"]";
+                        "], desc"+OVRUtil.toString(ovrEyeDesc)+"]";
         }
     }
 
     private final OVRStereoDevice context;
     private final OVREye[] eyes;
+    private final ovrPosef[] ovrEyePoses;
+    private final ovrVector3f[] hmdToEyeViewOffset;
+    private final ViewerPose eyePoses;
+    private final ovrTrackingState trackingState;
     private final int distortionBits;
     private final int textureCount;
     private final DimensionImmutable[] eyeTextureSizes;
@@ -439,6 +424,16 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
         }
         eyes[0] = new OVREye(context.hmdDesc, this.distortionBits, eyePositionOffset, eyeRenderDescs[0], ovrTexture0Size, eyeViewports[0]);
         eyes[1] = new OVREye(context.hmdDesc, this.distortionBits, eyePositionOffset, eyeRenderDescs[1], ovrTexture1Size, eyeViewports[1]);
+
+        ovrEyePoses = new ovrPosef[2];
+        ovrEyePoses[0] = ovrPosef.create();
+        ovrEyePoses[1] = ovrPosef.create();
+        hmdToEyeViewOffset = new ovrVector3f[2];
+        hmdToEyeViewOffset[0] = eyes[0].ovrEyeDesc.getHmdToEyeViewOffset();
+        hmdToEyeViewOffset[1] = eyes[1].ovrEyeDesc.getHmdToEyeViewOffset();
+        eyePoses = new ViewerPose();
+        trackingState = ovrTrackingState.create();
+
         sp = null;
         frameTiming = null;
         frameCount = 0;
@@ -546,13 +541,29 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
     }
 
     @Override
-    public final EyePose updateEyePose(final int eyeNum) {
-        return eyes[eyeNum].updateEyePose(context.hmdDesc);
+    public final ViewerPose updateViewerPose() {
+        final ovrTrackingState trackingState;
+        trackingState = this.trackingState;
+        OVR.ovrHmd_GetEyePoses(context.hmdDesc, frameCount, hmdToEyeViewOffset, ovrEyePoses, trackingState);
+        context.updateUsedSensorBits(trackingState);
+
+        // Use headPose of tracking state, since it points to the viewer
+        // where ovrEyePoses already have hmdToEyeViewOffset applied (IPD .. etc).
+        final ovrPosef pose = trackingState.getHeadPose().getThePose();
+        final ovrVector3f pos = pose.getPosition();
+        eyePoses.setPosition(pos.getX(), pos.getY(), pos.getZ());
+        OVRUtil.copyToQuaternion(pose.getOrientation(), eyePoses.orientation);
+        return eyePoses;
+    }
+
+    @Override
+    public final ViewerPose getLastViewerPose() {
+        return eyePoses;
     }
 
     @Override
     public final void beginFrame(final GL gl) {
-        frameTiming = OVR.ovrHmd_BeginFrameTiming(context.hmdDesc, 0); // ovrHmd_GetFrameTiming not used, otherwise: frameCount);
+        frameTiming = OVR.ovrHmd_BeginFrameTiming(context.hmdDesc, frameCount); // ovrHmd_GetFrameTiming not used, otherwise: frameCount);
     }
 
     @Override
@@ -574,7 +585,9 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
             throw new IllegalStateException("beginFrame not called");
         }
         if( StereoUtil.usesTimewarpDistortion(distortionBits) ) {
+            // minimize latency
             OVR.ovr_WaitTillTime(frameTiming.getTimewarpPointSeconds());
+            // {@link OVREye#updateTimewarp(ovrHmdDesc, ovrPosef, float[], float[])} will be called in {@link #ppOneEye}
         }
         final GL2ES2 gl2es2 = gl.getGL2ES2();
 
@@ -599,7 +612,7 @@ public class OVRStereoDeviceRenderer implements StereoDeviceRenderer {
     public final void ppOneEye(final GL gl, final int eyeNum) {
         final OVREye eye = eyes[eyeNum];
         if( StereoUtil.usesTimewarpDistortion(distortionBits) ) {
-            eye.updateTimewarp(context.hmdDesc, eye.ovrEyePose, mat4Tmp1, mat4Tmp2);
+            eye.updateTimewarp(context.hmdDesc, ovrEyePoses[eyeNum], mat4Tmp1, mat4Tmp2);
         }
         final GL2ES2 gl2es2 = gl.getGL2ES2();
 
diff --git a/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRUtil.java b/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRUtil.java
index c1d01fea2..e54bd61e8 100644
--- a/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRUtil.java
+++ b/src/oculusvr/classes/jogamp/opengl/oculusvr/OVRUtil.java
@@ -44,6 +44,7 @@ import com.jogamp.oculusvr.ovrVector2i;
 import com.jogamp.oculusvr.ovrVector3f;
 import com.jogamp.opengl.math.FovHVHalves;
 import com.jogamp.opengl.math.Quaternion;
+import com.jogamp.opengl.util.stereo.StereoDevice;
 import com.jogamp.opengl.util.stereo.StereoDeviceRenderer;
 
