diff options
Diffstat (limited to 'modules/openxr')
| -rw-r--r-- | modules/openxr/SCsub | 2 | ||||
| -rw-r--r-- | modules/openxr/config.py | 1 | ||||
| -rw-r--r-- | modules/openxr/doc_classes/OpenXRHand.xml | 42 | ||||
| -rw-r--r-- | modules/openxr/extensions/openxr_hand_tracking_extension.cpp | 268 | ||||
| -rw-r--r-- | modules/openxr/extensions/openxr_hand_tracking_extension.h | 96 | ||||
| -rw-r--r-- | modules/openxr/openxr_api.cpp | 2 | ||||
| -rw-r--r-- | modules/openxr/openxr_api.h | 15 | ||||
| -rw-r--r-- | modules/openxr/register_types.cpp | 4 | ||||
| -rw-r--r-- | modules/openxr/scene/openxr_hand.cpp | 307 | ||||
| -rw-r--r-- | modules/openxr/scene/openxr_hand.h | 93 |
10 files changed, 823 insertions, 7 deletions
diff --git a/modules/openxr/SCsub b/modules/openxr/SCsub index 298977f96d..11cc525484 100644 --- a/modules/openxr/SCsub +++ b/modules/openxr/SCsub @@ -83,6 +83,7 @@ module_obj = [] env_openxr.add_source_files(module_obj, "*.cpp") env_openxr.add_source_files(module_obj, "action_map/*.cpp") +env_openxr.add_source_files(module_obj, "scene/*.cpp") # We're a little more targeted with our extensions if env["platform"] == "android": @@ -91,6 +92,7 @@ if env["vulkan"]: env_openxr.add_source_files(module_obj, "extensions/openxr_vulkan_extension.cpp") env_openxr.add_source_files(module_obj, "extensions/openxr_htc_vive_tracker_extension.cpp") +env_openxr.add_source_files(module_obj, "extensions/openxr_hand_tracking_extension.cpp") env.modules_sources += module_obj diff --git a/modules/openxr/config.py b/modules/openxr/config.py index 650146fdd3..279168cc59 100644 --- a/modules/openxr/config.py +++ b/modules/openxr/config.py @@ -18,6 +18,7 @@ def get_doc_classes(): "OpenXRActionMap", "OpenXRInteractionProfile", "OpenXRIPBinding", + "OpenXRHand", ] diff --git a/modules/openxr/doc_classes/OpenXRHand.xml b/modules/openxr/doc_classes/OpenXRHand.xml new file mode 100644 index 0000000000..5d5f8a6126 --- /dev/null +++ b/modules/openxr/doc_classes/OpenXRHand.xml @@ -0,0 +1,42 @@ +<?xml version="1.0" encoding="UTF-8" ?> +<class name="OpenXRHand" inherits="Node3D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../../doc/class.xsd"> + <brief_description> + Node supporting finger tracking in OpenXR. + </brief_description> + <description> + This node enables OpenXR's hand tracking functionality. The node should be a child node of an [XROrigin3D] node, tracking will update its position to where the player's actual hand is positioned. This node also updates the skeleton of a properly skinned hand model. The hand mesh should be a child node of this node. + </description> + <tutorials> + </tutorials> + <members> + <member name="hand" type="int" setter="set_hand" getter="get_hand" enum="OpenXRHand.Hands" default="0"> + Specifies whether this node tracks the left or right hand of the player. + </member> + <member name="hand_skeleton" type="NodePath" setter="set_hand_skeleton" getter="get_hand_skeleton" default="NodePath("")"> + Set a [Skeleton3D] node for which the pose positions will be updated. + </member> + <member name="motion_range" type="int" setter="set_motion_range" getter="get_motion_range" enum="OpenXRHand.MotionRange" default="0"> + Set the motion range (if supported) limiting the hand motion. + </member> + </members> + <constants> + <constant name="HAND_LEFT" value="0" enum="Hands"> + Tracking the player's left hand. + </constant> + <constant name="HAND_RIGHT" value="1" enum="Hands"> + Tracking the player's right hand. + </constant> + <constant name="HAND_MAX" value="2" enum="Hands"> + Maximum supported hands. + </constant> + <constant