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Provide generic interface for XR hand tracking

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This commit is contained in:
David Snopek
2024-02-20 08:56:59 -06:00
parent 16d61427ca
commit 2184fa9698
15 changed files with 1157 additions and 9 deletions
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179
servers/xr/xr_hand_tracker.cpp Normal file
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/**************************************************************************/
/* xr_hand_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_hand_tracker.h"
void XRHandTracker::_bind_methods() {
ClassDB::bind_method(D_METHOD("set_hand", "hand"), &XRHandTracker::set_hand);
ClassDB::bind_method(D_METHOD("get_hand"), &XRHandTracker::get_hand);
ClassDB::bind_method(D_METHOD("set_has_tracking_data", "has_data"), &XRHandTracker::set_has_tracking_data);
ClassDB::bind_method(D_METHOD("get_has_tracking_data"), &XRHandTracker::get_has_tracking_data);
ClassDB::bind_method(D_METHOD("set_hand_tracking_source", "source"), &XRHandTracker::set_hand_tracking_source);
ClassDB::bind_method(D_METHOD("get_hand_tracking_source"), &XRHandTracker::get_hand_tracking_source);
ClassDB::bind_method(D_METHOD("set_hand_joint_flags", "joint", "flags"), &XRHandTracker::set_hand_joint_flags);
ClassDB::bind_method(D_METHOD("get_hand_joint_flags", "joint"), &XRHandTracker::get_hand_joint_flags);
ClassDB::bind_method(D_METHOD("set_hand_joint_transform", "joint", "transform"), &XRHandTracker::set_hand_joint_transform);
ClassDB::bind_method(D_METHOD("get_hand_joint_transform", "joint"), &XRHandTracker::get_hand_joint_transform);
ClassDB::bind_method(D_METHOD("set_hand_joint_radius", "joint", "radius"), &XRHandTracker::set_hand_joint_radius);
ClassDB::bind_method(D_METHOD("get_hand_joint_radius", "joint"), &XRHandTracker::get_hand_joint_radius);
ClassDB::bind_method(D_METHOD("set_hand_joint_linear_velocity", "joint", "linear_velocity"), &XRHandTracker::set_hand_joint_linear_velocity);
ClassDB::bind_method(D_METHOD("get_hand_joint_linear_velocity", "joint"), &XRHandTracker::get_hand_joint_linear_velocity);
ClassDB::bind_method(D_METHOD("set_hand_joint_angular_velocity", "joint", "angular_velocity"), &XRHandTracker::set_hand_joint_angular_velocity);
ClassDB::bind_method(D_METHOD("get_hand_joint_angular_velocity", "joint"), &XRHandTracker::get_hand_joint_angular_velocity);
ADD_PROPERTY(PropertyInfo(Variant::INT, "hand", PROPERTY_HINT_ENUM, "Left,Right"), "set_hand", "get_hand");
ADD_PROPERTY(PropertyInfo(Variant::BOOL, "has_tracking_data", PROPERTY_HINT_NONE), "set_has_tracking_data", "get_has_tracking_data");
ADD_PROPERTY(PropertyInfo(Variant::INT, "hand_tracking_source", PROPERTY_HINT_ENUM, "Unknown,Unobstructed,Controller"), "set_hand_tracking_source", "get_hand_tracking_source");
BIND_ENUM_CONSTANT(HAND_LEFT);
BIND_ENUM_CONSTANT(HAND_RIGHT);
BIND_ENUM_CONSTANT(HAND_MAX);
BIND_ENUM_CONSTANT(HAND_TRACKING_SOURCE_UNKNOWN);
BIND_ENUM_CONSTANT(HAND_TRACKING_SOURCE_UNOBSTRUCTED);
BIND_ENUM_CONSTANT(HAND_TRACKING_SOURCE_CONTROLLER);
BIND_ENUM_CONSTANT(HAND_TRACKING_SOURCE_MAX);
BIND_ENUM_CONSTANT(HAND_JOINT_PALM);
BIND_ENUM_CONSTANT(HAND_JOINT_WRIST);