 /**
@@ -146,6 +147,42 @@ public class OVRUtil {
         return bits;
     }
 
+    public static int ovrTrackingCaps2SensorBits(final int ovrTrackingCaps) {
+        int bits = 0;
+        if( 0 != ( OVR.ovrTrackingCap_Orientation & ovrTrackingCaps ) ) {
+            bits |= StereoDevice.SENSOR_ORIENTATION;
+        }
+        if( 0 != ( OVR.ovrTrackingCap_MagYawCorrection & ovrTrackingCaps ) ) {
+            bits |= StereoDevice.SENSOR_YAW_CORRECTION;
+        }
+        if( 0 != ( OVR.ovrTrackingCap_Position & ovrTrackingCaps ) ) {
+            bits |= StereoDevice.SENSOR_POSITION;
+        }
+        return bits;
+    }
+    public static int ovrTrackingStats2SensorBits(final int ovrTrackingCaps) {
+        int bits = 0;
+        if( 0 != ( OVR.ovrStatus_OrientationTracked & ovrTrackingCaps ) ) {
+            bits |= StereoDevice.SENSOR_ORIENTATION;
+        }
+        if( 0 != ( OVR.ovrStatus_PositionTracked & ovrTrackingCaps ) ) {
+            bits |= StereoDevice.SENSOR_POSITION;
+        }
+        return bits;
+    }
+    public static int sensorBits2TrackingCaps(final int sensorBits) {
+        int caps = 0;
+        if( 0 != ( StereoDevice.SENSOR_ORIENTATION  & sensorBits ) ) {
+            caps |= OVR.ovrTrackingCap_Orientation;
+        }
+        if( 0 != ( StereoDevice.SENSOR_YAW_CORRECTION & sensorBits ) ) {
+            caps |= OVR.ovrTrackingCap_MagYawCorrection;
+        }
+        if( 0 != ( StereoDevice.SENSOR_POSITION & sensorBits ) ) {
+            caps |= OVR.ovrTrackingCap_Position;
+        }
+        return caps;
+    }
 
     public static String toString(final ovrFovPort fov) {
         return "["+fov.getLeftTan()+" l, "+fov.getRightTan()+" r, "+
diff --git a/src/test/com/jogamp/opengl/test/junit/jogl/acore/TestVersionSemanticsNOUI.java b/src/test/com/jogamp/opengl/test/junit/jogl/acore/TestVersionSemanticsNOUI.java
index 395f6661d..7b8fa077a 100644
--- a/src/test/com/jogamp/opengl/test/junit/jogl/acore/TestVersionSemanticsNOUI.java
+++ b/src/test/com/jogamp/opengl/test/junit/jogl/acore/TestVersionSemanticsNOUI.java
@@ -56,12 +56,12 @@ public class TestVersionSemanticsNOUI extends SingletonJunitCase {
     static final VersionNumberString curVersionNumber = new VersionNumberString(curVersion.getImplementationVersion());
 
     static final Set<String> excludesDefault;
-    static final Set<String> excludesV230V23X;
+    static final Set<String> excludesStereoPackage;
     static {
         excludesDefault = new HashSet<String>();
         excludesDefault.add("^\\Qjogamp/\\E.*$");
-        excludesV230V23X = new HashSet<String>(excludesDefault);
-        excludesV230V23X.add("^\\Qcom/jogamp/opengl/util/stereo/\\E.*$");
+        excludesStereoPackage = new HashSet<String>(excludesDefault);
+        excludesStereoPackage.add("^\\Qcom/jogamp/opengl/util/stereo/\\E.*$");
     }
 
