godot/modules/openxr/scene/openxr_hand.cpp

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/*  openxr_hand.cpp                                                       */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#include "openxr_hand.h"

#include "../extensions/openxr_hand_tracking_extension.h"
#include "../openxr_api.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);

	ClassDB::bind_method(D_METHOD("set_skeleton_rig", "skeleton_rig"), &OpenXRHand::set_skeleton_rig);
	ClassDB::bind_method(D_METHOD("get_skeleton_rig"), &OpenXRHand::get_skeleton_rig);

	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");
	ADD_PROPERTY(PropertyInfo(Variant::INT, "skeleton_rig", PROPERTY_HINT_ENUM, "OpenXR,Humanoid"), "set_skeleton_rig", "get_skeleton_rig");

	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);

	BIND_ENUM_CONSTANT(SKELETON_RIG_OPENXR);
	BIND_ENUM_CONSTANT(SKELETON_RIG_HUMANOID);
	BIND_ENUM_CONSTANT(SKELETON_RIG_MAX);
}

OpenXRHand::OpenXRHand() {
	openxr_api = OpenXRAPI::get_singleton();
	hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
}

void OpenXRHand::set_hand(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(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(OpenXRHandTrackingExtension::HandTrackedHands(hand), xr_motion_range);
}

void OpenXRHand::set_skeleton_rig(SkeletonRig p_skeleton_rig) {
	ERR_FAIL_INDEX(p_skeleton_rig, SKELETON_RIG_MAX);

	skeleton_rig = p_skeleton_rig;
}

OpenXRHand::SkeletonRig OpenXRHand::get_skeleton_rig() const {
	return skeleton_rig;
}

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_joint_data() {
	// Table of bone names for different rig types.
	static const String bone_names[SKELETON_RIG_MAX][XR_HAND_JOINT_COUNT_EXT] = {
		// SKELETON_RIG_OPENXR bone names.
		{
				"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" },

		// SKELETON_RIG_HUMANOID bone names.
		{
				"Palm",
				"Hand",
				"ThumbMetacarpal",
				"ThumbProximal",
				"ThumbDistal",
				"ThumbTip",
				"IndexMetacarpal",
				"IndexProximal",
				"IndexIntermediate",
				"IndexDistal",
				"IndexTip",
				"MiddleMetacarpal",
				"MiddleProximal",
				"MiddleIntermediate",
				"MiddleDistal",
				"MiddleTip",
				"RingMetacarpal",
				"RingProximal",
				"RingIntermediate",
				"RingDistal",
				"RingTip",
				"LittleMetacarpal",
				"LittleProximal",
				"LittleIntermediate",
				"LittleDistal",
				"LittleTip" }
	};

	// Table of bone name formats for different rig types and left/right hands.
	static const String bone_name_formats[SKELETON_RIG_MAX][2] = {
		// SKELETON_RIG_OPENXR bone name format.
		{ "<bone>_L", "<bone>_R" },

		// SKELETON_RIG_HUMANOID bone name format.
		{ "Left<bone>", "Right<bone>" }
	};

	// reset JIC
	for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
		joints[i].bone = -1;
		joints[i].parent_joint = -1;
	}

	Skeleton3D *skeleton = get_skeleton();
	if (!skeleton) {
		return;
	}

	// Find the skeleton-bones associated with each OpenXR joint.
	int bones[XR_HAND_JOINT_COUNT_EXT];
	for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
		// Construct the expected bone name.
		String bone_name = bone_name_formats[skeleton_rig][hand].replace("<bone>", bone_names[skeleton_rig][i]);

		// Find the skeleton bone.
		bones[i] = skeleton->find_bone(bone_name);
		if (bones[i] == -1) {
			print_line("Couldn't obtain bone for", bone_name);
		}
	}

	// Assemble the OpenXR joint relationship to the available skeleton bones.
	for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
		// Get the skeleton bone (skip if not found).
		const int bone = bones[i];
		if (bone == -1) {
			continue;
		}

		// Find the parent skeleton-bone.
		const int parent_bone = skeleton->get_bone_parent(bone);
		if (parent_bone == -1) {
			// If no parent skeleton-bone exists then drive this relative to palm joint.
			joints[i].bone = bone;
			joints[i].parent_joint = XR_HAND_JOINT_PALM_EXT;
			continue;
		}

		// Find the OpenXR joint associated with the parent skeleton-bone.
		for (int j = 0; j < XR_HAND_JOINT_COUNT_EXT; ++j) {
			if (bones[j] == parent_bone) {
				// If a parent joint is found then drive this bone relative to it.
				joints[i].bone = bone;
				joints[i].parent_joint = j;
				break;
			}
		}
	}
}

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;
	}

	// Table of bone adjustments for different rig types
	static const Quaternion bone_adjustments[SKELETON_RIG_MAX] = {
		// SKELETON_RIG_OPENXR bone adjustment. This is an identity quaternion
		// because the incoming quaternions are already in OpenXR format.
		Quaternion(),

		// SKELETON_RIG_HUMANOID bone adjustment. This rotation performs:
		// OpenXR Z+ -> Godot Humanoid Y-  (Back along the bone)
		// OpenXR Y+ -> Godot Humanoid Z- (Out the back of the hand)
		Quaternion(0.0, -Math_SQRT12, Math_SQRT12, 0.0),
	};

	// 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 Quaternion &rig_adjustment = bone_adjustments[skeleton_rig];
	const OpenXRHandTrackingExtension::HandTracker *hand_tracker = hand_tracking_ext->get_hand_tracker(OpenXRHandTrackingExtension::HandTrackedHands(hand));
	const float ws = XRServer::get_singleton()->get_world_scale();

	if (hand_tracker->is_initialized && 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 XrHandJointLocationEXT &location = hand_tracker->joint_locations[i];
			const XrPosef &pose = location.pose;

			if (location.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) {
				if (pose.orientation.x != 0 || pose.orientation.y != 0 || pose.orientation.z != 0 || pose.orientation.w != 0) {
					quaternions[i] = Quaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w) * rig_adjustment;
					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) {
			// Iterate over all the OpenXR joints.
			for (int joint = 0; joint < XR_HAND_JOINT_COUNT_EXT; joint++) {
				// Get the skeleton bone (skip if none).
				const int bone = joints[joint].bone;
				if (bone == -1) {
					continue;
				}

				// Calculate the relative relationship to the parent bone joint.
				const int parent_joint = joints[joint].parent_joint;
				const Quaternion q = inv_quaternions[parent_joint] * quaternions[joint];
				const Vector3 p = inv_quaternions[parent_joint].xform(positions[joint] - positions[parent_joint]);

				// and set our pose
				skeleton->set_bone_pose_position(joints[joint].bone, p);
				skeleton->set_bone_pose_rotation(joints[joint].bone, q);
			}

			// Transform the OpenXRHand to the skeleton pose.
			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_joint_data();

			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++) {
				joints[i].bone = -1;
				joints[i].parent_joint = -1;
			}
		} break;
		case NOTIFICATION_INTERNAL_PROCESS: {
			_update_skeleton();
		} break;
		default: {
		} break;
	}
}