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Merge pull request #56936 from BastiaanOlij/add_tracking_confidence

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Rémi Verschelde 2022-01-20 12:09:06 +01:00 committed by GitHub
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8 changed files with 53 additions and 5 deletions
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14
doc/classes/XRPose.xml
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@ -34,8 +34,22 @@
- [code]grip[/code] defines the location where the user grips the controller
- [code]skeleton[/code] defines the root location a hand mesh should be placed when using hand tracking and the animated skeleton supplied by the XR runtime.
</member>
<member name="tracking_confidence" type="int" setter="set_tracking_confidence" getter="get_tracking_confidence" enum="XRPose.TrackingConfidence" default="0">
The tracking confidence for this pose, provides insight on how accurate the spatial positioning of this record is.
</member>
<member name="transform" type="Transform3D" setter="set_transform" getter="get_transform" default="Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0)">
The transform containing the original and transform as reported by the XR runtime.
</member>
</members>
<constants>
<constant name="XR_TRACKING_CONFIDENCE_NONE" value="0" enum="TrackingConfidence">
No tracking information is available for this pose.
</constant>
<constant name="XR_TRACKING_CONFIDENCE_LOW" value="1" enum="TrackingConfidence">
Tracking information may be inaccurate or estimated. For instance with inside out tracking this would indicate a controller may be (partially) obscured.
</constant>
<constant name="XR_TRACKING_CONFIDENCE_HIGH" value="2" enum="TrackingConfidence">
Tracking information is deemed accurate and up to date.
</constant>
</constants>
</class>

3
doc/classes/XRPositionalTracker.xml
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@ -54,8 +54,9 @@
<argument index="1" name="transform" type="Transform3D" />
<argument index="2" name="linear_velocity" type="Vector3" />
<argument index="3" name="angular_velocity" type="Vector3" />
<argument index="4" name="tracking_confidence" type="int" enum="XRPose.TrackingConfidence" />
<description>
Sets the transform, linear velocity and angular velocity for the given pose. This method is called by a [XRInterface] implementation and should not be used directly.
Sets the transform, linear velocity, angular velocity and tracking confidence for the given pose. This method is called by a [XRInterface] implementation and should not be used directly.
</description>
</method>
</methods>

4
modules/mobile_vr/mobile_vr_interface.cpp
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@ -181,6 +181,7 @@ void MobileVRInterface::set_position_from_sensors() {
orientation = rotate * orientation;
tracking_state = XRInterface::XR_NORMAL_TRACKING;
tracking_confidence = XRPose::XR_TRACKING_CONFIDENCE_HIGH;
};
///@TODO improve this, the magnetometer is very fidgety sometimes flipping the axis for no apparent reason (probably a bug on my part)
@ -193,6 +194,7 @@ void MobileVRInterface::set_position_from_sensors() {
orientation = Basis(transform_quat);
tracking_state = XRInterface::XR_NORMAL_TRACKING;
tracking_confidence = XRPose::XR_TRACKING_CONFIDENCE_HIGH;
} else if (has_grav) {
// use gravity vector to make sure down is down...
// transform gravity into our world space
@ -512,7 +514,7 @@ void MobileVRInterface::process() {
if (head.is_valid()) {
// Set our head position, note in real space, reference frame and world scale is applied later
head->set_pose("default", head_transform, Vector3(), Vector3());
head->set_pose("default", head_transform, Vector3(), Vector3(), tracking_confidence);
}
};
};

1
modules/mobile_vr/mobile_vr_interface.h
View file

@ -51,6 +51,7 @@ class MobileVRInterface : public XRInterface {
private:
bool initialized = false;
XRInterface::TrackingStatus tracking_state;
XRPose::TrackingConfidence tracking_confidence = XRPose::XR_TRACKING_CONFIDENCE_NONE;
// Just set some defaults for these. At some point we need to look at adding a lookup table for common device + headset combos and/or support reading cardboard QR codes
double eye_height = 1.85;

16
servers/xr/xr_pose.cpp
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@ -33,6 +33,10 @@
#include "servers/xr_server.h"
void XRPose::_bind_methods() {
BIND_ENUM_CONSTANT(XR_TRACKING_CONFIDENCE_NONE);
BIND_ENUM_CONSTANT(XR_TRACKING_CONFIDENCE_LOW);
BIND_ENUM_CONSTANT(XR_TRACKING_CONFIDENCE_HIGH);
ClassDB::bind_method(D_METHOD("set_has_tracking_data", "has_tracking_data"), &XRPose::set_has_tracking_data);
ClassDB::bind_method(D_METHOD("get_has_tracking_data"), &XRPose::get_has_tracking_data);
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "has_tracking_data"), "set_has_tracking_data", "get_has_tracking_data");
@ -53,6 +57,10 @@ void XRPose::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_angular_velocity", "velocity"), &XRPose::set_angular_velocity);
ClassDB::bind_method(D_METHOD("get_angular_velocity"), &XRPose::get_angular_velocity);
ADD_PROPERTY(PropertyInfo(Variant::STRING, "angular_velocity"), "set_angular_velocity", "get_angular_velocity");
ClassDB::bind_method(D_METHOD("set_tracking_confidence", "tracking_confidence"), &XRPose::set_tracking_confidence);
ClassDB::bind_method(D_METHOD("get_tracking_confidence"), &XRPose::get_tracking_confidence);
ADD_PROPERTY(PropertyInfo(Variant::INT, "tracking_confidence"), "set_tracking_confidence", "get_tracking_confidence");
}
void XRPose::set_has_tracking_data(const bool p_has_tracking_data) {
@ -108,3 +116,11 @@ void XRPose::set_angular_velocity(const Vector3 p_velocity) {
Vector3 XRPose::get_angular_velocity() const {
return angular_velocity;
}
void XRPose::set_tracking_confidence(const XRPose::TrackingConfidence p_tracking_confidence) {
tracking_confidence = p_tracking_confidence;
}
XRPose::TrackingConfidence XRPose::get_tracking_confidence() const {
return tracking_confidence;
}

