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disable hands when not used

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Nitwel 2024-05-06 19:01:46 +02:00
parent 812b82d234
commit 933210bbc9
4 changed files with 87 additions and 61 deletions
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115
app/addons/xr-autohandtracker/auto_handtracker.gd
View File

@ -2,39 +2,39 @@ extends Node3D
# Settings that can be changed dynamically in the debugger to
# see how they alter the mapping to the hand skeleton
@export var applymiddlefingerfix : bool = true
@export var applyscaling : bool = true
@export var coincidewristorknuckle : bool = true
@export var visiblehandtrackskeleton : bool = true
@export var enableautotracker : bool = true
@export var applymiddlefingerfix: bool = true
@export var applyscaling: bool = true
@export var coincidewristorknuckle: bool = true
@export var visiblehandtrackskeleton: bool = true
@export var enableautotracker: bool = true
signal hand_active_changed(hand: int, active: bool)
# Hand tracking data access object
var xr_interface : OpenXRInterface
var xr_interface: OpenXRInterface
# Local origin for the hand tracking positions
var xr_origin : XROrigin3D
var xr_origin: XROrigin3D
# Controller and its tracker with the aim pose that we can use when hand-tracking active
var xr_controller_node : XRController3D = null
var tracker_nhand : XRPositionalTracker.TrackerHand = XRPositionalTracker.TrackerHand.TRACKER_HAND_UNKNOWN
var xr_tracker : XRPositionalTracker = null
var xr_aimpose : XRPose = null
var xr_headtracker : XRPositionalTracker = null
var xr_camera_node : XRCamera3D = null
var xr_controller_node: XRController3D = null
var tracker_nhand: XRPositionalTracker.TrackerHand = XRPositionalTracker.TrackerHand.TRACKER_HAND_UNKNOWN
var xr_tracker: XRPositionalTracker = null
var xr_aimpose: XRPose = null
var xr_headtracker: XRPositionalTracker = null
var xr_camera_node: XRCamera3D = null
# Note the that the enumerations disagree
# XRPositionalTracker.TrackerHand.TRACKER_HAND_LEFT = 1
# OpenXRInterface.Hand.HAND_LEFT = 0
var hand : OpenXRInterface.Hand
var tracker_name : String
var hand: OpenXRInterface.Hand
var tracker_name: String
var handtrackingactive = false
var handnode = null
var skel = null
var handanimationtree = null
# values calculated from the hand skeleton itself
var handtoskeltransform
var wristboneindex
@ -50,23 +50,22 @@ static func basisfromA(a, v):
return Basis(vx, vy, vz)
static func rotationtoalignB(a, b, va, vb):
return basisfromA(b, vb)*basisfromA(a, va).inverse()
return basisfromA(b, vb) * basisfromA(a, va).inverse()
static func rotationtoalignScaled(a, b):
var axis = a.cross(b).normalized()
var sca = b.length()/a.length()
var sca = b.length() / a.length()
if (axis.length_squared() != 0):
var dot = a.dot(b)/(a.length()*b.length())
var dot = a.dot(b) / (a.length() * b.length())
dot = clamp(dot, -1.0, 1.0)
var angle_rads = acos(dot)
return Basis(axis, angle_rads).scaled(Vector3(sca,sca,sca))
return Basis().scaled(Vector3(sca,sca,sca))
return Basis(axis, angle_rads).scaled(Vector3(sca, sca, sca))
