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Add body tracking support.

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Malcolm Nixon 2024-02-24 19:20:11 -05:00
parent bb6b06c813
commit 57aa734562
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49
doc/classes/XRBodyModifier3D.xml Normal file
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<?xml version="1.0" encoding="UTF-8" ?>
<class name="XRBodyModifier3D" inherits="Node3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A node for driving body meshes from [XRBodyTracker] data.
</brief_description>
<description>
This node uses body tracking data from a [XRBodyTracker] to animate the skeleton of a body mesh.
</description>
<tutorials>
<link title="XR documentation index">$DOCS_URL/tutorials/xr/index.html</link>
</tutorials>
<members>
<member name="body_tracker" type="StringName" setter="set_body_tracker" getter="get_body_tracker" default="&amp;&quot;/user/body&quot;">
The name of the [XRBodyTracker] registered with [XRServer] to obtain the body tracking data from.
</member>
<member name="body_update" type="int" setter="set_body_update" getter="get_body_update" enum="XRBodyModifier3D.BodyUpdate" is_bitfield="true" default="7">
Specifies the body parts to update.
</member>
<member name="bone_update" type="int" setter="set_bone_update" getter="get_bone_update" enum="XRBodyModifier3D.BoneUpdate" default="0">
Specifies the type of updates to perform on the bones.
</member>
<member name="show_when_tracked" type="bool" setter="set_show_when_tracked" getter="get_show_when_tracked" default="true">
If true then the nodes visibility is determined by whether tracking data is available.
</member>
<member name="target" type="NodePath" setter="set_target" getter="get_target" default="NodePath(&quot;&quot;)">
A [NodePath] to a [Skeleton3D] to animate.
</member>
</members>
<constants>
<constant name="BODY_UPDATE_UPPER_BODY" value="1" enum="BodyUpdate" is_bitfield="true">
The skeleton's upper body joints are updated.
</constant>
<constant name="BODY_UPDATE_LOWER_BODY" value="2" enum="BodyUpdate" is_bitfield="true">
The skeleton's lower body joints are updated.
</constant>
<constant name="BODY_UPDATE_HANDS" value="4" enum="BodyUpdate" is_bitfield="true">
The skeleton's hand joints are updated.
</constant>
<constant name="BONE_UPDATE_FULL" value="0" enum="BoneUpdate">
The skeleton's bones are fully updated (both position and rotation) to match the tracked bones.
</constant>
<constant name="BONE_UPDATE_ROTATION_ONLY" value="1" enum="BoneUpdate">
The skeleton's bones are only rotated to align with the tracked bones, preserving bone length.
</constant>
<constant name="BONE_UPDATE_MAX" value="2" enum="BoneUpdate">
Represents the size of the [enum BoneUpdate] enum.
</constant>
</constants>
</class>

