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xrt/drivers: Convert hand tracking drivers to use hand simulation

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Co-authored-by: Moses Turner <moses@collabora.com>
This commit is contained in:
danwillm 2022-08-01 18:32:22 +01:00 committed by Moses Turner
parent 1dee288459
commit 76f96686d1
4 changed files with 59 additions and 49 deletions
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6
src/xrt/drivers/opengloves/opengloves_device.c
View file

@ -28,6 +28,7 @@ DEBUG_GET_ONCE_LOG_OPTION(opengloves_log, "OPENGLOVES_LOG", U_LOGGING_INFO)
#include "os/os_threading.h"
#include "util/u_hand_simulation.h"
#define OPENGLOVES_TRACE(d, ...) U_LOG_XDEV_IFL_T(&d->base, d->log_level, __VA_ARGS__)
#define OPENGLOVES_DEBUG(d, ...) U_LOG_XDEV_IFL_D(&d->base, d->log_level, __VA_ARGS__)
@ -120,7 +121,7 @@ opengloves_device_get_hand_tracking(struct xrt_device *xdev,
memcpy(values.index.joint_curls, od->last_input->flexion[1], sizeof(od->last_input->flexion[1]));
memcpy(values.thumb.joint_curls, od->last_input->flexion[0], sizeof(od->last_input->flexion[0]));
u_hand_joints_update(&od->hand_tracking, hand, requested_timestamp_ns, &values);
u_hand_sim_simulate_generic(&values, hand, &out_joint_set->hand_pose, out_joint_set);
struct xrt_space_relation controller_relation = {.pose = {.orientation.w = 1.0f, .position = {0, 0, 0}}};
controller_relation.relation_flags = XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
@ -129,8 +130,6 @@ opengloves_device_get_hand_tracking(struct xrt_device *xdev,
struct xrt_pose hand_on_handle_pose;
u_hand_joints_offset_valve_index_controller(hand, &static_offset, &hand_on_handle_pose);
u_hand_joints_set_out_data(&od->hand_tracking, hand, &controller_relation, &hand_on_handle_pose, out_joint_set);
*out_timestamp_ns = requested_timestamp_ns;
out_joint_set->is_active = true;
@ -247,7 +246,6 @@ opengloves_device_create(struct opengloves_communication_device *ocd, enum xrt_h
od->base.inputs[OPENGLOVES_INDEX_HAND_TRACKING].name =
od->hand == XRT_HAND_LEFT ? XRT_INPUT_GENERIC_HAND_TRACKING_LEFT : XRT_INPUT_GENERIC_HAND_TRACKING_RIGHT;
u_hand_joints_init_default_set(&od->hand_tracking, hand, XRT_HAND_TRACKING_MODEL_INTRINSIC, 1.0);
od->base.hand_tracking_supported = true;
// inputs

9
src/xrt/drivers/remote/r_device.c
View file

@ -20,6 +20,7 @@
#include "math/m_api.h"
#include "r_internal.h"
#include "util/u_hand_simulation.h"
#include <stdio.h>
@ -156,14 +157,11 @@ r_device_get_hand_tracking(struct xrt_device *xdev,
};
enum xrt_hand hand = rd->is_left ? XRT_HAND_LEFT : XRT_HAND_RIGHT;
u_hand_joints_update_curl(&rd->hand_tracking, hand, requested_timestamp_ns, &values);
struct xrt_pose hand_on_handle_pose = XRT_POSE_IDENTITY;
u_hand_sim_simulate_for_valve_index_knuckles(&values, hand, &out_value->hand_pose, out_value);
struct xrt_space_relation relation;
xrt_device_get_tracked_pose(xdev, XRT_INPUT_INDEX_GRIP_POSE, requested_timestamp_ns, &relation);
u_hand_joints_set_out_data(&rd->hand_tracking, hand, &relation, &hand_on_handle_pose, out_value);
out_value->is_active = latest->hand_tracking_active;
// This is a lie
@ -258,9 +256,6 @@ r_device_create(struct r_hub *r, bool is_left)
rd->base.device_type = XRT_DEVICE_TYPE_RIGHT_HAND_CONTROLLER;
}
enum xrt_hand hand = rd->is_left ? XRT_HAND_LEFT : XRT_HAND_RIGHT;
u_hand_joints_init_default_set(&rd->hand_tracking, hand, XRT_HAND_TRACKING_MODEL_INTRINSIC, 1.0);
// Setup variable tracker.
u_var_add_root(rd, rd->base.str, true);