 
@@ -138,7 +138,7 @@ public class TestVersionSemanticsNOUI extends SingletonJunitCase {
         VersionSemanticsUtil.testVersion(diffCriteria, expectedCompatibilityType,
                                          previousJar, preVersionNumber,
                                          curVersion.getClass(), currentCL, curVersionNumber,
-                                         excludesV230V23X);
+                                         excludesStereoPackage);
     }
 
     public static void main(final String args[]) throws IOException {
diff --git a/src/test/com/jogamp/opengl/test/junit/jogl/demos/es2/GearsES2.java b/src/test/com/jogamp/opengl/test/junit/jogl/demos/es2/GearsES2.java
index e95c2a9da..9b414d7c5 100644
--- a/src/test/com/jogamp/opengl/test/junit/jogl/demos/es2/GearsES2.java
+++ b/src/test/com/jogamp/opengl/test/junit/jogl/demos/es2/GearsES2.java
@@ -43,7 +43,7 @@ import com.jogamp.opengl.util.glsl.ShaderCode;
 import com.jogamp.opengl.util.glsl.ShaderProgram;
 import com.jogamp.opengl.util.glsl.ShaderState;
 import com.jogamp.opengl.util.stereo.EyeParameter;
-import com.jogamp.opengl.util.stereo.EyePose;
+import com.jogamp.opengl.util.stereo.ViewerPose;
 import com.jogamp.opengl.util.stereo.StereoGLEventListener;
 
 import java.nio.FloatBuffer;
@@ -407,9 +407,11 @@ public class GearsES2 implements StereoGLEventListener, TileRendererBase.TileRen
     private final float[] vec3Tmp2 = new float[3];
     private final float[] vec3Tmp3 = new float[3];
 
+    private static final float[] vec3ScalePos = new float[] { 20f, 20f, 20f };
+
     @Override
     public void reshapeForEye(final GLAutoDrawable drawable, final int x, final int y, final int width, final int height,
-                              final EyeParameter eyeParam, final EyePose eyePose) {
+                              final EyeParameter eyeParam, final ViewerPose viewerPose) {
         final GL2ES2 gl = drawable.getGL().getGL2ES2();
         pmvMatrix.glMatrixMode(GLMatrixFunc.GL_PROJECTION);
         final float[] mat4Projection = FloatUtil.makePerspective(mat4Tmp1, 0, true, eyeParam.fovhv, zNear, zFar);
@@ -426,10 +428,11 @@ public class GearsES2 implements StereoGLEventListener, TileRendererBase.TileRen
         final Quaternion rollPitchYaw = new Quaternion();
         // private final float eyeYaw = FloatUtil.PI; // 180 degrees in radians
         // rollPitchYaw.rotateByAngleY(eyeYaw);
-        final float[] shiftedEyePos = rollPitchYaw.rotateVector(vec3Tmp1, 0, eyePose.position, 0);
+        final float[] shiftedEyePos = rollPitchYaw.rotateVector(vec3Tmp1, 0, viewerPose.position, 0);
+        VectorUtil.scaleVec3(shiftedEyePos, shiftedEyePos, vec3ScalePos); // amplify viewerPose position
         VectorUtil.addVec3(shiftedEyePos, shiftedEyePos, eyeParam.positionOffset);
 
-        rollPitchYaw.mult(eyePose.orientation);
+        rollPitchYaw.mult(viewerPose.orientation);
         final float[] up = rollPitchYaw.rotateVector(vec3Tmp2, 0, VectorUtil.VEC3_UNIT_Y, 0);
         final float[] forward = rollPitchYaw.rotateVector(vec3Tmp3, 0, VectorUtil.VEC3_UNIT_Z_NEG, 0);
         final float[] center = VectorUtil.addVec3(forward, shiftedEyePos, forward);
diff --git a/src/test/com/jogamp/opengl/test/junit/jogl/demos/es2/av/MovieSBSStereo.java b/src/test/com/jogamp/opengl/test/junit/jogl/demos/es2/av/MovieSBSStereo.java
index 57aa76c82..e936bf991 100644
--- a/src/test/com/jogamp/opengl/test/junit/jogl/demos/es2/av/MovieSBSStereo.java
+++ b/src/test/com/jogamp/opengl/test/junit/jogl/demos/es2/av/MovieSBSStereo.java
@@ -46,6 +46,7 @@ import com.jogamp.graph.curve.Region;
 import com.jogamp.graph.curve.opengl.GLRegion;
 import com.jogamp.graph.curve.opengl.RegionRenderer;
 import com.jogamp.graph.font.Font;
+import com.jogamp.junit.util.JunitTracer;
 import com.jogamp.newt.Window;
 import com.jogamp.newt.event.KeyAdapter;
 import com.jogamp.newt.event.KeyEvent;
@@ -71,7 +72,7 @@ import com.jogamp.opengl.util.glsl.ShaderCode;
 import com.jogamp.opengl.util.glsl.ShaderProgram;
 import com.jogamp.opengl.util.glsl.ShaderState;
 import com.jogamp.opengl.util.stereo.EyeParameter;
-import com.jogamp.opengl.util.stereo.EyePose;
+import com.jogamp.opengl.util.stereo.ViewerPose;
 import com.jogamp.opengl.util.stereo.StereoClientRenderer;
 import com.jogamp.opengl.util.stereo.StereoGLEventListener;
 import com.jogamp.opengl.util.texture.Texture;
@@ -415,7 +416,7 @@ public class MovieSBSStereo implements StereoGLEventListener {
                            ", "+drawable.getClass().getName()+", "+drawable);
 