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doc/classes/XRBodyTracker.xml Normal file
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<?xml version="1.0" encoding="UTF-8" ?>
<class name="XRBodyTracker" inherits="RefCounted" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A tracked body in XR.
</brief_description>
<description>
A body tracking system will create an instance of this object and add it to the [XRServer]. This tracking system will then obtain skeleton data, convert it to the Godot Humanoid skeleton and store this data on the [XRBodyTracker] object.
Use [XRBodyModifier3D] to animate a body mesh using body tracking data.
</description>
<tutorials>
<link title="XR documentation index">$DOCS_URL/tutorials/xr/index.html</link>
</tutorials>
<methods>
<method name="get_joint_flags" qualifiers="const">
<return type="int" enum="XRBodyTracker.JointFlags" is_bitfield="true" />
<param index="0" name="joint" type="int" enum="XRBodyTracker.Joint" />
<description>
Returns flags about the validity of the tracking data for the given body joint (see [enum XRBodyTracker.JointFlags]).
</description>
</method>
<method name="get_joint_transform" qualifiers="const">
<return type="Transform3D" />
<param index="0" name="joint" type="int" enum="XRBodyTracker.Joint" />
<description>
Returns the transform for the given body joint.
</description>
</method>
<method name="set_joint_flags">
<return type="void" />
<param index="0" name="joint" type="int" enum="XRBodyTracker.Joint" />
<param index="1" name="flags" type="int" enum="XRBodyTracker.JointFlags" is_bitfield="true" />
<description>
Sets flags about the validity of the tracking data for the given body joint.
</description>
</method>
<method name="set_joint_transform">
<return type="void" />
<param index="0" name="joint" type="int" enum="XRBodyTracker.Joint" />
<param index="1" name="transform" type="Transform3D" />
<description>
Sets the transform for the given body joint.
</description>
</method>
</methods>
<members>
<member name="body_flags" type="int" setter="set_body_flags" getter="get_body_flags" enum="XRBodyTracker.BodyFlags" is_bitfield="true" default="0">
The type of body tracking data captured.
</member>
<member name="has_tracking_data" type="bool" setter="set_has_tracking_data" getter="get_has_tracking_data" default="false">
If [code]true[/code], the body tracking data is valid.
</member>
</members>
<constants>
<constant name="BODY_FLAG_UPPER_BODY_SUPPORTED" value="1" enum="BodyFlags" is_bitfield="true">
Upper body tracking supported.
</constant>
<constant name="BODY_FLAG_LOWER_BODY_SUPPORTED" value="2" enum="BodyFlags" is_bitfield="true">
Lower body tracking supported.
</constant>
<constant name="BODY_FLAG_HANDS_SUPPORTED" value="4" enum="BodyFlags" is_bitfield="true">
Hand tracking supported.
</constant>
<constant name="JOINT_ROOT" value="0" enum="Joint">
Root joint.
</constant>
<constant name="JOINT_HIPS" value="1" enum="Joint">
Hips joint.
</constant>
<constant name="JOINT_SPINE" value="2" enum="Joint">
Spine joint.
</constant>
<constant name="JOINT_CHEST" value="3" enum="Joint">
Chest joint.
</constant>
<constant name="JOINT_UPPER_CHEST" value="4" enum="Joint">
Upper chest joint.
</constant>
<constant name="JOINT_NECK" value="5" enum="Joint">
Neck joint.
</constant>
<constant name="JOINT_HEAD" value="6" enum="Joint">
Head joint.
</constant>
<constant name="JOINT_HEAD_TIP" value="7" enum="Joint">
Head tip joint.
</constant>
<constant name="JOINT_LEFT_SHOULDER" value="8" enum="Joint">
Left shoulder joint.
</constant>
<constant name="JOINT_LEFT_UPPER_ARM" value="9" enum="Joint">
Left upper arm joint.
</constant>
<constant name="JOINT_LEFT_LOWER_ARM" value="10" enum="Joint">
Left lower arm joint.
</constant>
<constant name="JOINT_RIGHT_SHOULDER" value="11" enum="Joint">
Right shoulder joint.
</constant>
<constant name="JOINT_RIGHT_UPPER_ARM" value="12" enum="Joint">
Right upper arm joint.
</constant>
<constant name="JOINT_RIGHT_LOWER_ARM" value="13" enum="Joint">
Right lower arm joint.
</constant>
<constant name="JOINT_LEFT_UPPER_LEG" value="14" enum="Joint">
Left upper leg joint.
</constant>
<constant name="JOINT_LEFT_LOWER_LEG" value="15" enum="Joint">
Left lower leg joint.
</constant>
<constant name="JOINT_LEFT_FOOT" value="16" enum="Joint">
Left foot joint.
</constant>
<constant name="JOINT_LEFT_TOES" value="17" enum="Joint">
Left toes joint.
</constant>
<constant name="JOINT_RIGHT_UPPER_LEG" value="18" enum="Joint">
Right upper leg joint.
</constant>
<constant name="JOINT_RIGHT_LOWER_LEG" value="19" enum="Joint">
Right lower leg joint.
</constant>
<constant name="JOINT_RIGHT_FOOT" value="20" enum="Joint">
Right foot joint.
</constant>
<constant name="JOINT_RIGHT_TOES" value="21" enum="Joint">
Right toes joint.
</constant>
<constant name="JOINT_LEFT_HAND" value="22" enum="Joint">
Left hand joint.
</constant>
<constant name="JOINT_LEFT_PALM" value="23" enum="Joint">
Left palm joint.
</constant>
<constant name="JOINT_LEFT_WRIST" value="24" enum="Joint">
Left wrist joint.
</constant>
<constant name="JOINT_LEFT_THUMB_METACARPAL" value="25" enum="Joint">
Left thumb metacarpal joint.
</constant>
<constant name="JOINT_LEFT_THUMB_PHALANX_PROXIMAL" value="26" enum="Joint">
Left thumb phalanx proximal joint.
</constant>
<constant name="JOINT_LEFT_THUMB_PHALANX_DISTAL" value="27" enum="Joint">
Left thumb phalanx distal joint.
</constant>
<constant name="JOINT_LEFT_THUMB_TIP" value="28" enum="Joint">
Left thumb tip joint.
</constant>
<constant name="JOINT_LEFT_INDEX_FINGER_METACARPAL" value="29" enum="Joint">
Left index finger metacarpal joint.
</constant>
<constant name="JOINT_LEFT_INDEX_FINGER_PHALANX_PROXIMAL" value="30" enum="Joint">
Left index finger phalanx proximal joint.
</constant>
<constant name="JOINT_LEFT_INDEX_FINGER_PHALANX_INTERMEDIATE" value="31" enum="Joint">
Left index finger phalanx intermediate joint.
</constant>
<constant name="JOINT_LEFT_INDEX_FINGER_PHALANX_DISTAL" value="32" enum="Joint">
Left index finger phalanx distal joint.
</constant>
<constant name="JOINT_LEFT_INDEX_FINGER_TIP" value="33" enum="Joint">
Left index finger tip joint.
</constant>
<constant name="JOINT_LEFT_MIDDLE_FINGER_METACARPAL" value="34" enum="Joint">
Left middle finger metacarpal joint.
</constant>
<constant name="JOINT_LEFT_MIDDLE_FINGER_PHALANX_PROXIMAL" value="35" enum="Joint">
Left middle finger phalanx proximal joint.
</constant>
<constant name="JOINT_LEFT_MIDDLE_FINGER_PHALANX_INTERMEDIATE" value="36" enum="Joint">
Left middle finger phalanx intermediate joint.
</constant>
<constant name="JOINT_LEFT_MIDDLE_FINGER_PHALANX_DISTAL" value="37" enum="Joint">
Left middle finger phalanx distal joint.
</constant>
<constant name="JOINT_LEFT_MIDDLE_FINGER_TIP" value="38" enum="Joint">
Left middle finger tip joint.
</constant>
<constant name="JOINT_LEFT_RING_FINGER_METACARPAL" value="39" enum="Joint">
Left ring finger metacarpal joint.
</constant>
<constant name="JOINT_LEFT_RING_FINGER_PHALANX_PROXIMAL" value="40" enum="Joint">
Left ring finger phalanx proximal joint.
</constant>
<constant name="JOINT_LEFT_RING_FINGER_PHALANX_INTERMEDIATE" value="41" enum="Joint">
Left ring finger phalanx intermediate joint.
</constant>
<constant name="JOINT_LEFT_RING_FINGER_PHALANX_DISTAL" value="42" enum="Joint">
Left ring finger phalanx distal joint.
</constant>
<constant name="JOINT_LEFT_RING_FINGER_TIP" value="43" enum="Joint">
Left ring finger tip joint.
</constant>
<constant name="JOINT_LEFT_PINKY_FINGER_METACARPAL" value="44" enum="Joint">
Left pinky finger metacarpal joint.
</constant>
<constant name="JOINT_LEFT_PINKY_FINGER_PHALANX_PROXIMAL" value="45" enum="Joint">
Left pinky finger phalanx proximal joint.
</constant>
<constant name="JOINT_LEFT_PINKY_FINGER_PHALANX_INTERMEDIATE" value="46" enum="Joint">
Left pinky finger phalanx intermediate joint.
</constant>
<constant name="JOINT_LEFT_PINKY_FINGER_PHALANX_DISTAL" value="47" enum="Joint">
Left pinky finger phalanx distal joint.
</constant>
<constant name="JOINT_LEFT_PINKY_FINGER_TIP" value="48" enum="Joint">
Left pinky finger tip joint.
</constant>
<constant name="JOINT_RIGHT_HAND" value="49" enum="Joint">
Right hand joint.
</constant>
<constant name="JOINT_RIGHT_PALM" value="50" enum="Joint">
Right palm joint.
</constant>
<constant name="JOINT_RIGHT_WRIST" value="51" enum="Joint">
Right wrist joint.
</constant>
<constant name="JOINT_RIGHT_THUMB_METACARPAL" value="52" enum="Joint">
Right thumb metacarpal joint.
</constant>
<constant name="JOINT_RIGHT_THUMB_PHALANX_PROXIMAL" value="53" enum="Joint">
Right thumb phalanx proximal joint.
</constant>
<constant name="JOINT_RIGHT_THUMB_PHALANX_DISTAL" value="54" enum="Joint">
Right thumb phalanx distal joint.
</constant>
<constant name="JOINT_RIGHT_THUMB_TIP" value="55" enum="Joint">
Right thumb tip joint.
</constant>
<constant name="JOINT_RIGHT_INDEX_FINGER_METACARPAL" value="56" enum="Joint">
Right index finger metacarpal joint.
</constant>
<constant name="JOINT_RIGHT_INDEX_FINGER_PHALANX_PROXIMAL" value="57" enum="Joint">
Right index finger phalanx proximal joint.
</constant>
<constant name="JOINT_RIGHT_INDEX_FINGER_PHALANX_INTERMEDIATE" value="58" enum="Joint">
Right index finger phalanx intermediate joint.
</constant>
<constant name="JOINT_RIGHT_INDEX_FINGER_PHALANX_DISTAL" value="59" enum="Joint">
Right index finger phalanx distal joint.
</constant>
<constant name="JOINT_RIGHT_INDEX_FINGER_TIP" value="60" enum="Joint">
Right index finger tip joint.
</constant>
<constant name="JOINT_RIGHT_MIDDLE_FINGER_METACARPAL" value="61" enum="Joint">
Right middle finger metacarpal joint.
</constant>
<constant name="JOINT_RIGHT_MIDDLE_FINGER_PHALANX_PROXIMAL" value="62" enum="Joint">
Right middle finger phalanx proximal joint.
</constant>
<constant name="JOINT_RIGHT_MIDDLE_FINGER_PHALANX_INTERMEDIATE" value="63" enum="Joint">
Right middle finger phalanx intermediate joint.
</constant>
<constant name="JOINT_RIGHT_MIDDLE_FINGER_PHALANX_DISTAL" value="64" enum="Joint">
Right middle finger phalanx distal joint.
</constant>
<constant name="JOINT_RIGHT_MIDDLE_FINGER_TIP" value="65" enum="Joint">
Right middle finger tip joint.
</constant>
<constant name="JOINT_RIGHT_RING_FINGER_METACARPAL" value="66" enum="Joint">
Right ring finger metacarpal joint.
</constant>
<constant name="JOINT_RIGHT_RING_FINGER_PHALANX_PROXIMAL" value="67" enum="Joint">
Right ring finger phalanx proximal joint.
</constant>
<constant name="JOINT_RIGHT_RING_FINGER_PHALANX_INTERMEDIATE" value="68" enum="Joint">
Right ring finger phalanx intermediate joint.
</constant>
<constant name="JOINT_RIGHT_RING_FINGER_PHALANX_DISTAL" value="69" enum="Joint">
Right ring finger phalanx distal joint.
</constant>
<constant name="JOINT_RIGHT_RING_FINGER_TIP" value="70" enum="Joint">
Right ring finger tip joint.
</constant>
<constant name="JOINT_RIGHT_PINKY_FINGER_METACARPAL" value="71" enum="Joint">
Right pinky finger metacarpal joint.
</constant>
<constant name="JOINT_RIGHT_PINKY_FINGER_PHALANX_PROXIMAL" value="72" enum="Joint">
Right pinky finger phalanx proximal joint.
</constant>
<constant name="JOINT_RIGHT_PINKY_FINGER_PHALANX_INTERMEDIATE" value="73" enum="Joint">
Right pinky finger phalanx intermediate joint.
</constant>
<constant name="JOINT_RIGHT_PINKY_FINGER_PHALANX_DISTAL" value="74" enum="Joint">
Right pinky finger phalanx distal joint.
</constant>
<constant name="JOINT_RIGHT_PINKY_FINGER_TIP" value="75" enum="Joint">
Right pinky finger tip joint.
</constant>
<constant name="JOINT_MAX" value="76" enum="Joint">
Represents the size of the [enum Joint] enum.
</constant>
<constant name="JOINT_FLAG_ORIENTATION_VALID" value="1" enum="JointFlags" is_bitfield="true">
The joint's orientation data is valid.
</constant>
<constant name="JOINT_FLAG_ORIENTATION_TRACKED" value="2" enum="JointFlags" is_bitfield="true">
The joint's orientation is actively tracked. May not be set if tracking has been temporarily lost.
</constant>
<constant name="JOINT_FLAG_POSITION_VALID" value="4" enum="JointFlags" is_bitfield="true">
The joint's position data is valid.
</constant>
<constant name="JOINT_FLAG_POSITION_TRACKED" value="8" enum="JointFlags" is_bitfield="true">
The joint's position is actively tracked. May not be set if tracking has been temporarily lost.
</constant>
</constants>
</class>

