mirror of
https://github.com/godotengine/godot
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417 lines
14 KiB
C++
417 lines
14 KiB
C++
/**************************************************************************/
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/* openxr_hand.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "openxr_hand.h"
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#include "../extensions/openxr_hand_tracking_extension.h"
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#include "../openxr_api.h"
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#include "scene/3d/skeleton_3d.h"
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#include "servers/xr_server.h"
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void OpenXRHand::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_hand", "hand"), &OpenXRHand::set_hand);
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ClassDB::bind_method(D_METHOD("get_hand"), &OpenXRHand::get_hand);
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ClassDB::bind_method(D_METHOD("set_hand_skeleton", "hand_skeleton"), &OpenXRHand::set_hand_skeleton);
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ClassDB::bind_method(D_METHOD("get_hand_skeleton"), &OpenXRHand::get_hand_skeleton);
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ClassDB::bind_method(D_METHOD("set_motion_range", "motion_range"), &OpenXRHand::set_motion_range);
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ClassDB::bind_method(D_METHOD("get_motion_range"), &OpenXRHand::get_motion_range);
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ClassDB::bind_method(D_METHOD("set_skeleton_rig", "skeleton_rig"), &OpenXRHand::set_skeleton_rig);
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ClassDB::bind_method(D_METHOD("get_skeleton_rig"), &OpenXRHand::get_skeleton_rig);
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ClassDB::bind_method(D_METHOD("set_bone_update", "bone_update"), &OpenXRHand::set_bone_update);
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ClassDB::bind_method(D_METHOD("get_bone_update"), &OpenXRHand::get_bone_update);
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ADD_PROPERTY(PropertyInfo(Variant::INT, "hand", PROPERTY_HINT_ENUM, "Left,Right"), "set_hand", "get_hand");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_range", PROPERTY_HINT_ENUM, "Unobstructed,Conform to controller"), "set_motion_range", "get_motion_range");
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ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "hand_skeleton", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Skeleton3D"), "set_hand_skeleton", "get_hand_skeleton");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "skeleton_rig", PROPERTY_HINT_ENUM, "OpenXR,Humanoid"), "set_skeleton_rig", "get_skeleton_rig");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "bone_update", PROPERTY_HINT_ENUM, "Full,Rotation Only"), "set_bone_update", "get_bone_update");
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BIND_ENUM_CONSTANT(HAND_LEFT);
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BIND_ENUM_CONSTANT(HAND_RIGHT);
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BIND_ENUM_CONSTANT(HAND_MAX);
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BIND_ENUM_CONSTANT(MOTION_RANGE_UNOBSTRUCTED);
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BIND_ENUM_CONSTANT(MOTION_RANGE_CONFORM_TO_CONTROLLER);
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BIND_ENUM_CONSTANT(MOTION_RANGE_MAX);
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BIND_ENUM_CONSTANT(SKELETON_RIG_OPENXR);
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BIND_ENUM_CONSTANT(SKELETON_RIG_HUMANOID);
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BIND_ENUM_CONSTANT(SKELETON_RIG_MAX);
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BIND_ENUM_CONSTANT(BONE_UPDATE_FULL);
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BIND_ENUM_CONSTANT(BONE_UPDATE_ROTATION_ONLY);
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BIND_ENUM_CONSTANT(BONE_UPDATE_MAX);
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}
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OpenXRHand::OpenXRHand() {
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openxr_api = OpenXRAPI::get_singleton();
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hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
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}
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void OpenXRHand::set_hand(Hands p_hand) {
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ERR_FAIL_INDEX(p_hand, HAND_MAX);
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hand = p_hand;
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}
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OpenXRHand::Hands OpenXRHand::get_hand() const {
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return hand;
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}
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void OpenXRHand::set_hand_skeleton(const NodePath &p_hand_skeleton) {
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hand_skeleton = p_hand_skeleton;
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// TODO if inside tree call _get_bones()
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}
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void OpenXRHand::set_motion_range(MotionRange p_motion_range) {
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ERR_FAIL_INDEX(p_motion_range, MOTION_RANGE_MAX);
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motion_range = p_motion_range;
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_set_motion_range();
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}
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OpenXRHand::MotionRange OpenXRHand::get_motion_range() const {
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return motion_range;
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}
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NodePath OpenXRHand::get_hand_skeleton() const {
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return hand_skeleton;
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}
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void OpenXRHand::_set_motion_range() {
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if (!hand_tracking_ext) {
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return;
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}
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XrHandJointsMotionRangeEXT xr_motion_range;
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switch (motion_range) {
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case MOTION_RANGE_UNOBSTRUCTED:
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xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT;
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break;
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case MOTION_RANGE_CONFORM_TO_CONTROLLER:
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xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_CONFORMING_TO_CONTROLLER_EXT;
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break;
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default:
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xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_CONFORMING_TO_CONTROLLER_EXT;
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break;
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}
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hand_tracking_ext->set_motion_range(OpenXRHandTrackingExtension::HandTrackedHands(hand), xr_motion_range);
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}
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void OpenXRHand::set_skeleton_rig(SkeletonRig p_skeleton_rig) {
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ERR_FAIL_INDEX(p_skeleton_rig, SKELETON_RIG_MAX);
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skeleton_rig = p_skeleton_rig;
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}
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OpenXRHand::SkeletonRig OpenXRHand::get_skeleton_rig() const {
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return skeleton_rig;
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}
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void OpenXRHand::set_bone_update(BoneUpdate p_bone_update) {
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ERR_FAIL_INDEX(p_bone_update, BONE_UPDATE_MAX);
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bone_update = p_bone_update;
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}
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OpenXRHand::BoneUpdate OpenXRHand::get_bone_update() const {
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return bone_update;
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}
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Skeleton3D *OpenXRHand::get_skeleton() {
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if (!has_node(hand_skeleton)) {
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return nullptr;
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}
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Node *node = get_node(hand_skeleton);
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if (!node) {
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return nullptr;
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}
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Skeleton3D *skeleton = Object::cast_to<Skeleton3D>(node);
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return skeleton;
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}
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void OpenXRHand::_get_joint_data() {
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// Table of bone names for different rig types.
