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Merge pull request #88639 from dsnopek/xrserver-hand-tracker

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Provide generic interface for XR hand tracking
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Rémi Verschelde 2024-02-23 22:19:05 +01:00
parent fd788d7df9 2184fa9698
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15 changed files with 1157 additions and 9 deletions
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34
doc/classes/XRHandModifier3D.xml Normal file
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@ -0,0 +1,34 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="XRHandModifier3D" inherits="Node3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A node for driving hand meshes from [XRHandTracker] data.
</brief_description>
<description>
This node uses hand tracking data from a [XRHandTracker] to animate the skeleton of a hand mesh.
</description>
<tutorials>
<link title="XR documentation index">$DOCS_URL/tutorials/xr/index.html</link>
</tutorials>
<members>
<member name="bone_update" type="int" setter="set_bone_update" getter="get_bone_update" enum="XRHandModifier3D.BoneUpdate" default="0">
Specifies the type of updates to perform on the bones.
</member>
<member name="hand_tracker" type="StringName" setter="set_hand_tracker" getter="get_hand_tracker" default="&amp;&quot;/user/left&quot;">
The name of the [XRHandTracker] registered with [XRServer] to obtain the hand tracking data from.
</member>
<member name="target" type="NodePath" setter="set_target" getter="get_target" default="NodePath(&quot;&quot;)">
A [NodePath] to a [Skeleton3D] to animate.
</member>
</members>
<constants>
<constant name="BONE_UPDATE_FULL" value="0" enum="BoneUpdate">
The skeleton's bones are fully updated (both position and rotation) to match the tracked bones.
</constant>
<constant name="BONE_UPDATE_ROTATION_ONLY" value="1" enum="BoneUpdate">
The skeleton's bones are only rotated to align with the tracked bones, preserving bone length.
</constant>
<constant name="BONE_UPDATE_MAX" value="2" enum="BoneUpdate">
Represents the size of the [enum BoneUpdate] enum.
</constant>
</constants>
</class>