48
doc/classes/XRServer.xml
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@ -10,6 +10,14 @@
<link title="XR documentation index">$DOCS_URL/tutorials/xr/index.html</link>
</tutorials>
<methods>
<method name="add_body_tracker">
<return type="void" />
<param index="0" name="tracker_name" type="StringName" />
<param index="1" name="body_tracker" type="XRBodyTracker" />
<description>
Registers a new [XRBodyTracker] that tracks the joints of a body.
</description>
</method>
<method name="add_face_tracker">
<return type="void" />
<param index="0" name="tracker_name" type="StringName" />
@ -66,6 +74,19 @@
Finds an interface by its [param name]. For example, if your project uses capabilities of an AR/VR platform, you can find the interface for that platform by name and initialize it.
</description>
</method>
<method name="get_body_tracker" qualifiers="const">
<return type="XRBodyTracker" />
<param index="0" name="tracker_name" type="StringName" />
<description>
Returns the [XRBodyTracker] with the given tracker name.
</description>
</method>
<method name="get_body_trackers" qualifiers="const">
<return type="Dictionary" />
<description>
Returns a dictionary of the registered body trackers. Each element of the dictionary is a tracker name mapping to the [XRBodyTracker] instance.
</description>
</method>
<method name="get_face_tracker" qualifiers="const">
<return type="XRFaceTracker" />
<param index="0" name="tracker_name" type="StringName" />
@ -137,6 +158,13 @@
Returns a dictionary of trackers for [param tracker_types].
</description>
</method>
<method name="remove_body_tracker">
<return type="void" />
<param index="0" name="tracker_name" type="StringName" />
<description>
Removes a registered [XRBodyTracker].
</description>
</method>
<method name="remove_face_tracker">
<return type="void" />
<param index="0" name="tracker_name" type="StringName" />
@ -179,6 +207,26 @@
</member>
</members>
<signals>
<signal name="body_tracker_added">
<param index="0" name="tracker_name" type="StringName" />
<param index="1" name="body_tracker" type="XRBodyTracker" />
<description>
Emitted when a new body tracker is added.
</description>
</signal>
<signal name="body_tracker_removed">
<param index="0" name="tracker_name" type="StringName" />
<description>
Emitted when a body tracker is removed.
</description>
</signal>
<signal name="body_tracker_updated">
<param index="0" name="tracker_name" type="StringName" />
<param index="1" name="body_tracker" type="XRBodyTracker" />
<description>
Emitted when an existing body tracker is updated.
</description>
</signal>
<signal name="face_tracker_added">
<param index="0" name="tracker_name" type="StringName" />
<param index="1" name="face_tracker" type="XRFaceTracker" />

