mirror of
https://github.com/godotengine/godot
synced 2024-07-08 18:30:43 +00:00
OpenXR Fix small hand tracking issues
This commit is contained in:
Bastiaan Olij
parent
f5696c311c
commit
c60ef33175
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@ -2728,6 +2728,9 @@
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<member name="xr/openxr/extensions/eye_gaze_interaction" type="bool" setter="" getter="" default="false">
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Specify whether to enable eye tracking for this project. Depending on the platform, additional export configuration may be needed.
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</member>
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<member name="xr/openxr/extensions/hand_tracking" type="bool" setter="" getter="" default="true">
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If true we enable the hand tracking extension if available.
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</member>
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<member name="xr/openxr/form_factor" type="int" setter="" getter="" default=""0"">
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Specify whether OpenXR should be configured for an HMD or a hand held device.
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</member>
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@ -2120,7 +2120,8 @@ Error Main::setup(const char *execpath, int argc, char *argv[], bool p_second_ph
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GLOBAL_DEF_BASIC("xr/openxr/submit_depth_buffer", false);
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GLOBAL_DEF_BASIC("xr/openxr/startup_alert", true);
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// XR project extensions settings.
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// OpenXR project extensions settings.
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GLOBAL_DEF_BASIC("xr/openxr/extensions/hand_tracking", true);
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GLOBAL_DEF_BASIC("xr/openxr/extensions/eye_gaze_interaction", false);
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#ifdef TOOLS_ENABLED
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@ -32,6 +32,7 @@
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#include "../openxr_api.h"
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#include "core/config/project_settings.h"
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#include "core/string/print_string.h"
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#include "servers/xr_server.h"
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@ -59,7 +60,6 @@ HashMap<String, bool *> OpenXRHandTrackingExtension::get_requested_extensions()
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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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return request_extensions;
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}
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@ -106,17 +106,11 @@ void OpenXRHandTrackingExtension::on_state_ready() {
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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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for (int i = 0; i < OPENXR_MAX_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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@ -141,7 +135,7 @@ void OpenXRHandTrackingExtension::on_process() {
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XrResult result;
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for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
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for (int i = 0; i < OPENXR_MAX_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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@ -157,18 +151,6 @@ void OpenXRHandTrackingExtension::on_process() {
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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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@ -219,20 +201,6 @@ void OpenXRHandTrackingExtension::on_process() {
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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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@ -246,7 +214,7 @@ 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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for (int i = 0; i < OPENXR_MAX_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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@ -260,25 +228,25 @@ 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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const OpenXRHandTrackingExtension::HandTracker *OpenXRHandTrackingExtension::get_hand_tracker(HandTrackedHands p_hand) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_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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XrHandJointsMotionRangeEXT OpenXRHandTrackingExtension::get_motion_range(HandTrackedHands p_hand) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_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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void OpenXRHandTrackingExtension::set_motion_range(HandTrackedHands p_hand, XrHandJointsMotionRangeEXT p_motion_range) {
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ERR_FAIL_UNSIGNED_INDEX(p_hand, OPENXR_MAX_TRACKED_HANDS);
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hand_trackers[p_hand].motion_range = p_motion_range;
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}
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Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(uint32_t p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Quaternion());
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Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Quaternion());
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ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Quaternion());
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if (!hand_trackers[p_hand].is_initialized) {
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@ -289,8 +257,8 @@ Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(uint32_t p_hand,
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return Quaternion(location.pose.orientation.x, location.pose.orientation.y, location.pose.orientation.z, location.pose.orientation.w);
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}
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Vector3 OpenXRHandTrackingExtension::get_hand_joint_position(uint32_t p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