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static const String bone_names[SKELETON_RIG_MAX][XR_HAND_JOINT_COUNT_EXT] = {
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// SKELETON_RIG_OPENXR bone names.
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{
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"Palm",
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"Wrist",
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"Thumb_Metacarpal",
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"Thumb_Proximal",
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"Thumb_Distal",
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"Thumb_Tip",
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"Index_Metacarpal",
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"Index_Proximal",
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"Index_Intermediate",
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"Index_Distal",
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"Index_Tip",
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"Middle_Metacarpal",
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"Middle_Proximal",
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"Middle_Intermediate",
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"Middle_Distal",
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"Middle_Tip",
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"Ring_Metacarpal",
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"Ring_Proximal",
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"Ring_Intermediate",
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"Ring_Distal",
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"Ring_Tip",
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"Little_Metacarpal",
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"Little_Proximal",
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"Little_Intermediate",
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"Little_Distal",
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"Little_Tip" },
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// SKELETON_RIG_HUMANOID bone names.
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{
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"Palm",
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"Hand",
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"ThumbMetacarpal",
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"ThumbProximal",
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"ThumbDistal",
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"ThumbTip",
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"IndexMetacarpal",
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"IndexProximal",
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"IndexIntermediate",
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"IndexDistal",
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"IndexTip",
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"MiddleMetacarpal",
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"MiddleProximal",
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"MiddleIntermediate",
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"MiddleDistal",
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"MiddleTip",
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"RingMetacarpal",
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"RingProximal",
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"RingIntermediate",
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"RingDistal",
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"RingTip",
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"LittleMetacarpal",
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"LittleProximal",
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"LittleIntermediate",
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"LittleDistal",
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"LittleTip" }
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};
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// Table of bone name formats for different rig types and left/right hands.
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static const String bone_name_formats[SKELETON_RIG_MAX][2] = {
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// SKELETON_RIG_OPENXR bone name format.
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{ "<bone>_L", "<bone>_R" },
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// SKELETON_RIG_HUMANOID bone name format.
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{ "Left<bone>", "Right<bone>" }
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};
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// reset JIC
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for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
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joints[i].bone = -1;
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joints[i].parent_joint = -1;
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}
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Skeleton3D *skeleton = get_skeleton();
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if (!skeleton) {
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return;
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}
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// Find the skeleton-bones associated with each OpenXR joint.
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int bones[XR_HAND_JOINT_COUNT_EXT];
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for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
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// Construct the expected bone name.
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String bone_name = bone_name_formats[skeleton_rig][hand].replace("<bone>", bone_names[skeleton_rig][i]);
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// Find the skeleton bone.
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bones[i] = skeleton->find_bone(bone_name);
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if (bones[i] == -1) {
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print_line("Couldn't obtain bone for", bone_name);
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}
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}
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// Assemble the OpenXR joint relationship to the available skeleton bones.
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for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
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// Get the skeleton bone (skip if not found).
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const int bone = bones[i];
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if (bone == -1) {
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continue;
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}
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// Find the parent skeleton-bone.
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const int parent_bone = skeleton->get_bone_parent(bone);
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if (parent_bone == -1) {
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// If no parent skeleton-bone exists then drive this relative to palm joint.
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joints[i].bone = bone;
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joints[i].parent_joint = XR_HAND_JOINT_PALM_EXT;
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continue;
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}
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// Find the OpenXR joint associated with the parent skeleton-bone.
