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Minor tweaks to skeletal data
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@Nyabsi
Nyabsi committed Jul 30, 2024
1 parent ac0811e commit 1dace41
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Showing 2 changed files with 27 additions and 78 deletions.
104 changes: 27 additions & 77 deletions src/TrackedController.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -21,53 +21,34 @@ TrackedController::TrackedController(vr::ETrackedControllerRole role)
{
m_role = role;

m_pose = { 0 };
m_pose.deviceIsConnected = false;

for (size_t i = 0U; i < 3; i++)
{
m_pose.vecAcceleration[i] = 0;
m_pose.vecAngularAcceleration[i] = 0;
m_pose.vecAngularVelocity[i] = 0;
m_pose.vecDriverFromHeadTranslation[i] = 0;
}

m_pose.poseTimeOffset = .0;
m_pose.qDriverFromHeadRotation = { 1, 0, 0, 0 };
m_pose.qRotation = { 1, 0, 0, 0 };
m_pose.qWorldFromDriverRotation = { 1, 0, 0, 0 };
m_pose.result = vr::TrackingResult_Uninitialized;
m_pose.shouldApplyHeadModel = false;
m_pose.willDriftInYaw = false;

for (size_t i = 0U; i < SB_Count; i++)
m_boneTransform[i] = g_openHandGesture[i];

if (m_role == vr::TrackedControllerRole_RightHand)
{
// Transformation inversion along 0YZ plane
for (size_t i = 1U; i < SB_Count; i++)
for (size_t i = 1; i < SB_Count; i++)
{
m_boneTransform[i].position.v[0] *= -1.f;

switch (i)
{
case SB_Wrist:
{
m_boneTransform[i].orientation.y *= -1.f;
m_boneTransform[i].orientation.z *= -1.f;
} break;
case SB_Thumb0:
case SB_IndexFinger0:
case SB_MiddleFinger0:
case SB_RingFinger0:
case SB_PinkyFinger0:
{
m_boneTransform[i].orientation.z *= -1.f;
std::swap(m_boneTransform[i].orientation.x, m_boneTransform[i].orientation.w);
m_boneTransform[i].orientation.w *= -1.f;
std::swap(m_boneTransform[i].orientation.y, m_boneTransform[i].orientation.z);
} break;
case SB_Wrist:
{
m_boneTransform[i].orientation.y *= -1.f;
m_boneTransform[i].orientation.z *= -1.f;
} break;
case SB_Thumb0:
case SB_IndexFinger0:
case SB_MiddleFinger0:
case SB_RingFinger0:
case SB_PinkyFinger0:
{
m_boneTransform[i].orientation.z *= -1.f;
std::swap(m_boneTransform[i].orientation.x, m_boneTransform[i].orientation.w);
m_boneTransform[i].orientation.w *= -1.f;
std::swap(m_boneTransform[i].orientation.y, m_boneTransform[i].orientation.z);
break;
}
}
}
}
Expand Down Expand Up @@ -118,13 +99,6 @@ vr::EVRInitError TrackedController::Activate(uint32_t unObjectId)
vr::VRProperties()->SetStringProperty(props, vr::Prop_NamedIconPathDeviceStandby_String, m_role == vr::TrackedControllerRole_LeftHand ? "{leapify}/icons/left_controller_status_off.png" : "{leapify}/icons//right_controller_status_off.png");
vr::VRProperties()->SetStringProperty(props, vr::Prop_NamedIconPathDeviceAlertLow_String, m_role == vr::TrackedControllerRole_LeftHand ? "{leapify}/icons/left_controller_status_ready_low.png" : "{leapify}/icons//right_controller_status_ready_low.png");

// vr::VRDriverInput()->CreateBooleanComponent(props, "/input/system/click", &DeviceController::get().getComponent(m_role == vr::TrackedControllerRole_LeftHand ? 0 : 1).override);
// vr::VRDriverInput()->CreateBooleanComponent(props, "/input/system/touch", &DeviceController::get().getComponent(m_role == vr::TrackedControllerRole_LeftHand ? 2 : 3).override);

// vr::VRDriverInput()->CreateBooleanComponent(props, "/input/trigger/click", &DeviceController::get().getComponent(m_role == vr::TrackedControllerRole_LeftHand ? 4 : 5).override);
// vr::VRDriverInput()->CreateBooleanComponent(props, "/input/trigger/touch", &DeviceController::get().getComponent(m_role == vr::TrackedControllerRole_LeftHand ? 6 : 7).override);
// vr::VRDriverInput()->CreateScalarComponent(props, "/input/trigger/value", &DeviceController::get().getComponent(m_role == vr::TrackedControllerRole_LeftHand ? 8 : 9).override, vr::VRScalarType_Absolute, vr::VRScalarUnits_NormalizedOneSided);

if (m_role == vr::TrackedControllerRole_LeftHand)
vr::VRDriverInput()->CreateSkeletonComponent(props, "/input/skeleton/left", "/skeleton/hand/left", "/pose/raw", vr::VRSkeletalTracking_Full, nullptr, 0, &m_skeletonHandle);
else
Expand Down Expand Up @@ -224,11 +198,7 @@ void TrackedController::UpdatePose(LeapHand hand)
const glm::quat headRotation = glm::quat_cast(hmdMatrix);
memcpy(&m_pose.qWorldFromDriverRotation, &headRotation, sizeof(glm::quat));

