416 lines
17 KiB
C++
416 lines
17 KiB
C++
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/**************************************************************************/
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/* xr_body_modifier_3d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "xr_body_modifier_3d.h"
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#include "scene/3d/skeleton_3d.h"
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#include "servers/xr/xr_pose.h"
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#include "servers/xr_server.h"
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void XRBodyModifier3D::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_body_tracker", "tracker_name"), &XRBodyModifier3D::set_body_tracker);
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ClassDB::bind_method(D_METHOD("get_body_tracker"), &XRBodyModifier3D::get_body_tracker);
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ClassDB::bind_method(D_METHOD("set_target", "target"), &XRBodyModifier3D::set_target);
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ClassDB::bind_method(D_METHOD("get_target"), &XRBodyModifier3D::get_target);
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ClassDB::bind_method(D_METHOD("set_body_update", "body_update"), &XRBodyModifier3D::set_body_update);
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ClassDB::bind_method(D_METHOD("get_body_update"), &XRBodyModifier3D::get_body_update);
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ClassDB::bind_method(D_METHOD("set_bone_update", "bone_update"), &XRBodyModifier3D::set_bone_update);
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ClassDB::bind_method(D_METHOD("get_bone_update"), &XRBodyModifier3D::get_bone_update);
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ClassDB::bind_method(D_METHOD("set_show_when_tracked", "show"), &XRBodyModifier3D::set_show_when_tracked);
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ClassDB::bind_method(D_METHOD("get_show_when_tracked"), &XRBodyModifier3D::get_show_when_tracked);
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ADD_PROPERTY(PropertyInfo(Variant::STRING, "body_tracker", PROPERTY_HINT_ENUM_SUGGESTION, "/user/body"), "set_body_tracker", "get_body_tracker");
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ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Skeleton3D"), "set_target", "get_target");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "body_update", PROPERTY_HINT_FLAGS, "Upper Body,Lower Body,Hands"), "set_body_update", "get_body_update");
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ADD_PROPERTY(PropertyInfo(Variant::INT, "bone_update", PROPERTY_HINT_ENUM, "Full,Rotation Only"), "set_bone_update", "get_bone_update");
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ADD_PROPERTY(PropertyInfo(Variant::BOOL, "show_when_tracked"), "set_show_when_tracked", "get_show_when_tracked");
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BIND_BITFIELD_FLAG(BODY_UPDATE_UPPER_BODY);
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BIND_BITFIELD_FLAG(BODY_UPDATE_LOWER_BODY);
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BIND_BITFIELD_FLAG(BODY_UPDATE_HANDS);
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BIND_ENUM_CONSTANT(BONE_UPDATE_FULL);
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BIND_ENUM_CONSTANT(BONE_UPDATE_ROTATION_ONLY);
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BIND_ENUM_CONSTANT(BONE_UPDATE_MAX);
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}
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void XRBodyModifier3D::set_body_tracker(const StringName &p_tracker_name) {
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tracker_name = p_tracker_name;
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}
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StringName XRBodyModifier3D::get_body_tracker() const {
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return tracker_name;
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}
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void XRBodyModifier3D::set_target(const NodePath &p_target) {
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target = p_target;
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if (is_inside_tree()) {
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_get_joint_data();
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}
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}
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NodePath XRBodyModifier3D::get_target() const {
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return target;
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}
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void XRBodyModifier3D::set_body_update(BitField<BodyUpdate> p_body_update) {
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body_update = p_body_update;
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}
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BitField<XRBodyModifier3D::BodyUpdate> XRBodyModifier3D::get_body_update() const {
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return body_update;
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}
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void XRBodyModifier3D::set_bone_update(BoneUpdate p_bone_update) {
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ERR_FAIL_INDEX(p_bone_update, BONE_UPDATE_MAX);
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bone_update = p_bone_update;
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}
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XRBodyModifier3D::BoneUpdate XRBodyModifier3D::get_bone_update() const {
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return bone_update;
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}
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void XRBodyModifier3D::set_show_when_tracked(bool p_show_when_tracked) {
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show_when_tracked = p_show_when_tracked;
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}
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bool XRBodyModifier3D::get_show_when_tracked() const {
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return show_when_tracked;
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}
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Skeleton3D *XRBodyModifier3D::get_skeleton() {
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if (!has_node(target)) {
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return nullptr;
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}
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Node *node = get_node(target);
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if (!node) {
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return nullptr;
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}
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Skeleton3D *skeleton = Object::cast_to<Skeleton3D>(node);
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return skeleton;
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}
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void XRBodyModifier3D::_get_joint_data() {
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// Table of Godot Humanoid bone names.
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static const String bone_names[XRBodyTracker::JOINT_MAX] = {
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"Root", // XRBodyTracker::JOINT_ROOT
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// Upper Body Joints.