223
doc/classes/XRHandTracker.xml Normal file
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<?xml version="1.0" encoding="UTF-8" ?>
<class name="XRHandTracker" inherits="RefCounted" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A tracked hand in XR.
</brief_description>
<description>
A hand tracking system will create an instance of this object and add it to the [XRServer]. This tracking system will then obtain skeleton data, convert it to the Godot Humanoid hand skeleton and store this data on the [XRHandTracker] object.
Use [XRHandModifier3D] to animate a hand mesh using hand tracking data.
</description>
<tutorials>
<link title="XR documentation index">$DOCS_URL/tutorials/xr/index.html</link>
</tutorials>
<methods>
<method name="get_hand_joint_angular_velocity" qualifiers="const">
<return type="Vector3" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<description>
Returns the angular velocity for the given hand joint.
</description>
</method>
<method name="get_hand_joint_flags" qualifiers="const">
<return type="int" enum="XRHandTracker.HandJointFlags" is_bitfield="true" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<description>
Returns flags about the validity of the tracking data for the given hand joint (see [enum XRHandTracker.HandJointFlags]).
</description>
</method>
<method name="get_hand_joint_linear_velocity" qualifiers="const">
<return type="Vector3" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<description>
Returns the linear velocity for the given hand joint.
</description>
</method>
<method name="get_hand_joint_radius" qualifiers="const">
<return type="float" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<description>
Returns the radius of the given hand joint.
</description>
</method>
<method name="get_hand_joint_transform" qualifiers="const">
<return type="Transform3D" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<description>
Returns the transform for the given hand joint.
</description>
</method>
<method name="set_hand_joint_angular_velocity">
<return type="void" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<param index="1" name="angular_velocity" type="Vector3" />
<description>
Sets the angular velocity for the given hand joint.
</description>
</method>
<method name="set_hand_joint_flags">
<return type="void" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<param index="1" name="flags" type="int" enum="XRHandTracker.HandJointFlags" is_bitfield="true" />
<description>
Sets flags about the validity of the tracking data for the given hand joint.
</description>
</method>
<method name="set_hand_joint_linear_velocity">
<return type="void" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<param index="1" name="linear_velocity" type="Vector3" />
<description>
Sets the linear velocity for the given hand joint.
</description>
</method>
<method name="set_hand_joint_radius">
<return type="void" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<param index="1" name="radius" type="float" />
<description>
Sets the radius of the given hand joint.
</description>
</method>
<method name="set_hand_joint_transform">
<return type="void" />
<param index="0" name="joint" type="int" enum="XRHandTracker.HandJoint" />
<param index="1" name="transform" type="Transform3D" />
<description>
Sets the transform for the given hand joint.
</description>
</method>
</methods>
<members>
<member name="hand" type="int" setter="set_hand" getter="get_hand" enum="XRHandTracker.Hand" default="0">
The type of hand.
</member>
<member name="hand_tracking_source" type="int" setter="set_hand_tracking_source" getter="get_hand_tracking_source" enum="XRHandTracker.HandTrackingSource" default="0">
The source of the hand tracking data.
</member>
<member name="has_tracking_data" type="bool" setter="set_has_tracking_data" getter="get_has_tracking_data" default="false">
If [code]true[/code], the hand tracking data is valid.
</member>
</members>
<constants>
<constant name="HAND_LEFT" value="0" enum="Hand">
A left hand.
</constant>
<constant name="HAND_RIGHT" value="1" enum="Hand">
A right hand.
</constant>
<constant name="HAND_MAX" value="2" enum="Hand">
Represents the size of the [enum Hand] enum.
</constant>
<constant name="HAND_TRACKING_SOURCE_UNKNOWN" value="0" enum="HandTrackingSource">
The source of hand tracking data is unknown.
</constant>
<constant name="HAND_TRACKING_SOURCE_UNOBSTRUCTED" value="1" enum="HandTrackingSource">
The source of hand tracking data is unobstructed, meaning that an accurate method of hand tracking is used. These include optical hand tracking, data gloves, etc.
</constant>
<constant name="HAND_TRACKING_SOURCE_CONTROLLER" value="2" enum="HandTrackingSource">
The source of hand tracking data is a controller, meaning that joint positions are inferred from controller inputs.
</constant>
<constant name="HAND_TRACKING_SOURCE_MAX" value="3" enum="HandTrackingSource">
Represents the size of the [enum HandTrackingSource] enum.
</constant>
<constant name="HAND_JOINT_PALM" value="0" enum="HandJoint">
Palm joint.
</constant>
<constant name="HAND_JOINT_WRIST" value="1" enum="HandJoint">
Wrist joint.
</constant>
<constant name="HAND_JOINT_THUMB_METACARPAL" value="2" enum="HandJoint">
Thumb metacarpal joint.
</constant>
<constant name="HAND_JOINT_THUMB_PHALANX_PROXIMAL" value="3" enum="HandJoint">
Thumb phalanx proximal joint.
</constant>
<constant name="HAND_JOINT_THUMB_PHALANX_DISTAL" value="4" enum="HandJoint">
Thumb phalanx distal joint.
</constant>
<constant name="HAND_JOINT_THUMB_TIP" value="5" enum="HandJoint">
Thumb tip joint.
</constant>
<constant name="HAND_JOINT_INDEX_FINGER_METACARPAL" value="6" enum="HandJoint">
Index finger metacarpal joint.
</constant>
<constant name="HAND_JOINT_INDEX_FINGER_PHALANX_PROXIMAL" value="7" enum="HandJoint">
Index finger phalanx proximal joint.
</constant>
<constant name="HAND_JOINT_INDEX_FINGER_PHALANX_INTERMEDIATE" value="8" enum="HandJoint">
Index finger phalanx intermediate joint.
</constant>
<constant name="HAND_JOINT_INDEX_FINGER_PHALANX_DISTAL" value="9" enum="HandJoint">
Index finger phalanx distal joint.
</constant>
<constant name="HAND_JOINT_INDEX_FINGER_TIP" value="10" enum="HandJoint">
Index finger tip joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_FINGER_METACARPAL" value="11" enum="HandJoint">
Middle finger metacarpal joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_FINGER_PHALANX_PROXIMAL" value="12" enum="HandJoint">
Middle finger phalanx proximal joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_FINGER_PHALANX_INTERMEDIATE" value="13" enum="HandJoint">
Middle finger phalanx intermediate joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_FINGER_PHALANX_DISTAL" value="14" enum="HandJoint">
Middle finger phalanx distal joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_FINGER_TIP" value="15" enum="HandJoint">
Middle finger tip joint.
</constant>
<constant name="HAND_JOINT_RING_FINGER_METACARPAL" value="16" enum="HandJoint">
Ring finger metacarpal joint.
</constant>
<constant name="HAND_JOINT_RING_FINGER_PHALANX_PROXIMAL" value="17" enum="HandJoint">
Ring finger phalanx proximal joint.
</constant>
<constant name="HAND_JOINT_RING_FINGER_PHALANX_INTERMEDIATE" value="18" enum="HandJoint">
Ring finger phalanx intermediate joint.
</constant>
<constant name="HAND_JOINT_RING_FINGER_PHALANX_DISTAL" value="19" enum="HandJoint">
Ring finger phalanx distal joint.
</constant>
<constant name="HAND_JOINT_RING_FINGER_TIP" value="20" enum="HandJoint">
Ring finger tip joint.
</constant>
<constant name="HAND_JOINT_PINKY_FINGER_METACARPAL" value="21" enum="HandJoint">
Pinky finger metacarpal joint.
</constant>
<constant name="HAND_JOINT_PINKY_FINGER_PHALANX_PROXIMAL" value="22" enum="HandJoint">
Pinky finger phalanx proximal joint.
</constant>
<constant name="HAND_JOINT_PINKY_FINGER_PHALANX_INTERMEDIATE" value="23" enum="HandJoint">
Pinky finger phalanx intermediate joint.
</constant>
<constant name="HAND_JOINT_PINKY_FINGER_PHALANX_DISTAL" value="24" enum="HandJoint">
Pinky finger phalanx distal joint.
</constant>
<constant name="HAND_JOINT_PINKY_FINGER_TIP" value="25" enum="HandJoint">
Pinky finger tip joint.
</constant>
<constant name="HAND_JOINT_MAX" value="26" enum="HandJoint">
Represents the size of the [enum HandJoint] enum.
</constant>
<constant name="HAND_JOINT_FLAG_ORIENTATION_VALID" value="1" enum="HandJointFlags" is_bitfield="true">
The hand joint's orientation data is valid.
</constant>
<constant name="HAND_JOINT_FLAG_ORIENTATION_TRACKED" value="2" enum="HandJointFlags" is_bitfield="true">
The hand joint's orientation is actively tracked. May not be set if tracking has been temporarily lost.
</constant>
<constant name="HAND_JOINT_FLAG_POSITION_VALID" value="4" enum="HandJointFlags" is_bitfield="true">
The hand joint's position data is valid.
</constant>
<constant name="HAND_JOINT_FLAG_POSITION_TRACKED" value="8" enum="HandJointFlags" is_bitfield="true">
The hand joint's position is actively tracked. May not be set if tracking has been temporarily lost.
</constant>
<constant name="HAND_JOINT_FLAG_LINEAR_VELOCITY_VALID" value="16" enum="HandJointFlags" is_bitfield="true">
The hand joint's linear velocity data is valid.
</constant>
<constant name="HAND_JOINT_FLAG_ANGULAR_VELOCITY_VALID" value="32" enum="HandJointFlags" is_bitfield="true">
The hand joint's angular velocity data is valid.
</constant>
</constants>
</class>

48
doc/classes/XRServer.xml
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@ -18,6 +18,14 @@
Registers a new [XRFaceTracker] that tracks the blend shapes of a face.
</description>
</method>
<method name="add_hand_tracker">
<return type="void" />
<param index="0" name="tracker_name" type="StringName" />
<param index="1" name="hand_tracker" type="XRHandTracker" />
<description>
Registers a new [XRHandTracker] that tracks the joints of a hand.
</description>
</method>
<method name="add_interface">
<return type="void" />
<param index="0" name="interface" type="XRInterface" />
@ -71,6 +79,19 @@
Returns a dictionary of the registered face trackers. Each element of the dictionary is a tracker name mapping to the [XRFaceTracker] instance.
</description>
</method>
<method name="get_hand_tracker" qualifiers="const">
<return type="XRHandTracker" />
<param index="0" name="tracker_name" type="StringName" />
<description>
Returns the [XRHandTracker] with the given tracker name.
</description>
</method>
<method name="get_hand_trackers" qualifiers="const">
<return type="Dictionary" />
<description>
Returns a dictionary of the registered hand trackers. Each element of the dictionary is a tracker name mapping to the [XRHandTracker] instance.
</description>
</method>
<method name="get_hmd_transform">
<return type="Transform3D" />
<description>
@ -123,6 +144,13 @@
Removes a registered [XRFaceTracker].
</description>
</method>
<method name="remove_hand_tracker">
<return type="void" />
<param index="0" name="tracker_name" type="StringName" />
<description>
Removes a registered [XRHandTracker].
</description>
</method>
<method name="remove_interface">
<return type="void" />
<param index="0" name="interface" type="XRInterface" />
@ -171,6 +199,26 @@
Emitted when an existing face tracker is updated.
</description>
</signal>
<signal name="hand_tracker_added">
<param index="0" name="tracker_name" type="StringName" />
<param index="1" name="hand_tracker" type="XRHandTracker" />
<description>
Emitted when a new hand tracker is added.
</description>
</signal>
<signal name="hand_tracker_removed">
<param index="0" name="tracker_name" type="StringName" />
<description>
Emitted when a hand tracker is removed.
</description>
</signal>
<signal name="hand_tracker_updated">
<param index="0" name="tracker_name" type="StringName" />
<param index="1" name="hand_tracker" type="XRHandTracker" />
<description>
Emitted when an existing hand tracker is updated.
</description>
</signal>
<signal name="interface_added">
<param index="0" name="interface_name" type="StringName" />
<description>

