Adding OpenXR hand tracking support
This commit is contained in:
Bastiaan Olij
parent
3472bdd6b6
commit
23d32c0e16
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@ -83,6 +83,7 @@ module_obj = []
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env_openxr.add_source_files(module_obj, "*.cpp")
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env_openxr.add_source_files(module_obj, "action_map/*.cpp")
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env_openxr.add_source_files(module_obj, "scene/*.cpp")
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# We're a little more targeted with our extensions
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if env["platform"] == "android":
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@ -91,6 +92,7 @@ if env["vulkan"]:
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env_openxr.add_source_files(module_obj, "extensions/openxr_vulkan_extension.cpp")
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env_openxr.add_source_files(module_obj, "extensions/openxr_htc_vive_tracker_extension.cpp")
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env_openxr.add_source_files(module_obj, "extensions/openxr_hand_tracking_extension.cpp")
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env.modules_sources += module_obj
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@ -18,6 +18,7 @@ def get_doc_classes():
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"OpenXRActionMap",
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"OpenXRInteractionProfile",
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"OpenXRIPBinding",
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"OpenXRHand",
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]
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@ -0,0 +1,42 @@
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<?xml version="1.0" encoding="UTF-8" ?>
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<class name="OpenXRHand" inherits="Node3D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
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<brief_description>
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Node supporting finger tracking in OpenXR.
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</brief_description>
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<description>
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This node enables OpenXR's hand tracking functionality. The node should be a child node of an [XROrigin3D] node, tracking will update its position to where the player's actual hand is positioned. This node also updates the skeleton of a properly skinned hand model. The hand mesh should be a child node of this node.
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</description>
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<tutorials>
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</tutorials>
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<members>
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<member name="hand" type="int" setter="set_hand" getter="get_hand" enum="OpenXRHand.Hands" default="0">
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Specifies whether this node tracks the left or right hand of the player.
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</member>
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<member name="hand_skeleton" type="NodePath" setter="set_hand_skeleton" getter="get_hand_skeleton" default="NodePath("")">
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Set a [Skeleton3D] node for which the pose positions will be updated.
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</member>
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<member name="motion_range" type="int" setter="set_motion_range" getter="get_motion_range" enum="OpenXRHand.MotionRange" default="0">
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Set the motion range (if supported) limiting the hand motion.
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</member>
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</members>
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<constants>
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<constant name="HAND_LEFT" value="0" enum="Hands">
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Tracking the player's left hand.
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</constant>
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<constant name="HAND_RIGHT" value="1" enum="Hands">
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Tracking the player's right hand.
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</constant>
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<constant name="HAND_MAX" value="2" enum="Hands">
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Maximum supported hands.
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</constant>
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<constant name="MOTION_RANGE_UNOBSTRUCTED" value="0" enum="MotionRange">
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When player grips, hand skeleton will form a full fist.
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</constant>
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<constant name="MOTION_RANGE_CONFORM_TO_CONTROLLER" value="1" enum="MotionRange">
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When player grips, hand skeleton conforms to the controller the player is holding.
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</constant>
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<constant name="MOTION_RANGE_MAX" value="2" enum="MotionRange">
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Maximum supported motion ranges.
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</constant>
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</constants>
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</class>
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@ -0,0 +1,268 @@
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/*************************************************************************/
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/* openxr_hand_tracking_extension.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "openxr_hand_tracking_extension.h"
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#include "../openxr_api.h"
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#include "core/string/print_string.h"
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#include "servers/xr_server.h"
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#include <openxr/openxr.h>
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OpenXRHandTrackingExtension *OpenXRHandTrackingExtension::singleton = nullptr;
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OpenXRHandTrackingExtension *OpenXRHandTrackingExtension::get_singleton() {
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return singleton;
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}
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OpenXRHandTrackingExtension::OpenXRHandTrackingExtension(OpenXRAPI *p_openxr_api) :
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OpenXRExtensionWrapper(p_openxr_api) {
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singleton = this;
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// Extensions we use for our hand tracking.
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request_extensions[XR_EXT_HAND_TRACKING_EXTENSION_NAME] = &hand_tracking_ext;
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request_extensions[XR_EXT_HAND_JOINTS_MOTION_RANGE_EXTENSION_NAME] = &hand_motion_range_ext;
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request_extensions[XR_FB_HAND_TRACKING_AIM_EXTENSION_NAME] = &hand_tracking_aim_state_ext;
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// Make sure this is cleared until we actually request it
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handTrackingSystemProperties.supportsHandTracking = false;
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}
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OpenXRHandTrackingExtension::~OpenXRHandTrackingExtension() {
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singleton = nullptr;
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}
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void OpenXRHandTrackingExtension::on_instance_created(const XrInstance p_instance) {
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if (hand_tracking_ext) {
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EXT_INIT_XR_FUNC(xrCreateHandTrackerEXT);
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EXT_INIT_XR_FUNC(xrDestroyHandTrackerEXT);
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EXT_INIT_XR_FUNC(xrLocateHandJointsEXT);
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hand_tracking_ext = xrCreateHandTrackerEXT_ptr && xrDestroyHandTrackerEXT_ptr && xrLocateHandJointsEXT_ptr;
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}
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}
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void OpenXRHandTrackingExtension::on_session_destroyed() {
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cleanup_hand_tracking();
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}
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void OpenXRHandTrackingExtension::on_instance_destroyed() {
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xrCreateHandTrackerEXT_ptr = nullptr;
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xrDestroyHandTrackerEXT_ptr = nullptr;
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xrLocateHandJointsEXT_ptr = nullptr;
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}
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void *OpenXRHandTrackingExtension::set_system_properties_and_get_next_pointer(void *p_next_pointer) {
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if (!hand_tracking_ext) {
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// not supported...