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"Hips", // XRBodyTracker::JOINT_HIPS
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"Spine", // XRBodyTracker::JOINT_SPINE
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"Chest", // XRBodyTracker::JOINT_CHEST
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"UpperChest", // XRBodyTracker::JOINT_UPPER_CHEST
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"Neck", // XRBodyTracker::JOINT_NECK"
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"Head", // XRBodyTracker::JOINT_HEAD"
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"HeadTip", // XRBodyTracker::JOINT_HEAD_TIP"
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"LeftShoulder", // XRBodyTracker::JOINT_LEFT_SHOULDER"
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"LeftUpperArm", // XRBodyTracker::JOINT_LEFT_UPPER_ARM"
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"LeftLowerArm", // XRBodyTracker::JOINT_LEFT_LOWER_ARM"
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"RightShoulder", // XRBodyTracker::JOINT_RIGHT_SHOULDER"
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"RightUpperArm", // XRBodyTracker::JOINT_RIGHT_UPPER_ARM"
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"RightLowerArm", // XRBodyTracker::JOINT_RIGHT_LOWER_ARM"
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// Lower Body Joints.
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"LeftUpperLeg", // XRBodyTracker::JOINT_LEFT_UPPER_LEG
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"LeftLowerLeg", // XRBodyTracker::JOINT_LEFT_LOWER_LEG
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"LeftFoot", // XRBodyTracker::JOINT_LEFT_FOOT
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"LeftToes", // XRBodyTracker::JOINT_LEFT_TOES
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"RightUpperLeg", // XRBodyTracker::JOINT_RIGHT_UPPER_LEG
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"RightLowerLeg", // XRBodyTracker::JOINT_RIGHT_LOWER_LEG
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"RightFoot", // XRBodyTracker::JOINT_RIGHT_FOOT
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"RightToes", // XRBodyTracker::JOINT_RIGHT_TOES
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// Left Hand Joints.
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"LeftHand", // XRBodyTracker::JOINT_LEFT_HAND
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"LeftPalm", // XRBodyTracker::JOINT_LEFT_PALM
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"LeftWrist", // XRBodyTracker::JOINT_LEFT_WRIST
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"LeftThumbMetacarpal", // XRBodyTracker::JOINT_LEFT_THUMB_METACARPAL
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"LeftThumbProximal", // XRBodyTracker::JOINT_LEFT_THUMB_PHALANX_PROXIMAL
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"LeftThumbDistal", // XRBodyTracker::JOINT_LEFT_THUMB_PHALANX_DISTAL
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"LeftThumbTip", // XRBodyTracker::JOINT_LEFT_THUMB_TIP
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"LeftIndexMetacarpal", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_METACARPAL
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"LeftIndexProximal", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_PHALANX_PROXIMAL
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"LeftIndexIntermediate", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_PHALANX_INTERMEDIATE
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"LeftIndexDistal", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_PHALANX_DISTAL
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"LeftIndexTip", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_TIP
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"LeftMiddleMetacarpal", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_METACARPAL
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"LeftMiddleProximal", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_PHALANX_PROXIMAL
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"LeftMiddleIntermediate", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_PHALANX_INTERMEDIATE
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"LeftMiddleDistal", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_PHALANX_DISTAL
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"LeftMiddleTip", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_TIP
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"LeftRingMetacarpal", // XRBodyTracker::JOINT_LEFT_RING_FINGER_METACARPAL
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"LeftRingProximal", // XRBodyTracker::JOINT_LEFT_RING_FINGER_PHALANX_PROXIMAL
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"LeftRingIntermediate", // XRBodyTracker::JOINT_LEFT_RING_FINGER_PHALANX_INTERMEDIATE
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"LeftRingDistal", // XRBodyTracker::JOINT_LEFT_RING_FINGER_PHALANX_DISTAL
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"LeftRingTip", // XRBodyTracker::JOINT_LEFT_RING_FINGER_TIP
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"LeftLittleMetacarpal", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_METACARPAL
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"LeftLittleProximal", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_PHALANX_PROXIMAL
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"LeftLittleIntermediate", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_PHALANX_INTERMEDIATE
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"LeftLittleDistal", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_PHALANX_DISTAL
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"LeftLittleTip", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_TIP
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// Right Hand Joints.
