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OpenXR - add access to hand joint validity flags

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This commit is contained in:
Bastiaan Olij 2023-10-03 18:41:01 +11:00
parent bfd78bb917
commit 50693a5420
5 changed files with 164 additions and 8 deletions
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97
modules/openxr/openxr_interface.cpp
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@ -77,6 +77,8 @@ void OpenXRInterface::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_motion_range", "hand", "motion_range"), &OpenXRInterface::set_motion_range);
ClassDB::bind_method(D_METHOD("get_motion_range", "hand"), &OpenXRInterface::get_motion_range);
ClassDB::bind_method(D_METHOD("get_hand_joint_flags", "hand", "joint"), &OpenXRInterface::get_hand_joint_flags);
ClassDB::bind_method(D_METHOD("get_hand_joint_rotation", "hand", "joint"), &OpenXRInterface::get_hand_joint_rotation);
ClassDB::bind_method(D_METHOD("get_hand_joint_position", "hand", "joint"), &OpenXRInterface::get_hand_joint_position);
ClassDB::bind_method(D_METHOD("get_hand_joint_radius", "hand", "joint"), &OpenXRInterface::get_hand_joint_radius);
@ -84,6 +86,9 @@ void OpenXRInterface::_bind_methods() {
ClassDB::bind_method(D_METHOD("get_hand_joint_linear_velocity", "hand", "joint"), &OpenXRInterface::get_hand_joint_linear_velocity);
ClassDB::bind_method(D_METHOD("get_hand_joint_angular_velocity", "hand", "joint"), &OpenXRInterface::get_hand_joint_angular_velocity);
ClassDB::bind_method(D_METHOD("is_hand_tracking_supported"), &OpenXRInterface::is_hand_tracking_supported);
ClassDB::bind_method(D_METHOD("is_eye_gaze_interaction_supported"), &OpenXRInterface::is_eye_gaze_interaction_supported);
BIND_ENUM_CONSTANT(HAND_LEFT);
BIND_ENUM_CONSTANT(HAND_RIGHT);
BIND_ENUM_CONSTANT(HAND_MAX);
@ -120,7 +125,13 @@ void OpenXRInterface::_bind_methods() {
BIND_ENUM_CONSTANT(HAND_JOINT_LITTLE_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_MAX);
ClassDB::bind_method(D_METHOD("is_eye_gaze_interaction_supported"), &OpenXRInterface::is_eye_gaze_interaction_supported);
BIND_BITFIELD_FLAG(HAND_JOINT_NONE);
BIND_BITFIELD_FLAG(HAND_JOINT_ORIENTATION_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_ORIENTATION_TRACKED);
BIND_BITFIELD_FLAG(HAND_JOINT_POSITION_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_POSITION_TRACKED);
BIND_BITFIELD_FLAG(HAND_JOINT_LINEAR_VELOCITY_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_ANGULAR_VELOCITY_VALID);
}
StringName OpenXRInterface::get_name() const {
@ -709,6 +720,21 @@ Array OpenXRInterface::get_available_display_refresh_rates() const {
}
}
bool OpenXRInterface::is_hand_tracking_supported() {
if (openxr_api == nullptr) {
return false;
} else if (!openxr_api->is_initialized()) {
return false;
} else {
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
if (hand_tracking_ext == nullptr) {
return false;
} else {
return hand_tracking_ext->get_active();
}
}
}
bool OpenXRInterface::is_eye_gaze_interaction_supported() {
if (openxr_api == nullptr) {
return false;
@ -912,15 +938,39 @@ void OpenXRInterface::handle_hand_tracking(const String &p_path, OpenXRHandTrack
if (hand_tracking_ext && hand_tracking_ext->get_active()) {
OpenXRInterface::Tracker *tracker = find_tracker(p_path);
if (tracker && tracker->positional_tracker.is_valid()) {
// TODO add in confidence! Requires PR #82715
XrSpaceLocationFlags location_flags = hand_tracking_ext->get_hand_joint_location_flags(p_hand, XR_HAND_JOINT_PALM_EXT);
Transform3D transform;
transform.basis = Basis(hand_tracking_ext->get_hand_joint_rotation(p_hand, XR_HAND_JOINT_PALM_EXT));
transform.origin = hand_tracking_ext->get_hand_joint_position(p_hand, XR_HAND_JOINT_PALM_EXT);
Vector3 linear_velocity = hand_tracking_ext->get_hand_joint_linear_velocity(p_hand, XR_HAND_JOINT_PALM_EXT);
Vector3 angular_velocity = hand_tracking_ext->get_hand_joint_angular_velocity(p_hand, XR_HAND_JOINT_PALM_EXT);
if (location_flags & (XR_SPACE_LOCATION_ORIENTATION_VALID_BIT + XR_SPACE_LOCATION_POSITION_VALID_BIT)) {
static const XrSpaceLocationFlags all_location_flags = XR_SPACE_LOCATION_ORIENTATION_VALID_BIT + XR_SPACE_LOCATION_POSITION_VALID_BIT + XR_SPACE_LOCATION_ORIENTATION_TRACKED_BIT + XR_SPACE_LOCATION_POSITION_TRACKED_BIT;
XRPose::TrackingConfidence confidence = XRPose::XR_TRACKING_CONFIDENCE_LOW;
Transform3D transform;
Vector3 linear_velocity;
Vector3 angular_velocity;
tracker->positional_tracker->set_pose("skeleton", transform, linear_velocity, angular_velocity, XRPose::XR_TRACKING_CONFIDENCE_HIGH);
if ((location_flags & all_location_flags) == all_location_flags) {
// All flags set? confidence is high!