return Basis().scaled(Vector3(sca, sca, sca))
func extractrestfingerbones():
print(handnode.name)
var lr = "L" if hand == 0 else "R"
handtoskeltransform = handnode.global_transform.inverse()*skel.global_transform
handtoskeltransform = handnode.global_transform.inverse() * skel.global_transform
wristboneindex = skel.find_bone("Wrist_" + lr)
wristboneresttransform = skel.get_bone_rest(wristboneindex)
hstw = handtoskeltransform * wristboneresttransform
@ -78,17 +77,16 @@ func extractrestfingerbones():
for b in ["Metacarpal", "Proximal", "Intermediate", "Distal", "Tip"]:
var name = f + "_" + b + "_" + lr
var ix = skel.find_bone(name)
if ix != -1:
fingerboneindexes[-1].push_back(ix)
fingerboneresttransforms[-1].push_back(skel.get_bone_rest(ix) if ix != -1 else null)
if ix != - 1:
fingerboneindexes[- 1].push_back(ix)
fingerboneresttransforms[- 1].push_back(skel.get_bone_rest(ix) if ix != - 1 else null)
else:
assert (f == "Thumb" and b == "Intermediate")
assert(f == "Thumb" and b == "Intermediate")
func _xr_controller_node_tracking_changed(tracking):
var xr_pose = xr_controller_node.get_pose()
print("_xr_controller_node_tracking_changed ", xr_pose.name if xr_pose else "<none>")
func findxrnodes():
# first go up the tree to find the controller and origin
var nd = self
@ -115,7 +113,7 @@ func findxrnodes():
# Finally decide if it is left or right hand and test consistency in the API
var islefthand = (tracker_name == "left_hand")
assert (tracker_name == ("left_hand" if islefthand else "right_hand"))
assert(tracker_name == ("left_hand" if islefthand else "right_hand"))
hand = OpenXRInterface.Hand.HAND_LEFT if islefthand else OpenXRInterface.Hand.HAND_RIGHT
print("All nodes for %s detected" % tracker_name)
@ -149,18 +147,17 @@ func findxrtrackerobjects():
xr_tracker = XRServer.get_tracker(tracker_name)
if xr_tracker == null:
return
assert (xr_tracker.hand == tracker_nhand)
assert(xr_tracker.hand == tracker_nhand)
print(xr_tracker.description, " ", xr_tracker.hand, " ", xr_tracker.name, " ", xr_tracker.profile, " ", xr_tracker.type)
xr_headtracker = XRServer.get_tracker("head")
var islefthand = (tracker_name == "left_hand")
assert (tracker_nhand == (XRPositionalTracker.TrackerHand.TRACKER_HAND_LEFT if islefthand else XRPositionalTracker.TrackerHand.TRACKER_HAND_RIGHT))
assert(tracker_nhand == (XRPositionalTracker.TrackerHand.TRACKER_HAND_LEFT if islefthand else XRPositionalTracker.TrackerHand.TRACKER_HAND_RIGHT))
print(tracker_name, " ", tracker_nhand)
print("action_sets: ", xr_interface.get_action_sets())
$AutoTracker.setupautotracker(tracker_nhand, islefthand, xr_controller_node)
func _ready():
findxrnodes()
findxrtrackerobjects()
@ -173,7 +170,6 @@ func _ready():
findhandnodes()
set_process(xr_interface != null)
func getoxrjointpositions():
var oxrjps = [ ]
@ -188,9 +184,9 @@ func getoxrjointrotations():
return oxrjrot
func fixmiddlefingerpositions(oxrjps):
for j in [ OpenXRInterface.HAND_JOINT_MIDDLE_TIP, OpenXRInterface.HAND_JOINT_RING_TIP ]:
for j in [OpenXRInterface.HAND_JOINT_MIDDLE_TIP, OpenXRInterface.HAND_JOINT_RING_TIP]:
var b = Basis(xr_interface.get_hand_joint_rotation(hand, j))