2
modules/openxr/doc_classes/OpenXRHand.xml
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@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="OpenXRHand" inherits="Node3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
<class name="OpenXRHand" inherits="Node3D" deprecated="Use [XRHandModifier3D] instead." xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd">
<brief_description>
Node supporting hand and finger tracking in OpenXR.
</brief_description>

14
modules/openxr/doc_classes/OpenXRInterface.xml
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@ -23,7 +23,7 @@
Returns display refresh rates supported by the current HMD. Only returned if this feature is supported by the OpenXR runtime and after the interface has been initialized.
</description>
</method>
<method name="get_hand_joint_angular_velocity" qualifiers="const">
<method name="get_hand_joint_angular_velocity" qualifiers="const" deprecated="Use [method XRHandTracker.get_hand_joint_angular_velocity] obtained from [method XRServer.get_hand_tracker] instead.">
<return type="Vector3" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
@ -31,7 +31,7 @@
If handtracking is enabled, returns the angular velocity of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is relative to [XROrigin3D]!
</description>
</method>
<method name="get_hand_joint_flags" qualifiers="const">
<method name="get_hand_joint_flags" qualifiers="const" deprecated="Use [method XRHandTracker.get_hand_joint_flags] obtained from [method XRServer.get_hand_tracker] instead.">
<return type="int" enum="OpenXRInterface.HandJointFlags" is_bitfield="true" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
@ -39,7 +39,7 @@
If handtracking is enabled, returns flags that inform us of the validity of the tracking data.
</description>
</method>
<method name="get_hand_joint_linear_velocity" qualifiers="const">
<method name="get_hand_joint_linear_velocity" qualifiers="const" deprecated="Use [method XRHandTracker.get_hand_joint_linear_velocity] obtained from [method XRServer.get_hand_tracker] instead.">
<return type="Vector3" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
@ -47,7 +47,7 @@
If handtracking is enabled, returns the linear velocity of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is relative to [XROrigin3D] without worldscale applied!
</description>
</method>
<method name="get_hand_joint_position" qualifiers="const">
<method name="get_hand_joint_position" qualifiers="const" deprecated="Use [method XRHandTracker.get_hand_joint_transform] obtained from [method XRServer.get_hand_tracker] instead.">
<return type="Vector3" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
@ -55,7 +55,7 @@
If handtracking is enabled, returns the position of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is relative to [XROrigin3D] without worldscale applied!
</description>
</method>
<method name="get_hand_joint_radius" qualifiers="const">
<method name="get_hand_joint_radius" qualifiers="const" deprecated="Use [method XRHandTracker.get_hand_joint_radius] obtained from [method XRServer.get_hand_tracker] instead.">
<return type="float" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
@ -63,7 +63,7 @@
If handtracking is enabled, returns the radius of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is without worldscale applied!
</description>
</method>
<method name="get_hand_joint_rotation" qualifiers="const">
<method name="get_hand_joint_rotation" qualifiers="const" deprecated="Use [method XRHandTracker.get_hand_joint_transform] obtained from [method XRServer.get_hand_tracker] instead.">
<return type="Quaternion" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
@ -71,7 +71,7 @@
If handtracking is enabled, returns the rotation of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR.
</description>
</method>
<method name="get_hand_tracking_source" qualifiers="const">
<method name="get_hand_tracking_source" qualifiers="const" deprecated="Use [member XRHandTracker.hand_tracking_source] obtained from [method XRServer.get_hand_tracker] instead.">
<return type="int" enum="OpenXRInterface.HandTrackedSource" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<description>

