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Merge pull request #82722 from BastiaanOlij/openxr_fix_hand_tracking_issues

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OpenXR: Fix small hand tracking issues
This commit is contained in:
Rémi Verschelde 2023-10-04 15:43:18 +02:00
commit d7bca20359
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GPG Key ID: C3336907360768E1
8 changed files with 92 additions and 93 deletions
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3
doc/classes/ProjectSettings.xml
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@ -2728,6 +2728,9 @@
<member name="xr/openxr/extensions/eye_gaze_interaction" type="bool" setter="" getter="" default="false">
Specify whether to enable eye tracking for this project. Depending on the platform, additional export configuration may be needed.
</member>
<member name="xr/openxr/extensions/hand_tracking" type="bool" setter="" getter="" default="true">
If true we enable the hand tracking extension if available.
</member>
<member name="xr/openxr/form_factor" type="int" setter="" getter="" default="&quot;0&quot;">
Specify whether OpenXR should be configured for an HMD or a hand held device.
</member>

3
main/main.cpp
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@ -2124,7 +2124,8 @@ Error Main::setup(const char *execpath, int argc, char *argv[], bool p_second_ph
GLOBAL_DEF_BASIC("xr/openxr/submit_depth_buffer", false);
GLOBAL_DEF_BASIC("xr/openxr/startup_alert", true);
// XR project extensions settings.
// OpenXR project extensions settings.
GLOBAL_DEF_BASIC("xr/openxr/extensions/hand_tracking", true);
GLOBAL_DEF_BASIC("xr/openxr/extensions/eye_gaze_interaction", false);
#ifdef TOOLS_ENABLED

72
modules/openxr/extensions/openxr_hand_tracking_extension.cpp
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@ -32,6 +32,7 @@
#include "../openxr_api.h"
#include "core/config/project_settings.h"
#include "core/string/print_string.h"
#include "servers/xr_server.h"
@ -59,7 +60,6 @@ HashMap<String, bool *> OpenXRHandTrackingExtension::get_requested_extensions()
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;
return request_extensions;
}
@ -106,17 +106,11 @@ void OpenXRHandTrackingExtension::on_state_ready() {
}
// Setup our hands and reset data
for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
for (int i = 0; i < OPENXR_MAX_TRACKED_HANDS; i++) {
// we'll do this later
hand_trackers[i].is_initialized = 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++) {
@ -141,7 +135,7 @@ void OpenXRHandTrackingExtension::on_process() {
XrResult result;
for (int i = 0; i < MAX_OPENXR_TRACKED_HANDS; i++) {
for (int i = 0; i < OPENXR_MAX_TRACKED_HANDS; i++) {
if (hand_trackers[i].hand_tracker == XR_NULL_HANDLE) {
XrHandTrackerCreateInfoEXT createInfo = {
XR_TYPE_HAND_TRACKER_CREATE_INFO_EXT, // type
@ -157,18 +151,6 @@ void OpenXRHandTrackingExtension::on_process() {
hand_trackers[i].is_initialized = 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;
@ -219,20 +201,6 @@ 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
}
/* 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);
}
}
*/
}
}
}
@ -246,7 +214,7 @@ 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++) {
for (int i = 0; i < OPENXR_MAX_TRACKED_HANDS; i++) {
if (hand_trackers[i].hand_tracker != XR_NULL_HANDLE) {
xrDestroyHandTrackerEXT(hand_trackers[i].hand_tracker);
@ -260,25 +228,25 @@ 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);
const OpenXRHandTrackingExtension::HandTracker *OpenXRHandTrackingExtension::get_hand_tracker(HandTrackedHands p_hand) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_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);
XrHandJointsMotionRangeEXT OpenXRHandTrackingExtension::get_motion_range(HandTrackedHands p_hand) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_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);
void OpenXRHandTrackingExtension::set_motion_range(HandTrackedHands p_hand, XrHandJointsMotionRangeEXT p_motion_range) {
ERR_FAIL_UNSIGNED_INDEX(p_hand, OPENXR_MAX_TRACKED_HANDS);
hand_trackers[p_hand].motion_range = p_motion_range;
}
Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Quaternion());
Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Quaternion());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Quaternion());
if (!hand_trackers[p_hand].is_initialized) {
@ -289,8 +257,8 @@ Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(uint32_t p_hand,
return Quaternion(location.pose.orientation.x, location.pose.orientation.y, location.pose.orientation.z, location.pose.orientation.w);
}
Vector3 OpenXRHandTrackingExtension::get_hand_joint_position(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
Vector3 OpenXRHandTrackingExtension::get_hand_joint_position(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());
if (!hand_trackers[p_hand].is_initialized) {
@ -301,8 +269,8 @@ Vector3 OpenXRHandTrackingExtension::get_hand_joint_position(uint32_t p_hand, Xr
return Vector3(location.pose.position.x, location.pose.position.y, location.pose.position.z);
}
float OpenXRHandTrackingExtension::get_hand_joint_radius(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, 0.0);
float OpenXRHandTrackingExtension::get_hand_joint_radius(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, 0.0);
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, 0.0);
if (!hand_trackers[p_hand].is_initialized) {
@ -312,8 +280,8 @@ float OpenXRHandTrackingExtension::get_hand_joint_radius(uint32_t p_hand, XrHand
return hand_trackers[p_hand].joint_locations[p_joint].radius;
}
Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());
if (!hand_trackers[p_hand].is_initialized) {
@ -324,8 +292,8 @@ Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(uint32_t p_h
return Vector3(velocity.linearVelocity.x, velocity.linearVelocity.y, velocity.linearVelocity.z);
}
Vector3 OpenXRHandTrackingExtension::get_hand_joint_angular_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
Vector3 OpenXRHandTrackingExtension::get_hand_joint_angular_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());
if (!hand_trackers[p_hand].is_initialized) {