415
scene/3d/xr_body_modifier_3d.cpp Normal file
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@ -0,0 +1,415 @@
/**************************************************************************/
/* xr_body_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_body_modifier_3d.h"
#include "scene/3d/skeleton_3d.h"
#include "servers/xr/xr_pose.h"
#include "servers/xr_server.h"
void XRBodyModifier3D::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_body_tracker", "tracker_name"), &XRBodyModifier3D::set_body_tracker);
ClassDB::bind_method(D_METHOD("get_body_tracker"), &XRBodyModifier3D::get_body_tracker);
ClassDB::bind_method(D_METHOD("set_target", "target"), &XRBodyModifier3D::set_target);
ClassDB::bind_method(D_METHOD("get_target"), &XRBodyModifier3D::get_target);
ClassDB::bind_method(D_METHOD("set_body_update", "body_update"), &XRBodyModifier3D::set_body_update);
ClassDB::bind_method(D_METHOD("get_body_update"), &XRBodyModifier3D::get_body_update);
ClassDB::bind_method(D_METHOD("set_bone_update", "bone_update"), &XRBodyModifier3D::set_bone_update);
ClassDB::bind_method(D_METHOD("get_bone_update"), &XRBodyModifier3D::get_bone_update);
ClassDB::bind_method(D_METHOD("set_show_when_tracked", "show"), &XRBodyModifier3D::set_show_when_tracked);
ClassDB::bind_method(D_METHOD("get_show_when_tracked"), &XRBodyModifier3D::get_show_when_tracked);
ADD_PROPERTY(PropertyInfo(Variant::STRING, "body_tracker", PROPERTY_HINT_ENUM_SUGGESTION, "/user/body"), "set_body_tracker", "get_body_tracker");
ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "target", PROPERTY_HINT_NODE_PATH_VALID_TYPES, "Skeleton3D"), "set_target", "get_target");
ADD_PROPERTY(PropertyInfo(Variant::INT, "body_update", PROPERTY_HINT_FLAGS, "Upper Body,Lower Body,Hands"), "set_body_update", "get_body_update");
ADD_PROPERTY(PropertyInfo(Variant::INT, "bone_update", PROPERTY_HINT_ENUM, "Full,Rotation Only"), "set_bone_update", "get_bone_update");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "show_when_tracked"), "set_show_when_tracked", "get_show_when_tracked");
BIND_BITFIELD_FLAG(BODY_UPDATE_UPPER_BODY);
BIND_BITFIELD_FLAG(BODY_UPDATE_LOWER_BODY);
BIND_BITFIELD_FLAG(BODY_UPDATE_HANDS);
BIND_ENUM_CONSTANT(BONE_UPDATE_FULL);
BIND_ENUM_CONSTANT(BONE_UPDATE_ROTATION_ONLY);
BIND_ENUM_CONSTANT(BONE_UPDATE_MAX);
}
void XRBodyModifier3D::set_body_tracker(const StringName &p_tracker_name) {
tracker_name = p_tracker_name;
}
StringName XRBodyModifier3D::get_body_tracker() const {
return tracker_name;
}
void XRBodyModifier3D::set_target(const NodePath &p_target) {
target = p_target;
if (is_inside_tree()) {
_get_joint_data();
}
}
NodePath XRBodyModifier3D::get_target() const {
return target;
}
void XRBodyModifier3D::set_body_update(BitField<BodyUpdate> p_body_update) {
body_update = p_body_update;
}
BitField<XRBodyModifier3D::BodyUpdate> XRBodyModifier3D::get_body_update() const {
return body_update;
}
void XRBodyModifier3D::set_bone_update(BoneUpdate p_bone_update) {
ERR_FAIL_INDEX(p_bone_update, BONE_UPDATE_MAX);
bone_update = p_bone_update;
}
XRBodyModifier3D::BoneUpdate XRBodyModifier3D::get_bone_update() const {
return bone_update;
}
void XRBodyModifier3D::set_show_when_tracked(bool p_show_when_tracked) {
show_when_tracked = p_show_when_tracked;
}
bool XRBodyModifier3D::get_show_when_tracked() const {
return show_when_tracked;
}
Skeleton3D *XRBodyModifier3D::get_skeleton() {
if (!has_node(target)) {
return nullptr;
}
Node *node = get_node(target);
if (!node) {
return nullptr;
}
Skeleton3D *skeleton = Object::cast_to<Skeleton3D>(node);
return skeleton;
}
void XRBodyModifier3D::_get_joint_data() {
// Table of Godot Humanoid bone names.
static const String bone_names[XRBodyTracker::JOINT_MAX] = {
"Root", // XRBodyTracker::JOINT_ROOT
// Upper Body Joints.
"Hips", // XRBodyTracker::JOINT_HIPS
"Spine", // XRBodyTracker::JOINT_SPINE
"Chest", // XRBodyTracker::JOINT_CHEST
"UpperChest", // XRBodyTracker::JOINT_UPPER_CHEST
"Neck", // XRBodyTracker::JOINT_NECK"
"Head", // XRBodyTracker::JOINT_HEAD"
"HeadTip", // XRBodyTracker::JOINT_HEAD_TIP"
"LeftShoulder", // XRBodyTracker::JOINT_LEFT_SHOULDER"
"LeftUpperArm", // XRBodyTracker::JOINT_LEFT_UPPER_ARM"
"LeftLowerArm", // XRBodyTracker::JOINT_LEFT_LOWER_ARM"
"RightShoulder", // XRBodyTracker::JOINT_RIGHT_SHOULDER"
"RightUpperArm", // XRBodyTracker::JOINT_RIGHT_UPPER_ARM"
"RightLowerArm", // XRBodyTracker::JOINT_RIGHT_LOWER_ARM"
// Lower Body Joints.
"LeftUpperLeg", // XRBodyTracker::JOINT_LEFT_UPPER_LEG
"LeftLowerLeg", // XRBodyTracker::JOINT_LEFT_LOWER_LEG
"LeftFoot", // XRBodyTracker::JOINT_LEFT_FOOT
"LeftToes", // XRBodyTracker::JOINT_LEFT_TOES
"RightUpperLeg", // XRBodyTracker::JOINT_RIGHT_UPPER_LEG
"RightLowerLeg", // XRBodyTracker::JOINT_RIGHT_LOWER_LEG
"RightFoot", // XRBodyTracker::JOINT_RIGHT_FOOT
"RightToes", // XRBodyTracker::JOINT_RIGHT_TOES
// Left Hand Joints.
"LeftHand", // XRBodyTracker::JOINT_LEFT_HAND
"LeftPalm", // XRBodyTracker::JOINT_LEFT_PALM
"LeftWrist", // XRBodyTracker::JOINT_LEFT_WRIST
"LeftThumbMetacarpal", // XRBodyTracker::JOINT_LEFT_THUMB_METACARPAL
"LeftThumbProximal", // XRBodyTracker::JOINT_LEFT_THUMB_PHALANX_PROXIMAL
"LeftThumbDistal", // XRBodyTracker::JOINT_LEFT_THUMB_PHALANX_DISTAL
"LeftThumbTip", // XRBodyTracker::JOINT_LEFT_THUMB_TIP
"LeftIndexMetacarpal", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_METACARPAL
"LeftIndexProximal", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_PHALANX_PROXIMAL
"LeftIndexIntermediate", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_PHALANX_INTERMEDIATE
"LeftIndexDistal", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_PHALANX_DISTAL
"LeftIndexTip", // XRBodyTracker::JOINT_LEFT_INDEX_FINGER_TIP
"LeftMiddleMetacarpal", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_METACARPAL
"LeftMiddleProximal", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_PHALANX_PROXIMAL
"LeftMiddleIntermediate", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_PHALANX_INTERMEDIATE
"LeftMiddleDistal", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_PHALANX_DISTAL
"LeftMiddleTip", // XRBodyTracker::JOINT_LEFT_MIDDLE_FINGER_TIP
"LeftRingMetacarpal", // XRBodyTracker::JOINT_LEFT_RING_FINGER_METACARPAL
"LeftRingProximal", // XRBodyTracker::JOINT_LEFT_RING_FINGER_PHALANX_PROXIMAL
"LeftRingIntermediate", // XRBodyTracker::JOINT_LEFT_RING_FINGER_PHALANX_INTERMEDIATE
"LeftRingDistal", // XRBodyTracker::JOINT_LEFT_RING_FINGER_PHALANX_DISTAL
"LeftRingTip", // XRBodyTracker::JOINT_LEFT_RING_FINGER_TIP
"LeftLittleMetacarpal", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_METACARPAL
"LeftLittleProximal", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_PHALANX_PROXIMAL
"LeftLittleIntermediate", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_PHALANX_INTERMEDIATE
"LeftLittleDistal", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_PHALANX_DISTAL
"LeftLittleTip", // XRBodyTracker::JOINT_LEFT_PINKY_FINGER_TIP
// Right Hand Joints.
"RightHand", // XRBodyTracker::JOINT_RIGHT_HAND
"RightPalm", // XRBodyTracker::JOINT_RIGHT_PALM
"RightWrist", // XRBodyTracker::JOINT_RIGHT_WRIST
"RightThumbMetacarpal", // XRBodyTracker::JOINT_RIGHT_THUMB_METACARPAL
"RightThumbProximal", // XRBodyTracker::JOINT_RIGHT_THUMB_PHALANX_PROXIMAL
"RightThumbDistal", // XRBodyTracker::JOINT_RIGHT_THUMB_PHALANX_DISTAL
"RightThumbTip", // XRBodyTracker::JOINT_RIGHT_THUMB_TIP
"RightIndexMetacarpal", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_METACARPAL
"RightIndexProximal", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_PHALANX_PROXIMAL
"RightIndexIntermediate", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_PHALANX_INTERMEDIATE
"RightIndexDistal", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_PHALANX_DISTAL
"RightIndexTip", // XRBodyTracker::JOINT_RIGHT_INDEX_FINGER_TIP
"RightMiddleMetacarpal", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_METACARPAL
"RightMiddleProximal", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_PHALANX_PROXIMAL
"RightMiddleIntermediate", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_PHALANX_INTERMEDIATE
"RightMiddleDistal", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_PHALANX_DISTAL
"RightMiddleTip", // XRBodyTracker::JOINT_RIGHT_MIDDLE_FINGER_TIP
"RightRingMetacarpal", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_METACARPAL
"RightRingProximal", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_PHALANX_PROXIMAL
"RightRingIntermediate", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_PHALANX_INTERMEDIATE
"RightRingDistal", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_PHALANX_DISTAL
"RightRingTip", // XRBodyTracker::JOINT_RIGHT_RING_FINGER_TIP
"RightLittleMetacarpal", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_METACARPAL
"RightLittleProximal", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_PHALANX_PROXIMAL
"RightLittleIntermediate", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_PHALANX_INTERMEDIATE
"RightLittleDistal", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_PHALANX_DISTAL
"RightLittleTip", // XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_TIP
};
// reset JIC.
for (int i = 0; i < XRBodyTracker::JOINT_MAX; i++) {
joints[i].bone = -1;
joints[i].parent_joint = -1;
}
Skeleton3D *skeleton = get_skeleton();
if (!skeleton) {
return;
}
// Find the skeleton-bones associated with each joint.
int bones[XRBodyTracker::JOINT_MAX];
for (int i = 0; i < XRBodyTracker::JOINT_MAX; i++) {
// Skip upper body joints if not enabled.
if (!body_update.has_flag(BODY_UPDATE_UPPER_BODY) && i >= XRBodyTracker::JOINT_HIPS && i <= XRBodyTracker::JOINT_RIGHT_LOWER_ARM) {
bones[i] = -1;
continue;
}
// Skip lower body joints if not enabled.
if (!body_update.has_flag(BODY_UPDATE_LOWER_BODY) && i >= XRBodyTracker::JOINT_LEFT_UPPER_LEG && i <= XRBodyTracker::JOINT_RIGHT_TOES) {
bones[i] = -1;
continue;
}
// Skip hand joints if not enabled.
if (!body_update.has_flag(BODY_UPDATE_HANDS) && i >= XRBodyTracker::JOINT_LEFT_HAND && i <= XRBodyTracker::JOINT_RIGHT_PINKY_FINGER_TIP) {
bones[i] = -1;
continue;
}
// Find the skeleton bone.
bones[i] = skeleton->find_bone(bone_names[i]);
if (bones[i] == -1) {
WARN_PRINT(vformat("Couldn't obtain bone for %s", bone_names[i]));
}
}
// If the root bone is not found then use the skeleton root bone.
if (bones[XRBodyTracker::JOINT_ROOT] == -1) {
bones[XRBodyTracker::JOINT_ROOT] = 0;
}
// Assemble the joint relationship to the available skeleton bones.
for (int i = 0; i < XRBodyTracker::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 the root joint.
joints[i].bone = bone;
joints[i].parent_joint = XRBodyTracker::JOINT_ROOT;
continue;
}
// Find the joint associated with the parent skeleton-bone.
for (int j = 0; j < XRBodyTracker::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 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;
}
}