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Vector3 OpenXRHandTrackingExtension::get_hand_joint_position(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
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ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());
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if (!hand_trackers[p_hand].is_initialized) {
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@ -301,8 +269,8 @@ Vector3 OpenXRHandTrackingExtension::get_hand_joint_position(uint32_t p_hand, Xr
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return Vector3(location.pose.position.x, location.pose.position.y, location.pose.position.z);
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}
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float OpenXRHandTrackingExtension::get_hand_joint_radius(uint32_t p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, 0.0);
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float OpenXRHandTrackingExtension::get_hand_joint_radius(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, 0.0);
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ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, 0.0);
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if (!hand_trackers[p_hand].is_initialized) {
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@ -312,8 +280,8 @@ float OpenXRHandTrackingExtension::get_hand_joint_radius(uint32_t p_hand, XrHand
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return hand_trackers[p_hand].joint_locations[p_joint].radius;
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}
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Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
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Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
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ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());
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if (!hand_trackers[p_hand].is_initialized) {
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@ -324,8 +292,8 @@ Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(uint32_t p_h
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return Vector3(velocity.linearVelocity.x, velocity.linearVelocity.y, velocity.linearVelocity.z);
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}
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Vector3 OpenXRHandTrackingExtension::get_hand_joint_angular_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
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Vector3 OpenXRHandTrackingExtension::get_hand_joint_angular_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
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ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
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ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());
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if (!hand_trackers[p_hand].is_initialized) {
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@ -35,10 +35,14 @@
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#include "core/math/quaternion.h"
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#include "openxr_extension_wrapper.h"
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#define MAX_OPENXR_TRACKED_HANDS 2
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class OpenXRHandTrackingExtension : public OpenXRExtensionWrapper {
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public:
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enum HandTrackedHands {
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OPENXR_TRACKED_LEFT_HAND,
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OPENXR_TRACKED_RIGHT_HAND,
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OPENXR_MAX_TRACKED_HANDS
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};
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struct HandTracker {
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bool is_initialized = false;
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XrHandJointsMotionRangeEXT motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT;
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@ -47,7 +51,6 @@ public:
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XrHandJointLocationEXT joint_locations[XR_HAND_JOINT_COUNT_EXT];
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XrHandJointVelocityEXT joint_velocities[XR_HAND_JOINT_COUNT_EXT];
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XrHandTrackingAimStateFB aimState;
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XrHandJointVelocitiesEXT velocities;
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XrHandJointLocationsEXT locations;
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};
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@ -69,29 +72,28 @@ public:
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virtual void on_state_stopping() override;
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bool get_active();
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const HandTracker *get_hand_tracker(uint32_t p_hand) const;
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const HandTracker *get_hand_tracker(HandTrackedHands p_hand) const;
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XrHandJointsMotionRangeEXT get_motion_range(uint32_t p_hand) const;
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void set_motion_range(uint32_t p_hand, XrHandJointsMotionRangeEXT p_motion_range);
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XrHandJointsMotionRangeEXT get_motion_range(HandTrackedHands p_hand) const;
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void set_motion_range(HandTrackedHands p_hand, XrHandJointsMotionRangeEXT p_motion_range);
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Quaternion get_hand_joint_rotation(uint32_t p_hand, XrHandJointEXT p_joint) const;
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Vector3 get_hand_joint_position(uint32_t p_hand, XrHandJointEXT p_joint) const;
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float get_hand_joint_radius(uint32_t p_hand, XrHandJointEXT p_joint) const;
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Quaternion get_hand_joint_rotation(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
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Vector3 get_hand_joint_position(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
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float get_hand_joint_radius(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