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for (int j = 0; j < XR_HAND_JOINT_COUNT_EXT; ++j) {
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if (bones[j] == parent_bone) {
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// If a parent joint is found then drive this bone relative to it.
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joints[i].bone = bone;
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joints[i].parent_joint = j;
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break;
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}
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}
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}
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}
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void OpenXRHand::_update_skeleton() {
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if (openxr_api == nullptr || !openxr_api->is_initialized()) {
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return;
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} else if (hand_tracking_ext == nullptr || !hand_tracking_ext->get_active()) {
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return;
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}
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Skeleton3D *skeleton = get_skeleton();
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if (!skeleton) {
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return;
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}
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// Table of bone adjustments for different rig types
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static const Quaternion bone_adjustments[SKELETON_RIG_MAX] = {
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// SKELETON_RIG_OPENXR bone adjustment. This is an identity quaternion
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// because the incoming quaternions are already in OpenXR format.
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Quaternion(),
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// SKELETON_RIG_HUMANOID bone adjustment. This rotation performs:
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// OpenXR Z+ -> Godot Humanoid Y- (Back along the bone)
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// OpenXR Y+ -> Godot Humanoid Z- (Out the back of the hand)
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Quaternion(0.0, -Math_SQRT12, Math_SQRT12, 0.0),
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};
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// we cache our transforms so we can quickly calculate local transforms
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XRPose::TrackingConfidence confidences[XR_HAND_JOINT_COUNT_EXT];
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Quaternion quaternions[XR_HAND_JOINT_COUNT_EXT];
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Quaternion inv_quaternions[XR_HAND_JOINT_COUNT_EXT];
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Vector3 positions[XR_HAND_JOINT_COUNT_EXT];
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const Quaternion &rig_adjustment = bone_adjustments[skeleton_rig];
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const OpenXRHandTrackingExtension::HandTracker *hand_tracker = hand_tracking_ext->get_hand_tracker(OpenXRHandTrackingExtension::HandTrackedHands(hand));
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const float ws = XRServer::get_singleton()->get_world_scale();
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if (hand_tracker->is_initialized && hand_tracker->locations.isActive) {
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for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
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confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_NONE;
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quaternions[i] = Quaternion();
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positions[i] = Vector3();
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const XrHandJointLocationEXT &location = hand_tracker->joint_locations[i];
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const XrPosef &pose = location.pose;
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if (location.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) {
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if (pose.orientation.x != 0 || pose.orientation.y != 0 || pose.orientation.z != 0 || pose.orientation.w != 0) {
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quaternions[i] = Quaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w) * rig_adjustment;
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inv_quaternions[i] = quaternions[i].inverse();
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if (location.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) {
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confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_HIGH;
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positions[i] = Vector3(pose.position.x * ws, pose.position.y * ws, pose.position.z * ws);
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// TODO get inverse of position, we'll do this later. For now we're ignoring bone positions which generally works better anyway
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} else {
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confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_LOW;
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}
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}
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}
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}
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if (confidences[XR_HAND_JOINT_PALM_EXT] != XRPose::XR_TRACKING_CONFIDENCE_NONE) {
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// Iterate over all the OpenXR joints.
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for (int joint = 0; joint < XR_HAND_JOINT_COUNT_EXT; joint++) {
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// Get the skeleton bone (skip if none).
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const int bone = joints[joint].bone;
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if (bone == -1) {
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continue;
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}
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// Calculate the relative relationship to the parent bone joint.
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const int parent_joint = joints[joint].parent_joint;
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const Quaternion q = inv_quaternions[parent_joint] * quaternions[joint];
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const Vector3 p = inv_quaternions[parent_joint].xform(positions[joint] - positions[parent_joint]);
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// Update the bone position if enabled by update mode.
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if (bone_update == BONE_UPDATE_FULL) {
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skeleton->set_bone_pose_position(joints[joint].bone, p);
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}
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// Always update the bone rotation.
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skeleton->set_bone_pose_rotation(joints[joint].bone, q);
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}
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// Transform the OpenXRHand to the skeleton pose.
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Transform3D t;
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t.basis = Basis(quaternions[XR_HAND_JOINT_PALM_EXT]);
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t.origin = positions[XR_HAND_JOINT_PALM_EXT];
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set_transform(t);
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// show it
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set_visible(true);
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} else {
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// hide it
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set_visible(false);
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}
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} else {
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// hide it
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set_visible(false);
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}
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}
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void OpenXRHand::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_ENTER_TREE: {
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_get_joint_data();
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set_process_internal(true);
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} break;
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case NOTIFICATION_EXIT_TREE: {
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set_process_internal(false);
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// reset
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for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
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joints[i].bone = -1;
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joints[i].parent_joint = -1;
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}
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} break;
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case NOTIFICATION_INTERNAL_PROCESS: {
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_update_skeleton();
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} break;
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default: {
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} break;
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}
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}
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