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Merge pull request #60313 from BastiaanOlij/xr_hand_tracking 

Adding OpenXR hand tracking support
This commit is contained in:
Rémi Verschelde 2022-09-26 15:51:31 +02:00
parent 6fcf2a2862 23d32c0e16
commit b9a64c7736
10 changed files with 823 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
modules/openxr/SCsub
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@ -83,6 +83,7 @@ module_obj = []
env_openxr.add_source_files(module_obj, "*.cpp")
env_openxr.add_source_files(module_obj, "action_map/*.cpp")
env_openxr.add_source_files(module_obj, "scene/*.cpp")
# We're a little more targeted with our extensions
if env["platform"] == "android":
@ -91,6 +92,7 @@ if env["vulkan"]:
env_openxr.add_source_files(module_obj, "extensions/openxr_vulkan_extension.cpp")
env_openxr.add_source_files(module_obj, "extensions/openxr_htc_vive_tracker_extension.cpp")
env_openxr.add_source_files(module_obj, "extensions/openxr_hand_tracking_extension.cpp")
env.modules_sources += module_obj

1
modules/openxr/config.py
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@ -18,6 +18,7 @@ def get_doc_classes():
"OpenXRActionMap",
"OpenXRInteractionProfile",
"OpenXRIPBinding",
"OpenXRHand",
]

42
modules/openxr/doc_classes/OpenXRHand.xml Normal file
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@ -0,0 +1,42 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="OpenXRHand" inherits="Node3D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
<brief_description>
Node supporting finger tracking in OpenXR.
</brief_description>
<description>
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.
</description>
<tutorials>
</tutorials>
<members>
<member name="hand" type="int" setter="set_hand" getter="get_hand" enum="OpenXRHand.Hands" default="0">
Specifies whether this node tracks the left or right hand of the player.
</member>
<member name="hand_skeleton" type="NodePath" setter="set_hand_skeleton" getter="get_hand_skeleton" default="NodePath(&quot;&quot;)">
Set a [Skeleton3D] node for which the pose positions will be updated.
</member>
<member name="motion_range" type="int" setter="set_motion_range" getter="get_motion_range" enum="OpenXRHand.MotionRange" default="0">
Set the motion range (if supported) limiting the hand motion.
</member>
</members>
<constants>
<constant name="HAND_LEFT" value="0" enum="Hands">
Tracking the player's left hand.
</constant>
<constant name="HAND_RIGHT" value="1" enum="Hands">
Tracking the player's right hand.
</constant>
<constant name="HAND_MAX" value="2" enum="Hands">
Maximum supported hands.
</constant>
<constant name="MOTION_RANGE_UNOBSTRUCTED" value="0" enum="MotionRange">
When player grips, hand skeleton will form a full fist.
</constant>
<constant name="MOTION_RANGE_CONFORM_TO_CONTROLLER" value="1" enum="MotionRange">
When player grips, hand skeleton conforms to the controller the player is holding.
</constant>
<constant name="MOTION_RANGE_MAX" value="2" enum="MotionRange">
Maximum supported motion ranges.
</constant>
</constants>
</class>