102
scene/3d/xr_body_modifier_3d.h Normal file
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@ -0,0 +1,102 @@
/**************************************************************************/
/* xr_body_modifier_3d.h */
/**************************************************************************/
/* 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. */
/**************************************************************************/
#ifndef XR_BODY_MODIFIER_3D_H
#define XR_BODY_MODIFIER_3D_H
#include "scene/3d/node_3d.h"
#include "servers/xr/xr_body_tracker.h"
class Skeleton3D;
/**
The XRBodyModifier3D node drives a body skeleton using body tracking
data from an XRBodyTracker instance.
*/
class XRBodyModifier3D : public Node3D {
GDCLASS(XRBodyModifier3D, Node3D);
public:
enum BodyUpdate {
BODY_UPDATE_UPPER_BODY = 1,
BODY_UPDATE_LOWER_BODY = 2,
BODY_UPDATE_HANDS = 4,
};
enum BoneUpdate {
BONE_UPDATE_FULL,
BONE_UPDATE_ROTATION_ONLY,
BONE_UPDATE_MAX
};
void set_body_tracker(const StringName &p_tracker_name);
StringName get_body_tracker() const;
void set_target(const NodePath &p_target);
NodePath get_target() const;
void set_body_update(BitField<BodyUpdate> p_body_update);
BitField<BodyUpdate> get_body_update() const;
void set_bone_update(BoneUpdate p_bone_update);
BoneUpdate get_bone_update() const;
void set_show_when_tracked(bool p_show_when_tracked);
bool get_show_when_tracked() const;
void _notification(int p_what);
protected:
static void _bind_methods();
private:
struct JointData {
int bone = -1;
int parent_joint = -1;
};
StringName tracker_name = "/user/body";
NodePath target;
BitField<BodyUpdate> body_update = BODY_UPDATE_UPPER_BODY | BODY_UPDATE_LOWER_BODY | BODY_UPDATE_HANDS;
BoneUpdate bone_update = BONE_UPDATE_FULL;
bool show_when_tracked = true;
JointData joints[XRBodyTracker::JOINT_MAX];
Skeleton3D *get_skeleton();
void _get_joint_data();
void _update_skeleton();
void _tracker_changed(const StringName &p_tracker_name, const Ref<XRBodyTracker> &p_tracker);
};
VARIANT_BITFIELD_CAST(XRBodyModifier3D::BodyUpdate)
VARIANT_ENUM_CAST(XRBodyModifier3D::BoneUpdate)
#endif // XR_BODY_MODIFIER_3D_H