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Vector3 get_hand_joint_linear_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const;
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Vector3 get_hand_joint_angular_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const;
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Vector3 get_hand_joint_linear_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
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Vector3 get_hand_joint_angular_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
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private:
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static OpenXRHandTrackingExtension *singleton;
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// state
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XrSystemHandTrackingPropertiesEXT handTrackingSystemProperties;
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HandTracker hand_trackers[MAX_OPENXR_TRACKED_HANDS]; // Fixed for left and right hand
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HandTracker hand_trackers[OPENXR_MAX_TRACKED_HANDS]; // Fixed for left and right hand
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// related extensions
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bool hand_tracking_ext = false;
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bool hand_motion_range_ext = false;
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bool hand_tracking_aim_state_ext = false;
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// functions
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void cleanup_hand_tracking();
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@ -34,8 +34,6 @@
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#include "core/io/resource_saver.h"
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#include "servers/rendering/rendering_server_globals.h"
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#include "extensions/openxr_hand_tracking_extension.h"
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#include "extensions/openxr_eye_gaze_interaction.h"
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void OpenXRInterface::_bind_methods() {
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@ -909,6 +907,24 @@ RID OpenXRInterface::get_depth_texture() {
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}
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}
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void OpenXRInterface::handle_hand_tracking(const String &p_path, OpenXRHandTrackingExtension::HandTrackedHands p_hand) {
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OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
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if (hand_tracking_ext && hand_tracking_ext->get_active()) {
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OpenXRInterface::Tracker *tracker = find_tracker(p_path);
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if (tracker && tracker->positional_tracker.is_valid()) {
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// TODO add in confidence! Requires PR #82715
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Transform3D transform;
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transform.basis = Basis(hand_tracking_ext->get_hand_joint_rotation(p_hand, XR_HAND_JOINT_PALM_EXT));
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transform.origin = hand_tracking_ext->get_hand_joint_position(p_hand, XR_HAND_JOINT_PALM_EXT);
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Vector3 linear_velocity = hand_tracking_ext->get_hand_joint_linear_velocity(p_hand, XR_HAND_JOINT_PALM_EXT);
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Vector3 angular_velocity = hand_tracking_ext->get_hand_joint_angular_velocity(p_hand, XR_HAND_JOINT_PALM_EXT);
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tracker->positional_tracker->set_pose("skeleton", transform, linear_velocity, angular_velocity, XRPose::XR_TRACKING_CONFIDENCE_HIGH);
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}
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}
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}
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void OpenXRInterface::process() {
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if (openxr_api) {
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// do our normal process
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@ -916,8 +932,8 @@ void OpenXRInterface::process() {
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Transform3D t;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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XRPose::TrackingConfidence confidence = openxr_api->get_head_center(t, linear_velocity, angular_velocity);
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if (confidence != XRPose::XR_TRACKING_CONFIDENCE_NONE) {
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head_confidence = openxr_api->get_head_center(t, linear_velocity, angular_velocity);
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if (head_confidence != XRPose::XR_TRACKING_CONFIDENCE_NONE) {
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// Only update our transform if we have one to update it with
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// note that poses are stored without world scale and reference frame applied!
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head_transform = t;
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@ -939,14 +955,14 @@ void OpenXRInterface::process() {
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handle_tracker(trackers[i]);
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}
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}
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// Handle hand tracking
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handle_hand_tracking("/user/hand/left", OpenXRHandTrackingExtension::OPENXR_TRACKED_LEFT_HAND);
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handle_hand_tracking("/user/hand/right", OpenXRHandTrackingExtension::OPENXR_TRACKED_RIGHT_HAND);
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}
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if (head.is_valid()) {
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// TODO figure out how to get our velocities
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head->set_pose("default", head_transform, head_linear_velocity, head_angular_velocity);
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// TODO set confidence on pose once we support tracking this..