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return p_next_pointer;
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}
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handTrackingSystemProperties = {
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XR_TYPE_SYSTEM_HAND_TRACKING_PROPERTIES_EXT, // type
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p_next_pointer, // next
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false, // supportsHandTracking
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};
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return &handTrackingSystemProperties;
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}
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void OpenXRHandTrackingExtension::on_state_ready() {
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if (!handTrackingSystemProperties.supportsHandTracking) {
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// not supported...
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return;
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}
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// Setup our hands and reset data
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for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
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// we'll do this later
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hand_trackers[i].is_initialised = false;
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hand_trackers[i].hand_tracker = XR_NULL_HANDLE;
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hand_trackers[i].aimState.aimPose = { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } };
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hand_trackers[i].aimState.pinchStrengthIndex = 0.0;
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hand_trackers[i].aimState.pinchStrengthMiddle = 0.0;
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hand_trackers[i].aimState.pinchStrengthRing = 0.0;
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hand_trackers[i].aimState.pinchStrengthLittle = 0.0;
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hand_trackers[i].locations.isActive = false;
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for (int j = 0; j < XR_HAND_JOINT_COUNT_EXT; j++) {
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hand_trackers[i].joint_locations[j] = { 0, { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } }, 0.0 };
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hand_trackers[i].joint_velocities[j] = { 0, { 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } };
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}
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}
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}
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void OpenXRHandTrackingExtension::on_process() {
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if (!handTrackingSystemProperties.supportsHandTracking) {
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// not supported...
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return;
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}
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// process our hands
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const XrTime time = openxr_api->get_next_frame_time(); // This data will be used for the next frame we render
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XrResult result;
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for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
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if (hand_trackers[i].hand_tracker == XR_NULL_HANDLE) {
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XrHandTrackerCreateInfoEXT createInfo = {
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XR_TYPE_HAND_TRACKER_CREATE_INFO_EXT, // type
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nullptr, // next
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i == 0 ? XR_HAND_LEFT_EXT : XR_HAND_RIGHT_EXT, // hand
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XR_HAND_JOINT_SET_DEFAULT_EXT, // handJointSet
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};
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result = xrCreateHandTrackerEXT(openxr_api->get_session(), &createInfo, &hand_trackers[i].hand_tracker);
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if (XR_FAILED(result)) {
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// not successful? then we do nothing.
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print_line("OpenXR: Failed to obtain hand tracking information [", openxr_api->get_error_string(result), "]");
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hand_trackers[i].is_initialised = false;
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} else {
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void *next_pointer = nullptr;
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if (hand_tracking_aim_state_ext) {
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hand_trackers[i].aimState.type = XR_TYPE_HAND_TRACKING_AIM_STATE_FB;
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hand_trackers[i].aimState.next = next_pointer;
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hand_trackers[i].aimState.status = 0;
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hand_trackers[i].aimState.aimPose = { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } };
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hand_trackers[i].aimState.pinchStrengthIndex = 0.0;
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hand_trackers[i].aimState.pinchStrengthMiddle = 0.0;
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hand_trackers[i].aimState.pinchStrengthRing = 0.0;
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hand_trackers[i].aimState.pinchStrengthLittle = 0.0;
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next_pointer = &hand_trackers[i].aimState;
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}
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hand_trackers[i].velocities.type = XR_TYPE_HAND_JOINT_VELOCITIES_EXT;
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hand_trackers[i].velocities.next = next_pointer;
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hand_trackers[i].velocities.jointCount = XR_HAND_JOINT_COUNT_EXT;
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hand_trackers[i].velocities.jointVelocities = hand_trackers[i].joint_velocities;
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next_pointer = &hand_trackers[i].velocities;
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hand_trackers[i].locations.type = XR_TYPE_HAND_JOINT_LOCATIONS_EXT;
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hand_trackers[i].locations.next = next_pointer;
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hand_trackers[i].locations.isActive = false;
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hand_trackers[i].locations.jointCount = XR_HAND_JOINT_COUNT_EXT;
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hand_trackers[i].locations.jointLocations = hand_trackers[i].joint_locations;
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hand_trackers[i].is_initialised = true;
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}
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}
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if (hand_trackers[i].is_initialised) {
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void *next_pointer = nullptr;
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XrHandJointsMotionRangeInfoEXT motionRangeInfo;
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if (hand_motion_range_ext) {
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motionRangeInfo.type = XR_TYPE_HAND_JOINTS_MOTION_RANGE_INFO_EXT;
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motionRangeInfo.next = next_pointer;
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motionRangeInfo.handJointsMotionRange = hand_trackers[i].motion_range;
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next_pointer = &motionRangeInfo;
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}
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XrHandJointsLocateInfoEXT locateInfo = {
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XR_TYPE_HAND_JOINTS_LOCATE_INFO_EXT, // type
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next_pointer, // next
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openxr_api->get_play_space(), // baseSpace
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time, // time
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};
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result = xrLocateHandJointsEXT(hand_trackers[i].hand_tracker, &locateInfo, &hand_trackers[i].locations);
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if (XR_FAILED(result)) {
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// not successful? then we do nothing.