268
modules/openxr/extensions/openxr_hand_tracking_extension.cpp Normal file
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@ -0,0 +1,268 @@
/*************************************************************************/
/* openxr_hand_tracking_extension.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 "openxr_hand_tracking_extension.h"
#include "../openxr_api.h"
#include "core/string/print_string.h"
#include "servers/xr_server.h"
#include <openxr/openxr.h>
OpenXRHandTrackingExtension *OpenXRHandTrackingExtension::singleton = nullptr;
OpenXRHandTrackingExtension *OpenXRHandTrackingExtension::get_singleton() {
return singleton;
}
OpenXRHandTrackingExtension::OpenXRHandTrackingExtension(OpenXRAPI *p_openxr_api) :
OpenXRExtensionWrapper(p_openxr_api) {
singleton = this;
// Extensions we use for our hand tracking.
request_extensions[XR_EXT_HAND_TRACKING_EXTENSION_NAME] = &hand_tracking_ext;
request_extensions[XR_EXT_HAND_JOINTS_MOTION_RANGE_EXTENSION_NAME] = &hand_motion_range_ext;
request_extensions[XR_FB_HAND_TRACKING_AIM_EXTENSION_NAME] = &hand_tracking_aim_state_ext;
// Make sure this is cleared until we actually request it
handTrackingSystemProperties.supportsHandTracking = false;
}
OpenXRHandTrackingExtension::~OpenXRHandTrackingExtension() {
singleton = nullptr;
}
void OpenXRHandTrackingExtension::on_instance_created(const XrInstance p_instance) {
if (hand_tracking_ext) {
EXT_INIT_XR_FUNC(xrCreateHandTrackerEXT);
EXT_INIT_XR_FUNC(xrDestroyHandTrackerEXT);
EXT_INIT_XR_FUNC(xrLocateHandJointsEXT);
hand_tracking_ext = xrCreateHandTrackerEXT_ptr && xrDestroyHandTrackerEXT_ptr && xrLocateHandJointsEXT_ptr;
}
}
void OpenXRHandTrackingExtension::on_session_destroyed() {
cleanup_hand_tracking();
}
void OpenXRHandTrackingExtension::on_instance_destroyed() {
xrCreateHandTrackerEXT_ptr = nullptr;
xrDestroyHandTrackerEXT_ptr = nullptr;
xrLocateHandJointsEXT_ptr = nullptr;
}
void *OpenXRHandTrackingExtension::set_system_properties_and_get_next_pointer(void *p_next_pointer) {
if (!hand_tracking_ext) {
// not supported...
return p_next_pointer;
}
handTrackingSystemProperties = {
XR_TYPE_SYSTEM_HAND_TRACKING_PROPERTIES_EXT, // type
p_next_pointer, // next
false, // supportsHandTracking
};
return &handTrackingSystemProperties;
}
void OpenXRHandTrackingExtension::on_state_ready() {
if (!handTrackingSystemProperties.supportsHandTracking) {
// not supported...
return;
}
// Setup our hands and reset data
for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
// we'll do this later
hand_trackers[i].is_initialised = false;
hand_trackers[i].hand_tracker = XR_NULL_HANDLE;
hand_trackers[i].aimState.aimPose = { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } };
hand_trackers[i].aimState.pinchStrengthIndex = 0.0;
hand_trackers[i].aimState.pinchStrengthMiddle = 0.0;
hand_trackers[i].aimState.pinchStrengthRing = 0.0;
hand_trackers[i].aimState.pinchStrengthLittle = 0.0;
hand_trackers[i].locations.isActive = false;
for (int j = 0; j < XR_HAND_JOINT_COUNT_EXT; j++) {
hand_trackers[i].joint_locations[j] = { 0, { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } }, 0.0 };
hand_trackers[i].joint_velocities[j] = { 0, { 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } };
}
}
}
void OpenXRHandTrackingExtension::on_process() {
if (!handTrackingSystemProperties.supportsHandTracking) {
// not supported...
return;
}
// process our hands
const XrTime time = openxr_api->get_next_frame_time(); // This data will be used for the next frame we render
XrResult result;
for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
if (hand_trackers[i].hand_tracker == XR_NULL_HANDLE) {
XrHandTrackerCreateInfoEXT createInfo = {
XR_TYPE_HAND_TRACKER_CREATE_INFO_EXT, // type
nullptr, // next
i == 0 ? XR_HAND_LEFT_EXT : XR_HAND_RIGHT_EXT, // hand
XR_HAND_JOINT_SET_DEFAULT_EXT, // handJointSet
};
result = xrCreateHandTrackerEXT(openxr_api->get_session(), &createInfo, &hand_trackers[i].hand_tracker);
if (XR_FAILED(result)) {
// not successful? then we do nothing.
print_line("OpenXR: Failed to obtain hand tracking information [", openxr_api->get_error_string(result), "]");
hand_trackers[i].is_initialised = false;
} else {
void *next_pointer = nullptr;
if (hand_tracking_aim_state_ext) {
hand_trackers[i].aimState.type = XR_TYPE_HAND_TRACKING_AIM_STATE_FB;
hand_trackers[i].aimState.next = next_pointer;
hand_trackers[i].aimState.status = 0;
hand_trackers[i].aimState.aimPose = { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } };
hand_trackers[i].aimState.pinchStrengthIndex = 0.0;
hand_trackers[i].aimState.pinchStrengthMiddle = 0.0;
hand_trackers[i].aimState.pinchStrengthRing = 0.0;
hand_trackers[i].aimState.pinchStrengthLittle = 0.0;
next_pointer = &hand_trackers[i].aimState;
}
hand_trackers[i].velocities.type = XR_TYPE_HAND_JOINT_VELOCITIES_EXT;
hand_trackers[i].velocities.next = next_pointer;
hand_trackers[i].velocities.jointCount = XR_HAND_JOINT_COUNT_EXT;
hand_trackers[i].velocities.jointVelocities = hand_trackers[i].joint_velocities;
next_pointer = &hand_trackers[i].velocities;
hand_trackers[i].locations.type = XR_TYPE_HAND_JOINT_LOCATIONS_EXT;
hand_trackers[i].locations.next = next_pointer;
hand_trackers[i].locations.isActive = false;
hand_trackers[i].locations.jointCount = XR_HAND_JOINT_COUNT_EXT;
hand_trackers[i].locations.jointLocations = hand_trackers[i].joint_locations;
hand_trackers[i].is_initialised = true;
}
}
if (hand_trackers[i].is_initialised) {
void *next_pointer = nullptr;
XrHandJointsMotionRangeInfoEXT motionRangeInfo;
if (hand_motion_range_ext) {
motionRangeInfo.type = XR_TYPE_HAND_JOINTS_MOTION_RANGE_INFO_EXT;
motionRangeInfo.next = next_pointer;
motionRangeInfo.handJointsMotionRange = hand_trackers[i].motion_range;
next_pointer = &motionRangeInfo;
}
XrHandJointsLocateInfoEXT locateInfo = {
XR_TYPE_HAND_JOINTS_LOCATE_INFO_EXT, // type
next_pointer, // next
openxr_api->get_play_space(), // baseSpace
time, // time
};
result = xrLocateHandJointsEXT(hand_trackers[i].hand_tracker, &locateInfo, &hand_trackers[i].locations);
if (XR_FAILED(result)) {
// not successful? then we do nothing.
print_line("OpenXR: Failed to get tracking for hand", i, "[", openxr_api->get_error_string(result), "]");
continue;
}
// For some reason an inactive controller isn't coming back as inactive but has coordinates either as NAN or very large
const XrPosef &palm = hand_trackers[i].joint_locations[XR_HAND_JOINT_PALM_EXT].pose;
if (
!hand_trackers[i].locations.isActive || isnan(palm.position.x) || palm.position.x < -1000000.00 || palm.position.x > 1000000.00) {
hand_trackers[i].locations.isActive = false; // workaround, make sure its inactive
}
/* TODO change this to managing the controller from openxr_interface
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)) {
// Controllers are updated based on the aim state's pose and pinches' strength
if (hand_trackers[i].aim_state_godot_controller == -1) {
hand_trackers[i].aim_state_godot_controller =
arvr_api->godot_arvr_add_controller(
const_cast<char *>(hand_controller_names[i]),
i + HAND_CONTROLLER_ID_OFFSET,
true,
true);
}
}
*/
}
}
}
void OpenXRHandTrackingExtension::on_state_stopping() {
// cleanup
cleanup_hand_tracking();
}
void OpenXRHandTrackingExtension::cleanup_hand_tracking() {
XRServer *xr_server = XRServer::get_singleton();
ERR_FAIL_NULL(xr_server);
for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
if (hand_trackers[i].hand_tracker != XR_NULL_HANDLE) {
xrDestroyHandTrackerEXT(hand_trackers[i].hand_tracker);
hand_trackers[i].is_initialised = false;
hand_trackers[i].hand_tracker = XR_NULL_HANDLE;
}
}
}
bool OpenXRHandTrackingExtension::get_active() {
return handTrackingSystemProperties.supportsHandTracking;
}
const OpenXRHandTrackingExtension::HandTracker *OpenXRHandTrackingExtension::get_hand_tracker(uint32_t p_hand) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, nullptr);
return &hand_trackers[p_hand];
}
XrHandJointsMotionRangeEXT OpenXRHandTrackingExtension::get_motion_range(uint32_t p_hand) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, XR_HAND_JOINTS_MOTION_RANGE_MAX_ENUM_EXT);
return hand_trackers[p_hand].motion_range;
}
void OpenXRHandTrackingExtension::set_motion_range(uint32_t p_hand, XrHandJointsMotionRangeEXT p_motion_range) {
ERR_FAIL_UNSIGNED_INDEX(p_hand, MAX_OPENXR_TRACKED_HANDS);
hand_trackers[p_hand].motion_range = p_motion_range;
}