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head->set_pose("default", head_transform, head_linear_velocity, head_angular_velocity, head_confidence);
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}
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}
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@ -1143,7 +1159,7 @@ void OpenXRInterface::set_motion_range(const Hand p_hand, const HandMotionRange
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break;
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}
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hand_tracking_ext->set_motion_range(uint32_t(p_hand), xr_motion_range);
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hand_tracking_ext->set_motion_range(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), xr_motion_range);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1152,7 +1168,7 @@ OpenXRInterface::HandMotionRange OpenXRInterface::get_motion_range(const Hand p_
|
|||
|
||||
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
|
||||
if (hand_tracking_ext && hand_tracking_ext->get_active()) {
|
||||
XrHandJointsMotionRangeEXT xr_motion_range = hand_tracking_ext->get_motion_range(uint32_t(p_hand));
|
||||
XrHandJointsMotionRangeEXT xr_motion_range = hand_tracking_ext->get_motion_range(OpenXRHandTrackingExtension::HandTrackedHands(p_hand));
|
||||
|
||||
switch (xr_motion_range) {
|
||||
case XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT:
|
||||
|
|
@ -1170,7 +1186,7 @@ OpenXRInterface::HandMotionRange OpenXRInterface::get_motion_range(const Hand p_
|
|||
Quaternion OpenXRInterface::get_hand_joint_rotation(Hand p_hand, HandJoints p_joint) const {
|
||||
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
|
||||
if (hand_tracking_ext && hand_tracking_ext->get_active()) {
|
||||
return hand_tracking_ext->get_hand_joint_rotation(uint32_t(p_hand), XrHandJointEXT(p_joint));
|
||||
return hand_tracking_ext->get_hand_joint_rotation(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint));
|
||||
}
|
||||
|
||||
return Quaternion();
|
||||
|
|
@ -1179,7 +1195,7 @@ Quaternion OpenXRInterface::get_hand_joint_rotation(Hand p_hand, HandJoints p_jo
|
|||
Vector3 OpenXRInterface::get_hand_joint_position(Hand p_hand, HandJoints p_joint) const {
|
||||
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
|
||||
if (hand_tracking_ext && hand_tracking_ext->get_active()) {
|
||||
return hand_tracking_ext->get_hand_joint_position(uint32_t(p_hand), XrHandJointEXT(p_joint));
|
||||
return hand_tracking_ext->get_hand_joint_position(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint));
|
||||
}
|
||||
|
||||
return Vector3();
|
||||
|
|
@ -1188,7 +1204,7 @@ Vector3 OpenXRInterface::get_hand_joint_position(Hand p_hand, HandJoints p_joint
|
|||
float OpenXRInterface::get_hand_joint_radius(Hand p_hand, HandJoints p_joint) const {
|
||||
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
|
||||
if (hand_tracking_ext && hand_tracking_ext->get_active()) {
|
||||
return hand_tracking_ext->get_hand_joint_radius(uint32_t(p_hand), XrHandJointEXT(p_joint));
|
||||
return hand_tracking_ext->get_hand_joint_radius(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint));
|
||||
}
|
||||
|
||||
return 0.0;
|
||||
|
|
@ -1197,7 +1213,7 @@ float OpenXRInterface::get_hand_joint_radius(Hand p_hand, HandJoints p_joint) co
|
|||
Vector3 OpenXRInterface::get_hand_joint_linear_velocity(Hand p_hand, HandJoints p_joint) const {
|
||||
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
|
||||
if (hand_tracking_ext && hand_tracking_ext->get_active()) {
|
||||
return hand_tracking_ext->get_hand_joint_linear_velocity(uint32_t(p_hand), XrHandJointEXT(p_joint));
|
||||
return hand_tracking_ext->get_hand_joint_linear_velocity(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint));
|
||||
}
|
||||
|
||||
return Vector3();
|
||||
|
|
@ -1206,7 +1222,7 @@ Vector3 OpenXRInterface::get_hand_joint_linear_velocity(Hand p_hand, HandJoints
|
|||
Vector3 OpenXRInterface::get_hand_joint_angular_velocity(Hand p_hand, HandJoints p_joint) const {
|
||||
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
|
||||
if (hand_tracking_ext && hand_tracking_ext->get_active()) {
|
||||