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print_line("OpenXR: Failed to get tracking for hand", i, "[", openxr_api->get_error_string(result), "]");
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continue;
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}
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// For some reason an inactive controller isn't coming back as inactive but has coordinates either as NAN or very large
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const XrPosef &palm = hand_trackers[i].joint_locations[XR_HAND_JOINT_PALM_EXT].pose;
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if (
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!hand_trackers[i].locations.isActive || isnan(palm.position.x) || palm.position.x < -1000000.00 || palm.position.x > 1000000.00) {
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hand_trackers[i].locations.isActive = false; // workaround, make sure its inactive
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}
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/* TODO change this to managing the controller from openxr_interface
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if (hand_tracking_aim_state_ext && hand_trackers[i].locations.isActive && check_bit(XR_HAND_TRACKING_AIM_VALID_BIT_FB, hand_trackers[i].aimState.status)) {
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// Controllers are updated based on the aim state's pose and pinches' strength
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if (hand_trackers[i].aim_state_godot_controller == -1) {
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hand_trackers[i].aim_state_godot_controller =
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arvr_api->godot_arvr_add_controller(
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const_cast<char *>(hand_controller_names[i]),
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i + HAND_CONTROLLER_ID_OFFSET,
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true,
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true);
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}
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}
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*/
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}
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}
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}
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void OpenXRHandTrackingExtension::on_state_stopping() {
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// cleanup
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cleanup_hand_tracking();
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}
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void OpenXRHandTrackingExtension::cleanup_hand_tracking() {
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XRServer *xr_server = XRServer::get_singleton();
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ERR_FAIL_NULL(xr_server);
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for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
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if (hand_trackers[i].hand_tracker != XR_NULL_HANDLE) {
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xrDestroyHandTrackerEXT(hand_trackers[i].hand_tracker);
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hand_trackers[i].is_initialised = false;
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hand_trackers[i].hand_tracker = XR_NULL_HANDLE;
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}
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}
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}
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bool OpenXRHandTrackingExtension::get_active() {
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return handTrackingSystemProperties.supportsHandTracking;
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}
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const OpenXRHandTrackingExtension::HandTracker *OpenXRHandTrackingExtension::get_hand_tracker(uint32_t p_hand) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, nullptr);
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return &hand_trackers[p_hand];
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}
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XrHandJointsMotionRangeEXT OpenXRHandTrackingExtension::get_motion_range(uint32_t p_hand) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, XR_HAND_JOINTS_MOTION_RANGE_MAX_ENUM_EXT);
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return hand_trackers[p_hand].motion_range;
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}
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void OpenXRHandTrackingExtension::set_motion_range(uint32_t p_hand, XrHandJointsMotionRangeEXT p_motion_range) {
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ERR_FAIL_UNSIGNED_INDEX(p_hand, MAX_OPENXR_TRACKED_HANDS);
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hand_trackers[p_hand].motion_range = p_motion_range;
