diff options
Diffstat (limited to 'modules/openxr/openxr_interface.cpp')
| -rw-r--r-- | modules/openxr/openxr_interface.cpp | 131 |
1 files changed, 114 insertions, 17 deletions
diff --git a/modules/openxr/openxr_interface.cpp b/modules/openxr/openxr_interface.cpp index 67a459adb8..8ce76a5fad 100644 --- a/modules/openxr/openxr_interface.cpp +++ b/modules/openxr/openxr_interface.cpp @@ -34,8 +34,6 @@ #include "core/io/resource_saver.h" #include "servers/rendering/rendering_server_globals.h" -#include "extensions/openxr_hand_tracking_extension.h" - #include "extensions/openxr_eye_gaze_interaction.h" void OpenXRInterface::_bind_methods() { @@ -79,6 +77,8 @@ void OpenXRInterface::_bind_methods() { ClassDB::bind_method(D_METHOD("set_motion_range", "hand", "motion_range"), &OpenXRInterface::set_motion_range); ClassDB::bind_method(D_METHOD("get_motion_range", "hand"), &OpenXRInterface::get_motion_range); + ClassDB::bind_method(D_METHOD("get_hand_joint_flags", "hand", "joint"), &OpenXRInterface::get_hand_joint_flags); + ClassDB::bind_method(D_METHOD("get_hand_joint_rotation", "hand", "joint"), &OpenXRInterface::get_hand_joint_rotation); ClassDB::bind_method(D_METHOD("get_hand_joint_position", "hand", "joint"), &OpenXRInterface::get_hand_joint_position); ClassDB::bind_method(D_METHOD("get_hand_joint_radius", "hand", "joint"), &OpenXRInterface::get_hand_joint_radius); @@ -86,6 +86,9 @@ void OpenXRInterface::_bind_methods() { ClassDB::bind_method(D_METHOD("get_hand_joint_linear_velocity", "hand", "joint"), &OpenXRInterface::get_hand_joint_linear_velocity); ClassDB::bind_method(D_METHOD("get_hand_joint_angular_velocity", "hand", "joint"), &OpenXRInterface::get_hand_joint_angular_velocity); + ClassDB::bind_method(D_METHOD("is_hand_tracking_supported"), &OpenXRInterface::is_hand_tracking_supported); + ClassDB::bind_method(D_METHOD("is_eye_gaze_interaction_supported"), &OpenXRInterface::is_eye_gaze_interaction_supported); + BIND_ENUM_CONSTANT(HAND_LEFT); BIND_ENUM_CONSTANT(HAND_RIGHT); BIND_ENUM_CONSTANT(HAND_MAX); @@ -122,7 +125,13 @@ void OpenXRInterface::_bind_methods() { BIND_ENUM_CONSTANT(HAND_JOINT_LITTLE_TIP); BIND_ENUM_CONSTANT(HAND_JOINT_MAX); - ClassDB::bind_method(D_METHOD("is_eye_gaze_interaction_supported"), &OpenXRInterface::is_eye_gaze_interaction_supported); + BIND_BITFIELD_FLAG(HAND_JOINT_NONE); + BIND_BITFIELD_FLAG(HAND_JOINT_ORIENTATION_VALID); + BIND_BITFIELD_FLAG(HAND_JOINT_ORIENTATION_TRACKED); + BIND_BITFIELD_FLAG(HAND_JOINT_POSITION_VALID); + BIND_BITFIELD_FLAG(HAND_JOINT_POSITION_TRACKED); + BIND_BITFIELD_FLAG(HAND_JOINT_LINEAR_VELOCITY_VALID); + BIND_BITFIELD_FLAG(HAND_JOINT_ANGULAR_VELOCITY_VALID); } StringName OpenXRInterface::get_name() const { @@ -711,6 +720,21 @@ Array OpenXRInterface::get_available_display_refresh_rates() const { } } +bool OpenXRInterface::is_hand_tracking_supported() { + if (openxr_api == nullptr) { + return false; + } else if (!openxr_api->is_initialized()) { + return false; + } else { + OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton(); + if (hand_tracking_ext == nullptr) { + return false; + } else { + return hand_tracking_ext->get_active(); + } + } +} + bool OpenXRInterface::is_eye_gaze_interaction_supported() { if (openxr_api == nullptr) { return false; @@ -909,6 +933,48 @@ RID OpenXRInterface::get_depth_texture() { } } +void OpenXRInterface::handle_hand_tracking(const String &p_path, OpenXRHandTrackingExtension::HandTrackedHands p_hand) { + OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton(); + if (hand_tracking_ext && hand_tracking_ext->get_active()) { + OpenXRInterface::Tracker *tracker = find_tracker(p_path); + if (tracker && tracker->positional_tracker.is_valid()) { + XrSpaceLocationFlags location_flags = hand_tracking_ext->get_hand_joint_location_flags(p_hand, XR_HAND_JOINT_PALM_EXT); + + if (location_flags & (XR_SPACE_LOCATION_ORIENTATION_VALID_BIT + XR_SPACE_LOCATION_POSITION_VALID_BIT)) { + static const XrSpaceLocationFlags all_location_flags = XR_SPACE_LOCATION_ORIENTATION_VALID_BIT + XR_SPACE_LOCATION_POSITION_VALID_BIT + XR_SPACE_LOCATION_ORIENTATION_TRACKED_BIT + XR_SPACE_LOCATION_POSITION_TRACKED_BIT; + XRPose::TrackingConfidence confidence = XRPose::XR_TRACKING_CONFIDENCE_LOW; + Transform3D transform; + Vector3 linear_velocity; + Vector3 angular_velocity; + + if ((location_flags & all_location_flags) == all_location_flags) { + // All flags set? confidence is high! + confidence = XRPose::XR_TRACKING_CONFIDENCE_HIGH; + } + + if (location_flags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) { + transform.basis = Basis(hand_tracking_ext->get_hand_joint_rotation(p_hand, XR_HAND_JOINT_PALM_EXT)); + } + if (location_flags & XR_SPACE_LOCATION_POSITION_VALID_BIT) { + transform.origin = hand_tracking_ext->get_hand_joint_position(p_hand, XR_HAND_JOINT_PALM_EXT); + } + + XrSpaceVelocityFlags velocity_flags = hand_tracking_ext->get_hand_joint_location_flags(p_hand, XR_HAND_JOINT_PALM_EXT); + if (velocity_flags & XR_SPACE_VELOCITY_LINEAR_VALID_BIT) { + linear_velocity = hand_tracking_ext->get_hand_joint_linear_velocity(p_hand, XR_HAND_JOINT_PALM_EXT); + } + if (velocity_flags & XR_SPACE_VELOCITY_ANGULAR_VALID_BIT) { + angular_velocity = hand_tracking_ext->get_hand_joint_angular_velocity(p_hand, XR_HAND_JOINT_PALM_EXT); + } + + tracker->positional_tracker->set_pose("skeleton", transform, linear_velocity, angular_velocity, confidence); + } else { + tracker->positional_tracker->invalidate_pose("skeleton"); + } + } + } +} + void OpenXRInterface::process() { if (openxr_api) { // do our normal process @@ -916,8 +982,8 @@ void OpenXRInterface::process() { Transform3D t; Vector3 linear_velocity; Vector3 angular_velocity; - XRPose::TrackingConfidence confidence = openxr_api->get_head_center(t, linear_velocity, angular_velocity); - if (confidence != XRPose::XR_TRACKING_CONFIDENCE_NONE) { + head_confidence = openxr_api->get_head_center(t, linear_velocity, angular_velocity); + if (head_confidence != XRPose::XR_TRACKING_CONFIDENCE_NONE) { // Only update our transform if we have one to update it with // note that poses are stored without world scale and reference frame applied! head_transform = t; @@ -939,14 +1005,14 @@ void OpenXRInterface::process() { handle_tracker(trackers[i]); } } + + // Handle hand tracking + handle_hand_tracking("/user/hand/left", OpenXRHandTrackingExtension::OPENXR_TRACKED_LEFT_HAND); + handle_hand_tracking("/user/hand/right", OpenXRHandTrackingExtension::OPENXR_TRACKED_RIGHT_HAND); } if (head.is_valid()) { - // TODO figure out how to get our velocities - - head->set_pose("default", head_transform, head_linear_velocity, head_angular_velocity); - - // TODO set confidence on pose once we support tracking this.. + head->set_pose("default", head_transform, head_linear_velocity, head_angular_velocity, head_confidence); } } @@ -1143,7 +1209,7 @@ void OpenXRInterface::set_motion_range(const Hand p_hand, const HandMotionRange break; } - hand_tracking_ext->set_motion_range(uint32_t(p_hand), xr_motion_range); + hand_tracking_ext->set_motion_range(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), xr_motion_range); } } @@ -1152,7 +1218,7 @@ 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: @@ -1167,10 +1233,41 @@ OpenXRInterface::HandMotionRange OpenXRInterface::get_motion_range(const Hand p_ return HAND_MOTION_RANGE_MAX; } +BitField<OpenXRInterface::HandJointFlags> OpenXRInterface::get_hand_joint_flags(Hand p_hand, HandJoints p_joint) const { + BitField<OpenXRInterface::HandJointFlags> bits; + + OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton(); + if (hand_tracking_ext && hand_tracking_ext->get_active()) { + XrSpaceLocationFlags location_flags = hand_tracking_ext->get_hand_joint_location_flags(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint)); + if (location_flags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) { + bits.set_flag(HAND_JOINT_ORIENTATION_VALID); + } + if (location_flags & XR_SPACE_LOCATION_ORIENTATION_TRACKED_BIT) { + bits.set_flag(HAND_JOINT_ORIENTATION_TRACKED); + } + if (location_flags & XR_SPACE_LOCATION_POSITION_VALID_BIT) { + bits.set_flag(HAND_JOINT_POSITION_VALID); + } + if (location_flags & XR_SPACE_LOCATION_POSITION_TRACKED_BIT) { + bits.set_flag(HAND_JOINT_POSITION_TRACKED); + } + + XrSpaceVelocityFlags velocity_flags = hand_tracking_ext->get_hand_joint_velocity_flags(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint)); + if (velocity_flags & XR_SPACE_VELOCITY_LINEAR_VALID_BIT) { + bits.set_flag(HAND_JOINT_LINEAR_VELOCITY_VALID); + } + if (velocity_flags & XR_SPACE_VELOCITY_ANGULAR_VALID_BIT) { + bits.set_flag(HAND_JOINT_ANGULAR_VELOCITY_VALID); + } + } + + return bits; +} + 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 +1276,7 @@ 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 +1285,7 @@ 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 +1294,7 @@ 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 +1303,7 @@ 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(); |