oxrjps[j] += -0.01*b.y + 0.005*b.z
oxrjps[j] += - 0.01 * b.y + 0.005 * b.z
func calchandnodetransform(oxrjps, xrt):
# solve for handnodetransform where
@ -203,11 +199,11 @@ func calchandnodetransform(oxrjps, xrt):
# and rotated so that the line between index and ring knuckles are in the same plane
# We want skel.global_transform*wristboneresttransform to have origin xrorigintransform*gg[OpenXRInterface.HAND_JOINT_WRIST].origin
var wristorigin = xrt*oxrjps[OpenXRInterface.HAND_JOINT_WRIST]
var wristorigin = xrt * oxrjps[OpenXRInterface.HAND_JOINT_WRIST]
var middleknuckle = xrt*oxrjps[OpenXRInterface.HAND_JOINT_MIDDLE_PROXIMAL]
var leftknuckle = xrt*oxrjps[OpenXRInterface.HAND_JOINT_RING_PROXIMAL if hand == 0 else OpenXRInterface.HAND_JOINT_INDEX_PROXIMAL]
var rightknuckle = xrt*oxrjps[OpenXRInterface.HAND_JOINT_INDEX_PROXIMAL if hand == 0 else OpenXRInterface.HAND_JOINT_RING_PROXIMAL]
var middleknuckle = xrt * oxrjps[OpenXRInterface.HAND_JOINT_MIDDLE_PROXIMAL]
var leftknuckle = xrt * oxrjps[OpenXRInterface.HAND_JOINT_RING_PROXIMAL if hand == 0 else OpenXRInterface.HAND_JOINT_INDEX_PROXIMAL]
var rightknuckle = xrt * oxrjps[OpenXRInterface.HAND_JOINT_INDEX_PROXIMAL if hand == 0 else OpenXRInterface.HAND_JOINT_RING_PROXIMAL]
var middlerestreltransform = fingerboneresttransforms[2][0] * fingerboneresttransforms[2][1]
var leftrestreltransform = fingerboneresttransforms[3 if hand == 0 else 1][0] * fingerboneresttransforms[3 if hand == 0 else 1][1]
@ -217,34 +213,34 @@ func calchandnodetransform(oxrjps, xrt):
var skelmiddleknuckle = handnode.transform * hstw * middlerestreltransform
var m2g1g3 = leftrestreltransform.origin - rightrestreltransform.origin
var hnbasis = rotationtoalignB(hstw.basis*m2g1.origin, middleknuckle - wristorigin,
hstw.basis*m2g1g3, leftknuckle - rightknuckle)
var hnbasis = rotationtoalignB(hstw.basis * m2g1.origin, middleknuckle - wristorigin,
hstw.basis * m2g1g3, leftknuckle - rightknuckle)
var hnorigin = wristorigin - hnbasis*hstw.origin
var hnorigin = wristorigin - hnbasis * hstw.origin
if not coincidewristorknuckle:
hnorigin = middleknuckle - hnbasis*(hstw*middlerestreltransform).origin
hnorigin = middleknuckle - hnbasis * (hstw * middlerestreltransform).origin
return Transform3D(hnbasis, hnorigin)
const carpallist = [ OpenXRInterface.HAND_JOINT_THUMB_METACARPAL,
OpenXRInterface.HAND_JOINT_INDEX_METACARPAL, OpenXRInterface.HAND_JOINT_MIDDLE_METACARPAL,
OpenXRInterface.HAND_JOINT_RING_METACARPAL, OpenXRInterface.HAND_JOINT_LITTLE_METACARPAL ]
const carpallist = [OpenXRInterface.HAND_JOINT_THUMB_METACARPAL,
OpenXRInterface.HAND_JOINT_INDEX_METACARPAL, OpenXRInterface.HAND_JOINT_MIDDLE_METACARPAL,
OpenXRInterface.HAND_JOINT_RING_METACARPAL, OpenXRInterface.HAND_JOINT_LITTLE_METACARPAL]
func calcboneposes(oxrjps, handnodetransform, xrt):
var fingerbonetransformsOut = fingerboneresttransforms.duplicate(true)
for f in range(5):
var mfg = handnodetransform * hstw
# (A.basis, A.origin) * (B.basis, B.origin) = (A.basis*B.basis, A.origin + A.basis*B.origin)
for i in range(len(fingerboneresttransforms[f])-1):