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}
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@ -0,0 +1,96 @@
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/*************************************************************************/
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/* openxr_hand_tracking_extension.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
|
||||
/* a copy of this software and associated documentation files (the */
|
||||
/* "Software"), to deal in the Software without restriction, including */
|
||||
/* without limitation the rights to use, copy, modify, merge, publish, */
|
||||
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
||||
/* permit persons to whom the Software is furnished to do so, subject to */
|
||||
/* the following conditions: */
|
||||
/* */
|
||||
/* The above copyright notice and this permission notice shall be */
|
||||
/* included in all copies or substantial portions of the Software. */
|
||||
/* */
|
||||
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
||||
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
||||
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef OPENXR_HAND_TRACKING_EXTENSION_H
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#define OPENXR_HAND_TRACKING_EXTENSION_H
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#include "openxr_extension_wrapper.h"
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#include "../util.h"
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#define MAX_OPENXR_TRACKED_HANDS 2
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class OpenXRHandTrackingExtension : public OpenXRExtensionWrapper {
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public:
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struct HandTracker {
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bool is_initialised = false;
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XrHandJointsMotionRangeEXT motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT;
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XrHandTrackerEXT hand_tracker = XR_NULL_HANDLE;
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XrHandJointLocationEXT joint_locations[XR_HAND_JOINT_COUNT_EXT];
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XrHandJointVelocityEXT joint_velocities[XR_HAND_JOINT_COUNT_EXT];
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XrHandTrackingAimStateFB aimState;
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XrHandJointVelocitiesEXT velocities;
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XrHandJointLocationsEXT locations;
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};
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static OpenXRHandTrackingExtension *get_singleton();
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OpenXRHandTrackingExtension(OpenXRAPI *p_openxr_api);
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virtual ~OpenXRHandTrackingExtension() override;
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virtual void on_instance_created(const XrInstance p_instance) override;
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virtual void on_instance_destroyed() override;
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virtual void on_session_destroyed() override;
|
||||
|
||||
virtual void *set_system_properties_and_get_next_pointer(void *p_next_pointer) override;
|
||||
virtual void on_state_ready() override;
|
||||
virtual void on_process() override;
|
||||
virtual void on_state_stopping() override;
|
||||
|
||||
bool get_active();
|
||||
const HandTracker *get_hand_tracker(uint32_t p_hand) const;
|
||||
|
||||
XrHandJointsMotionRangeEXT get_motion_range(uint32_t p_hand) const;
|
||||
void set_motion_range(uint32_t p_hand, XrHandJointsMotionRangeEXT p_motion_range);
|
||||
|
||||
private:
|
||||
static OpenXRHandTrackingExtension *singleton;
|
||||
|
||||
// state
|
||||
XrSystemHandTrackingPropertiesEXT handTrackingSystemProperties;
|
||||
HandTracker hand_trackers[MAX_OPENXR_TRACKED_HANDS]; // Fixed for left and right hand
|
||||
|
||||
// related extensions
|
||||
bool hand_tracking_ext = false;
|
||||
bool hand_motion_range_ext = false;
|
||||
bool hand_tracking_aim_state_ext = false;
|
||||
|
||||
// functions
|
||||
void cleanup_hand_tracking();
|
||||
|
||||
// OpenXR API call wrappers
|
||||
EXT_PROTO_XRRESULT_FUNC3(xrCreateHandTrackerEXT, (XrSession), p_session, (const XrHandTrackerCreateInfoEXT *), p_createInfo, (XrHandTrackerEXT *), p_handTracker)
|
||||
EXT_PROTO_XRRESULT_FUNC1(xrDestroyHandTrackerEXT, (XrHandTrackerEXT), p_handTracker)
|
||||
EXT_PROTO_XRRESULT_FUNC3(xrLocateHandJointsEXT, (XrHandTrackerEXT), p_handTracker, (const XrHandJointsLocateInfoEXT *), p_locateInfo, (XrHandJointLocationsEXT *), p_locations)
|
||||
};
|
||||
|
||||
#endif // OPENXR_HAND_TRACKING_EXTENSION_H
|
||||
|
|
@ -49,6 +49,7 @@
|
|||
#include "extensions/openxr_vulkan_extension.h"
|
||||
#endif
|
||||
|
||||
#include "extensions/openxr_hand_tracking_extension.h"