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"RightHand", // XRBodyTracker::JOINT_RIGHT_HAND
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"RightPalm", // XRBodyTracker::JOINT_RIGHT_PALM
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"RightWrist", // XRBodyTracker::JOINT_RIGHT_WRIST
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"RightThumbMetacarpal", // XRBodyTracker::JOINT_RIGHT_THUMB_METACARPAL
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"RightThumbProximal", // XRBodyTracker::JOINT_RIGHT_THUMB_PHALANX_PROXIMAL
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"RightThumbDistal", // XRBodyTracker::JOINT_RIGHT_THUMB_PHALANX_DISTAL
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"RightThumbTip", // XRBodyTracker::JOINT_RIGHT_THUMB_TIP
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"RightIndexMetacarpal", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_METACARPAL
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"RightIndexProximal", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_PHALANX_PROXIMAL
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"RightIndexIntermediate", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_PHALANX_INTERMEDIATE
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"RightIndexDistal", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_PHALANX_DISTAL
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"RightIndexTip", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_TIP
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"RightMiddleMetacarpal", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_METACARPAL
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"RightMiddleProximal", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_PHALANX_PROXIMAL
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"RightMiddleIntermediate", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_PHALANX_INTERMEDIATE
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"RightMiddleDistal", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_PHALANX_DISTAL
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"RightMiddleTip", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_TIP
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"RightRingMetacarpal", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_METACARPAL
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"RightRingProximal", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_PHALANX_PROXIMAL
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"RightRingIntermediate", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_PHALANX_INTERMEDIATE
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"RightRingDistal", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_PHALANX_DISTAL
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"RightRingTip", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_TIP
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"RightLittleMetacarpal", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_METACARPAL
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"RightLittleProximal", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_PHALANX_PROXIMAL
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"RightLittleIntermediate", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_PHALANX_INTERMEDIATE
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"RightLittleDistal", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_PHALANX_DISTAL
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"RightLittleTip", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_TIP
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};
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// reset JIC.
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for (int i = 0; i < XRBodyTracker::JOINT_MAX; i++) {
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joints[i].bone = -1;
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joints[i].parent_joint = -1;
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}
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Skeleton3D *skeleton = get_skeleton();
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if (!skeleton) {
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return;
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}
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// Find the skeleton-bones associated with each joint.
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int bones[XRBodyTracker::JOINT_MAX];
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for (int i = 0; i < XRBodyTracker::JOINT_MAX; i++) {
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// Skip upper body joints if not enabled.
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if (!body_update.has_flag(BODY_UPDATE_UPPER_BODY) && i >= XRBodyTracker::JOINT_HIPS && i <= XRBodyTracker::JOINT_RIGHT_LOWER_ARM) {
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bones[i] = -1;
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continue;
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}
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// Skip lower body joints if not enabled.
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if (!body_update.has_flag(BODY_UPDATE_LOWER_BODY) && i >= XRBodyTracker::JOINT_LEFT_UPPER_LEG && i <= XRBodyTracker::JOINT_RIGHT_TOES) {
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bones[i] = -1;
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continue;
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}
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// Skip hand joints if not enabled.
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if (!body_update.has_flag(BODY_UPDATE_HANDS) && i >= XRBodyTracker::JOINT_LEFT_HAND && i <= XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_TIP) {
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bones[i] = -1;
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continue;
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}
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// Find the skeleton bone.
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bones[i] = skeleton->find_bone(bone_names[i]);
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if (bones[i] == -1) {
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WARN_PRINT(vformat("Couldn't obtain bone for %s", bone_names[i]));
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}
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}
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// If the root bone is not found then use the skeleton root bone.
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if (bones[XRBodyTracker::JOINT_ROOT] == -1) {
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bones[XRBodyTracker::JOINT_ROOT] = 0;
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}
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// Assemble the joint relationship to the available skeleton bones.
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for (int i = 0; i < XRBodyTracker::JOINT_MAX; i++) {
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// Get the skeleton bone (skip if not found).
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const int bone = bones[i];
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if (bone == -1) {
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continue;
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}
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// Find the parent skeleton-bone.
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const int parent_bone = skeleton->get_bone_parent(bone);
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if (parent_bone == -1) {
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// If no parent skeleton-bone exists then drive this relative to the root joint.
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joints[i].bone = bone;
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joints[i].parent_joint = XRBodyTracker::JOINT_ROOT;
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continue;
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}
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// Find the joint associated with the parent skeleton-bone.
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for (int j = 0; j < XRBodyTracker::JOINT_MAX; ++j) {
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if (bones[j] == parent_bone) {
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// If a parent joint is found then drive this bone relative to it.