glm::vec3 worldOffset = headRotation * glm::vec3(0.0f, 0.0f, 0.0f);

m_pose.vecWorldFromDriverTranslation[0] += worldOffset.x;
m_pose.vecWorldFromDriverTranslation[1] += worldOffset.y;
m_pose.vecWorldFromDriverTranslation[2] += worldOffset.z;
m_pose.qDriverFromHeadRotation.w = 1;

glm::quat root = headRotation * glm::quat(glm::radians(glm::vec3(0.0f, 0.0f, 0.0f)));
ConvertQuaternion(root, m_pose.qWorldFromDriverRotation);
Expand Down Expand Up @@ -280,7 +250,7 @@ void TrackedController::UpdateSkeletalPose(LeapHand hand)
{
for (size_t i = 0U; i < 5; i++)
{
size_t index = GetFingerBoneIndex(i);
size_t index = i == 0 ? 2 : (i * 5) + 1;
bool thumb = (i == 0);

for (size_t j = 0, k = (thumb ? 3 : 4); j < k; j++)
Expand Down Expand Up @@ -311,7 +281,7 @@ void TrackedController::UpdateSkeletalPose(LeapHand hand)
for (size_t i = HF_Thumb; i < HF_Count; i++)
{
glm::mat4 chainMatrix(wristMatrix);
const size_t l_chainIndex = GetFingerBoneIndex(i);
const size_t l_chainIndex = i == 0 ? 2 : (i * 5) + 1;
for (size_t j = 0; j < ((i == HF_Thumb) ? 3 : 4); j++)
{
ConvertVector3(m_boneTransform[l_chainIndex + j].position, position);
Expand All @@ -335,30 +305,6 @@ void TrackedController::UpdateSkeletalPose(LeapHand hand)
}
}

size_t TrackedController::GetFingerBoneIndex(size_t id)
{
size_t result = 0;
switch (id)
{
case HF_Thumb:
result = SB_Thumb0;
break;
case HF_Index:
result = SB_IndexFinger0;
break;
case HF_Middle:
result = SB_MiddleFinger0;
break;
case HF_Ring:
result = SB_RingFinger0;
break;
case HF_Pinky:
result = SB_PinkyFinger0;
break;
}
return result;
}

void TrackedController::GetFingerBoneLocalRotation(LeapHand hand, size_t finger, size_t bone, glm::quat& result, bool ignoreMeta)
{
if ((finger >= 5) || (bone >= 4) || (ignoreMeta && (bone == 0)))
Expand All @@ -374,8 +320,8 @@ void TrackedController::GetFingerBoneLocalPosition(LeapHand hand, size_t finger,
return;

size_t l_index = finger * 4U + bone;
glm::vec3 parentPosition = (((bone == 0U) || (ignoreMeta && (bone == 1))) ? m_position : m_bonePositions[l_index - 1]);
glm::quat parentRotation = (((bone == 0U) || (ignoreMeta && (bone == 1))) ? m_rotation : m_boneRotations[l_index - 1]);
glm::vec3 parentPosition = (((bone == 0) || (ignoreMeta && (bone == 1))) ? m_position : m_bonePositions[l_index - 1]);
glm::quat parentRotation = (((bone == 0) || (ignoreMeta && (bone == 1))) ? m_rotation : m_boneRotations[l_index - 1]);
glm::mat4 parentMatrix = glm::translate(identityMatrix, parentPosition) * glm::toMat4(parentRotation);
glm::mat4 childMatrix = glm::translate(identityMatrix, m_bonePositions[l_index]) * glm::toMat4(m_boneRotations[l_index]);
glm::mat4 childLocal = glm::inverse(parentMatrix) * childMatrix;
Expand All @@ -386,6 +332,7 @@ void TrackedController::ChangeBoneOrientation(glm::quat& rotation)
{
std::swap(rotation.x, rotation.z);
rotation.z *= -1.f;

if (m_role == vr::TrackedControllerRole_LeftHand)
{
rotation.x *= -1.f;
Expand All @@ -399,7 +346,10 @@ void TrackedController::ChangeBonePosition(glm::vec3& position)
position.z *= -1.f;

if (m_role == vr::TrackedControllerRole_LeftHand)
{
position.x *= -1.f;
position.y *= 1.f;
}
}

void TrackedController::FixMetacarpalBone(glm::quat& rotation)
Expand Down
1 change: 0 additions & 1 deletion src/TrackedController.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,6 @@ class TrackedController: public vr::ITrackedDeviceServerDriver
void UpdatePose(LeapHand hand);
void UpdateSkeletalPose(LeapHand hand);

size_t GetFingerBoneIndex(size_t id);
void GetFingerBoneLocalRotation(LeapHand hand, size_t p_finger, size_t p_bone, glm::quat& l_result, bool p_ignoreMeta);
void GetFingerBoneLocalPosition(LeapHand hand, size_t p_finger, size_t p_bone, glm::vec3& l_result, bool p_ignoreMeta);
void ChangeBoneOrientation(glm::quat& p_rot);
Expand Down

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