|
||||
#include "extensions/openxr_htc_vive_tracker_extension.h"
|
||||
|
||||
#include "modules/openxr/openxr_interface.h"
|
||||
|
|
@ -1742,6 +1743,7 @@ OpenXRAPI::OpenXRAPI() {
|
|||
|
||||
// register our other extensions
|
||||
register_extension_wrapper(memnew(OpenXRHTCViveTrackerExtension(this)));
|
||||
register_extension_wrapper(memnew(OpenXRHandTrackingExtension(this)));
|
||||
}
|
||||
|
||||
OpenXRAPI::~OpenXRAPI() {
|
||||
|
|
|
|||
|
|
@ -102,7 +102,7 @@ private:
|
|||
XrFormFactor form_factor = XR_FORM_FACTOR_HEAD_MOUNTED_DISPLAY;
|
||||
XrViewConfigurationType view_configuration = XR_VIEW_CONFIGURATION_TYPE_PRIMARY_STEREO;
|
||||
XrReferenceSpaceType reference_space = XR_REFERENCE_SPACE_TYPE_STAGE;
|
||||
XrEnvironmentBlendMode environment_blend_mode = XR_ENVIRONMENT_BLEND_MODE_OPAQUE;
|
||||
// XrEnvironmentBlendMode environment_blend_mode = XR_ENVIRONMENT_BLEND_MODE_OPAQUE;
|
||||
|
||||
// state
|
||||
XrInstance instance = XR_NULL_HANDLE;
|
||||
|
|
@ -139,7 +139,10 @@ private:
|
|||
bool openxr_loader_init();
|
||||
bool resolve_instance_openxr_symbols();
|
||||
|
||||
#ifdef ANDROID_ENABLED
|
||||
// On Android we keep tracker of our external OpenXR loader
|
||||
void *openxr_loader_library_handle = nullptr;
|
||||
#endif
|
||||
|
||||
// function pointers
|
||||
#ifdef ANDROID_ENABLED
|
||||
|
|
@ -269,9 +272,7 @@ private:
|
|||
// convencience
|
||||
void copy_string_to_char_buffer(const String p_string, char *p_buffer, int p_buffer_len);
|
||||
|
||||
protected:
|
||||
friend class OpenXRVulkanExtension;
|
||||
|
||||
public:
|
||||
XrInstance get_instance() const { return instance; };
|
||||
XrSystemId get_system_id() const { return system_id; };
|
||||
XrSession get_session() const { return session; };
|
||||
|
|
@ -284,7 +285,6 @@ protected:
|
|||
XRPose::TrackingConfidence transform_from_location(const XrHandJointLocationEXT &p_location, Transform3D &r_transform);
|
||||
void parse_velocities(const XrSpaceVelocity &p_velocity, Vector3 &r_linear_velocity, Vector3 &r_angular_velocity);
|
||||
|
||||
public:
|
||||
static bool openxr_is_enabled(bool p_check_run_in_editor = true);
|
||||
static OpenXRAPI *get_singleton();
|
||||
|
||||
|
|
@ -301,8 +301,9 @@ public:
|
|||
bool initialize_session();
|
||||
void finish();
|
||||
|
||||
XrTime get_next_frame_time() { return frame_state.predictedDisplayTime + frame_state.predictedDisplayPeriod; };
|
||||
bool can_render() { return instance != XR_NULL_HANDLE && session != XR_NULL_HANDLE && running && view_pose_valid && frame_state.shouldRender; };
|
||||
XrSpace get_play_space() const { return play_space; }
|
||||
XrTime get_next_frame_time() { return frame_state.predictedDisplayTime + frame_state.predictedDisplayPeriod; }
|
||||
bool can_render() { return instance != XR_NULL_HANDLE && session != XR_NULL_HANDLE && running && view_pose_valid && frame_state.shouldRender; }
|
||||
|
||||
Size2 get_recommended_target_size();
|
||||
XRPose::TrackingConfidence get_head_center(Transform3D &r_transform, Vector3 &r_linear_velocity, Vector3 &r_angular_velocity);
|
||||
|
|
|
|||
|
|
@ -38,6 +38,8 @@
|
|||
#include "action_map/openxr_action_set.h"
|
||||
#include "action_map/openxr_interaction_profile.h"
|
||||
|
||||
#include "scene/openxr_hand.h"
|
||||
|
||||
#ifdef TOOLS_ENABLED
|
||||
|
||||
#include "editor/editor_node.h"
|
||||
|
|
@ -82,6 +84,8 @@ void initialize_openxr_module(ModuleInitializationLevel p_level) {
|
|||
GDREGISTER_CLASS(OpenXRIPBinding);
|
||||
GDREGISTER_CLASS(OpenXRInteractionProfile);
|
||||
|
||||
GDREGISTER_CLASS(OpenXRHand);
|
||||
|
||||
XRServer *xr_server = XRServer::get_singleton();
|
||||
if (xr_server) {
|
||||
openxr_interface.instantiate();
|
||||
|
|
|
|||
|
|
@ -0,0 +1,307 @@
|
|||
/*************************************************************************/
|
||||
/* openxr_hand.cpp */
|
||||
/*************************************************************************/
|
||||
/* This file is part of: */
|
||||
/* GODOT ENGINE */
|
||||
/* https://godotengine.org */
|
||||
/*************************************************************************/
|
||||
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
|
||||
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
|
||||
/* */
|
||||
/* Permission is hereby granted, free of charge, to any person obtaining */
|
||||
/* a copy of this software and associated documentation files (the */
|
||||
/* "Software"), to deal in the Software without restriction, including */
|
||||
/* without limitation the rights to use, copy, modify, merge, publish, */
|
||||
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
||||
/* permit persons to whom the Software is furnished to do so, subject to */
|
||||
/* the following conditions: */
|
||||
/* */
|
||||
/* The above copyright notice and this permission notice shall be */
|
||||
/* included in all copies or substantial portions of the Software. */
|
||||
/* */
|
||||
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
||||
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
||||