68
modules/openxr/extensions/openxr_hand_tracking_extension.cpp
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@ -193,11 +193,18 @@ void OpenXRHandTrackingExtension::on_process() {
hand_trackers[i].locations.jointCount = XR_HAND_JOINT_COUNT_EXT;
hand_trackers[i].locations.jointLocations = hand_trackers[i].joint_locations;
Ref<XRHandTracker> godot_tracker;
godot_tracker.instantiate();
godot_tracker->set_hand(i == 0 ? XRHandTracker::HAND_LEFT : XRHandTracker::HAND_RIGHT);
XRServer::get_singleton()->add_hand_tracker(i == 0 ? "/user/left" : "/user/right", godot_tracker);
hand_trackers[i].godot_tracker = godot_tracker;
hand_trackers[i].is_initialized = true;
}
}
if (hand_trackers[i].is_initialized) {
Ref<XRHandTracker> godot_tracker = hand_trackers[i].godot_tracker;
void *next_pointer = nullptr;
XrHandJointsMotionRangeInfoEXT motion_range_info = { XR_TYPE_HAND_JOINTS_MOTION_RANGE_INFO_EXT, next_pointer, hand_trackers[i].motion_range };
@ -216,6 +223,7 @@ void OpenXRHandTrackingExtension::on_process() {
if (XR_FAILED(result)) {
// not successful? then we do nothing.
print_line("OpenXR: Failed to get tracking for hand", i, "[", OpenXRAPI::get_singleton()->get_error_string(result), "]");
godot_tracker->set_has_tracking_data(false);
continue;
}
@ -225,6 +233,64 @@ void OpenXRHandTrackingExtension::on_process() {
!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
}
if (hand_trackers[i].locations.isActive) {
godot_tracker->set_has_tracking_data(true);
// 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)
const Quaternion bone_adjustment(0.0, -Math_SQRT12, Math_SQRT12, 0.0);
for (int joint = 0; joint < XR_HAND_JOINT_COUNT_EXT; joint++) {
const XrHandJointLocationEXT &location = hand_trackers[i].joint_locations[joint];
const XrHandJointVelocityEXT &velocity = hand_trackers[i].joint_velocities[joint];
const XrHandTrackingDataSourceStateEXT &data_source = hand_trackers[i].data_source;
const XrPosef &pose = location.pose;
Transform3D transform;
BitField<XRHandTracker::HandJointFlags> flags;
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) {
flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_ORIENTATION_VALID);
transform.basis = Basis(Quaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w) * bone_adjustment);
}
}
if (location.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) {
flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_POSITION_VALID);
transform.origin = Vector3(pose.position.x, pose.position.y, pose.position.z);
}
if (location.locationFlags & XR_SPACE_LOCATION_ORIENTATION_TRACKED_BIT) {
flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_ORIENTATION_TRACKED);
}
if (location.locationFlags & XR_SPACE_LOCATION_POSITION_TRACKED_BIT) {
flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_POSITION_TRACKED);
}
if (location.locationFlags & XR_SPACE_VELOCITY_LINEAR_VALID_BIT) {
flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_LINEAR_VELOCITY_VALID);
godot_tracker->set_hand_joint_linear_velocity((XRHandTracker::HandJoint)joint, Vector3(velocity.linearVelocity.x, velocity.linearVelocity.y, velocity.linearVelocity.z));
}
if (location.locationFlags & XR_SPACE_VELOCITY_ANGULAR_VALID_BIT) {
flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_ANGULAR_VELOCITY_VALID);
godot_tracker->set_hand_joint_angular_velocity((XRHandTracker::HandJoint)joint, Vector3(velocity.angularVelocity.x, velocity.angularVelocity.y, velocity.angularVelocity.z));
}
godot_tracker->set_hand_joint_flags((XRHandTracker::HandJoint)joint, flags);
godot_tracker->set_hand_joint_transform((XRHandTracker::HandJoint)joint, transform);
godot_tracker->set_hand_joint_radius((XRHandTracker::HandJoint)joint, location.radius);
XRHandTracker::HandTrackingSource source = XRHandTracker::HAND_TRACKING_SOURCE_UNKNOWN;
if (data_source.dataSource == XR_HAND_TRACKING_DATA_SOURCE_UNOBSTRUCTED_EXT) {
source = XRHandTracker::HAND_TRACKING_SOURCE_UNOBSTRUCTED;
} else if (data_source.dataSource == XR_HAND_TRACKING_DATA_SOURCE_CONTROLLER_EXT) {
source = XRHandTracker::HAND_TRACKING_SOURCE_CONTROLLER;
}
godot_tracker->set_hand_tracking_source(source);
}
} else {
godot_tracker->set_has_tracking_data(false);
}
}
}
}
@ -244,6 +310,8 @@ void OpenXRHandTrackingExtension::cleanup_hand_tracking() {
hand_trackers[i].is_initialized = false;
hand_trackers[i].hand_tracker = XR_NULL_HANDLE;
XRServer::get_singleton()->remove_hand_tracker(i == 0 ? "/user/left" : "/user/right");
}
}
}

2
modules/openxr/extensions/openxr_hand_tracking_extension.h
View file

@ -34,6 +34,7 @@
#include "../util.h"
#include "core/math/quaternion.h"
#include "openxr_extension_wrapper.h"
#include "servers/xr/xr_hand_tracker.h"
class OpenXRHandTrackingExtension : public OpenXRExtensionWrapper {
public:
@ -52,6 +53,7 @@ public:
struct HandTracker {
bool is_initialized = false;
Ref<XRHandTracker> godot_tracker;
XrHandJointsMotionRangeEXT motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT;
HandTrackedSource source = OPENXR_SOURCE_UNKNOWN;

