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-rw-r--r--modules/openxr/scene/openxr_hand.cpp307
-rw-r--r--modules/openxr/scene/openxr_hand.h93
2 files changed, 400 insertions, 0 deletions
diff --git a/modules/openxr/scene/openxr_hand.cpp b/modules/openxr/scene/openxr_hand.cpp
new file mode 100644
index 0000000000..2ae13a1026
--- /dev/null
+++ b/modules/openxr/scene/openxr_hand.cpp
@@ -0,0 +1,307 @@
+/*************************************************************************/
+/* openxr_hand.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 "../extensions/openxr_hand_tracking_extension.h"
+#include "../openxr_api.h"
+
+#include "openxr_hand.h"
+#include "scene/3d/skeleton_3d.h"
+#include "servers/xr_server.h"
+
+void OpenXRHand::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("set_hand", "hand"), &OpenXRHand::set_hand);
+ ClassDB::bind_method(D_METHOD("get_hand"), &OpenXRHand::get_hand);
+
+ ClassDB::bind_method(D_METHOD("set_hand_skeleton", "hand_skeleton"), &OpenXRHand::set_hand_skeleton);
+ ClassDB::bind_method(D_METHOD("get_hand_skeleton"), &OpenXRHand::get_hand_skeleton);
+
+ ClassDB::bind_method(D_METHOD("set_motion_range", "motion_range"), &OpenXRHand::set_motion_range);
+ ClassDB::bind_method(D_METHOD("get_motion_range"), &OpenXRHand::get_motion_range);
+
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "hand", PROPERTY_HINT_ENUM, "Left,Right"), "set_hand", "get_hand");
+ ADD_PROPERTY(PropertyInfo(Variant::INT, "motion_range", PROPERTY_HINT_ENUM, "Unobstructed,Conform to controller"), "set_motion_range", "get_motion_range");
+ ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "hand_skeleton", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Skeleton3D"), "set_hand_skeleton", "get_hand_skeleton");
+
+ BIND_ENUM_CONSTANT(HAND_LEFT);
+ BIND_ENUM_CONSTANT(HAND_RIGHT);
+ BIND_ENUM_CONSTANT(HAND_MAX);
+
+ BIND_ENUM_CONSTANT(MOTION_RANGE_UNOBSTRUCTED);
+ BIND_ENUM_CONSTANT(MOTION_RANGE_CONFORM_TO_CONTROLLER);
+ BIND_ENUM_CONSTANT(MOTION_RANGE_MAX);
+}
+
+OpenXRHand::OpenXRHand() {
+ openxr_api = OpenXRAPI::get_singleton();
+ hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
+}
+
+void OpenXRHand::set_hand(const Hands p_hand) {
+ ERR_FAIL_INDEX(p_hand, HAND_MAX);
+
+ hand = p_hand;
+}
+
+OpenXRHand::Hands OpenXRHand::get_hand() const {
+ return hand;
+}
+
+void OpenXRHand::set_hand_skeleton(const NodePath &p_hand_skeleton) {
+ hand_skeleton = p_hand_skeleton;
+
+ // TODO if inside tree call _get_bones()
+}
+
+void OpenXRHand::set_motion_range(const MotionRange p_motion_range) {
+ ERR_FAIL_INDEX(p_motion_range, MOTION_RANGE_MAX);
+ motion_range = p_motion_range;
+
+ _set_motion_range();
+}
+
+OpenXRHand::MotionRange OpenXRHand::get_motion_range() const {
+ return motion_range;
+}
+
+NodePath OpenXRHand::get_hand_skeleton() const {
+ return hand_skeleton;
+}
+
+void OpenXRHand::_set_motion_range() {
+ if (!hand_tracking_ext) {
+ return;
+ }
+
+ XrHandJointsMotionRangeEXT xr_motion_range;
+ switch (motion_range) {
+ case MOTION_RANGE_UNOBSTRUCTED:
+ xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT;
+ break;
+ case MOTION_RANGE_CONFORM_TO_CONTROLLER:
+ xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_CONFORMING_TO_CONTROLLER_EXT;