confidence = XRPose::XR_TRACKING_CONFIDENCE_HIGH;
}
if (location_flags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) {
transform.basis = Basis(hand_tracking_ext->get_hand_joint_rotation(p_hand, XR_HAND_JOINT_PALM_EXT));
}
if (location_flags & XR_SPACE_LOCATION_POSITION_VALID_BIT) {
transform.origin = hand_tracking_ext->get_hand_joint_position(p_hand, XR_HAND_JOINT_PALM_EXT);
}
XrSpaceVelocityFlags velocity_flags = hand_tracking_ext->get_hand_joint_location_flags(p_hand, XR_HAND_JOINT_PALM_EXT);
if (velocity_flags & XR_SPACE_VELOCITY_LINEAR_VALID_BIT) {
linear_velocity = hand_tracking_ext->get_hand_joint_linear_velocity(p_hand, XR_HAND_JOINT_PALM_EXT);
}
if (velocity_flags & XR_SPACE_VELOCITY_ANGULAR_VALID_BIT) {
angular_velocity = hand_tracking_ext->get_hand_joint_angular_velocity(p_hand, XR_HAND_JOINT_PALM_EXT);
}
tracker->positional_tracker->set_pose("skeleton", transform, linear_velocity, angular_velocity, confidence);
} else {
tracker->positional_tracker->invalidate_pose("skeleton");
}
}
}
}
@ -1183,6 +1233,37 @@ OpenXRInterface::HandMotionRange OpenXRInterface::get_motion_range(const Hand p_
return HAND_MOTION_RANGE_MAX;
}
BitField<OpenXRInterface::HandJointFlags> OpenXRInterface::get_hand_joint_flags(Hand p_hand, HandJoints p_joint) const {
BitField<OpenXRInterface::HandJointFlags> bits;
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
if (hand_tracking_ext && hand_tracking_ext->get_active()) {
XrSpaceLocationFlags location_flags = hand_tracking_ext->get_hand_joint_location_flags(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint));
if (location_flags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) {
bits.set_flag(HAND_JOINT_ORIENTATION_VALID);
}
if (location_flags & XR_SPACE_LOCATION_ORIENTATION_TRACKED_BIT) {
bits.set_flag(HAND_JOINT_ORIENTATION_TRACKED);
}
if (location_flags & XR_SPACE_LOCATION_POSITION_VALID_BIT) {
bits.set_flag(HAND_JOINT_POSITION_VALID);
}
if (location_flags & XR_SPACE_LOCATION_POSITION_TRACKED_BIT) {
bits.set_flag(HAND_JOINT_POSITION_TRACKED);
}
XrSpaceVelocityFlags velocity_flags = hand_tracking_ext->get_hand_joint_velocity_flags(OpenXRHandTrackingExtension::HandTrackedHands(p_hand), XrHandJointEXT(p_joint));
if (velocity_flags & XR_SPACE_VELOCITY_LINEAR_VALID_BIT) {
bits.set_flag(HAND_JOINT_LINEAR_VELOCITY_VALID);
}
if (velocity_flags & XR_SPACE_VELOCITY_ANGULAR_VALID_BIT) {
bits.set_flag(HAND_JOINT_ANGULAR_VELOCITY_VALID);
}
}
return bits;
}
Quaternion OpenXRInterface::get_hand_joint_rotation(Hand p_hand, HandJoints p_joint) const {
OpenXRHandTrackingExtension *hand_tracking_ext = OpenXRHandTrackingExtension::get_singleton();
if (hand_tracking_ext && hand_tracking_ext->get_active()) {