309
scene/3d/xr_hand_modifier_3d.cpp Normal file
View file

@ -0,0 +1,309 @@
/**************************************************************************/
/* xr_hand_modifier_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 "xr_hand_modifier_3d.h"
#include "scene/3d/skeleton_3d.h"
#include "servers/xr/xr_pose.h"
#include "servers/xr_server.h"
void XRHandModifier3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_hand_tracker", "tracker_name"), &XRHandModifier3D::set_hand_tracker);
ClassDB::bind_method(D_METHOD("get_hand_tracker"), &XRHandModifier3D::get_hand_tracker);
ClassDB::bind_method(D_METHOD("set_target", "target"), &XRHandModifier3D::set_target);
ClassDB::bind_method(D_METHOD("get_target"), &XRHandModifier3D::get_target);
ClassDB::bind_method(D_METHOD("set_bone_update", "bone_update"), &XRHandModifier3D::set_bone_update);
ClassDB::bind_method(D_METHOD("get_bone_update"), &XRHandModifier3D::get_bone_update);
ADD_PROPERTY(PropertyInfo(Variant::STRING, "hand_tracker", PROPERTY_HINT_ENUM_SUGGESTION, "/user/left,/user/right"), "set_hand_tracker", "get_hand_tracker");
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Skeleton3D"), "set_target", "get_target");
ADD_PROPERTY(PropertyInfo(Variant::INT, "bone_update", PROPERTY_HINT_ENUM, "Full,Rotation Only"), "set_bone_update", "get_bone_update");
BIND_ENUM_CONSTANT(BONE_UPDATE_FULL);
BIND_ENUM_CONSTANT(BONE_UPDATE_ROTATION_ONLY);
BIND_ENUM_CONSTANT(BONE_UPDATE_MAX);
}
void XRHandModifier3D::set_hand_tracker(const StringName &p_tracker_name) {
tracker_name = p_tracker_name;
}
StringName XRHandModifier3D::get_hand_tracker() const {
return tracker_name;
}
void XRHandModifier3D::set_target(const NodePath &p_target) {
target = p_target;
if (is_inside_tree()) {
_get_joint_data();
}
}
NodePath XRHandModifier3D::get_target() const {
return target;
}
void XRHandModifier3D::set_bone_update(BoneUpdate p_bone_update) {
ERR_FAIL_INDEX(p_bone_update, BONE_UPDATE_MAX);
bone_update = p_bone_update;
}
XRHandModifier3D::BoneUpdate XRHandModifier3D::get_bone_update() const {
return bone_update;
}
Skeleton3D *XRHandModifier3D::get_skeleton() {
if (!has_node(target)) {
return nullptr;
}
Node *node = get_node(target);
if (!node) {
return nullptr;
}
Skeleton3D *skeleton = Object::cast_to<Skeleton3D>(node);
return skeleton;
}
void XRHandModifier3D::_get_joint_data() {
// Table of bone names for different rig types.
static const String bone_names[XRHandTracker::HAND_JOINT_MAX] = {
"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",
};
static const String bone_name_format[2] = {
"Left<bone>",
"Right<bone>",
};
// reset JIC
for (int i = 0; i < XRHandTracker::HAND_JOINT_MAX; i++) {
joints[i].bone = -1;
joints[i].parent_joint = -1;
}
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return;
}
XRServer *xr_server = XRServer::get_singleton();
if (!xr_server) {
return;
}
Ref<XRHandTracker> tracker = xr_server->get_hand_tracker(tracker_name);
if (tracker.is_null()) {
return;
}
XRHandTracker::Hand hand = tracker->get_hand();
// Find the skeleton-bones associated with each joint.
int bones[XRHandTracker::HAND_JOINT_MAX];
for (int i = 0; i < XRHandTracker::HAND_JOINT_MAX; i++) {
// Construct the expected bone name.
String bone_name = bone_name_format[hand].replace("<bone>", bone_names[i]);
// Find the skeleton bone.
bones[i] = skeleton->find_bone(bone_name);
if (bones[i] == -1) {
WARN_PRINT(vformat("Couldn't obtain bone for %s", bone_name));
}
}
// Assemble the joint relationship to the available skeleton bones.
for (int i = 0; i < XRHandTracker::HAND_JOINT_MAX; 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 = XRHandTracker::HAND_JOINT_PALM;
continue;
}
// Find the joint associated with the parent skeleton-bone.
for (int j = 0; j < XRHandTracker::HAND_JOINT_MAX; ++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 XRHandModifier3D::_update_skeleton() {
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return;
}
XRServer *xr_server = XRServer::get_singleton();
if (!xr_server) {
return;
}
Ref<XRHandTracker> tracker = xr_server->get_hand_tracker(tracker_name);
if (tracker.is_null()) {
return;
}
// We cache our transforms so we can quickly calculate local transforms.
bool has_valid_data[XRHandTracker::HAND_JOINT_MAX];
Transform3D transforms[XRHandTracker::HAND_JOINT_MAX];
Transform3D inv_transforms[XRHandTracker::HAND_JOINT_MAX];
const float ws = xr_server->get_world_scale();
if (tracker->get_has_tracking_data()) {
for (int joint = 0; joint < XRHandTracker::HAND_JOINT_MAX; joint++) {
BitField<XRHandTracker::HandJointFlags> flags = tracker->get_hand_joint_flags((XRHandTracker::HandJoint)joint);
has_valid_data[joint] = flags.has_flag(XRHandTracker::HAND_JOINT_FLAG_ORIENTATION_VALID);
if (has_valid_data[joint]) {
transforms[joint] = tracker->get_hand_joint_transform((XRHandTracker::HandJoint)joint);
transforms[joint].origin *= ws;
inv_transforms[joint] = transforms[joint].inverse();
}
}
if (has_valid_data[XRHandTracker::HAND_JOINT_PALM]) {
for (int joint = 0; joint < XRHandTracker::HAND_JOINT_MAX; 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 Transform3D relative_transform = inv_transforms[parent_joint] * transforms[joint];
// Update the bone position if enabled by update mode.
if (bone_update == BONE_UPDATE_FULL) {
skeleton->set_bone_pose_position(joints[joint].bone, relative_transform.origin);
}
// Always update the bone rotation.
skeleton->set_bone_pose_rotation(joints[joint].bone, Quaternion(relative_transform.basis));
}
// Transform to the skeleton pose.
set_transform(transforms[XRHandTracker::HAND_JOINT_PALM]);
set_visible(true);
} else {
set_visible(false);
}
} else {
set_visible(false);
}
}
void XRHandModifier3D::_tracker_changed(StringName p_tracker_name, const Ref<XRHandTracker> &p_tracker) {
if (tracker_name == p_tracker_name) {
_get_joint_data();
}
}
void XRHandModifier3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
XRServer *xr_server = XRServer::get_singleton();
if (xr_server) {
xr_server->connect("hand_tracker_added", callable_mp(this, &XRHandModifier3D::_tracker_changed));
xr_server->connect("hand_tracker_updated", callable_mp(this, &XRHandModifier3D::_tracker_changed));
xr_server->connect("hand_tracker_removed", callable_mp(this, &XRHandModifier3D::_tracker_changed).bind(Ref<XRHandTracker>()));
}
_get_joint_data();
set_process_internal(true);
} break;
case NOTIFICATION_EXIT_TREE: {
XRServer *xr_server = XRServer::get_singleton();
if (xr_server) {
xr_server->disconnect("hand_tracker_added", callable_mp(this, &XRHandModifier3D::_tracker_changed));
xr_server->disconnect("hand_tracker_updated", callable_mp(this, &XRHandModifier3D::_tracker_changed));
xr_server->disconnect("hand_tracker_removed", callable_mp(this, &XRHandModifier3D::_tracker_changed).bind(Ref<XRHandTracker>()));
}
set_process_internal(false);
for (int i = 0; i < XRHandTracker::HAND_JOINT_MAX; i++) {
joints[i].bone = -1;
joints[i].parent_joint = -1;
}
} break;
case NOTIFICATION_INTERNAL_PROCESS: {
_update_skeleton();
} break;
default: {
} break;
}
}

87
scene/3d/xr_hand_modifier_3d.h Normal file
View file

@ -0,0 +1,87 @@
/**************************************************************************/
/* xr_hand_modifier_3d.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 XR_HAND_MODIFIER_3D_H
#define XR_HAND_MODIFIER_3D_H
#include "scene/3d/node_3d.h"
#include "servers/xr/xr_hand_tracker.h"
class Skeleton3D;
/**
The XRHandModifier3D node drives a hand skeleton using hand tracking
data from an XRHandTracking instance.
*/
class XRHandModifier3D : public Node3D {
GDCLASS(XRHandModifier3D, Node3D);
public:
enum BoneUpdate {
BONE_UPDATE_FULL,
BONE_UPDATE_ROTATION_ONLY,
BONE_UPDATE_MAX
};
void set_hand_tracker(const StringName &p_tracker_name);
StringName get_hand_tracker() const;
void set_target(const NodePath &p_target);
NodePath get_target() const;
void set_bone_update(BoneUpdate p_bone_update);
BoneUpdate get_bone_update() const;
void _notification(int p_what);
protected:
static void _bind_methods();
private:
struct JointData {
int bone = -1;
int parent_joint = -1;
};
StringName tracker_name = "/user/left";
NodePath target;
BoneUpdate bone_update = BONE_UPDATE_FULL;
JointData joints[XRHandTracker::HAND_JOINT_MAX];
Skeleton3D *get_skeleton();
void _get_joint_data();
void _update_skeleton();
void _tracker_changed(StringName p_tracker_name, const Ref<XRHandTracker> &p_tracker);
};
VARIANT_ENUM_CAST(XRHandModifier3D::BoneUpdate)
#endif // XR_HAND_MODIFIER_3D_H