96
modules/openxr/extensions/openxr_hand_tracking_extension.h Normal file
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@ -0,0 +1,96 @@
/*************************************************************************/
/* openxr_hand_tracking_extension.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_TRACKING_EXTENSION_H
#define OPENXR_HAND_TRACKING_EXTENSION_H
#include "openxr_extension_wrapper.h"
#include "../util.h"
#define MAX_OPENXR_TRACKED_HANDS 2
class OpenXRHandTrackingExtension : public OpenXRExtensionWrapper {
public:
struct HandTracker {
bool is_initialised = false;
XrHandJointsMotionRangeEXT motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT;
XrHandTrackerEXT hand_tracker = XR_NULL_HANDLE;
XrHandJointLocationEXT joint_locations[XR_HAND_JOINT_COUNT_EXT];
XrHandJointVelocityEXT joint_velocities[XR_HAND_JOINT_COUNT_EXT];
XrHandTrackingAimStateFB aimState;
XrHandJointVelocitiesEXT velocities;
XrHandJointLocationsEXT locations;
};
static OpenXRHandTrackingExtension *get_singleton();
OpenXRHandTrackingExtension(OpenXRAPI *p_openxr_api);
virtual ~OpenXRHandTrackingExtension() override;
virtual void on_instance_created(const XrInstance p_instance) override;
virtual void on_instance_destroyed() override;
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

2
modules/openxr/openxr_api.cpp
View File

@ -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() {

15
modules/openxr/openxr_api.h
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@ -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);

4
modules/openxr/register_types.cpp
View File

@ -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();

307
modules/openxr/scene/openxr_hand.cpp Normal file
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@ -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;
}
}

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/*************************************************************************/
/* 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