2
scene/register_scene_types.cpp
View file

@ -260,6 +260,7 @@
#include "scene/3d/visible_on_screen_notifier_3d.h"
#include "scene/3d/voxel_gi.h"
#include "scene/3d/world_environment.h"
#include "scene/3d/xr_body_modifier_3d.h"
#include "scene/3d/xr_face_modifier_3d.h"
#include "scene/3d/xr_hand_modifier_3d.h"
#include "scene/3d/xr_nodes.h"
@ -522,6 +523,7 @@ void register_scene_types() {
GDREGISTER_CLASS(XRController3D);
GDREGISTER_CLASS(XRAnchor3D);
GDREGISTER_CLASS(XROrigin3D);
GDREGISTER_CLASS(XRBodyModifier3D);
GDREGISTER_CLASS(XRHandModifier3D);
GDREGISTER_CLASS(XRFaceModifier3D);
GDREGISTER_CLASS(MeshInstance3D);

2
servers/register_server_types.cpp
View file

@ -76,6 +76,7 @@
#include "text/text_server_dummy.h"
#include "text/text_server_extension.h"
#include "text_server.h"
#include "xr/xr_body_tracker.h"
#include "xr/xr_face_tracker.h"
#include "xr/xr_hand_tracker.h"
#include "xr/xr_interface.h"
@ -173,6 +174,7 @@ void register_server_types() {
GDREGISTER_ABSTRACT_CLASS(RenderingDevice);
GDREGISTER_CLASS(XRBodyTracker);
GDREGISTER_ABSTRACT_CLASS(XRInterface);
GDREGISTER_CLASS(XRHandTracker);
GDREGISTER_CLASS(XRInterfaceExtension); // can't register this as virtual because we need a creation function for our extensions.

171
servers/xr/xr_body_tracker.cpp Normal file
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@ -0,0 +1,171 @@
/**************************************************************************/
/* xr_body_tracker.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_body_tracker.h"
void XRBodyTracker::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_has_tracking_data", "has_data"), &XRBodyTracker::set_has_tracking_data);
ClassDB::bind_method(D_METHOD("get_has_tracking_data"), &XRBodyTracker::get_has_tracking_data);
ClassDB::bind_method(D_METHOD("set_body_flags", "flags"), &XRBodyTracker::set_body_flags);
ClassDB::bind_method(D_METHOD("get_body_flags"), &XRBodyTracker::get_body_flags);
ClassDB::bind_method(D_METHOD("set_joint_flags", "joint", "flags"), &XRBodyTracker::set_joint_flags);
ClassDB::bind_method(D_METHOD("get_joint_flags", "joint"), &XRBodyTracker::get_joint_flags);
ClassDB::bind_method(D_METHOD("set_joint_transform", "joint", "transform"), &XRBodyTracker::set_joint_transform);
ClassDB::bind_method(D_METHOD("get_joint_transform", "joint"), &XRBodyTracker::get_joint_transform);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "has_tracking_data", PROPERTY_HINT_NONE), "set_has_tracking_data", "get_has_tracking_data");
ADD_PROPERTY(PropertyInfo(Variant::INT, "body_flags", PROPERTY_HINT_FLAGS, "Upper Body,Lower Body,Hands"), "set_body_flags", "get_body_flags");
BIND_BITFIELD_FLAG(BODY_FLAG_UPPER_BODY_SUPPORTED);
BIND_BITFIELD_FLAG(BODY_FLAG_LOWER_BODY_SUPPORTED);
BIND_BITFIELD_FLAG(BODY_FLAG_HANDS_SUPPORTED);
BIND_ENUM_CONSTANT(JOINT_ROOT);
BIND_ENUM_CONSTANT(JOINT_HIPS);
BIND_ENUM_CONSTANT(JOINT_SPINE);
BIND_ENUM_CONSTANT(JOINT_CHEST);
BIND_ENUM_CONSTANT(JOINT_UPPER_CHEST);
BIND_ENUM_CONSTANT(JOINT_NECK);
BIND_ENUM_CONSTANT(JOINT_HEAD);
BIND_ENUM_CONSTANT(JOINT_HEAD_TIP);
BIND_ENUM_CONSTANT(JOINT_LEFT_SHOULDER);
BIND_ENUM_CONSTANT(JOINT_LEFT_UPPER_ARM);
BIND_ENUM_CONSTANT(JOINT_LEFT_LOWER_ARM);
BIND_ENUM_CONSTANT(JOINT_RIGHT_SHOULDER);
BIND_ENUM_CONSTANT(JOINT_RIGHT_UPPER_ARM);
BIND_ENUM_CONSTANT(JOINT_RIGHT_LOWER_ARM);
BIND_ENUM_CONSTANT(JOINT_LEFT_UPPER_LEG);
BIND_ENUM_CONSTANT(JOINT_LEFT_LOWER_LEG);
BIND_ENUM_CONSTANT(JOINT_LEFT_FOOT);
BIND_ENUM_CONSTANT(JOINT_LEFT_TOES);
BIND_ENUM_CONSTANT(JOINT_RIGHT_UPPER_LEG);
BIND_ENUM_CONSTANT(JOINT_RIGHT_LOWER_LEG);
BIND_ENUM_CONSTANT(JOINT_RIGHT_FOOT);
BIND_ENUM_CONSTANT(JOINT_RIGHT_TOES);
BIND_ENUM_CONSTANT(JOINT_LEFT_HAND);
BIND_ENUM_CONSTANT(JOINT_LEFT_PALM);
BIND_ENUM_CONSTANT(JOINT_LEFT_WRIST);
BIND_ENUM_CONSTANT(JOINT_LEFT_THUMB_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_THUMB_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_THUMB_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_THUMB_TIP);
BIND_ENUM_CONSTANT(JOINT_LEFT_INDEX_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_INDEX_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_INDEX_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(JOINT_LEFT_INDEX_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_INDEX_FINGER_TIP);
BIND_ENUM_CONSTANT(JOINT_LEFT_MIDDLE_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_MIDDLE_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_MIDDLE_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(JOINT_LEFT_MIDDLE_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_MIDDLE_FINGER_TIP);
BIND_ENUM_CONSTANT(JOINT_LEFT_RING_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_RING_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_RING_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(JOINT_LEFT_RING_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_RING_FINGER_TIP);
BIND_ENUM_CONSTANT(JOINT_LEFT_PINKY_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_PINKY_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_PINKY_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(JOINT_LEFT_PINKY_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_LEFT_PINKY_FINGER_TIP);
BIND_ENUM_CONSTANT(JOINT_RIGHT_HAND);
BIND_ENUM_CONSTANT(JOINT_RIGHT_PALM);
BIND_ENUM_CONSTANT(JOINT_RIGHT_WRIST);
BIND_ENUM_CONSTANT(JOINT_RIGHT_THUMB_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_THUMB_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_THUMB_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_THUMB_TIP);
BIND_ENUM_CONSTANT(JOINT_RIGHT_INDEX_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_INDEX_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_INDEX_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(JOINT_RIGHT_INDEX_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_INDEX_FINGER_TIP);
BIND_ENUM_CONSTANT(JOINT_RIGHT_MIDDLE_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_MIDDLE_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_MIDDLE_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(JOINT_RIGHT_MIDDLE_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_MIDDLE_FINGER_TIP);
BIND_ENUM_CONSTANT(JOINT_RIGHT_RING_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_RING_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_RING_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(JOINT_RIGHT_RING_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_RING_FINGER_TIP);
BIND_ENUM_CONSTANT(JOINT_RIGHT_PINKY_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_PINKY_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_PINKY_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(JOINT_RIGHT_PINKY_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(JOINT_RIGHT_PINKY_FINGER_TIP);
BIND_ENUM_CONSTANT(JOINT_MAX);
BIND_BITFIELD_FLAG(JOINT_FLAG_ORIENTATION_VALID);
BIND_BITFIELD_FLAG(JOINT_FLAG_ORIENTATION_TRACKED);
BIND_BITFIELD_FLAG(JOINT_FLAG_POSITION_VALID);
BIND_BITFIELD_FLAG(JOINT_FLAG_POSITION_TRACKED);
}
void XRBodyTracker::set_has_tracking_data(bool p_has_tracking_data) {
has_tracking_data = p_has_tracking_data;
}
bool XRBodyTracker::get_has_tracking_data() const {
return has_tracking_data;
}
void XRBodyTracker::set_body_flags(BitField<BodyFlags> p_body_flags) {
body_flags = p_body_flags;
}
BitField<XRBodyTracker::BodyFlags> XRBodyTracker::get_body_flags() const {
return body_flags;
}
void XRBodyTracker::set_joint_flags(Joint p_joint, BitField<JointFlags> p_flags) {
ERR_FAIL_INDEX(p_joint, JOINT_MAX);
joint_flags[p_joint] = p_flags;
}
BitField<XRBodyTracker::JointFlags> XRBodyTracker::get_joint_flags(Joint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, JOINT_MAX, BitField<JointFlags>());
return joint_flags[p_joint];
}
void XRBodyTracker::set_joint_transform(Joint p_joint, const Transform3D &p_transform) {
ERR_FAIL_INDEX(p_joint, JOINT_MAX);
joint_transforms[p_joint] = p_transform;
}
Transform3D XRBodyTracker::get_joint_transform(Joint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, JOINT_MAX, Transform3D());
return joint_transforms[p_joint];
}