28
modules/openxr/extensions/openxr_hand_tracking_extension.h
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@ -35,10 +35,14 @@
#include "core/math/quaternion.h"
#include "openxr_extension_wrapper.h"
#define MAX_OPENXR_TRACKED_HANDS 2
class OpenXRHandTrackingExtension : public OpenXRExtensionWrapper {
public:
enum HandTrackedHands {
OPENXR_TRACKED_LEFT_HAND,
OPENXR_TRACKED_RIGHT_HAND,
OPENXR_MAX_TRACKED_HANDS
};
struct HandTracker {
bool is_initialized = false;
XrHandJointsMotionRangeEXT motion_range = XR_HAND_JOINTS_MOTION_RANGE_UNOBSTRUCTED_EXT;
@ -47,7 +51,6 @@ public:
XrHandJointLocationEXT joint_locations[XR_HAND_JOINT_COUNT_EXT];
XrHandJointVelocityEXT joint_velocities[XR_HAND_JOINT_COUNT_EXT];
XrHandTrackingAimStateFB aimState;
XrHandJointVelocitiesEXT velocities;
XrHandJointLocationsEXT locations;
};
@ -69,29 +72,28 @@ public:
virtual void on_state_stopping() override;
bool get_active();
const HandTracker *get_hand_tracker(uint32_t p_hand) const;
const HandTracker *get_hand_tracker(HandTrackedHands p_hand) const;
XrHandJointsMotionRangeEXT get_motion_range(uint32_t p_hand) const;
void set_motion_range(uint32_t p_hand, XrHandJointsMotionRangeEXT p_motion_range);
XrHandJointsMotionRangeEXT get_motion_range(HandTrackedHands p_hand) const;
void set_motion_range(HandTrackedHands p_hand, XrHandJointsMotionRangeEXT p_motion_range);
Quaternion get_hand_joint_rotation(uint32_t p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_position(uint32_t p_hand, XrHandJointEXT p_joint) const;
float get_hand_joint_radius(uint32_t p_hand, XrHandJointEXT p_joint) const;
Quaternion get_hand_joint_rotation(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_position(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
float get_hand_joint_radius(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_linear_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_angular_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_linear_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_angular_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
private:
static OpenXRHandTrackingExtension *singleton;
// state
XrSystemHandTrackingPropertiesEXT handTrackingSystemProperties;
HandTracker hand_trackers[MAX_OPENXR_TRACKED_HANDS]; // Fixed for left and right hand
HandTracker hand_trackers[OPENXR_MAX_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();

48
modules/openxr/openxr_interface.cpp
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@ -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() {
@ -909,6 +907,24 @@ 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()) {
// TODO add in confidence! Requires PR #82715
Transform3D transform;
transform.basis = Basis(hand_tracking_ext->get_hand_joint_rotation(p_hand, XR_HAND_JOINT_PALM_EXT));
transform.origin = hand_tracking_ext->get_hand_joint_position(p_hand, XR_HAND_JOINT_PALM_EXT);
Vector3 linear_velocity = hand_tracking_ext->get_hand_joint_linear_velocity(p_hand, XR_HAND_JOINT_PALM_EXT);
Vector3 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, XRPose::XR_TRACKING_CONFIDENCE_HIGH);
}
}
}
void OpenXRInterface::process() {
if (openxr_api) {
// do our normal process
@ -916,8 +932,8 @@ 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 +955,14 @@ 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 +1159,7 @@ 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 +1168,7 @@ 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:
@ -1170,7 +1186,7 @@ OpenXRInterface::HandMotionRange OpenXRInterface::get_motion_range(const Hand p_
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 +1195,7 @@ 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 +1204,7 @@ 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 +1213,7 @@ 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 +1222,7 @@ 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();