name="MOTION_RANGE_UNOBSTRUCTED" value="0" enum="MotionRange"> + When player grips, hand skeleton will form a full fist. + </constant> + <constant name="MOTION_RANGE_CONFORM_TO_CONTROLLER" value="1" enum="MotionRange"> + When player grips, hand skeleton conforms to the controller the player is holding. + </constant> + <constant name="MOTION_RANGE_MAX" value="2" enum="MotionRange"> + Maximum supported motion ranges. + </constant> + </constants> +</class> 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; +} diff --git a/modules/openxr/extensions/openxr_hand_tracking_extension.h b/modules/openxr/extensions/openxr_hand_tracking_extension.h new file mode 100644 index 0000000000..f8c26339b0 --- /dev/null +++ b/modules/openxr/extensions/openxr_hand_tracking_extension.h @@ -0,0 +1,96 @@ +/*************************************************************************/ +/* openxr_hand_tracking_extension.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_TRACKING_EXTENSION_H +#define OPENXR_HAND_TRACKING_EXTENSION_H + +#include "openxr_extension_wrapper.h" + +#include "../util.h" + +#define MAX_OPENXR_TRACKED_HANDS 2 + +class OpenXRHandTrackingExtension : public OpenXRExtensionWrapper { +public: + struct HandTracker { + bool is_initialised = false; + XrHandJointsMotionRangeEXT motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT; + + XrHandTrackerEXT hand_tracker = XR_NULL_HANDLE; + XrHandJointLocationEXT joint_locations[XR_HAND_JOINT_COUNT_EXT]; + XrHandJointVelocityEXT joint_velocities[XR_HAND_JOINT_COUNT_EXT]; + + XrHandTrackingAimStateFB aimState; + XrHandJointVelocitiesEXT velocities; + XrHandJointLocationsEXT locations; + }; + + static OpenXRHandTrackingExtension *get_singleton(); + + OpenXRHandTrackingExtension(OpenXRAPI *p_openxr_api); + virtual ~OpenXRHandTrackingExtension() override; + + virtual void on_instance_created(const XrInstance p_instance) override; + virtual void on_instance_destroyed() override; + virtual void on_session_destroyed() override; + + virtual void *set_system_properties_and_get_next_pointer(void *p_next_pointer) override; + virtual void on_state_ready() override; + virtual void on_process() override; + virtual void on_state_stopping() override; + + bool get_active(); + const HandTracker *get_hand_tracker(uint32_t p_hand) const; + + XrHandJointsMotionRangeEXT get_motion_range(uint32_t p_hand) const; + void set_motion_range(uint32_t p_hand, XrHandJointsMotionRangeEXT p_motion_range); + +private: + static OpenXRHandTrackingExtension *singleton; + + // state + XrSystemHandTrackingPropertiesEXT handTrackingSystemProperties; + HandTracker hand_trackers[MAX_OPENXR_TRACKED_HANDS]; // Fixed for left and right hand + + // related extensions + bool hand_tracking_ext = false; + bool hand_motion_range_ext = false; + bool hand_tracking_aim_state_ext = false; + + // functions + void cleanup_hand_tracking(); + + // OpenXR API call wrappers + EXT_PROTO_XRRESULT_FUNC3(xrCreateHandTrackerEXT, (XrSession), p_session, (const XrHandTrackerCreateInfoEXT *), p_createInfo, (XrHandTrackerEXT *), p_handTracker) + EXT_PROTO_XRRESULT_FUNC1(xrDestroyHandTrackerEXT, (XrHandTrackerEXT), p_handTracker) + EXT_PROTO_XRRESULT_FUNC3(xrLocateHandJointsEXT, (XrHandTrackerEXT), p_handTracker, (const XrHandJointsLocateInfoEXT *), p_locateInfo, (XrHandJointLocationsEXT *), p_locations) +}; + +#endif // OPENXR_HAND_TRACKING_EXTENSION_H diff --git a/modules/openxr/openxr_api.cpp b/modules/openxr/openxr_api.cpp index 76f7b2a60a..08b76ddc6b 100644 --- a/modules/openxr/openxr_api.cpp +++ b/modules/openxr/openxr_api.cpp @@ -49,6 +49,7 @@ #include "extensions/openxr_vulkan_extension.h" #endif +#include "extensions/openxr_hand_tracking_extension.h" #include "extensions/openxr_htc_vive_tracker_extension.h" #include "modules/openxr/openxr_interface.h" @@ -1742,6 +1743,7 @@ OpenXRAPI::OpenXRAPI() { // register our other extensions register_extension_wrapper(memnew(OpenXRHTCViveTrackerExtension(this))); + register_extension_wrapper(memnew(OpenXRHandTrackingExtension(this))); } OpenXRAPI::~OpenXRAPI() { diff --git a/modules/openxr/openxr_api.h b/modules/openxr/openxr_api.h index 4f84cc3b5b..fd32c2633e 100644 --- a/modules/openxr/openxr_api.h +++ b/modules/openxr/openxr_api.h @@ -102,7 +102,7 @@ private: XrFormFactor form_factor = XR_FORM_FACTOR_HEAD_MOUNTED_DISPLAY; XrViewConfigurationType view_configuration = XR_VIEW_CONFIGURATION_TYPE_PRIMARY_STEREO; XrReferenceSpaceType reference_space = XR_REFERENCE_SPACE_TYPE_STAGE; - XrEnvironmentBlendMode environment_blend_mode = XR_ENVIRONMENT_BLEND_MODE_OPAQUE; + // XrEnvironmentBlendMode environment_blend_mode = XR_ENVIRONMENT_BLEND_MODE_OPAQUE; // state XrInstance instance = XR_NULL_HANDLE; @@ -139,7 +139,10 @@ private: bool openxr_loader_init(); bool resolve_instance_openxr_symbols(); +#ifdef ANDROID_ENABLED + // On Android we keep tracker of our external OpenXR loader void *openxr_loader_library_handle = nullptr; +#endif // function pointers #ifdef ANDROID_ENABLED @@ -269,9 +272,7 @@ private: // convencience void copy_string_to_char_buffer(const String p_string, char *p_buffer, int p_buffer_len); -protected: - friend class OpenXRVulkanExtension; - +public: XrInstance get_instance() const { return instance; }; XrSystemId get_system_id() const { return system_id; }; XrSession get_session() const { return session; }; @@ -284,7 +285,6 @@ protected: XRPose::TrackingConfidence transform_from_location(const XrHandJointLocationEXT &p_location, Transform3D &r_transform); void parse_velocities(const XrSpaceVelocity &p_velocity, Vector3 &r_linear_velocity, Vector3 &r_angular_velocity); -public: static bool openxr_is_enabled(bool p_check_run_in_editor = true); static OpenXRAPI *get_singleton(); @@ -301,8 +301,9 @@ public: bool initialize_session(); void finish(); - XrTime get_next_frame_time() { return frame_state.predictedDisplayTime + frame_state.predictedDisplayPeriod; }; - bool can_render() { return instance != XR_NULL_HANDLE && session != XR_NULL_HANDLE && running && view_pose_valid && frame_state.shouldRender; }; + XrSpace get_play_space() const { return play_space; } + XrTime get_next_frame_time() { return frame_state.predictedDisplayTime + frame_state.predictedDisplayPeriod; } + bool can_render() { return instance != XR_NULL_HANDLE && session != XR_NULL_HANDLE && running && view_pose_valid && frame_state.shouldRender; } Size2 get_recommended_target_size(); XRPose::TrackingConfidence get_head_center(Transform3D &r_transform, Vector3 &r_linear_velocity, Vector3 &r_angular_velocity); diff --git a/modules/openxr/register_types.cpp b/modules/openxr/register_types.cpp index c765f169dc..5694fffe39 100644 --- a/modules/openxr/register_types.cpp +++ b/modules/openxr/register_types.cpp @@ -38,6 +38,8 @@ #include "action_map/openxr_action_set.h" #include "action_map/openxr_interaction_profile.h" +#include "scene/openxr_hand.h" + #ifdef TOOLS_ENABLED #include "editor/editor_node.h" @@ -82,6 +84,8 @@ void initialize_openxr_module(ModuleInitializationLevel p_level) { GDREGISTER_CLASS(OpenXRIPBinding); GDREGISTER_CLASS(OpenXRInteractionProfile); + GDREGISTER_CLASS(OpenXRHand); + XRServer *xr_server = XRServer::get_singleton(); if (xr_server) { openxr_interface.instantiate(); 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 |