BIND_ENUM_CONSTANT(HAND_JOINT_THUMB_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_THUMB_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_THUMB_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_THUMB_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_INDEX_FINGER_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_MIDDLE_FINGER_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_RING_FINGER_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_METACARPAL);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_PHALANX_PROXIMAL);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_PHALANX_INTERMEDIATE);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_PHALANX_DISTAL);
BIND_ENUM_CONSTANT(HAND_JOINT_PINKY_FINGER_TIP);
BIND_ENUM_CONSTANT(HAND_JOINT_MAX);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_ORIENTATION_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_ORIENTATION_TRACKED);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_POSITION_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_POSITION_TRACKED);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_LINEAR_VELOCITY_VALID);
BIND_BITFIELD_FLAG(HAND_JOINT_FLAG_ANGULAR_VELOCITY_VALID);
}
void XRHandTracker::set_hand(XRHandTracker::Hand p_hand) {
hand = p_hand;
}
XRHandTracker::Hand XRHandTracker::get_hand() const {
return hand;
}
void XRHandTracker::set_has_tracking_data(bool p_has_tracking_data) {
has_tracking_data = p_has_tracking_data;
}
bool XRHandTracker::get_has_tracking_data() const {
return has_tracking_data;
}
void XRHandTracker::set_hand_tracking_source(XRHandTracker::HandTrackingSource p_source) {
hand_tracking_source = p_source;
}
XRHandTracker::HandTrackingSource XRHandTracker::get_hand_tracking_source() const {
return hand_tracking_source;
}
void XRHandTracker::set_hand_joint_flags(XRHandTracker::HandJoint p_joint, BitField<XRHandTracker::HandJointFlags> p_flags) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_flags[p_joint] = p_flags;
}
BitField<XRHandTracker::HandJointFlags> XRHandTracker::get_hand_joint_flags(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, BitField<HandJointFlags>());
return hand_joint_flags[p_joint];
}
void XRHandTracker::set_hand_joint_transform(XRHandTracker::HandJoint p_joint, const Transform3D &p_transform) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_transforms[p_joint] = p_transform;
}
Transform3D XRHandTracker::get_hand_joint_transform(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, Transform3D());
return hand_joint_transforms[p_joint];
}
void XRHandTracker::set_hand_joint_radius(XRHandTracker::HandJoint p_joint, float p_radius) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_radii[p_joint] = p_radius;
}
float XRHandTracker::get_hand_joint_radius(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, 0.0);
return hand_joint_radii[p_joint];
}
void XRHandTracker::set_hand_joint_linear_velocity(XRHandTracker::HandJoint p_joint, const Vector3 &p_velocity) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_linear_velocities[p_joint] = p_velocity;
}
Vector3 XRHandTracker::get_hand_joint_linear_velocity(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, Vector3());
return hand_joint_linear_velocities[p_joint];
}
void XRHandTracker::set_hand_joint_angular_velocity(XRHandTracker::HandJoint p_joint, const Vector3 &p_velocity) {
ERR_FAIL_INDEX(p_joint, HAND_JOINT_MAX);
hand_joint_angular_velocities[p_joint] = p_velocity;
}
Vector3 XRHandTracker::get_hand_joint_angular_velocity(XRHandTracker::HandJoint p_joint) const {
ERR_FAIL_INDEX_V(p_joint, HAND_JOINT_MAX, Vector3());
return hand_joint_angular_velocities[p_joint];
}

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servers/xr/xr_hand_tracker.h Normal file
