virtualx-engine/scene/3d/xr_hand_modifier_3d.cpp

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/**************************************************************************/
/* xr_hand_modifier_3d.cpp */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* 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 "xr_hand_modifier_3d.h"
#include "servers/xr/xr_pose.h"
#include "servers/xr_server.h"
void XRHandModifier3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_hand_tracker", "tracker_name"), &XRHandModifier3D::set_hand_tracker);
ClassDB::bind_method(D_METHOD("get_hand_tracker"), &XRHandModifier3D::get_hand_tracker);
ClassDB::bind_method(D_METHOD("set_bone_update", "bone_update"), &XRHandModifier3D::set_bone_update);
ClassDB::bind_method(D_METHOD("get_bone_update"), &XRHandModifier3D::get_bone_update);
ADD_PROPERTY(PropertyInfo(Variant::STRING, "hand_tracker", PROPERTY_HINT_ENUM_SUGGESTION, "/user/hand_tracker/left,/user/hand_tracker/right"), "set_hand_tracker", "get_hand_tracker");
ADD_PROPERTY(PropertyInfo(Variant::INT, "bone_update", PROPERTY_HINT_ENUM, "Full,Rotation Only"), "set_bone_update", "get_bone_update");
BIND_ENUM_CONSTANT(BONE_UPDATE_FULL);
BIND_ENUM_CONSTANT(BONE_UPDATE_ROTATION_ONLY);
BIND_ENUM_CONSTANT(BONE_UPDATE_MAX);
}
void XRHandModifier3D::set_hand_tracker(const StringName &p_tracker_name) {
tracker_name = p_tracker_name;
}
StringName XRHandModifier3D::get_hand_tracker() const {
return tracker_name;
}
void XRHandModifier3D::set_bone_update(BoneUpdate p_bone_update) {
ERR_FAIL_INDEX(p_bone_update, BONE_UPDATE_MAX);
bone_update = p_bone_update;
}
XRHandModifier3D::BoneUpdate XRHandModifier3D::get_bone_update() const {
return bone_update;
}
void XRHandModifier3D::_get_joint_data() {
if (!is_inside_tree()) {
return;
}
if (has_stored_previous_transforms) {
previous_relative_transforms.clear();
has_stored_previous_transforms = false;
}
// Table of bone names for different rig types.
static const String bone_names[XRHandTracker::HAND_JOINT_MAX] = {
"Palm",
"Hand",
"ThumbMetacarpal",
"ThumbProximal",
"ThumbDistal",
"ThumbTip",
"IndexMetacarpal",
"IndexProximal",
"IndexIntermediate",
"IndexDistal",
"IndexTip",
"MiddleMetacarpal",
"MiddleProximal",
"MiddleIntermediate",
"MiddleDistal",
"MiddleTip",
"RingMetacarpal",
"RingProximal",
"RingIntermediate",
"RingDistal",
"RingTip",
"LittleMetacarpal",
"LittleProximal",
"LittleIntermediate",
"LittleDistal",
"LittleTip",
};
static const String bone_name_format[2] = {
"Left<bone>",
"Right<bone>",
};
// reset JIC
for (int i = 0; i < XRHandTracker::HAND_JOINT_MAX; i++) {
joints[i].bone = -1;
joints[i].parent_joint = -1;
}
const Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return;
}
const XRServer *xr_server = XRServer::get_singleton();
if (!xr_server) {
return;
}
const Ref<XRHandTracker> tracker = xr_server->get_tracker(tracker_name);
if (tracker.is_null()) {
return;
}
// Verify we have a left or right hand tracker.
const XRPositionalTracker::TrackerHand tracker_hand = tracker->get_tracker_hand();
if (tracker_hand != XRPositionalTracker::TRACKER_HAND_LEFT &&
tracker_hand != XRPositionalTracker::TRACKER_HAND_RIGHT) {
return;
}
// Get the hand index (0 = left, 1 = right).
const int hand = tracker_hand == XRPositionalTracker::TRACKER_HAND_LEFT ? 0 : 1;
// Find the skeleton-bones associated with each joint.
int bones[XRHandTracker::HAND_JOINT_MAX];
for (int i = 0; i < XRHandTracker::HAND_JOINT_MAX; i++) {
// Construct the expected bone name.
String bone_name = bone_name_format[hand].replace("<bone>", bone_names[i]);
// Find the skeleton bone.
bones[i] = skeleton->find_bone(bone_name);
if (bones[i] == -1) {
WARN_PRINT(vformat("Couldn't obtain bone for %s", bone_name));
}
}
// Assemble the joint relationship to the available skeleton bones.
for (int i = 0; i < XRHandTracker::HAND_JOINT_MAX; i++) {
// Get the skeleton bone (skip if not found).
const int bone = bones[i];
if (bone == -1) {
continue;
}
// Find the parent skeleton-bone.
const int parent_bone = skeleton->get_bone_parent(bone);
if (parent_bone == -1) {
// If no parent skeleton-bone exists then drive this relative to palm joint.