return hand_tracking_ext->get_hand_joint_angular_velocity(uint32_t(p_hand), XrHandJointEXT(p_joint));
|
||||
return hand_tracking_ext->get_hand_joint_angular_velocity(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint));
|
||||
}
|
||||
|
||||
return Vector3();
|
||||
|
|
|
|||
|
|
@ -33,6 +33,7 @@
|
|||
|
||||
#include "action_map/openxr_action_map.h"
|
||||
#include "extensions/openxr_fb_passthrough_extension_wrapper.h"
|
||||
#include "extensions/openxr_hand_tracking_extension.h"
|
||||
#include "openxr_api.h"
|
||||
|
||||
#include "servers/xr/xr_interface.h"
|
||||
|
|
@ -55,6 +56,7 @@ private:
|
|||
Transform3D head_transform;
|
||||
Vector3 head_linear_velocity;
|
||||
Vector3 head_angular_velocity;
|
||||
XRPose::TrackingConfidence head_confidence;
|
||||
Transform3D transform_for_view[2]; // We currently assume 2, but could be 4 for VARJO which we do not support yet
|
||||
|
||||
void _load_action_map();
|
||||
|
|
@ -97,6 +99,8 @@ private:
|
|||
|
||||
void _set_default_pos(Transform3D &p_transform, double p_world_scale, uint64_t p_eye);
|
||||
|
||||
void handle_hand_tracking(const String &p_path, OpenXRHandTrackingExtension::HandTrackedHands p_hand);
|
||||
|
||||
protected:
|
||||
static void _bind_methods();
|
||||
|
||||
|
|
|
|||
|
|
@ -105,20 +105,24 @@ void initialize_openxr_module(ModuleInitializationLevel p_level) {
|
|||
#endif
|
||||
|
||||
// register our other extensions
|
||||
if (GLOBAL_GET("xr/openxr/extensions/eye_gaze_interaction") && (!OS::get_singleton()->has_feature("mobile") || OS::get_singleton()->has_feature(XR_EXT_EYE_GAZE_INTERACTION_EXTENSION_NAME))) {
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXREyeGazeInteractionExtension));
|
||||
}
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRPalmPoseExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRPicoControllerExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRCompositionLayerDepthExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHTCControllerExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHTCViveTrackerExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHuaweiControllerExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHandTrackingExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRFbPassthroughExtensionWrapper));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRDisplayRefreshRateExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRWMRControllerExtension));
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRML2ControllerExtension));
|
||||
|
||||
// register gated extensions
|
||||
if (GLOBAL_GET("xr/openxr/extensions/eye_gaze_interaction") && (!OS::get_singleton()->has_feature("mobile") || OS::get_singleton()->has_feature(XR_EXT_EYE_GAZE_INTERACTION_EXTENSION_NAME))) {
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXREyeGazeInteractionExtension));
|
||||
}
|
||||
if (GLOBAL_GET("xr/openxr/extensions/hand_tracking")) {
|
||||
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHandTrackingExtension));
|
||||
}
|
||||
}
|
||||
|
||||
if (OpenXRAPI::openxr_is_enabled()) {
|
||||
|
|
|
|||
|
|
@ -113,7 +113,7 @@ void OpenXRHand::_set_motion_range() {
|
|||
break;
|
||||
}
|
||||
|
||||
hand_tracking_ext->set_motion_range(hand, xr_motion_range);
|
||||
hand_tracking_ext->set_motion_range(OpenXRHandTrackingExtension::HandTrackedHands(hand), xr_motion_range);
|
||||
}
|
||||
|
||||
Skeleton3D *OpenXRHand::get_skeleton() {
|
||||
|
|
@ -204,7 +204,7 @@ void OpenXRHand::_update_skeleton() {
|
|||
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 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) {
|
||||
|
|
@ -243,26 +243,27 @@ void OpenXRHand::_update_skeleton() {
|
|||
// Get our target quaternion
|
||||
Quaternion q = quaternions[i];
|
||||
|
||||
// Get our target position
|
||||
Vector3 p = positions[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;
|
||||
p = inv_quaternions[XR_HAND_JOINT_PALM_EXT].xform(p - positions[XR_HAND_JOINT_PALM_EXT]);
|
||||
} 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;
|
||||
p = inv_quaternions[b].xform(p - positions[b]);
|
||||
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_position(bones[i], p);
|
||||
skeleton->set_bone_pose_rotation(bones[i], q);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user