4
modules/openxr/openxr_interface.h
View File

@ -33,6 +33,7 @@
#include "action_map/openxr_action_map.h"
#include "extensions/openxr_fb_passthrough_extension_wrapper.h"
#include "extensions/openxr_hand_tracking_extension.h"
#include "openxr_api.h"
#include "servers/xr/xr_interface.h"
@ -55,6 +56,7 @@ private:
Transform3D head_transform;
Vector3 head_linear_velocity;
Vector3 head_angular_velocity;
XRPose::TrackingConfidence head_confidence;
Transform3D transform_for_view[2]; // We currently assume 2, but could be 4 for VARJO which we do not support yet
void _load_action_map();
@ -97,6 +99,8 @@ private:
void _set_default_pos(Transform3D &p_transform, double p_world_scale, uint64_t p_eye);
void handle_hand_tracking(const String &p_path, OpenXRHandTrackingExtension::HandTrackedHands p_hand);
protected:
static void _bind_methods();

12
modules/openxr/register_types.cpp
View File

@ -105,20 +105,24 @@ void initialize_openxr_module(ModuleInitializationLevel p_level) {
#endif
// register our other extensions
if (GLOBAL_GET("xr/openxr/extensions/eye_gaze_interaction") && (!OS::get_singleton()->has_feature("mobile") || OS::get_singleton()->has_feature(XR_EXT_EYE_GAZE_INTERACTION_EXTENSION_NAME))) {
OpenXRAPI::register_extension_wrapper(memnew(OpenXREyeGazeInteractionExtension));
}
OpenXRAPI::register_extension_wrapper(memnew(OpenXRPalmPoseExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRPicoControllerExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRCompositionLayerDepthExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHTCControllerExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHTCViveTrackerExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHuaweiControllerExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHandTrackingExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRFbPassthroughExtensionWrapper));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRDisplayRefreshRateExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRWMRControllerExtension));
OpenXRAPI::register_extension_wrapper(memnew(OpenXRML2ControllerExtension));
// register gated extensions
if (GLOBAL_GET("xr/openxr/extensions/eye_gaze_interaction") && (!OS::get_singleton()->has_feature("mobile") || OS::get_singleton()->has_feature(XR_EXT_EYE_GAZE_INTERACTION_EXTENSION_NAME))) {
OpenXRAPI::register_extension_wrapper(memnew(OpenXREyeGazeInteractionExtension));
}
if (GLOBAL_GET("xr/openxr/extensions/hand_tracking")) {
OpenXRAPI::register_extension_wrapper(memnew(OpenXRHandTrackingExtension));
}
}
if (OpenXRAPI::openxr_is_enabled()) {

15
modules/openxr/scene/openxr_hand.cpp
View File

@ -113,7 +113,7 @@ void OpenXRHand::_set_motion_range() {
break;
}
hand_tracking_ext->set_motion_range(hand, xr_motion_range);
hand_tracking_ext->set_motion_range(OpenXRHandTrackingExtension::HandTrackedHands(hand), xr_motion_range);
}
Skeleton3D *OpenXRHand::get_skeleton() {
@ -204,7 +204,7 @@ void OpenXRHand::_update_skeleton() {
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 OpenXRHandTrackingExtension::HandTracker *hand_tracker = hand_tracking_ext->get_hand_tracker(OpenXRHandTrackingExtension::HandTrackedHands(hand));
const float ws = XRServer::get_singleton()->get_world_scale();
if (hand_tracker->is_initialized && hand_tracker->locations.isActive) {
@ -243,26 +243,27 @@ void OpenXRHand::_update_skeleton() {
// Get our target quaternion
Quaternion q = quaternions[i];
// Get our target position
Vector3 p = positions[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;
p = inv_quaternions[XR_HAND_JOINT_PALM_EXT].xform(p - positions[XR_HAND_JOINT_PALM_EXT]);
} 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;
p = inv_quaternions[b].xform(p - positions[b]);
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_position(bones[i], p);
skeleton->set_bone_pose_rotation(bones[i], q);
}
}