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Diffstat (limited to 'modules/openxr/extensions/openxr_hand_tracking_extension.cpp')
| -rw-r--r-- | modules/openxr/extensions/openxr_hand_tracking_extension.cpp | 268 |
1 files changed, 268 insertions, 0 deletions
diff --git a/modules/openxr/extensions/openxr_hand_tracking_extension.cpp b/modules/openxr/extensions/openxr_hand_tracking_extension.cpp new file mode 100644 index 0000000000..4b30965ce5 --- /dev/null +++ b/modules/openxr/extensions/openxr_hand_tracking_extension.cpp @@ -0,0 +1,268 @@ +/*************************************************************************/ +/* openxr_hand_tracking_extension.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* 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 "openxr_hand_tracking_extension.h" +#include "../openxr_api.h" +#include "core/string/print_string.h" +#include "servers/xr_server.h" + +#include <openxr/openxr.h> + +OpenXRHandTrackingExtension *OpenXRHandTrackingExtension::singleton = nullptr; + +OpenXRHandTrackingExtension *OpenXRHandTrackingExtension::get_singleton() { + return singleton; +} + +OpenXRHandTrackingExtension::OpenXRHandTrackingExtension(OpenXRAPI *p_openxr_api) : + OpenXRExtensionWrapper(p_openxr_api) { + singleton = this; + + // Extensions we use for our hand tracking. + request_extensions[XR_EXT_HAND_TRACKING_EXTENSION_NAME] = &hand_tracking_ext; + request_extensions[XR_EXT_HAND_JOINTS_MOTION_RANGE_EXTENSION_NAME] = &hand_motion_range_ext; + request_extensions[XR_FB_HAND_TRACKING_AIM_EXTENSION_NAME] = &hand_tracking_aim_state_ext; + + // Make sure this is cleared until we actually request it + handTrackingSystemProperties.supportsHandTracking = false; +} + +OpenXRHandTrackingExtension::~OpenXRHandTrackingExtension() { + singleton = nullptr; +} + +void OpenXRHandTrackingExtension::on_instance_created(const XrInstance p_instance) { + if (hand_tracking_ext) { + EXT_INIT_XR_FUNC(xrCreateHandTrackerEXT); + EXT_INIT_XR_FUNC(xrDestroyHandTrackerEXT); + EXT_INIT_XR_FUNC(xrLocateHandJointsEXT); + + hand_tracking_ext = xrCreateHandTrackerEXT_ptr && xrDestroyHandTrackerEXT_ptr && xrLocateHandJointsEXT_ptr; + } +} + +void OpenXRHandTrackingExtension::on_session_destroyed() { + cleanup_hand_tracking(); +} + +void OpenXRHandTrackingExtension::on_instance_destroyed() { + xrCreateHandTrackerEXT_ptr = nullptr; + xrDestroyHandTrackerEXT_ptr = nullptr; + xrLocateHandJointsEXT_ptr = nullptr; +} + +void *OpenXRHandTrackingExtension::set_system_properties_and_get_next_pointer(void *p_next_pointer) { + if (!hand_tracking_ext) { + // not supported... + return p_next_pointer; + } + + handTrackingSystemProperties = { + XR_TYPE_SYSTEM_HAND_TRACKING_PROPERTIES_EXT, // type + p_next_pointer, // next + false, // supportsHandTracking + }; + + return &handTrackingSystemProperties; +} + +void OpenXRHandTrackingExtension::on_state_ready() { + if (!handTrackingSystemProperties.supportsHandTracking) { + // not supported... + return; + } + + // Setup our hands and reset data + for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) { + // we'll do this later + hand_trackers[i].is_initialised = false; + hand_trackers[i].hand_tracker = XR_NULL_HANDLE; + + hand_trackers[i].aimState.aimPose = { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } }; + hand_trackers[i].aimState.pinchStrengthIndex = 0.0; + hand_trackers[i].aimState.pinchStrengthMiddle = 0.0; + hand_trackers[i].aimState.pinchStrengthRing = 0.0; + hand_trackers[i].aimState.pinchStrengthLittle = 0.0; + + hand_trackers[i].locations.isActive = false; + + for (int j = 0; j < XR_HAND_JOINT_COUNT_EXT; j++) { + hand_trackers[i].joint_locations[j] = { 0, { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } }, 0.0 }; + hand_trackers[i].joint_velocities[j] = { 0, { 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } }; + } + } +} + +void OpenXRHandTrackingExtension::on_process() { + if (!handTrackingSystemProperties.supportsHandTracking) { + // not supported... + return; + } + + // process our hands + const XrTime time = openxr_api->get_next_frame_time(); // This data will be used for the next frame we render + + XrResult result; + + for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) { + if (hand_trackers[i].hand_tracker == XR_NULL_HANDLE) { + XrHandTrackerCreateInfoEXT createInfo = { + XR_TYPE_HAND_TRACKER_CREATE_INFO_EXT, // type + nullptr, // next + i == 0 ? XR_HAND_LEFT_EXT : XR_HAND_RIGHT_EXT, // hand + XR_HAND_JOINT_SET_DEFAULT_EXT, // handJointSet + }; + + result = xrCreateHandTrackerEXT(openxr_api->get_session(), &createInfo, &hand_trackers[i].hand_tracker); + if (XR_FAILED(result)) { + // not successful? then we do nothing. + print_line("OpenXR: Failed to obtain hand tracking information [", openxr_api->get_error_string(result), "]"); + hand_trackers[i].is_initialised = false; + } else { + void *next_pointer = nullptr; + if (hand_tracking_aim_state_ext) { + hand_trackers[i].aimState.type = XR_TYPE_HAND_TRACKING_AIM_STATE_FB; + hand_trackers[i].aimState.next = next_pointer; + hand_trackers[i].aimState.status = 0; + hand_trackers[i].aimState.aimPose = { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } }; + hand_trackers[i].aimState.pinchStrengthIndex = 0.0; + hand_trackers[i].aimState.pinchStrengthMiddle = 0.0; + hand_trackers[i].aimState.pinchStrengthRing = 0.0; + hand_trackers[i].aimState.pinchStrengthLittle = 0.0; + + next_pointer = &hand_trackers[i].aimState; + } + + hand_trackers[i].velocities.type = XR_TYPE_HAND_JOINT_VELOCITIES_EXT; + hand_trackers[i].velocities.next = next_pointer; + hand_trackers[i].velocities.jointCount = XR_HAND_JOINT_COUNT_EXT; + hand_trackers[i].velocities.jointVelocities = hand_trackers[i].joint_velocities; + next_pointer = &hand_trackers[i].velocities; + + hand_trackers[i].locations.type = XR_TYPE_HAND_JOINT_LOCATIONS_EXT; + hand_trackers[i].locations.next = next_pointer; + hand_trackers[i].locations.isActive = false; + hand_trackers[i].locations.jointCount = XR_HAND_JOINT_COUNT_EXT; + hand_trackers[i].locations.jointLocations = hand_trackers[i].joint_locations; + + hand_trackers[i].is_initialised = true; + } + } + + if (hand_trackers[i].is_initialised) { + void *next_pointer = nullptr; + + XrHandJointsMotionRangeInfoEXT motionRangeInfo; + + if (hand_motion_range_ext) { + motionRangeInfo.type = XR_TYPE_HAND_JOINTS_MOTION_RANGE_INFO_EXT; + motionRangeInfo.next = next_pointer; + motionRangeInfo.handJointsMotionRange = hand_trackers[i].motion_range; + + next_pointer = &motionRangeInfo; + } + + XrHandJointsLocateInfoEXT locateInfo = { + XR_TYPE_HAND_JOINTS_LOCATE_INFO_EXT, // type + next_pointer, // next + openxr_api->get_play_space(), // baseSpace + time, // time + }; + + result = xrLocateHandJointsEXT(hand_trackers[i].hand_tracker, &locateInfo, &hand_trackers[i].locations); + if (XR_FAILED(result)) { + // not successful? then we do nothing. + print_line("OpenXR: Failed to get tracking for hand", i, "[", openxr_api->get_error_string(result), "]"); + continue; + } + + // For some reason an inactive controller isn't coming back as inactive but has coordinates either as NAN or very large + const XrPosef &palm = hand_trackers[i].joint_locations[XR_HAND_JOINT_PALM_EXT].pose; + if ( + !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 + } + + /* TODO change this to managing the controller from openxr_interface + 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)) { + // Controllers are updated based on the aim state's pose and pinches' strength + if (hand_trackers[i].aim_state_godot_controller == -1) { + hand_trackers[i].aim_state_godot_controller = + arvr_api->godot_arvr_add_controller( + const_cast<char *>(hand_controller_names[i]), + i + HAND_CONTROLLER_ID_OFFSET, + true, + true); + } + } + */ + } + } +} + +void OpenXRHandTrackingExtension::on_state_stopping() { + // cleanup + cleanup_hand_tracking(); +} + +void OpenXRHandTrackingExtension::cleanup_hand_tracking() { + XRServer *xr_server = XRServer::get_singleton(); + ERR_FAIL_NULL(xr_server); + + for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) { + if (hand_trackers[i].hand_tracker != XR_NULL_HANDLE) { + xrDestroyHandTrackerEXT(hand_trackers[i].hand_tracker); + + hand_trackers[i].is_initialised = false; + hand_trackers[i].hand_tracker = XR_NULL_HANDLE; + } + } +} + +bool OpenXRHandTrackingExtension::get_active() { + return handTrackingSystemProperties.supportsHandTracking; +} + +const OpenXRHandTrackingExtension::HandTracker *OpenXRHandTrackingExtension::get_hand_tracker(uint32_t p_hand) const { + ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, nullptr); + + return &hand_trackers[p_hand]; +} + +XrHandJointsMotionRangeEXT OpenXRHandTrackingExtension::get_motion_range(uint32_t p_hand) const { + ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, XR_HAND_JOINTS_MOTION_RANGE_MAX_ENUM_EXT); + + return hand_trackers[p_hand].motion_range; +} + +void OpenXRHandTrackingExtension::set_motion_range(uint32_t p_hand, XrHandJointsMotionRangeEXT p_motion_range) { + ERR_FAIL_UNSIGNED_INDEX(p_hand, MAX_OPENXR_TRACKED_HANDS); + hand_trackers[p_hand].motion_range = p_motion_range; +} |