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/**************************************************************************/
/* xr_hand_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_HAND_TRACKER_H
#define XR_HAND_TRACKER_H
#include "core/object/ref_counted.h"
class XRHandTracker : public RefCounted {
GDCLASS(XRHandTracker, RefCounted);
_THREAD_SAFE_CLASS_
public:
enum Hand {
HAND_LEFT,
HAND_RIGHT,
HAND_MAX,
};
enum HandTrackingSource {
HAND_TRACKING_SOURCE_UNKNOWN,
HAND_TRACKING_SOURCE_UNOBSTRUCTED,
HAND_TRACKING_SOURCE_CONTROLLER,
HAND_TRACKING_SOURCE_MAX
};
enum HandJoint {
HAND_JOINT_PALM,
HAND_JOINT_WRIST,
HAND_JOINT_THUMB_METACARPAL,
HAND_JOINT_THUMB_PHALANX_PROXIMAL,
HAND_JOINT_THUMB_PHALANX_DISTAL,
HAND_JOINT_THUMB_TIP,
HAND_JOINT_INDEX_FINGER_METACARPAL,
HAND_JOINT_INDEX_FINGER_PHALANX_PROXIMAL,
HAND_JOINT_INDEX_FINGER_PHALANX_INTERMEDIATE,
HAND_JOINT_INDEX_FINGER_PHALANX_DISTAL,
HAND_JOINT_INDEX_FINGER_TIP,
HAND_JOINT_MIDDLE_FINGER_METACARPAL,
HAND_JOINT_MIDDLE_FINGER_PHALANX_PROXIMAL,
HAND_JOINT_MIDDLE_FINGER_PHALANX_INTERMEDIATE,
HAND_JOINT_MIDDLE_FINGER_PHALANX_DISTAL,
HAND_JOINT_MIDDLE_FINGER_TIP,
HAND_JOINT_RING_FINGER_METACARPAL,
HAND_JOINT_RING_FINGER_PHALANX_PROXIMAL,
HAND_JOINT_RING_FINGER_PHALANX_INTERMEDIATE,
HAND_JOINT_RING_FINGER_PHALANX_DISTAL,
HAND_JOINT_RING_FINGER_TIP,
HAND_JOINT_PINKY_FINGER_METACARPAL,
HAND_JOINT_PINKY_FINGER_PHALANX_PROXIMAL,
HAND_JOINT_PINKY_FINGER_PHALANX_INTERMEDIATE,
HAND_JOINT_PINKY_FINGER_PHALANX_DISTAL,
HAND_JOINT_PINKY_FINGER_TIP,
HAND_JOINT_MAX,
};
enum HandJointFlags {
HAND_JOINT_FLAG_ORIENTATION_VALID = 1,
HAND_JOINT_FLAG_ORIENTATION_TRACKED = 2,
HAND_JOINT_FLAG_POSITION_VALID = 4,
HAND_JOINT_FLAG_POSITION_TRACKED = 8,
HAND_JOINT_FLAG_LINEAR_VELOCITY_VALID = 16,
HAND_JOINT_FLAG_ANGULAR_VELOCITY_VALID = 32,
};
void set_hand(Hand p_hand);
Hand get_hand() const;
void set_has_tracking_data(bool p_has_tracking_data);
bool get_has_tracking_data() const;
void set_hand_tracking_source(HandTrackingSource p_source);
HandTrackingSource get_hand_tracking_source() const;
void set_hand_joint_flags(HandJoint p_joint, BitField<HandJointFlags> p_flags);
BitField<HandJointFlags> get_hand_joint_flags(HandJoint p_joint) const;
void set_hand_joint_transform(HandJoint p_joint, const Transform3D &p_transform);
Transform3D get_hand_joint_transform(HandJoint p_joint) const;
void set_hand_joint_radius(HandJoint p_joint, float p_radius);
float get_hand_joint_radius(HandJoint p_joint) const;
void set_hand_joint_linear_velocity(HandJoint p_joint, const Vector3 &p_velocity);
Vector3 get_hand_joint_linear_velocity(HandJoint p_joint) const;
void set_hand_joint_angular_velocity(HandJoint p_joint, const Vector3 &p_velocity);
Vector3 get_hand_joint_angular_velocity(HandJoint p_joint) const;
protected:
static void _bind_methods();
private:
Hand hand = HAND_LEFT;
bool has_tracking_data = false;
HandTrackingSource hand_tracking_source = HAND_TRACKING_SOURCE_UNKNOWN;
BitField<HandJointFlags> hand_joint_flags[HAND_JOINT_MAX];
Transform3D hand_joint_transforms[HAND_JOINT_MAX];
float hand_joint_radii[HAND_JOINT_MAX] = {};
Vector3 hand_joint_linear_velocities[HAND_JOINT_MAX];
Vector3 hand_joint_angular_velocities[HAND_JOINT_MAX];
};
VARIANT_ENUM_CAST(XRHandTracker::Hand)
VARIANT_ENUM_CAST(XRHandTracker::HandTrackingSource)
VARIANT_ENUM_CAST(XRHandTracker::HandJoint)
VARIANT_BITFIELD_CAST(XRHandTracker::HandJointFlags)
#endif // XR_HAND_TRACKER_H