2
scene/register_scene_types.cpp
View file

@ -274,6 +274,7 @@
#include "scene/3d/voxel_gi.h"
#include "scene/3d/world_environment.h"
#include "scene/3d/xr_face_modifier_3d.h"
#include "scene/3d/xr_hand_modifier_3d.h"
#include "scene/3d/xr_nodes.h"
#include "scene/animation/root_motion_view.h"
#include "scene/resources/environment.h"
@ -523,6 +524,7 @@ void register_scene_types() {
GDREGISTER_CLASS(XRController3D);
GDREGISTER_CLASS(XRAnchor3D);
GDREGISTER_CLASS(XROrigin3D);
GDREGISTER_CLASS(XRHandModifier3D);
GDREGISTER_CLASS(XRFaceModifier3D);
GDREGISTER_CLASS(MeshInstance3D);
GDREGISTER_CLASS(OccluderInstance3D);

2
servers/register_server_types.cpp
View file

@ -77,6 +77,7 @@
#include "text/text_server_extension.h"
#include "text_server.h"
#include "xr/xr_face_tracker.h"
#include "xr/xr_hand_tracker.h"
#include "xr/xr_interface.h"
#include "xr/xr_interface_extension.h"
#include "xr/xr_positional_tracker.h"
@ -173,6 +174,7 @@ void register_server_types() {
GDREGISTER_ABSTRACT_CLASS(RenderingDevice);
GDREGISTER_ABSTRACT_CLASS(XRInterface);
GDREGISTER_CLASS(XRHandTracker);
GDREGISTER_CLASS(XRInterfaceExtension); // can't register this as virtual because we need a creation function for our extensions.
GDREGISTER_CLASS(XRPose);
GDREGISTER_CLASS(XRPositionalTracker);

179
servers/xr/xr_hand_tracker.cpp Normal file
View file

@ -0,0 +1,179 @@
/**************************************************************************/
/* xr_hand_tracker.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 "xr_hand_tracker.h"
void XRHandTracker::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_hand", "hand"), &XRHandTracker::set_hand);
ClassDB::bind_method(D_METHOD("get_hand"), &XRHandTracker::get_hand);
ClassDB::bind_method(D_METHOD("set_has_tracking_data", "has_data"), &XRHandTracker::set_has_tracking_data);
ClassDB::bind_method(D_METHOD("get_has_tracking_data"), &XRHandTracker::get_has_tracking_data);
ClassDB::bind_method(D_METHOD("set_hand_tracking_source", "source"), &XRHandTracker::set_hand_tracking_source);
ClassDB::bind_method(D_METHOD("get_hand_tracking_source"), &XRHandTracker::get_hand_tracking_source);
ClassDB::bind_method(D_METHOD("set_hand_joint_flags", "joint", "flags"), &XRHandTracker::set_hand_joint_flags);
ClassDB::bind_method(D_METHOD("get_hand_joint_flags", "joint"), &XRHandTracker::get_hand_joint_flags);
ClassDB::bind_method(D_METHOD("set_hand_joint_transform", "joint", "transform"), &XRHandTracker::set_hand_joint_transform);
ClassDB::bind_method(D_METHOD("get_hand_joint_transform", "joint"), &XRHandTracker::get_hand_joint_transform);
ClassDB::bind_method(D_METHOD("set_hand_joint_radius", "joint", "radius"), &XRHandTracker::set_hand_joint_radius);
ClassDB::bind_method(D_METHOD("get_hand_joint_radius", "joint"), &XRHandTracker::get_hand_joint_radius);
ClassDB::bind_method(D_METHOD("set_hand_joint_linear_velocity", "joint", "linear_velocity"), &XRHandTracker::set_hand_joint_linear_velocity);
ClassDB::bind_method(D_METHOD("get_hand_joint_linear_velocity", "joint"), &XRHandTracker::get_hand_joint_linear_velocity);
ClassDB::bind_method(D_METHOD("set_hand_joint_angular_velocity", "joint", "angular_velocity"), &XRHandTracker::set_hand_joint_angular_velocity);
ClassDB::bind_method(D_METHOD("get_hand_joint_angular_velocity", "joint"), &XRHandTracker::get_hand_joint_angular_velocity);
ADD_PROPERTY(PropertyInfo(Variant::INT, "hand", PROPERTY_HINT_ENUM, "Left,Right"), "set_hand", "get_hand");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "has_tracking_data", PROPERTY_HINT_NONE), "set_has_tracking_data", "get_has_tracking_data");
ADD_PROPERTY(PropertyInfo(Variant::INT, "hand_tracking_source", PROPERTY_HINT_ENUM, "Unknown,Unobstructed,Controller"), "set_hand_tracking_source", "get_hand_tracking_source");
BIND_ENUM_CONSTANT(HAND_LEFT);
BIND_ENUM_CONSTANT(HAND_RIGHT);
BIND_ENUM_CONSTANT(HAND_MAX);
BIND_ENUM_CONSTANT(HAND_TRACKING_SOURCE_UNKNOWN);
BIND_ENUM_CONSTANT(HAND_TRACKING_SOURCE_UNOBSTRUCTED);
BIND_ENUM_CONSTANT(HAND_TRACKING_SOURCE_CONTROLLER);
BIND_ENUM_CONSTANT(HAND_TRACKING_SOURCE_MAX);
BIND_ENUM_CONSTANT(HAND_JOINT_PALM);
BIND_ENUM_CONSTANT(HAND_JOINT_WRIST);
BIND_ENUM_CONSTANT(HAND_JOINT_THUMB_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_THUMB_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_THUMB_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_THUMB_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_MAX);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_ORIENTATION_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_ORIENTATION_TRACKED);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_POSITION_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_POSITION_TRACKED);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_LINEAR_VELOCITY_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_ANGULAR_VELOCITY_VALID);
}
void XRHandTracker::set_hand(XRHandTracker::Hand p_hand) {
hand = p_hand;
}
XRHandTracker::Hand XRHandTracker::get_hand() const {
return hand;
}
void XRHandTracker::set_has_tracking_data(bool p_has_tracking_data) {
has_tracking_data = p_has_tracking_data;
}
bool XRHandTracker::get_has_tracking_data() const {
return has_tracking_data;
}
void XRHandTracker::set_hand_tracking_source(XRHandTracker::HandTrackingSource p_source) {
hand_tracking_source = p_source;
}
XRHandTracker::HandTrackingSource XRHandTracker::get_hand_tracking_source() const {
return hand_tracking_source;
}
void XRHandTracker::set_hand_joint_flags(XRHandTracker::HandJoint p_joint, BitField<XRHandTracker::HandJointFlags> p_flags) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_flags[p_joint] = p_flags;
}
BitField<XRHandTracker::HandJointFlags> XRHandTracker::get_hand_joint_flags(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, BitField<HandJointFlags>());
return hand_joint_flags[p_joint];
}
void XRHandTracker::set_hand_joint_transform(XRHandTracker::HandJoint p_joint, const Transform3D &p_transform) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_transforms[p_joint] = p_transform;
}
Transform3D XRHandTracker::get_hand_joint_transform(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, Transform3D());
return hand_joint_transforms[p_joint];
}
void XRHandTracker::set_hand_joint_radius(XRHandTracker::HandJoint p_joint, float p_radius) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_radii[p_joint] = p_radius;
}
float XRHandTracker::get_hand_joint_radius(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, 0.0);
return hand_joint_radii[p_joint];
}
void XRHandTracker::set_hand_joint_linear_velocity(XRHandTracker::HandJoint p_joint, const Vector3 &p_velocity) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_linear_velocities[p_joint] = p_velocity;
}
Vector3 XRHandTracker::get_hand_joint_linear_velocity(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, Vector3());
return hand_joint_linear_velocities[p_joint];
}
void XRHandTracker::set_hand_joint_angular_velocity(XRHandTracker::HandJoint p_joint, const Vector3 &p_velocity) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_angular_velocities[p_joint] = p_velocity;
}
Vector3 XRHandTracker::get_hand_joint_angular_velocity(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, Vector3());
return hand_joint_angular_velocities[p_joint];
}