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joints[i].bone = bone;
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joints[i].parent_joint = j;
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break;
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}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void XRBodyModifier3D::_update_skeleton() {
|
||
|
|
Skeleton3D *skeleton = get_skeleton();
|
||
|
|
if (!skeleton) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
XRServer *xr_server = XRServer::get_singleton();
|
||
|
|
if (!xr_server) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
Ref<XRBodyTracker> tracker = xr_server->get_body_tracker(tracker_name);
|
||
|
|
if (tracker.is_null()) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Handle no tracking data.
|
||
|
|
if (!tracker->get_has_tracking_data()) {
|
||
|
|
// If tracking-state determines visibility then hide the node.
|
||
|
|
if (show_when_tracked) {
|
||
|
|
set_visible(false);
|
||
|
|
}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Read the relevant tracking data.
|
||
|
|
bool has_valid_data[XRBodyTracker::JOINT_MAX];
|
||
|
|
Transform3D transforms[XRBodyTracker::JOINT_MAX];
|
||
|
|
Transform3D inv_transforms[XRBodyTracker::JOINT_MAX];
|
||
|
|
const float ws = xr_server->get_world_scale();
|
||
|
|
for (int joint = 0; joint < XRBodyTracker::JOINT_MAX; joint++) {
|
||
|
|
BitField<XRBodyTracker::JointFlags> flags = tracker->get_joint_flags(static_cast<XRBodyTracker::Joint>(joint));
|
||
|
|
has_valid_data[joint] = flags.has_flag(XRBodyTracker::JOINT_FLAG_ORIENTATION_VALID) && flags.has_flag(XRBodyTracker::JOINT_FLAG_POSITION_VALID);
|
||
|
|
|
||
|
|
if (has_valid_data[joint]) {
|
||
|
|
transforms[joint] = tracker->get_joint_transform(static_cast<XRBodyTracker::Joint>(joint));
|
||
|
|
transforms[joint].origin *= ws;
|
||
|
|
inv_transforms[joint] = transforms[joint].inverse();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Handle root joint not tracked.
|
||
|
|
if (!has_valid_data[XRBodyTracker::JOINT_ROOT]) {
|
||
|
|
// If tracking-state determines visibility then hide the node.
|
||
|
|
if (show_when_tracked) {
|
||
|
|
set_visible(false);
|
||
|
|
}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Apply the joint information to the skeleton.
|
||
|
|
for (int joint = 0; joint < XRBodyTracker::JOINT_MAX; joint++) {
|
||
|
|
// Skip if no valid joint data
|
||
|
|
if (!has_valid_data[joint]) {
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
// 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];
|
||
|
|
|
||
|
|
// 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));
|
||
|
|
}
|
||
|
|
|
||
|
|
// Transform to the skeleton pose.
|
||
|
|
set_transform(transforms[XRBodyTracker::JOINT_ROOT]);
|
||
|
|
|
||
|
|
// If tracking-state determines visibility then show the node.
|
||
|
|
if (show_when_tracked) {
|
||
|
|
set_visible(true);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void XRBodyModifier3D::_tracker_changed(const StringName &p_tracker_name, const Ref<XRBodyTracker> &p_tracker) {
|
||
|
|
if (tracker_name == p_tracker_name) {
|
||
|
|
_get_joint_data();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void XRBodyModifier3D::_notification(int p_what) {
|
||
|
|
switch (p_what) {
|
||
|
|
case NOTIFICATION_ENTER_TREE: {
|
||
|
|
XRServer *xr_server = XRServer::get_singleton();
|
||
|
|
if (xr_server) {
|
||
|
|
xr_server->connect("body_tracker_added", callable_mp(this, &XRBodyModifier3D::_tracker_changed));
|
||
|
|
xr_server->connect("body_tracker_updated", callable_mp(this, &XRBodyModifier3D::_tracker_changed));
|
||
|
|
xr_server->connect("body_tracker_removed", callable_mp(this, &XRBodyModifier3D::_tracker_changed).bind(Ref<XRBodyTracker>()));
|
||
|
|
}
|
||
|
|
|
||
|
|
_get_joint_data();
|
||
|
|
|
||
|
|
set_process_internal(true);
|
||
|
|
} break;
|
||
|
|
case NOTIFICATION_EXIT_TREE: {
|
||
|
|
XRServer *xr_server = XRServer::get_singleton();
|
||
|
|
if (xr_server) {
|
||
|
|
xr_server->disconnect("body_tracker_added", callable_mp(this, &XRBodyModifier3D::_tracker_changed));
|
||
|
|
xr_server->disconnect("body_tracker_updated", callable_mp(this, &XRBodyModifier3D::_tracker_changed));
|
||
|
|
xr_server->disconnect("body_tracker_removed", callable_mp(this, &XRBodyModifier3D::_tracker_changed).bind(Ref<XRBodyTracker>()));
|
||
|
|
}
|
||
|
|
|
||
|
|
set_process_internal(false);
|
||
|
|
|
||
|
|
for (int i = 0; i < XRBodyTracker::JOINT_MAX; i++) {
|
||
|
|
joints[i].bone = -1;
|
||
|
|
joints[i].parent_joint = -1;
|
||
|
|
}
|
||
|
|
} break;
|
||
|
|
case NOTIFICATION_INTERNAL_PROCESS: {
|
||
|
|
_update_skeleton();
|
||
|
|
} break;
|
||
|
|
default: {
|
||
|
|
} break;
|
||
|
|
}
|
||
|
|
}
|