170
servers/xr/xr_body_tracker.h Normal file
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@ -0,0 +1,170 @@
/**************************************************************************/
/* xr_body_tracker.h */
/**************************************************************************/
/* 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. */
/**************************************************************************/
#ifndef XR_BODY_TRACKER_H
#define XR_BODY_TRACKER_H
#include "core/object/ref_counted.h"
class XRBodyTracker : public RefCounted {
GDCLASS(XRBodyTracker, RefCounted);
_THREAD_SAFE_CLASS_
public:
enum BodyFlags {
BODY_FLAG_UPPER_BODY_SUPPORTED = 1,
BODY_FLAG_LOWER_BODY_SUPPORTED = 2,
BODY_FLAG_HANDS_SUPPORTED = 4,
};
enum Joint {
JOINT_ROOT,
// Upper Body Joints
JOINT_HIPS,
JOINT_SPINE,
JOINT_CHEST,
JOINT_UPPER_CHEST,
JOINT_NECK,
JOINT_HEAD,
JOINT_HEAD_TIP,
JOINT_LEFT_SHOULDER,
JOINT_LEFT_UPPER_ARM,
JOINT_LEFT_LOWER_ARM,
JOINT_RIGHT_SHOULDER,
JOINT_RIGHT_UPPER_ARM,
JOINT_RIGHT_LOWER_ARM,
// Lower Body Joints
JOINT_LEFT_UPPER_LEG,
JOINT_LEFT_LOWER_LEG,
JOINT_LEFT_FOOT,
JOINT_LEFT_TOES,
JOINT_RIGHT_UPPER_LEG,
JOINT_RIGHT_LOWER_LEG,
JOINT_RIGHT_FOOT,
JOINT_RIGHT_TOES,
// Left Hand Joints
JOINT_LEFT_HAND,
JOINT_LEFT_PALM,
JOINT_LEFT_WRIST,
JOINT_LEFT_THUMB_METACARPAL,
JOINT_LEFT_THUMB_PHALANX_PROXIMAL,
JOINT_LEFT_THUMB_PHALANX_DISTAL,
JOINT_LEFT_THUMB_TIP,
JOINT_LEFT_INDEX_FINGER_METACARPAL,
JOINT_LEFT_INDEX_FINGER_PHALANX_PROXIMAL,
JOINT_LEFT_INDEX_FINGER_PHALANX_INTERMEDIATE,
JOINT_LEFT_INDEX_FINGER_PHALANX_DISTAL,
JOINT_LEFT_INDEX_FINGER_TIP,
JOINT_LEFT_MIDDLE_FINGER_METACARPAL,
JOINT_LEFT_MIDDLE_FINGER_PHALANX_PROXIMAL,
JOINT_LEFT_MIDDLE_FINGER_PHALANX_INTERMEDIATE,
JOINT_LEFT_MIDDLE_FINGER_PHALANX_DISTAL,
JOINT_LEFT_MIDDLE_FINGER_TIP,
JOINT_LEFT_RING_FINGER_METACARPAL,
JOINT_LEFT_RING_FINGER_PHALANX_PROXIMAL,
JOINT_LEFT_RING_FINGER_PHALANX_INTERMEDIATE,
JOINT_LEFT_RING_FINGER_PHALANX_DISTAL,
JOINT_LEFT_RING_FINGER_TIP,
JOINT_LEFT_PINKY_FINGER_METACARPAL,
JOINT_LEFT_PINKY_FINGER_PHALANX_PROXIMAL,
JOINT_LEFT_PINKY_FINGER_PHALANX_INTERMEDIATE,
JOINT_LEFT_PINKY_FINGER_PHALANX_DISTAL,
JOINT_LEFT_PINKY_FINGER_TIP,
// Right Hand Joints
JOINT_RIGHT_HAND,
JOINT_RIGHT_PALM,
JOINT_RIGHT_WRIST,
JOINT_RIGHT_THUMB_METACARPAL,
JOINT_RIGHT_THUMB_PHALANX_PROXIMAL,
JOINT_RIGHT_THUMB_PHALANX_DISTAL,
JOINT_RIGHT_THUMB_TIP,
JOINT_RIGHT_INDEX_FINGER_METACARPAL,
JOINT_RIGHT_INDEX_FINGER_PHALANX_PROXIMAL,
JOINT_RIGHT_INDEX_FINGER_PHALANX_INTERMEDIATE,
JOINT_RIGHT_INDEX_FINGER_PHALANX_DISTAL,
JOINT_RIGHT_INDEX_FINGER_TIP,
JOINT_RIGHT_MIDDLE_FINGER_METACARPAL,
JOINT_RIGHT_MIDDLE_FINGER_PHALANX_PROXIMAL,
JOINT_RIGHT_MIDDLE_FINGER_PHALANX_INTERMEDIATE,
JOINT_RIGHT_MIDDLE_FINGER_PHALANX_DISTAL,
JOINT_RIGHT_MIDDLE_FINGER_TIP,
JOINT_RIGHT_RING_FINGER_METACARPAL,
JOINT_RIGHT_RING_FINGER_PHALANX_PROXIMAL,
JOINT_RIGHT_RING_FINGER_PHALANX_INTERMEDIATE,
JOINT_RIGHT_RING_FINGER_PHALANX_DISTAL,
JOINT_RIGHT_RING_FINGER_TIP,
JOINT_RIGHT_PINKY_FINGER_METACARPAL,
JOINT_RIGHT_PINKY_FINGER_PHALANX_PROXIMAL,
JOINT_RIGHT_PINKY_FINGER_PHALANX_INTERMEDIATE,
JOINT_RIGHT_PINKY_FINGER_PHALANX_DISTAL,
JOINT_RIGHT_PINKY_FINGER_TIP,
JOINT_MAX,
};
enum JointFlags {
JOINT_FLAG_ORIENTATION_VALID = 1,
JOINT_FLAG_ORIENTATION_TRACKED = 2,
JOINT_FLAG_POSITION_VALID = 4,
JOINT_FLAG_POSITION_TRACKED = 8,
};
void set_has_tracking_data(bool p_has_tracking_data);
bool get_has_tracking_data() const;
void set_body_flags(BitField<BodyFlags> p_body_flags);
BitField<BodyFlags> get_body_flags() const;
void set_joint_flags(Joint p_joint, BitField<JointFlags> p_flags);
BitField<JointFlags> get_joint_flags(Joint p_joint) const;
void set_joint_transform(Joint p_joint, const Transform3D &p_transform);
Transform3D get_joint_transform(Joint p_joint) const;
protected:
static void _bind_methods();
private:
bool has_tracking_data = false;
BitField<BodyFlags> body_flags;
BitField<JointFlags> joint_flags[JOINT_MAX];
Transform3D joint_transforms[JOINT_MAX];
};
VARIANT_BITFIELD_CAST(XRBodyTracker::BodyFlags)
VARIANT_ENUM_CAST(XRBodyTracker::Joint)
VARIANT_BITFIELD_CAST(XRBodyTracker::JointFlags)
#endif // XR_BODY_TRACKER_H