+ break;
+ default:
+ xr_motion_range = XR_HAND_JOINTS_MOTION_RANGE_CONFORMING_TO_CONTROLLER_EXT;
+ break;
+ }
+
+ hand_tracking_ext->set_motion_range(hand, xr_motion_range);
+}
+
+Skeleton3D *OpenXRHand::get_skeleton() {
+ if (!has_node(hand_skeleton)) {
+ return nullptr;
+ }
+
+ Node *node = get_node(hand_skeleton);
+ if (!node) {
+ return nullptr;
+ }
+
+ Skeleton3D *skeleton = Object::cast_to<Skeleton3D>(node);
+ return skeleton;
+}
+
+void OpenXRHand::_get_bones() {
+ const char *bone_names[XR_HAND_JOINT_COUNT_EXT] = {
+ "Palm",
+ "Wrist",
+ "Thumb_Metacarpal",
+ "Thumb_Proximal",
+ "Thumb_Distal",
+ "Thumb_Tip",
+ "Index_Metacarpal",
+ "Index_Proximal",
+ "Index_Intermediate",
+ "Index_Distal",
+ "Index_Tip",
+ "Middle_Metacarpal",
+ "Middle_Proximal",
+ "Middle_Intermediate",
+ "Middle_Distal",
+ "Middle_Tip",
+ "Ring_Metacarpal",
+ "Ring_Proximal",
+ "Ring_Intermediate",
+ "Ring_Distal",
+ "Ring_Tip",
+ "Little_Metacarpal",
+ "Little_Proximal",
+ "Little_Intermediate",
+ "Little_Distal",
+ "Little_Tip",
+ };
+
+ // reset JIC
+ for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
+ bones[i] = -1;
+ }
+
+ Skeleton3D *skeleton = get_skeleton();
+ if (!skeleton) {
+ return;
+ }
+
+ // We cast to spatials which should allow us to use any subclass of that.
+ for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
+ String bone_name = bone_names[i];
+ if (hand == 0) {
+ bone_name += String("_L");
+ } else {
+ bone_name += String("_R");
+ }
+
+ bones[i] = skeleton->find_bone(bone_name);
+ if (bones[i] == -1) {
+ print_line("Couldn't obtain bone for", bone_name);
+ }
+ }
+}
+
+void OpenXRHand::_update_skeleton() {
+ if (openxr_api == nullptr || !openxr_api->is_initialized()) {
+ return;
+ } else if (hand_tracking_ext == nullptr || !hand_tracking_ext->get_active()) {
+ return;
+ }
+
+ Skeleton3D *skeleton = get_skeleton();
+ if (!skeleton) {
+ return;
+ }
+
+ // we cache our transforms so we can quickly calculate local transforms
+ XRPose::TrackingConfidence confidences[XR_HAND_JOINT_COUNT_EXT];
+ Quaternion quaternions[XR_HAND_JOINT_COUNT_EXT];
+ 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 float ws = XRServer::get_singleton()->get_world_scale();
+
+ if (hand_tracker->is_initialised && hand_tracker->locations.isActive) {
+ for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
+ confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_NONE;
+ quaternions[i] = Quaternion();
+ positions[i] = Vector3();
+
+ const auto &location = hand_tracker->joint_locations[i];
+ const auto &pose = location.pose;
+
+ if (location.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) {
+ if (pose.orientation.x != 0 || pose.orientation.y != 0 || pose.orientation.y != 0 || pose.orientation.w != 0) {
+ quaternions[i] = Quaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
+ inv_quaternions[i] = quaternions[i].inverse();
+
+ if (location.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) {
+ confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_HIGH;
+ positions[i] = Vector3(pose.position.x * ws, pose.position.y * ws, pose.position.z * ws);
+
+ // TODO get inverse of position, we'll do this later. For now we're ignoring bone positions which generally works better anyway