mfg = mfg*fingerboneresttransforms[f][i]
for i in range(len(fingerboneresttransforms[f]) - 1):
mfg = mfg * fingerboneresttransforms[f][i]
# (tIbasis,atIorigin)*fingerboneresttransforms[f][i+1]).origin = mfg.inverse()*kpositions[f][i+1]
# tIbasis*fingerboneresttransforms[f][i+1] = mfg.inverse()*kpositions[f][i+1] - atIorigin
var atIorigin = Vector3(0,0,0)
var kpositionsfip1 = xrt*oxrjps[carpallist[f] + i+1]
var tIbasis = rotationtoalignScaled(fingerboneresttransforms[f][i+1].origin, mfg.affine_inverse()*kpositionsfip1 - atIorigin)
var tIorigin = mfg.affine_inverse()*kpositionsfip1 - tIbasis*fingerboneresttransforms[f][i+1].origin # should be 0
var atIorigin = Vector3(0, 0, 0)
var kpositionsfip1 = xrt * oxrjps[carpallist[f] + i + 1]
var tIbasis = rotationtoalignScaled(fingerboneresttransforms[f][i + 1].origin, mfg.affine_inverse() * kpositionsfip1 - atIorigin)
var tIorigin = mfg.affine_inverse() * kpositionsfip1 - tIbasis * fingerboneresttransforms[f][i + 1].origin # should be 0
var tI = Transform3D(tIbasis, tIorigin)
fingerbonetransformsOut[f][i] = fingerboneresttransforms[f][i]*tI
mfg = mfg*tI
fingerbonetransformsOut[f][i] = fingerboneresttransforms[f][i] * tI
mfg = mfg * tI
return fingerbonetransformsOut
func copyouttransformstoskel(fingerbonetransformsOut):
@ -258,17 +254,17 @@ func copyouttransformstoskel(fingerbonetransformsOut):
skel.set_bone_pose_position(ix, t.origin)
skel.set_bone_pose_scale(ix, t.basis.get_scale())
func _process(delta):
var handjointflagswrist = xr_interface.get_hand_joint_flags(hand, OpenXRInterface.HAND_JOINT_WRIST);
var lhandtrackingactive = (handjointflagswrist & OpenXRInterface.HAND_JOINT_POSITION_VALID) != 0
var lhandtrackingactive = (handjointflagswrist&OpenXRInterface.HAND_JOINT_POSITION_VALID) != 0
if handtrackingactive != lhandtrackingactive:
handtrackingactive = lhandtrackingactive
handnode.top_level = handtrackingactive
if handanimationtree:
handanimationtree.active = not handtrackingactive
print("setting hand "+str(hand)+" active: ", handtrackingactive)
print("setting hand " + str(hand) + " active: ", handtrackingactive)
hand_active_changed.emit(hand, handtrackingactive)
$VisibleHandTrackSkeleton.visible = visiblehandtrackskeleton and handtrackingactive
if handtrackingactive:
if enableautotracker:
@ -297,6 +293,3 @@ func _process(delta):
print("...xr_aimpose ", xr_aimpose)
if xr_aimpose != null and $AutoTracker.autotrackeractive:
$AutoTracker.xr_autotracker.set_pose(xr_controller_node.pose, xr_aimpose.transform, xr_aimpose.linear_velocity, xr_aimpose.angular_velocity, xr_aimpose.tracking_confidence)

3
app/content/main.tscn
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@ -42,6 +42,9 @@ transform = Transform3D(0.967043, 0.24582, -0.0663439, -0.0663439, 0.494837, 0.8
[node name="MiddleTip" parent="XROrigin3D/XRControllerLeft" index="8"]
transform = Transform3D(0.98042, 0.196912, 0.00149799, 0.001498, -0.015065, 0.999885, 0.196912, -0.980305, -0.0150651, -0.00327212, -0.00771427, -0.176318)
[node name="Palm" parent="XROrigin3D/XRControllerLeft" index="9"]