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
||||
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
||||
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
||||
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
||||
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
||||
/*************************************************************************/
|
||||
|
||||
#include "../extensions/openxr_hand_tracking_extension.h"
|
||||
#include "../openxr_api.h"
|
||||
|
||||
#include "openxr_hand.h"
|
||||
#include "scene/3d/skeleton_3d.h"
|
||||
#include "servers/xr_server.h"
|
||||
|
||||
void OpenXRHand::_bind_methods() {
|
||||
ClassDB::bind_method(D_METHOD("set_hand", "hand"), &OpenXRHand::set_hand);
|
||||
ClassDB::bind_method(D_METHOD("get_hand"), &OpenXRHand::get_hand);
|
||||
|
||||
ClassDB::bind_method(D_METHOD("set_hand_skeleton", "hand_skeleton"), &OpenXRHand::set_hand_skeleton);
|
||||
ClassDB::bind_method(D_METHOD("get_hand_skeleton"), &OpenXRHand::get_hand_skeleton);
|
||||
|
||||
ClassDB::bind_method(D_METHOD("set_motion_range", "motion_range"), &OpenXRHand::set_motion_range);
|
||||
ClassDB::bind_method(D_METHOD("get_motion_range"), &OpenXRHand::get_motion_range);
|
||||
|
||||
ADD_PROPERTY(PropertyInfo(Variant::INT, "hand", PROPERTY_HINT_ENUM, "Left,Right"), "set_hand", "get_hand");
|
||||
ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_range", PROPERTY_HINT_ENUM, "Unobstructed,Conform to controller"), "set_motion_range", "get_motion_range");
|
||||
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "hand_skeleton", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Skeleton3D"), "set_hand_skeleton", "get_hand_skeleton");
|
||||
|
||||
BIND_ENUM_CONSTANT(HAND_LEFT);
|
||||
BIND_ENUM_CONSTANT(HAND_RIGHT);
|
||||
BIND_ENUM_CONSTANT(HAND_MAX);
|
||||
|
||||
BIND_ENUM_CONSTANT(MOTION_RANGE_UNOBSTRUCTED);
|
||||
BIND_ENUM_CONSTANT(MOTION_RANGE_CONFORM_TO_CONTROLLER);
|
||||
BIND_ENUM_CONSTANT(MOTION_RANGE_MAX);
|
||||
}
|
||||
|
||||
OpenXRHand::OpenXRHand() {
|
||||
openxr_api = OpenXRAPI::get_singleton();
|
||||
hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
|
||||
}
|
||||
|
||||
void OpenXRHand::set_hand(const Hands p_hand) {
|
||||
ERR_FAIL_INDEX(p_hand, HAND_MAX);
|
||||
|
||||
hand = p_hand;
|
||||
}
|
||||
|
||||
OpenXRHand::Hands OpenXRHand::get_hand() const {
|
||||
return hand;
|
||||
}
|
||||
|
||||
void OpenXRHand::set_hand_skeleton(const NodePath &p_hand_skeleton) {
|
||||
hand_skeleton = p_hand_skeleton;
|
||||
|
||||
// TODO if inside tree call _get_bones()
|
||||
}
|
||||
|
||||
void OpenXRHand::set_motion_range(const MotionRange p_motion_range) {
|
||||
ERR_FAIL_INDEX(p_motion_range, MOTION_RANGE_MAX);
|
||||
motion_range = p_motion_range;
|
||||
|
||||
_set_motion_range();
|
||||
}
|
||||
|
||||
OpenXRHand::MotionRange OpenXRHand::get_motion_range() const {
|
||||
return motion_range;
|
||||
}
|
||||
|
||||
NodePath OpenXRHand::get_hand_skeleton() const {
|
||||
return hand_skeleton;
|
||||
}
|
||||
|
||||
void OpenXRHand::_set_motion_range() {
|
||||
if (!hand_tracking_ext) {
|
||||
return;
|
||||
}
|
||||
|
||||
XrHandJointsMotionRangeEXT xr_motion_range;
|
||||
switch (motion_range) {
|
||||
case MOTION_RANGE_UNOBSTRUCTED:
|
||||
xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT;
|
||||
break;
|
||||
case MOTION_RANGE_CONFORM_TO_CONTROLLER:
|
||||
xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_CONFORMING_TO_CONTROLLER_EXT;
|
||||
break;
|
||||
default:
|
||||
xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_CONFORMING_TO_CONTROLLER_EXT;
|
||||
break;
|
||||
}
|
||||
|
||||
hand_tracking_ext->set_motion_range(hand, xr_motion_range);
|
||||
}
|
||||
|
||||
Skeleton3D *OpenXRHand::get_skeleton() {
|
||||
if (!has_node(hand_skeleton)) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
Node *node = get_node(hand_skeleton);
|
||||
if (!node) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
Skeleton3D *skeleton = Object::cast_to<Skeleton3D>(node);
|
||||
return skeleton;
|
||||
}
|
||||
|
||||
void OpenXRHand::_get_bones() {
|
||||
const char *bone_names[XR_HAND_JOINT_COUNT_EXT] = {
|
||||
"Palm",
|
||||
"Wrist",
|
||||
"Thumb_Metacarpal",
|
||||
"Thumb_Proximal",
|
||||
"Thumb_Distal",
|
||||
"Thumb_Tip",
|
||||
"Index_Metacarpal",
|
||||
"Index_Proximal",
|
||||
"Index_Intermediate",
|
||||
"Index_Distal",
|
||||
"Index_Tip",
|
||||
"Middle_Metacarpal",
|
||||
"Middle_Proximal",
|
||||
"Middle_Intermediate",
|
||||
"Middle_Distal",
|
||||
"Middle_Tip",
|
||||
"Ring_Metacarpal",
|
||||
"Ring_Proximal",
|
||||
"Ring_Intermediate",
|
||||
"Ring_Distal",
|
||||
"Ring_Tip",
|
||||
"Little_Metacarpal",
|
||||
"Little_Proximal",
|
||||
"Little_Intermediate",
|
||||
"Little_Distal",
|
||||
"Little_Tip",
|
||||
};
|
||||
|
||||
// reset JIC
|
||||
for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
|
||||
bones[i] = -1;
|
||||
}
|
||||
|
||||
Skeleton3D *skeleton = get_skeleton();
|
||||
if (!skeleton) {
|
||||
return;
|
||||
}
|
||||
|
||||
// We cast to spatials which should allow us to use any subclass of that.