137
servers/xr/xr_hand_tracker.h Normal file
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@ -0,0 +1,137 @@
/**************************************************************************/
/* xr_hand_tracker.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 XR_HAND_TRACKER_H
#define XR_HAND_TRACKER_H
#include "core/object/ref_counted.h"
class XRHandTracker : public RefCounted {
GDCLASS(XRHandTracker, RefCounted);
_THREAD_SAFE_CLASS_
public:
enum Hand {
HAND_LEFT,
HAND_RIGHT,
HAND_MAX,
};
enum HandTrackingSource {
HAND_TRACKING_SOURCE_UNKNOWN,
HAND_TRACKING_SOURCE_UNOBSTRUCTED,
HAND_TRACKING_SOURCE_CONTROLLER,
HAND_TRACKING_SOURCE_MAX
};
enum HandJoint {
HAND_JOINT_PALM,
HAND_JOINT_WRIST,
HAND_JOINT_THUMB_METACARPAL,
HAND_JOINT_THUMB_PHALANX_PROXIMAL,
HAND_JOINT_THUMB_PHALANX_DISTAL,
HAND_JOINT_THUMB_TIP,
HAND_JOINT_INDEX_FINGER_METACARPAL,
HAND_JOINT_INDEX_FINGER_PHALANX_PROXIMAL,
HAND_JOINT_INDEX_FINGER_PHALANX_INTERMEDIATE,
HAND_JOINT_INDEX_FINGER_PHALANX_DISTAL,
HAND_JOINT_INDEX_FINGER_TIP,
HAND_JOINT_MIDDLE_FINGER_METACARPAL,
HAND_JOINT_MIDDLE_FINGER_PHALANX_PROXIMAL,
HAND_JOINT_MIDDLE_FINGER_PHALANX_INTERMEDIATE,
HAND_JOINT_MIDDLE_FINGER_PHALANX_DISTAL,
HAND_JOINT_MIDDLE_FINGER_TIP,
HAND_JOINT_RING_FINGER_METACARPAL,
HAND_JOINT_RING_FINGER_PHALANX_PROXIMAL,
HAND_JOINT_RING_FINGER_PHALANX_INTERMEDIATE,
HAND_JOINT_RING_FINGER_PHALANX_DISTAL,
HAND_JOINT_RING_FINGER_TIP,
HAND_JOINT_PINKY_FINGER_METACARPAL,
HAND_JOINT_PINKY_FINGER_PHALANX_PROXIMAL,
HAND_JOINT_PINKY_FINGER_PHALANX_INTERMEDIATE,
HAND_JOINT_PINKY_FINGER_PHALANX_DISTAL,
HAND_JOINT_PINKY_FINGER_TIP,
HAND_JOINT_MAX,
};
enum HandJointFlags {
HAND_JOINT_FLAG_ORIENTATION_VALID = 1,
HAND_JOINT_FLAG_ORIENTATION_TRACKED = 2,
HAND_JOINT_FLAG_POSITION_VALID = 4,
HAND_JOINT_FLAG_POSITION_TRACKED = 8,
HAND_JOINT_FLAG_LINEAR_VELOCITY_VALID = 16,
HAND_JOINT_FLAG_ANGULAR_VELOCITY_VALID = 32,
};
void set_hand(Hand p_hand);
Hand get_hand() const;
void set_has_tracking_data(bool p_has_tracking_data);
bool get_has_tracking_data() const;
void set_hand_tracking_source(HandTrackingSource p_source);
HandTrackingSource get_hand_tracking_source() const;
void set_hand_joint_flags(HandJoint p_joint, BitField<HandJointFlags> p_flags);
BitField<HandJointFlags> get_hand_joint_flags(HandJoint p_joint) const;
void set_hand_joint_transform(HandJoint p_joint, const Transform3D &p_transform);
Transform3D get_hand_joint_transform(HandJoint p_joint) const;
void set_hand_joint_radius(HandJoint p_joint, float p_radius);
float get_hand_joint_radius(HandJoint p_joint) const;
void set_hand_joint_linear_velocity(HandJoint p_joint, const Vector3 &p_velocity);
Vector3 get_hand_joint_linear_velocity(HandJoint p_joint) const;
void set_hand_joint_angular_velocity(HandJoint p_joint, const Vector3 &p_velocity);
Vector3 get_hand_joint_angular_velocity(HandJoint p_joint) const;
protected:
static void _bind_methods();
private:
Hand hand = HAND_LEFT;
bool has_tracking_data = false;
HandTrackingSource hand_tracking_source = HAND_TRACKING_SOURCE_UNKNOWN;
BitField<HandJointFlags> hand_joint_flags[HAND_JOINT_MAX];
Transform3D hand_joint_transforms[HAND_JOINT_MAX];
float hand_joint_radii[HAND_JOINT_MAX] = {};
Vector3 hand_joint_linear_velocities[HAND_JOINT_MAX];
Vector3 hand_joint_angular_velocities[HAND_JOINT_MAX];
};
VARIANT_ENUM_CAST(XRHandTracker::Hand)
VARIANT_ENUM_CAST(XRHandTracker::HandTrackingSource)
VARIANT_ENUM_CAST(XRHandTracker::HandJoint)
VARIANT_BITFIELD_CAST(XRHandTracker::HandJointFlags)
#endif // XR_HAND_TRACKER_H