86
src/xrt/drivers/survive/survive_driver.c
View file

@ -18,6 +18,7 @@
#include <inttypes.h>
#include "math/m_api.h"
#include "math/m_space.h"
#include "tracking/t_tracking.h"
#include "xrt/xrt_device.h"
#include "util/u_debug.h"
@ -40,6 +41,7 @@
#include "util/u_json.h"
#include "util/u_hand_tracking.h"
#include "util/u_hand_simulation.h"
#include "util/u_logging.h"
#include "math/m_relation_history.h"
@ -388,6 +390,34 @@ survive_controller_device_set_output(struct xrt_device *xdev,
}
}
struct Button
{
enum input_index click;
enum input_index touch;
};
struct Button buttons[255] = {
[SURVIVE_BUTTON_A] = {.click = VIVE_CONTROLLER_A_CLICK, .touch = VIVE_CONTROLLER_A_TOUCH},
[SURVIVE_BUTTON_B] = {.click = VIVE_CONTROLLER_B_CLICK, .touch = VIVE_CONTROLLER_B_TOUCH},
[SURVIVE_BUTTON_TRACKPAD] = {.click = VIVE_CONTROLLER_TRACKPAD_CLICK, .touch = VIVE_CONTROLLER_TRACKPAD_TOUCH},
[SURVIVE_BUTTON_THUMBSTICK] = {.click = VIVE_CONTROLLER_THUMBSTICK_CLICK,
.touch = VIVE_CONTROLLER_THUMBSTICK_TOUCH},
[SURVIVE_BUTTON_SYSTEM] = {.click = VIVE_CONTROLLER_SYSTEM_CLICK, .touch = VIVE_CONTROLLER_SYSTEM_TOUCH},
[SURVIVE_BUTTON_MENU] = {.click = VIVE_CONTROLLER_MENU_CLICK,
// only on vive wand without touch
.touch = 0},
[SURVIVE_BUTTON_GRIP] = {.click = VIVE_CONTROLLER_SQUEEZE_CLICK,
// only on vive wand without touch
.touch = 0},
[SURVIVE_BUTTON_TRIGGER] = {.click = VIVE_CONTROLLER_TRIGGER_CLICK, .touch = VIVE_CONTROLLER_TRIGGER_TOUCH},
};
static void
survive_controller_get_hand_tracking(struct xrt_device *xdev,
enum xrt_input_name name,
@ -415,27 +445,45 @@ survive_controller_get_hand_tracking(struct xrt_device *xdev,
thumb_curl = 1.0;
}
if (survive->last_inputs[buttons[SURVIVE_BUTTON_TRIGGER].click].value.boolean) {
survive->ctrl.curl[XRT_FINGER_INDEX] = 1.0;
thumb_curl = 1.0;
}
struct u_hand_tracking_curl_values values = {.little = survive->ctrl.curl[XRT_FINGER_LITTLE],
.ring = survive->ctrl.curl[XRT_FINGER_RING],
.middle = survive->ctrl.curl[XRT_FINGER_MIDDLE],
.index = survive->ctrl.curl[XRT_FINGER_INDEX],
.thumb = thumb_curl};
/* The tracked controller position is at the very -z end of the
* controller. Move the hand back offset_z meter to the handle center.
*/
struct xrt_vec3 static_offset = {.x = 0, .y = 0, .z = 0.11};
struct xrt_vec3 static_offset = {.x = 0, .y = 0.05, .z = 0.11};
u_hand_joints_update_curl(&survive->ctrl.hand_tracking, hand, at_timestamp_ns, &values);
struct xrt_pose hand_on_handle_pose;
u_hand_joints_offset_valve_index_controller(hand, &static_offset, &hand_on_handle_pose);
struct xrt_space_relation hand_relation;
m_relation_history_get(survive->relation_hist, at_timestamp_ns, &hand_relation);
u_hand_joints_set_out_data(&survive->ctrl.hand_tracking, hand, &hand_relation, &hand_on_handle_pose, out_value);
u_hand_sim_simulate_for_valve_index_knuckles(&values, hand, &hand_relation, out_value);
struct xrt_pose hand_on_handle_pose;
u_hand_joints_offset_valve_index_controller(hand, &static_offset, &hand_on_handle_pose);
struct xrt_relation_chain chain = {0};
// out_value->hand_pose = hand_relation;
m_relation_chain_push_pose(&chain, &hand_on_handle_pose);
m_relation_chain_push_relation(&chain, &hand_relation);
m_relation_chain_resolve(&chain, &out_value->hand_pose);
// This is the truth - we pose-predicted or interpolated all the way up to `at_timestamp_ns`.
*out_timestamp_ns = at_timestamp_ns;
@ -544,33 +592,7 @@ update_axis(struct survive_device *survive, struct Axis *axis, const SurviveSimp
return true;
}
struct Button
{
enum input_index click;
enum input_index touch;
};
struct Button buttons[255] = {
[SURVIVE_BUTTON_A] = {.click = VIVE_CONTROLLER_A_CLICK, .touch = VIVE_CONTROLLER_A_TOUCH},
[SURVIVE_BUTTON_B] = {.click = VIVE_CONTROLLER_B_CLICK, .touch = VIVE_CONTROLLER_B_TOUCH},
[SURVIVE_BUTTON_TRACKPAD] = {.click = VIVE_CONTROLLER_TRACKPAD_CLICK, .touch = VIVE_CONTROLLER_TRACKPAD_TOUCH},
[SURVIVE_BUTTON_THUMBSTICK] = {.click = VIVE_CONTROLLER_THUMBSTICK_CLICK,
.touch = VIVE_CONTROLLER_THUMBSTICK_TOUCH},
[SURVIVE_BUTTON_SYSTEM] = {.click = VIVE_CONTROLLER_SYSTEM_CLICK, .touch = VIVE_CONTROLLER_SYSTEM_TOUCH},
[SURVIVE_BUTTON_MENU] = {.click = VIVE_CONTROLLER_MENU_CLICK,
// only on vive wand without touch
.touch = 0},
[SURVIVE_BUTTON_GRIP] = {.click = VIVE_CONTROLLER_SQUEEZE_CLICK,
// only on vive wand without touch
.touch = 0},
[SURVIVE_BUTTON_TRIGGER] = {.click = VIVE_CONTROLLER_TRIGGER_CLICK, .touch = VIVE_CONTROLLER_TRIGGER_TOUCH},
};
static bool
update_button(struct survive_device *survive, const struct SurviveSimpleButtonEvent *e, timepoint_ns ts)
@ -1050,8 +1072,6 @@ _create_controller_device(struct survive_system *sys,
survive->base.get_hand_tracking = survive_controller_get_hand_tracking;
enum xrt_hand hand = idx == SURVIVE_LEFT_CONTROLLER_INDEX ? XRT_HAND_LEFT : XRT_HAND_RIGHT;
u_hand_joints_init_default_set(&survive->ctrl.hand_tracking, hand, XRT_HAND_TRACKING_MODEL_INTRINSIC,
1.0);
survive->base.outputs[0].name = XRT_OUTPUT_NAME_INDEX_HAPTIC;