|
||||
for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
|
||||
String bone_name = bone_names[i];
|
||||
if (hand == 0) {
|
||||
bone_name += String("_L");
|
||||
} else {
|
||||
bone_name += String("_R");
|
||||
}
|
||||
|
||||
bones[i] = skeleton->find_bone(bone_name);
|
||||
if (bones[i] == -1) {
|
||||
print_line("Couldn't obtain bone for", bone_name);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void OpenXRHand::_update_skeleton() {
|
||||
if (openxr_api == nullptr || !openxr_api->is_initialized()) {
|
||||
return;
|
||||
} else if (hand_tracking_ext == nullptr || !hand_tracking_ext->get_active()) {
|
||||
return;
|
||||
}
|
||||
|
||||
Skeleton3D *skeleton = get_skeleton();
|
||||
if (!skeleton) {
|
||||
return;
|
||||
}
|
||||
|
||||
// we cache our transforms so we can quickly calculate local transforms
|
||||
XRPose::TrackingConfidence confidences[XR_HAND_JOINT_COUNT_EXT];
|
||||
Quaternion quaternions[XR_HAND_JOINT_COUNT_EXT];
|
||||
Quaternion inv_quaternions[XR_HAND_JOINT_COUNT_EXT];
|
||||
Vector3 positions[XR_HAND_JOINT_COUNT_EXT];
|
||||
|
||||
const OpenXRHandTrackingExtension::HandTracker *hand_tracker = hand_tracking_ext->get_hand_tracker(hand);
|
||||
const float ws = XRServer::get_singleton()->get_world_scale();
|
||||
|
||||
if (hand_tracker->is_initialised && hand_tracker->locations.isActive) {
|
||||
for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
|
||||
confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_NONE;
|
||||
quaternions[i] = Quaternion();
|
||||
positions[i] = Vector3();
|
||||
|
||||
const auto &location = hand_tracker->joint_locations[i];
|
||||
const auto &pose = location.pose;
|
||||
|
||||
if (location.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) {
|
||||
if (pose.orientation.x != 0 || pose.orientation.y != 0 || pose.orientation.y != 0 || pose.orientation.w != 0) {
|
||||
quaternions[i] = Quaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
|
||||
inv_quaternions[i] = quaternions[i].inverse();
|
||||
|
||||
if (location.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) {
|
||||
confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_HIGH;
|
||||
positions[i] = Vector3(pose.position.x * ws, pose.position.y * ws, pose.position.z * ws);
|
||||
|
||||
// TODO get inverse of position, we'll do this later. For now we're ignoring bone positions which generally works better anyway
|
||||
} else {
|
||||
confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_LOW;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (confidences[XR_HAND_JOINT_PALM_EXT] != XRPose::XR_TRACKING_CONFIDENCE_NONE) {
|
||||
// now update our skeleton
|
||||
for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
|
||||
if (bones[i] != -1) {
|
||||
int bone = bones[i];
|
||||
int parent = skeleton->get_bone_parent(bone);
|
||||
|
||||
// Get our target quaternion
|
||||
Quaternion q = quaternions[i];
|
||||
|
||||
// get local translation, parent should already be processed
|
||||
if (parent == -1) {
|
||||
// use our palm location here, that is what we are tracking
|
||||
q = inv_quaternions[XR_HAND_JOINT_PALM_EXT] * q;
|
||||
} else {
|
||||
int found = false;
|
||||
for (int b = 0; b < XR_HAND_JOINT_COUNT_EXT && !found; b++) {
|
||||
if (bones[b] == parent) {
|
||||
q = inv_quaternions[b] * q;
|
||||
found = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// And get the movement from our rest position
|
||||
// Transform3D rest = skeleton->get_bone_rest(bones[i]);
|
||||
// q = rest.basis.get_quaternion().inverse() * q;
|
||||
|
||||
// and set our pose
|
||||
// skeleton->set_bone_pose_position(bones[i], v);
|
||||
skeleton->set_bone_pose_rotation(bones[i], q);
|
||||
}
|
||||
}
|
||||
|
||||
Transform3D t;
|
||||
t.basis = Basis(quaternions[XR_HAND_JOINT_PALM_EXT]);
|
||||
t.origin = positions[XR_HAND_JOINT_PALM_EXT];
|
||||
set_transform(t);
|
||||
|
||||
// show it
|
||||
set_visible(true);
|
||||
} else {
|
||||
// hide it
|
||||
set_visible(false);
|
||||
}
|
||||