48
servers/xr_server.cpp
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@ -31,6 +31,7 @@
#include "xr_server.h"
#include "core/config/project_settings.h"
#include "xr/xr_face_tracker.h"
#include "xr/xr_hand_tracker.h"
#include "xr/xr_interface.h"
#include "xr/xr_positional_tracker.h"
@ -75,6 +76,11 @@ void XRServer::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_trackers", "tracker_types"), &XRServer::get_trackers);
ClassDB::bind_method(D_METHOD("get_tracker", "tracker_name"), &XRServer::get_tracker);
ClassDB::bind_method(D_METHOD("add_hand_tracker", "tracker_name", "hand_tracker"), &XRServer::add_hand_tracker);
ClassDB::bind_method(D_METHOD("remove_hand_tracker", "tracker_name"), &XRServer::remove_hand_tracker);
ClassDB::bind_method(D_METHOD("get_hand_trackers"), &XRServer::get_hand_trackers);
ClassDB::bind_method(D_METHOD("get_hand_tracker", "tracker_name"), &XRServer::get_hand_tracker);
ClassDB::bind_method(D_METHOD("add_face_tracker", "tracker_name", "face_tracker"), &XRServer::add_face_tracker);
ClassDB::bind_method(D_METHOD("remove_face_tracker", "tracker_name"), &XRServer::remove_face_tracker);
ClassDB::bind_method(D_METHOD("get_face_trackers"), &XRServer::get_face_trackers);
@ -104,6 +110,10 @@ void XRServer::_bind_methods() {
ADD_SIGNAL(MethodInfo("tracker_updated", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::INT, "type")));
ADD_SIGNAL(MethodInfo("tracker_removed", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::INT, "type")));
ADD_SIGNAL(MethodInfo("hand_tracker_added", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::OBJECT, "hand_tracker", PROPERTY_HINT_RESOURCE_TYPE, "XRHandTracker")));
ADD_SIGNAL(MethodInfo("hand_tracker_updated", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::OBJECT, "hand_tracker", PROPERTY_HINT_RESOURCE_TYPE, "XRHandTracker")));
ADD_SIGNAL(MethodInfo("hand_tracker_removed", PropertyInfo(Variant::STRING_NAME, "tracker_name")));
ADD_SIGNAL(MethodInfo("face_tracker_added", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::OBJECT, "face_tracker", PROPERTY_HINT_RESOURCE_TYPE, "XRFaceTracker")));
ADD_SIGNAL(MethodInfo("face_tracker_updated", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::OBJECT, "face_tracker", PROPERTY_HINT_RESOURCE_TYPE, "XRFaceTracker")));
ADD_SIGNAL(MethodInfo("face_tracker_removed", PropertyInfo(Variant::STRING_NAME, "tracker_name")));
@ -362,6 +372,44 @@ PackedStringArray XRServer::get_suggested_pose_names(const StringName &p_tracker
return arr;
}
void XRServer::add_hand_tracker(const StringName &p_tracker_name, Ref<XRHandTracker> p_hand_tracker) {
ERR_FAIL_COND(p_hand_tracker.is_null());
if (!hand_trackers.has(p_tracker_name)) {
// We don't have a tracker with this name, we're going to add it.
hand_trackers[p_tracker_name] = p_hand_tracker;
emit_signal(SNAME("hand_tracker_added"), p_tracker_name, p_hand_tracker);
} else if (hand_trackers[p_tracker_name] != p_hand_tracker) {
// We already have a tracker with this name, we're going to replace it.
hand_trackers[p_tracker_name] = p_hand_tracker;
emit_signal(SNAME("hand_tracker_updated"), p_tracker_name, p_hand_tracker);
}
}
void XRServer::remove_hand_tracker(const StringName &p_tracker_name) {
// Skip if no hand tracker is found.
if (!hand_trackers.has(p_tracker_name)) {
return;
}
// Send the removed signal, then remove the hand tracker.
emit_signal(SNAME("hand_tracker_removed"), p_tracker_name);
hand_trackers.erase(p_tracker_name);
}
Dictionary XRServer::get_hand_trackers() const {
return hand_trackers;
}
Ref<XRHandTracker> XRServer::get_hand_tracker(const StringName &p_tracker_name) const {
// Skip if no tracker is found.
if (!hand_trackers.has(p_tracker_name)) {
return Ref<XRHandTracker>();
}
return hand_trackers[p_tracker_name];
}
void XRServer::add_face_tracker(const StringName &p_tracker_name, Ref<XRFaceTracker> p_face_tracker) {
ERR_FAIL_COND(p_face_tracker.is_null());

11
servers/xr_server.h
View file

@ -39,6 +39,7 @@
class XRInterface;
class XRPositionalTracker;
class XRHandTracker;
class XRFaceTracker;
/**
@ -86,7 +87,7 @@ private:
Vector<Ref<XRInterface>> interfaces;
Dictionary trackers;
Dictionary hand_trackers;
Dictionary face_trackers;
Ref<XRInterface> primary_interface; /* we'll identify one interface as primary, this will be used by our viewports */
@ -186,6 +187,14 @@ public:
PackedStringArray get_suggested_pose_names(const StringName &p_tracker_name) const;
// Q: Should we add get_suggested_input_names and get_suggested_haptic_names even though we don't use them for the IDE?
/*
Hand trackers are objects that expose the tracked joints of a hand.
*/
void add_hand_tracker(const StringName &p_tracker_name, Ref<XRHandTracker> p_hand_tracker);
void remove_hand_tracker(const StringName &p_tracker_name);
Dictionary get_hand_trackers() const;
Ref<XRHandTracker> get_hand_tracker(const StringName &p_tracker_name) const;
/*
Face trackers are objects that expose the tracked blend shapes of a face.
*/