+ } else {
+ confidences[i] = XRPose::XR_TRACKING_CONFIDENCE_LOW;
+ }
+ }
+ }
+ }
+
+ if (confidences[XR_HAND_JOINT_PALM_EXT] != XRPose::XR_TRACKING_CONFIDENCE_NONE) {
+ // now update our skeleton
+ for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
+ if (bones[i] != -1) {
+ int bone = bones[i];
+ int parent = skeleton->get_bone_parent(bone);
+
+ // Get our target quaternion
+ Quaternion q = quaternions[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;
+ } 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;
+ 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_rotation(bones[i], q);
+ }
+ }
+
+ Transform3D t;
+ t.basis = Basis(quaternions[XR_HAND_JOINT_PALM_EXT]);
+ t.origin = positions[XR_HAND_JOINT_PALM_EXT];
+ set_transform(t);
+
+ // show it
+ set_visible(true);
+ } else {
+ // hide it
+ set_visible(false);
+ }
+ } else {
+ // hide it
+ set_visible(false);
+ }
+}
+
+void OpenXRHand::_notification(int p_what) {
+ switch (p_what) {
+ case NOTIFICATION_ENTER_TREE: {
+ _get_bones();
+
+ set_process_internal(true);
+ } break;
+ case NOTIFICATION_EXIT_TREE: {
+ set_process_internal(false);
+
+ // reset
+ for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
+ bones[i] = -1;
+ }
+ } break;
+ case NOTIFICATION_INTERNAL_PROCESS: {
+ _update_skeleton();
+ } break;
+ default: {
+ } break;
+ }
+}
diff --git a/modules/openxr/scene/openxr_hand.h b/modules/openxr/scene/openxr_hand.h
new file mode 100644
index 0000000000..f8499cc172
--- /dev/null
+++ b/modules/openxr/scene/openxr_hand.h
@@ -0,0 +1,93 @@
+/*************************************************************************/
+/* openxr_hand.h */
+/*************************************************************************/
+/* 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. */
+/*************************************************************************/
+
+#ifndef OPENXR_HAND_H
+#define OPENXR_HAND_H
+
+#include "scene/3d/node_3d.h"
+#include "scene/3d/skeleton_3d.h"
+
+class OpenXRAPI;
+class OpenXRHandTrackingExtension;
+
+class OpenXRHand : public Node3D {
+ GDCLASS(OpenXRHand, Node3D);
+
+public:
+ enum Hands {
+ HAND_LEFT,
+ HAND_RIGHT,
+ HAND_MAX
+ };
+
+ enum MotionRange {
+ MOTION_RANGE_UNOBSTRUCTED,
+ MOTION_RANGE_CONFORM_TO_CONTROLLER,
+ MOTION_RANGE_MAX
+ };
+
+private:
+ OpenXRAPI *openxr_api = nullptr;
+ OpenXRHandTrackingExtension *hand_tracking_ext = nullptr;
+
+ Hands hand = HAND_LEFT;
+ MotionRange motion_range = MOTION_RANGE_UNOBSTRUCTED;
+ NodePath hand_skeleton;
+
+ int64_t bones[XR_HAND_JOINT_COUNT_EXT];
+
+ void _set_motion_range();
+
+ Skeleton3D *get_skeleton();
+ void _get_bones();
+ void _update_skeleton();
+
+protected:
+ static void _bind_methods();
+
+public:
+ OpenXRHand();
+
+ void set_hand(const Hands p_hand);
+ Hands get_hand() const;
+
+ void set_motion_range(const MotionRange p_motion_range);
+ MotionRange get_motion_range() const;
+
+ void set_hand_skeleton(const NodePath &p_hand_skeleton);
+ NodePath get_hand_skeleton() const;
+
+ void _notification(int p_what);
+};
+
+VARIANT_ENUM_CAST(OpenXRHand::Hands)
+VARIANT_ENUM_CAST(OpenXRHand::MotionRange)
+
+#endif // OPENXR_HAND_H
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