joints[i].bone = bone;
joints[i].parent_joint = XRHandTracker::HAND_JOINT_PALM;
continue;
}
// Find the joint associated with the parent skeleton-bone.
for (int j = 0; j < XRHandTracker::HAND_JOINT_MAX; ++j) {
if (bones[j] == parent_bone) {
// If a parent joint is found then drive this bone relative to it.
joints[i].bone = bone;
joints[i].parent_joint = j;
break;
}
}
}
}
void XRHandModifier3D::_process_modification() {
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return;
}
const XRServer *xr_server = XRServer::get_singleton();
if (!xr_server) {
return;
}
const Ref<XRHandTracker> tracker = xr_server->get_tracker(tracker_name);
if (tracker.is_null()) {
return;
}
// Skip if no tracking data
if (!tracker->get_has_tracking_data()) {
if (!has_stored_previous_transforms) {
return;
}
// Apply previous relative transforms if they are stored.
for (int joint = 0; joint < XRHandTracker::HAND_JOINT_MAX; joint++) {
if (bone_update == BONE_UPDATE_FULL) {
skeleton->set_bone_pose_position(joints[joint].bone, previous_relative_transforms[joint].origin);
}
skeleton->set_bone_pose_rotation(joints[joint].bone, Quaternion(previous_relative_transforms[joint].basis));
}
return;
}
// Get the world and skeleton scale.
const float ss = skeleton->get_motion_scale();
// We cache our transforms so we can quickly calculate local transforms.
bool has_valid_data[XRHandTracker::HAND_JOINT_MAX];
Transform3D transforms[XRHandTracker::HAND_JOINT_MAX];
Transform3D inv_transforms[XRHandTracker::HAND_JOINT_MAX];
for (int joint = 0; joint < XRHandTracker::HAND_JOINT_MAX; joint++) {
BitField<XRHandTracker::HandJointFlags> flags = tracker->get_hand_joint_flags((XRHandTracker::HandJoint)joint);
has_valid_data[joint] = flags.has_flag(XRHandTracker::HAND_JOINT_FLAG_ORIENTATION_VALID);
if (has_valid_data[joint]) {
transforms[joint] = tracker->get_hand_joint_transform((XRHandTracker::HandJoint)joint);
transforms[joint].origin *= ss;
inv_transforms[joint] = transforms[joint].inverse();
}
}
// Skip if palm has no tracking data
if (!has_valid_data[XRHandTracker::HAND_JOINT_PALM]) {
return;
}
if (!has_stored_previous_transforms) {
previous_relative_transforms.resize(XRHandTracker::HAND_JOINT_MAX);
has_stored_previous_transforms = true;
}
Transform3D *previous_relative_transforms_ptr = previous_relative_transforms.ptrw();
for (int joint = 0; joint < XRHandTracker::HAND_JOINT_MAX; joint++) {
// Get the skeleton bone (skip if none).
const int bone = joints[joint].bone;
if (bone == -1) {
continue;
}
// Calculate the relative relationship to the parent bone joint.
const int parent_joint = joints[joint].parent_joint;
const Transform3D relative_transform = inv_transforms[parent_joint] * transforms[joint];
previous_relative_transforms_ptr[joint] = relative_transform;
// Update the bone position if enabled by update mode.
if (bone_update == BONE_UPDATE_FULL) {
skeleton->set_bone_pose_position(joints[joint].bone, relative_transform.origin);
}
// Always update the bone rotation.
skeleton->set_bone_pose_rotation(joints[joint].bone, Quaternion(relative_transform.basis));
}
}
void XRHandModifier3D::_tracker_changed(StringName p_tracker_name, XRServer::TrackerType p_tracker_type) {
if (tracker_name == p_tracker_name) {
_get_joint_data();
}
}
void XRHandModifier3D::_skeleton_changed(Skeleton3D *p_old, Skeleton3D *p_new) {
_get_joint_data();
}
void XRHandModifier3D::_notification(int p_what) {
switch (p_what) {
case NOTIFICATION_ENTER_TREE: {
XRServer *xr_server = XRServer::get_singleton();
if (xr_server) {
xr_server->connect("tracker_added", callable_mp(this, &XRHandModifier3D::_tracker_changed));
xr_server->connect("tracker_updated", callable_mp(this, &XRHandModifier3D::_tracker_changed));
xr_server->connect("tracker_removed", callable_mp(this, &XRHandModifier3D::_tracker_changed));
}
_get_joint_data();
} break;
case NOTIFICATION_EXIT_TREE: {
XRServer *xr_server = XRServer::get_singleton();
if (xr_server) {
xr_server->disconnect("tracker_added", callable_mp(this, &XRHandModifier3D::_tracker_changed));
xr_server->disconnect("tracker_updated", callable_mp(this, &XRHandModifier3D::_tracker_changed));
xr_server->disconnect("tracker_removed", callable_mp(this, &XRHandModifier3D::_tracker_changed));
}
for (int i = 0; i < XRHandTracker::HAND_JOINT_MAX; i++) {
joints[i].bone = -1;
joints[i].parent_joint = -1;
}
} break;
default: {
} break;
}
}