diff options
Diffstat (limited to 'modules/openxr/extensions/openxr_hand_tracking_extension.cpp')
| -rw-r--r-- | modules/openxr/extensions/openxr_hand_tracking_extension.cpp | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/modules/openxr/extensions/openxr_hand_tracking_extension.cpp b/modules/openxr/extensions/openxr_hand_tracking_extension.cpp index 884fb41a3c..b3c20ef8b9 100644 --- a/modules/openxr/extensions/openxr_hand_tracking_extension.cpp +++ b/modules/openxr/extensions/openxr_hand_tracking_extension.cpp @@ -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"); } } } |