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OpenXR - add access to hand joint validity flags
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@BastiaanOlij
BastiaanOlij committed Oct 5, 2023
1 parent bfd78bb commit 50693a5
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Showing 5 changed files with 164 additions and 8 deletions.
36 changes: 36 additions & 0 deletions modules/openxr/doc_classes/OpenXRInterface.xml
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Expand Up @@ -31,6 +31,14 @@
If handtracking is enabled, returns the angular velocity of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is relative to [XROrigin3D]!
</description>
</method>
<method name="get_hand_joint_flags" qualifiers="const">
<return type="int" enum="OpenXRInterface.HandJointFlags" is_bitfield="true" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
<description>
If handtracking is enabled, returns flags that inform us of the validity of the tracking data.
</description>
</method>
<method name="get_hand_joint_linear_velocity" qualifiers="const">
<return type="Vector3" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
Expand Down Expand Up @@ -91,6 +99,13 @@
[b]Note:[/b] This feature is only available on the compatibility renderer and currently only available on some stand alone headsets. For Vulkan set [member Viewport.vrs_mode] to [code]VRS_XR[/code] on desktop.
</description>
</method>
<method name="is_hand_tracking_supported">
<return type="bool" />
<description>
Returns [code]true[/code] if OpenXRs hand tracking is supported and enabled.
[b]Note:[/b] This only returns a valid value after OpenXR has been initialized.
</description>
</method>
<method name="set_action_set_active">
<return type="void" />
<param index="0" name="name" type="String" />
Expand Down Expand Up @@ -246,5 +261,26 @@
<constant name="HAND_JOINT_MAX" value="26" enum="HandJoints">
Maximum value for the hand joint enum.
</constant>
<constant name="HAND_JOINT_NONE" value="0" enum="HandJointFlags" is_bitfield="true">
No flags are set.
</constant>
<constant name="HAND_JOINT_ORIENTATION_VALID" value="1" enum="HandJointFlags" is_bitfield="true">
If set, the orientation data is valid, otherwise, the orientation data is unreliable and should not be used.
</constant>
<constant name="HAND_JOINT_ORIENTATION_TRACKED" value="2" enum="HandJointFlags" is_bitfield="true">
If set, the orientation data comes from tracking data, otherwise, the orientation data contains predicted data.
</constant>
<constant name="HAND_JOINT_POSITION_VALID" value="4" enum="HandJointFlags" is_bitfield="true">
If set, the positional data is valid, otherwise, the positional data is unreliable and should not be used.
</constant>
<constant name="HAND_JOINT_POSITION_TRACKED" value="8" enum="HandJointFlags" is_bitfield="true">
If set, the positional data comes from tracking data, otherwise, the positional data contains predicted data.
</constant>
<constant name="HAND_JOINT_LINEAR_VELOCITY_VALID" value="16" enum="HandJointFlags" is_bitfield="true">
If set, our linear velocity data is valid, otherwise, the linear velocity data is unreliable and should not be used.
</constant>
<constant name="HAND_JOINT_ANGULAR_VELOCITY_VALID" value="32" enum="HandJointFlags" is_bitfield="true">
If set, our angular velocity data is valid, otherwise, the angular velocity data is unreliable and should not be used.
</constant>
</constants>
</class>
24 changes: 24 additions & 0 deletions modules/openxr/extensions/openxr_hand_tracking_extension.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -245,6 +245,18 @@ void OpenXRHandTrackingExtension::set_motion_range(HandTrackedHands p_hand, XrHa
hand_trackers[p_hand].motion_range = p_motion_range;
}

XrSpaceLocationFlags OpenXRHandTrackingExtension::get_hand_joint_location_flags(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, XrSpaceLocationFlags(0));
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, XrSpaceLocationFlags(0));

if (!hand_trackers[p_hand].is_initialized) {
return XrSpaceLocationFlags(0);
}

const XrHandJointLocationEXT &location = hand_trackers[p_hand].joint_locations[p_joint];
return location.locationFlags;
}

Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Quaternion());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Quaternion());
Expand Down Expand Up @@ -280,6 +292,18 @@ float OpenXRHandTrackingExtension::get_hand_joint_radius(HandTrackedHands p_hand
return hand_trackers[p_hand].joint_locations[p_joint].radius;
}

XrSpaceVelocityFlags OpenXRHandTrackingExtension::get_hand_joint_velocity_flags(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, XrSpaceVelocityFlags(0));
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, XrSpaceVelocityFlags(0));

if (!hand_trackers[p_hand].is_initialized) {
return XrSpaceVelocityFlags(0);
}

const XrHandJointVelocityEXT &velocity = hand_trackers[p_hand].joint_velocities[p_joint];
return velocity.velocityFlags;
}

Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());
Expand Down
2 changes: 2 additions & 0 deletions modules/openxr/extensions/openxr_hand_tracking_extension.h
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Original file line number Diff line number Diff line change
Expand Up @@ -77,10 +77,12 @@ class OpenXRHandTrackingExtension : public OpenXRExtensionWrapper {
XrHandJointsMotionRangeEXT get_motion_range(HandTrackedHands p_hand) const;
void set_motion_range(HandTrackedHands p_hand, XrHandJointsMotionRangeEXT p_motion_range);

XrSpaceLocationFlags get_hand_joint_location_flags(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
Quaternion get_hand_joint_rotation(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_position(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
float get_hand_joint_radius(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;

XrSpaceVelocityFlags get_hand_joint_velocity_flags(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_linear_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_angular_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const;

Expand Down
97 changes: 89 additions & 8 deletions modules/openxr/openxr_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,13 +77,18 @@ 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);

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);
Expand Down Expand Up @@ -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 {
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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;

if ((location_flags & all_location_flags) == all_location_flags) {
// All flags set? confidence is high!
confidence = XRPose::XR_TRACKING_CONFIDENCE_HIGH;
}

tracker->positional_tracker->set_pose("skeleton", transform, linear_velocity, angular_velocity, 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");
}
}
}
}
Expand Down Expand Up @@ -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()) {
Expand Down
13 changes: 13 additions & 0 deletions modules/openxr/openxr_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,7 @@ class OpenXRInterface : public XRInterface {
virtual PackedStringArray get_suggested_tracker_names() const override;
virtual TrackingStatus get_tracking_status() const override;

bool is_hand_tracking_supported();
bool is_eye_gaze_interaction_supported();

bool initialize_on_startup() const;
Expand Down Expand Up @@ -222,6 +223,17 @@ class OpenXRInterface : public XRInterface {
HAND_JOINT_MAX = 26,
};

enum HandJointFlags {
HAND_JOINT_NONE = 0,
HAND_JOINT_ORIENTATION_VALID = 1,
HAND_JOINT_ORIENTATION_TRACKED = 2,
HAND_JOINT_POSITION_VALID = 4,
HAND_JOINT_POSITION_TRACKED = 8,
HAND_JOINT_LINEAR_VELOCITY_VALID = 16,
HAND_JOINT_ANGULAR_VELOCITY_VALID = 32,
};

BitField<HandJointFlags> get_hand_joint_flags(Hand p_hand, HandJoints p_joint) const;
Quaternion get_hand_joint_rotation(Hand p_hand, HandJoints p_joint) const;
Vector3 get_hand_joint_position(Hand p_hand, HandJoints p_joint) const;
float get_hand_joint_radius(Hand p_hand, HandJoints p_joint) const;
Expand All @@ -236,5 +248,6 @@ class OpenXRInterface : public XRInterface {
VARIANT_ENUM_CAST(OpenXRInterface::Hand)
VARIANT_ENUM_CAST(OpenXRInterface::HandMotionRange)
VARIANT_ENUM_CAST(OpenXRInterface::HandJoints)
VARIANT_BITFIELD_CAST(OpenXRInterface::HandJointFlags)

#endif // OPENXR_INTERFACE_H

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