269 lines
10 KiB
C++
269 lines
10 KiB
C++
/*************************************************************************/
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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_initialized = 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_initialized = 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_initialized = true;
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}
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}
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if (hand_trackers[i].is_initialized) {
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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_initialized = 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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