         if(waitForKey) {
-            UITestCase.waitForKey("Init>");
+            JunitTracer.waitForKey("Init>");
         }
         final Texture tex;
         try {
@@ -639,9 +640,11 @@ public class MovieSBSStereo implements StereoGLEventListener {
 
     GLArrayDataServer interleavedVBOCurrent = null;
 
+    private static final float[] vec3ScalePos = new float[] { 4f, 4f, 4f };
+
     @Override
     public void reshapeForEye(final GLAutoDrawable drawable, final int x, final int y, final int width, final int height,
-                              final EyeParameter eyeParam, final EyePose eyePose) {
+                              final EyeParameter eyeParam, final ViewerPose viewerPose) {
         final GL2ES2 gl = drawable.getGL().getGL2ES2();
         interleavedVBOCurrent = 0 == eyeParam.number ? interleavedVBOLeft : interleavedVBORight;
 
@@ -657,10 +660,11 @@ public class MovieSBSStereo implements StereoGLEventListener {
 
         pmvMatrix.glMatrixMode(GLMatrixFunc.GL_MODELVIEW);
         final Quaternion rollPitchYaw = new Quaternion();
-        final float[] shiftedEyePos = rollPitchYaw.rotateVector(vec3Tmp1, 0, eyePose.position, 0);
+        final float[] shiftedEyePos = rollPitchYaw.rotateVector(vec3Tmp1, 0, viewerPose.position, 0);
+        VectorUtil.scaleVec3(shiftedEyePos, shiftedEyePos, vec3ScalePos); // amplify viewerPose position
         VectorUtil.addVec3(shiftedEyePos, shiftedEyePos, eyeParam.positionOffset);
 
-        rollPitchYaw.mult(eyePose.orientation);
+        rollPitchYaw.mult(viewerPose.orientation);
         final float[] up = rollPitchYaw.rotateVector(vec3Tmp2, 0, VectorUtil.VEC3_UNIT_Y, 0);
         final float[] forward = rollPitchYaw.rotateVector(vec3Tmp3, 0, VectorUtil.VEC3_UNIT_Z_NEG, 0);
         final float[] center = VectorUtil.addVec3(forward, shiftedEyePos, forward);
diff --git a/src/test/com/jogamp/opengl/test/junit/jogl/stereo/StereoDemo01.java b/src/test/com/jogamp/opengl/test/junit/jogl/stereo/StereoDemo01.java
index 693f2f72b..c2e808770 100644
--- a/src/test/com/jogamp/opengl/test/junit/jogl/stereo/StereoDemo01.java
+++ b/src/test/com/jogamp/opengl/test/junit/jogl/stereo/StereoDemo01.java
@@ -245,7 +245,7 @@ public class StereoDemo01 {
         System.err.println("StereoDevice "+stereoDevice);
 
         // Start the sensor which provides the Rift’s pose and motion.
-        if( !stereoDevice.startSensors(true) ) {
+        if( !stereoDevice.startSensors(stereoDevice.getSupportedSensorBits(), 0) ) {
             System.err.println("Could not start sensors on device "+deviceIndex);
         }
 
@@ -335,7 +335,11 @@ public class StereoDemo01 {
                 }
                 switch(e.getKeySymbol()) {
                     case KeyEvent.VK_R: {
-                        stereoDevice.startSensors(!stereoDevice.getSensorsStarted());
+                        if( stereoDevice.getSensorsStarted() ) {
+                            stereoDevice.stopSensors();
+                        } else {
+                            stereoDevice.startSensors(stereoDevice.getSupportedSensorBits(), 0);
+                        }
                         break;
                     }
                 }