7
src/xrt/drivers/vive/vive_controller.c
View file

@ -35,6 +35,7 @@
#include "vive.h"
#include "vive_protocol.h"
#include "vive_controller.h"
#include "util/u_hand_simulation.h"
#include <assert.h>
#include <stdio.h>
@ -336,7 +337,7 @@ vive_controller_get_hand_tracking(struct xrt_device *xdev,
.index = (float)d->state.index_finger_trigger / UINT8_MAX,
.thumb = thumb_curl};
u_hand_joints_update_curl(&d->hand_tracking, hand, requested_timestamp_ns, &values);
u_hand_sim_simulate_for_valve_index_knuckles(&values, hand, &out_value->hand_pose, out_value);
/* Because IMU is at the very -z end of the controller, the rotation
@ -358,8 +359,6 @@ vive_controller_get_hand_tracking(struct xrt_device *xdev,
struct xrt_pose hand_on_handle_pose;
u_hand_joints_offset_valve_index_controller(hand, &static_offset, &hand_on_handle_pose);
u_hand_joints_set_out_data(&d->hand_tracking, hand, &controller_relation, &hand_on_handle_pose, out_value);
// This is a lie: currently, no pose-prediction or history is implemented for this driver.
*out_timestamp_ns = requested_timestamp_ns;
@ -1105,8 +1104,6 @@ vive_controller_create(struct os_hid_device *controller_hid, enum watchman_gen w
enum xrt_hand hand = d->config.variant == CONTROLLER_INDEX_LEFT ? XRT_HAND_LEFT : XRT_HAND_RIGHT;
u_hand_joints_init_default_set(&d->hand_tracking, hand, XRT_HAND_TRACKING_MODEL_INTRINSIC, 1.0);
d->base.binding_profiles = vive_binding_profiles_index;
d->base.binding_profile_count = vive_binding_profiles_index_count;