48
servers/xr_server.cpp
View file

@ -30,6 +30,7 @@
#include "xr_server.h"
#include "core/config/project_settings.h"
#include "xr/xr_body_tracker.h"
#include "xr/xr_face_tracker.h"
#include "xr/xr_hand_tracker.h"
#include "xr/xr_interface.h"
@ -86,6 +87,11 @@ void XRServer::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_face_trackers"), &XRServer::get_face_trackers);
ClassDB::bind_method(D_METHOD("get_face_tracker", "tracker_name"), &XRServer::get_face_tracker);
ClassDB::bind_method(D_METHOD("add_body_tracker", "tracker_name", "body_tracker"), &XRServer::add_body_tracker);
ClassDB::bind_method(D_METHOD("remove_body_tracker", "tracker_name"), &XRServer::remove_body_tracker);
ClassDB::bind_method(D_METHOD("get_body_trackers"), &XRServer::get_body_trackers);
ClassDB::bind_method(D_METHOD("get_body_tracker", "tracker_name"), &XRServer::get_body_tracker);
ClassDB::bind_method(D_METHOD("get_primary_interface"), &XRServer::get_primary_interface);
ClassDB::bind_method(D_METHOD("set_primary_interface", "interface"), &XRServer::set_primary_interface);
@ -117,6 +123,10 @@ void XRServer::_bind_methods() {
ADD_SIGNAL(MethodInfo("face_tracker_added", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::OBJECT, "face_tracker", PROPERTY_HINT_RESOURCE_TYPE, "XRFaceTracker")));
ADD_SIGNAL(MethodInfo("face_tracker_updated", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::OBJECT, "face_tracker", PROPERTY_HINT_RESOURCE_TYPE, "XRFaceTracker")));
ADD_SIGNAL(MethodInfo("face_tracker_removed", PropertyInfo(Variant::STRING_NAME, "tracker_name")));
ADD_SIGNAL(MethodInfo("body_tracker_added", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::OBJECT, "body_tracker", PROPERTY_HINT_RESOURCE_TYPE, "XRBodyTracker")));
ADD_SIGNAL(MethodInfo("body_tracker_updated", PropertyInfo(Variant::STRING_NAME, "tracker_name"), PropertyInfo(Variant::OBJECT, "body_tracker", PROPERTY_HINT_RESOURCE_TYPE, "XRBodyTracker")));
ADD_SIGNAL(MethodInfo("body_tracker_removed", PropertyInfo(Variant::STRING_NAME, "tracker_name")));
};
double XRServer::get_world_scale() const {
@ -448,6 +458,44 @@ Ref<XRFaceTracker> XRServer::get_face_tracker(const StringName &p_tracker_name)
return face_trackers[p_tracker_name];
}
void XRServer::add_body_tracker(const StringName &p_tracker_name, Ref<XRBodyTracker> p_body_tracker) {
ERR_FAIL_COND(p_body_tracker.is_null());
if (!body_trackers.has(p_tracker_name)) {
// We don't have a tracker with this name, we're going to add it.
body_trackers[p_tracker_name] = p_body_tracker;
emit_signal(SNAME("body_tracker_added"), p_tracker_name, p_body_tracker);
} else if (body_trackers[p_tracker_name] != p_body_tracker) {
// We already have a tracker with this name, we're going to replace it.
body_trackers[p_tracker_name] = p_body_tracker;
emit_signal(SNAME("body_tracker_updated"), p_tracker_name, p_body_tracker);
}
}
void XRServer::remove_body_tracker(const StringName &p_tracker_name) {
// Skip if no face tracker is found.
if (!body_trackers.has(p_tracker_name)) {
return;
}
// Send the removed signal, then remove the face tracker.
emit_signal(SNAME("body_tracker_removed"), p_tracker_name);
body_trackers.erase(p_tracker_name);
}
Dictionary XRServer::get_body_trackers() const {
return body_trackers;
}
Ref<XRBodyTracker> XRServer::get_body_tracker(const StringName &p_tracker_name) const {
// Skip if no tracker is found.
if (!body_trackers.has(p_tracker_name)) {
return Ref<XRBodyTracker>();
}
return body_trackers[p_tracker_name];
}
void XRServer::_process() {
// called from our main game loop before we handle physics and game logic
// note that we can have multiple interfaces active if we have interfaces that purely handle tracking

10
servers/xr_server.h
View file

@ -41,6 +41,7 @@ class XRInterface;
class XRPositionalTracker;
class XRHandTracker;
class XRFaceTracker;
class XRBodyTracker;
/**
The XR server is a singleton object that gives access to the various
@ -89,6 +90,7 @@ private:
Dictionary trackers;
Dictionary hand_trackers;
Dictionary face_trackers;
Dictionary body_trackers;
Ref<XRInterface> primary_interface; /* we'll identify one interface as primary, this will be used by our viewports */
@ -203,6 +205,14 @@ public:
Dictionary get_face_trackers() const;
Ref<XRFaceTracker> get_face_tracker(const StringName &p_tracker_name) const;
/*
Body trackers are objects that expose the tracked joints of a body.
*/
void add_body_tracker(const StringName &p_tracker_name, Ref<XRBodyTracker> p_face_tracker);
void remove_body_tracker(const StringName &p_tracker_name);
Dictionary get_body_trackers() const;
Ref<XRBodyTracker> get_body_tracker(const StringName &p_tracker_name) const;
// Process is called before we handle our physics process and game process. This is where our interfaces will update controller data and such.
void _process();