} else {
|
||||
// hide it
|
||||
set_visible(false);
|
||||
}
|
||||
}
|
||||
|
||||
void OpenXRHand::_notification(int p_what) {
|
||||
switch (p_what) {
|
||||
case NOTIFICATION_ENTER_TREE: {
|
||||
_get_bones();
|
||||
|
||||
set_process_internal(true);
|
||||
} break;
|
||||
case NOTIFICATION_EXIT_TREE: {
|
||||
set_process_internal(false);
|
||||
|
||||
// reset
|
||||
for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
|
||||
bones[i] = -1;
|
||||
}
|
||||
} break;
|
||||
case NOTIFICATION_INTERNAL_PROCESS: {
|
||||
_update_skeleton();
|
||||
} break;
|
||||
default: {
|
||||
} break;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,93 @@
|
|||
/*************************************************************************/
|
||||
/* openxr_hand.h */
|
||||
/*************************************************************************/
|
||||
/* This file is part of: */
|
||||
/* GODOT ENGINE */
|
||||
/* https://godotengine.org */
|
||||
/*************************************************************************/
|
||||
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
|
||||
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
|
||||
/* */
|
||||
/* Permission is hereby granted, free of charge, to any person obtaining */
|
||||
/* a copy of this software and associated documentation files (the */
|
||||
/* "Software"), to deal in the Software without restriction, including */
|
||||
/* without limitation the rights to use, copy, modify, merge, publish, */
|
||||
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
||||
/* permit persons to whom the Software is furnished to do so, subject to */
|
||||
/* the following conditions: */
|
||||
/* */
|
||||
/* The above copyright notice and this permission notice shall be */
|
||||
/* included in all copies or substantial portions of the Software. */
|
||||
/* */
|
||||
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
||||
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
||||
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
||||
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
||||
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
||||
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
||||
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
||||
/*************************************************************************/
|
||||
|
||||
#ifndef OPENXR_HAND_H
|
||||
#define OPENXR_HAND_H
|
||||
|
||||
#include "scene/3d/node_3d.h"
|
||||
#include "scene/3d/skeleton_3d.h"
|
||||
|
||||
class OpenXRAPI;
|
||||
class OpenXRHandTrackingExtension;
|
||||
|
||||
class OpenXRHand : public Node3D {
|
||||
GDCLASS(OpenXRHand, Node3D);
|
||||
|
||||
public:
|
||||
enum Hands {
|
||||
HAND_LEFT,
|
||||
HAND_RIGHT,
|
||||
HAND_MAX
|
||||
};
|
||||
|
||||
enum MotionRange {
|
||||
MOTION_RANGE_UNOBSTRUCTED,
|
||||
MOTION_RANGE_CONFORM_TO_CONTROLLER,
|
||||
MOTION_RANGE_MAX
|
||||
};
|
||||
|
||||
private:
|
||||
OpenXRAPI *openxr_api = nullptr;
|
||||
OpenXRHandTrackingExtension *hand_tracking_ext = nullptr;
|
||||
|
||||
Hands hand = HAND_LEFT;
|
||||
MotionRange motion_range = MOTION_RANGE_UNOBSTRUCTED;
|
||||
NodePath hand_skeleton;
|
||||
|
||||
int64_t bones[XR_HAND_JOINT_COUNT_EXT];
|
||||
|
||||
void _set_motion_range();
|
||||
|
||||
Skeleton3D *get_skeleton();
|
||||
void _get_bones();
|
||||
void _update_skeleton();
|
||||
|
||||
protected:
|
||||
static void _bind_methods();
|
||||
|
||||
public:
|
||||
OpenXRHand();
|
||||
|
||||
void set_hand(const Hands p_hand);
|
||||
Hands get_hand() const;
|
||||
|
||||
void set_motion_range(const MotionRange p_motion_range);
|
||||
MotionRange get_motion_range() const;
|
||||
|
||||
void set_hand_skeleton(const NodePath &p_hand_skeleton);
|
||||
NodePath get_hand_skeleton() const;
|
||||
|
||||
void _notification(int p_what);
|
||||
};
|
||||
|
||||
VARIANT_ENUM_CAST(OpenXRHand::Hands)
|
||||
VARIANT_ENUM_CAST(OpenXRHand::MotionRange)
|
||||
|
||||
#endif // OPENXR_HAND_H
|
||||
Loading…
Reference in New Issue