13
servers/xr/xr_pose.h
View file

@ -37,12 +37,20 @@ class XRPose : public RefCounted {
GDCLASS(XRPose, RefCounted);
public:
// TrackingConfidence gives an indication of how reliable our transform data is.
enum TrackingConfidence {
XR_TRACKING_CONFIDENCE_NONE, // No tracking information is available for this pose.
XR_TRACKING_CONFIDENCE_LOW, // Tracking information may be inaccurate or estimated.
XR_TRACKING_CONFIDENCE_HIGH // Tracking information is deemed accurate and up to date.
};
private:
bool has_tracking_data = false;
StringName name;
Transform3D transform;
Vector3 linear_velocity;
Vector3 angular_velocity;
TrackingConfidence tracking_confidence = XR_TRACKING_CONFIDENCE_NONE;
protected:
static void _bind_methods();
@ -63,6 +71,11 @@ public:
void set_angular_velocity(const Vector3 p_velocity);
Vector3 get_angular_velocity() const;
void set_tracking_confidence(const TrackingConfidence p_tracking_confidence);
TrackingConfidence get_tracking_confidence() const;
};
VARIANT_ENUM_CAST(XRPose::TrackingConfidence);
#endif

5
servers/xr/xr_positional_tracker.cpp
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@ -56,7 +56,7 @@ void XRPositionalTracker::_bind_methods() {
ClassDB::bind_method(D_METHOD("has_pose", "name"), &XRPositionalTracker::has_pose);
ClassDB::bind_method(D_METHOD("get_pose", "name"), &XRPositionalTracker::get_pose);
ClassDB::bind_method(D_METHOD("invalidate_pose", "name"), &XRPositionalTracker::invalidate_pose);
ClassDB::bind_method(D_METHOD("set_pose", "name", "transform", "linear_velocity", "angular_velocity"), &XRPositionalTracker::set_pose);
ClassDB::bind_method(D_METHOD("set_pose", "name", "transform", "linear_velocity", "angular_velocity", "tracking_confidence"), &XRPositionalTracker::set_pose);
ADD_SIGNAL(MethodInfo("pose_changed", PropertyInfo(Variant::OBJECT, "pose", PROPERTY_HINT_RESOURCE_TYPE, "XRPose")));
ClassDB::bind_method(D_METHOD("get_input", "name"), &XRPositionalTracker::get_input);
@ -137,7 +137,7 @@ void XRPositionalTracker::invalidate_pose(const StringName &p_action_name) {
}
}
void XRPositionalTracker::set_pose(const StringName &p_action_name, const Transform3D &p_transform, const Vector3 &p_linear_velocity, const Vector3 &p_angular_velocity) {
void XRPositionalTracker::set_pose(const StringName &p_action_name, const Transform3D &p_transform, const Vector3 &p_linear_velocity, const Vector3 &p_angular_velocity, const XRPose::TrackingConfidence p_tracking_confidence) {
Ref<XRPose> new_pose;
new_pose.instantiate();
@ -146,6 +146,7 @@ void XRPositionalTracker::set_pose(const StringName &p_action_name, const Transf
new_pose->set_transform(p_transform);
new_pose->set_linear_velocity(p_linear_velocity);
new_pose->set_angular_velocity(p_angular_velocity);
new_pose->set_tracking_confidence(p_tracking_confidence);
poses[p_action_name] = new_pose;
emit_signal("pose_changed", new_pose);

2
servers/xr/xr_positional_tracker.h
View file

@ -82,7 +82,7 @@ public:
bool has_pose(const StringName &p_action_name) const;
Ref<XRPose> get_pose(const StringName &p_action_name) const;
void invalidate_pose(const StringName &p_action_name);
void set_pose(const StringName &p_action_name, const Transform3D &p_transform, const Vector3 &p_linear_velocity, const Vector3 &p_angular_velocity);
void set_pose(const StringName &p_action_name, const Transform3D &p_transform, const Vector3 &p_linear_velocity, const Vector3 &p_angular_velocity, const XRPose::TrackingConfidence p_tracking_confidence = XRPose::XR_TRACKING_CONFIDENCE_HIGH);
Variant get_input(const StringName &p_action_name) const;
void set_input(const StringName &p_action_name, const Variant &p_value);