transform = Transform3D(1, 3.12361e-06, -3.13859e-06, -3.12371e-06, 1, -1.97886e-05, 3.13859e-06, 1.97889e-05, 1, 0.0307807, -0.0419722, -0.0399505)
[node name="XRControllerRight" parent="XROrigin3D" instance=ExtResource("7_0b3tc")]
transform = Transform3D(0.999999, -1.39635e-11, 0, 1.31553e-10, 1, 0, 0, 0, 1, 0.336726, 0.575093, -0.437942)

17
app/content/system/controller_left/controller_left.gd
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@ -11,6 +11,7 @@ const Miniature = preload ("res://content/system/house/mini/miniature.gd")
@onready var main = $"/root/Main"
@onready var hand = $hand_l
@onready var hand_mesh = $hand_l/Armature/Skeleton3D/mesh_Hand_L
@onready var auto_hand = $AutoHandtracker
@onready var index_tip = $IndexTip
@onready var thumb_tip = $ThumbTip
@ -27,6 +28,7 @@ const Miniature = preload ("res://content/system/house/mini/miniature.gd")
@onready var animation = $AnimationPlayer
@onready var quick_actions = $Palm/QuickActions
var hand_active = false
var initiator: Initiator = Initiator.new()
var collide: Collide
var pointer: Pointer
@ -103,12 +105,18 @@ func _ready():
)
func _process(_delta):
if !hand_active:
if quick_actions.is_inside_tree(): palm.remove_child(quick_actions)
return
if main.camera.global_transform.basis.z.dot(palm.global_transform.basis.x) > 0.85:
if quick_actions.is_inside_tree() == false: palm.add_child(quick_actions)
else:
if quick_actions.is_inside_tree(): palm.remove_child(quick_actions)
func _physics_process(_delta):
if !hand_active: return
var distance_trigger = index_tip.global_position.distance_to(thumb_tip.global_position)
var distance_grab = middle_tip.global_position.distance_to(thumb_tip.global_position)
@ -144,6 +152,15 @@ func _setup_hand():
collide = Collide.new(hand, hand_mesh, index_tip)
add_child(collide)
auto_hand.hand_active_changed.connect(func(hand: int, active: bool):
if hand != 0: return
hand_active=active
$IndexTip/TouchArea/CollisionShape3D.disabled=!active
hand_mesh.visible=active
)
mini_view_button.on_button_up.connect(func():
House.body.mini_view.small.value=!House.body.mini_view.small.value
)

13
app/content/system/controller_right/controller_right.gd
View File

@ -11,11 +11,13 @@ const Miniature = preload ("res://content/system/house/mini/miniature.gd")
@onready var ray: RayCast3D = $Raycast
@onready var hand: Node3D = $hand_r
@onready var hand_mesh = $hand_r/Armature/Skeleton3D/mesh_Hand_R
@onready var auto_hand = $AutoHandtracker
@onready var index_tip = $IndexTip
@onready var thumb_tip = $ThumbTip
@onready var middle_tip = $MiddleTip
var hand_active = false
var initiator: Initiator = Initiator.new()
var collide: Collide
var pointer: Pointer
@ -37,7 +39,18 @@ func _ready():
pointer = Pointer.new(initiator, ray)
add_child(pointer)
auto_hand.hand_active_changed.connect(func(hand: int, active: bool):
if hand != 1: return
hand_active=active
$IndexTip/TouchArea/CollisionShape3D.disabled=!active
hand_mesh.visible=active
)
func _physics_process(_delta):
if !hand_active: return
var distance_trigger = index_tip.global_position.distance_to(thumb_tip.global_position)
var distance_grab = middle_tip.global_position.distance_to(thumb_tip.global_position)