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xrt: Add support for locating hand joints in action spaces

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This commit is contained in:
Christoph Haag 2020-11-13 01:30:25 +01:00 committed by Jakob Bornecrantz
parent 95af586654
commit f5ef3985ba
12 changed files with 91 additions and 43 deletions
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27
src/xrt/auxiliary/util/u_hand_tracking.c
View file

@ -668,10 +668,11 @@ u_hand_joints_set_out_data(struct u_hand_tracking *set,
enum xrt_hand hand, enum xrt_hand hand,
struct xrt_space_relation *hand_relation, struct xrt_space_relation *hand_relation,
struct xrt_pose *hand_offset, struct xrt_pose *hand_offset,
union xrt_hand_joint_set *out_value) struct xrt_hand_joint_set *out_value)
{ {
struct xrt_hand_joint_value *l = out_value->hand_joint_set_default; struct xrt_hand_joint_value *l =
out_value->values.hand_joint_set_default;
for (int i = 0; i < XRT_HAND_JOINT_COUNT; i++) { for (int i = 0; i < XRT_HAND_JOINT_COUNT; i++) {
l[i].relation.relation_flags |= l[i].relation.relation_flags |=
@ -685,23 +686,13 @@ u_hand_joints_set_out_data(struct u_hand_tracking *set,
struct u_joint_space_relation *data = get_joint_data(set, i); struct u_joint_space_relation *data = get_joint_data(set, i);
// transform poses from "hand space" to "controller space in struct xrt_space_graph graph = {0};
// world space" m_space_graph_add_relation(&graph, &data->relation);
struct xrt_space_relation transformed; m_space_graph_add_pose(&graph, hand_offset);
m_space_graph_resolve(&graph, &l[i].relation);
transformed.pose = data->relation.pose;
//! @todo: transform velocities
math_pose_transform(hand_offset, &data->relation.pose,
&transformed.pose);
math_pose_transform(&hand_relation->pose, &transformed.pose,
&transformed.pose);
//! @todo handle velocities
l[i].relation.pose = transformed.pose;
} }
out_value->hand_origin = *hand_relation;
} }
void void

2
src/xrt/auxiliary/util/u_hand_tracking.h
View file

@ -133,7 +133,7 @@ u_hand_joints_set_out_data(struct u_hand_tracking *set,
enum xrt_hand hand, enum xrt_hand hand,
struct xrt_space_relation *hand_relation, struct xrt_space_relation *hand_relation,
struct xrt_pose *hand_offset, struct xrt_pose *hand_offset,
union xrt_hand_joint_set *out_value); struct xrt_hand_joint_set *out_value);
/* /*

2
src/xrt/drivers/survive/survive_driver.c
View file

@ -454,7 +454,7 @@ static void
survive_controller_get_hand_tracking(struct xrt_device *xdev, survive_controller_get_hand_tracking(struct xrt_device *xdev,
enum xrt_input_name name, enum xrt_input_name name,
uint64_t at_timestamp_ns, uint64_t at_timestamp_ns,
union xrt_hand_joint_set *out_value) struct xrt_hand_joint_set *out_value)
{ {
struct survive_device *survive = (struct survive_device *)xdev; struct survive_device *survive = (struct survive_device *)xdev;

6
src/xrt/drivers/vive/vive_controller.c
View file

@ -324,7 +324,7 @@ static void
vive_controller_get_hand_tracking(struct xrt_device *xdev, vive_controller_get_hand_tracking(struct xrt_device *xdev,
enum xrt_input_name name, enum xrt_input_name name,
uint64_t at_timestamp_ns, uint64_t at_timestamp_ns,
union xrt_hand_joint_set *out_value) struct xrt_hand_joint_set *out_value)
{ {
struct vive_controller_device *d = vive_controller_device(xdev); struct vive_controller_device *d = vive_controller_device(xdev);
@ -369,6 +369,10 @@ vive_controller_get_hand_tracking(struct xrt_device *xdev,
struct xrt_space_relation controller_relation = { struct xrt_space_relation controller_relation = {
.pose = {.orientation = d->rot_filtered, .pose = {.orientation = d->rot_filtered,
.position = {0, 0, pivot_offset_z}}}; .position = {0, 0, pivot_offset_z}}};
controller_relation.relation_flags =
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_POSITION_VALID_BIT;
struct xrt_vec3 static_offset = {0, 0, 0}; struct xrt_vec3 static_offset = {0, 0, 0};

12
src/xrt/include/xrt/xrt_defines.h
View file

@ -663,9 +663,15 @@ enum xrt_finger
* *
* @ingroup xrt_iface * @ingroup xrt_iface
*/ */
union xrt_hand_joint_set { struct xrt_hand_joint_set
struct xrt_hand_joint_value {
hand_joint_set_default[XRT_HAND_JOINT_COUNT]; union {
struct xrt_hand_joint_value
hand_joint_set_default[XRT_HAND_JOINT_COUNT];
} values;
// in driver global space, without tracking_origin offset
struct xrt_space_relation hand_origin;
}; };
/*! /*!

4
src/xrt/include/xrt/xrt_device.h
View file

@ -305,7 +305,7 @@ struct xrt_device
void (*get_hand_tracking)(struct xrt_device *xdev, void (*get_hand_tracking)(struct xrt_device *xdev,
enum xrt_input_name name, enum xrt_input_name name,
uint64_t at_timestamp_ns, uint64_t at_timestamp_ns,
union xrt_hand_joint_set *out_value); struct xrt_hand_joint_set *out_value);
/*! /*!
* Set a output value. * Set a output value.
* *
@ -389,7 +389,7 @@ static inline void
xrt_device_get_hand_tracking(struct xrt_device *xdev, xrt_device_get_hand_tracking(struct xrt_device *xdev,
enum xrt_input_name name, enum xrt_input_name name,
uint64_t requested_timestamp_ns, uint64_t requested_timestamp_ns,
union xrt_hand_joint_set *out_value) struct xrt_hand_joint_set *out_value)
{ {
xdev->get_hand_tracking(xdev, name, requested_timestamp_ns, out_value); xdev->get_hand_tracking(xdev, name, requested_timestamp_ns, out_value);
} }

2
src/xrt/ipc/client/ipc_client_device.c
View file

@ -108,7 +108,7 @@ void
ipc_client_device_get_hand_tracking(struct xrt_device *xdev, ipc_client_device_get_hand_tracking(struct xrt_device *xdev,
enum xrt_input_name name, enum xrt_input_name name,
uint64_t at_timestamp_ns, uint64_t at_timestamp_ns,
union xrt_hand_joint_set *out_value) struct xrt_hand_joint_set *out_value)
{ {
struct ipc_client_device *icd = ipc_client_device(xdev); struct ipc_client_device *icd = ipc_client_device(xdev);

2
src/xrt/ipc/server/ipc_server_client.c
View file

@ -598,7 +598,7 @@ ipc_handle_device_get_hand_tracking(volatile struct ipc_client_state *ics,
uint32_t id, uint32_t id,
enum xrt_input_name name, enum xrt_input_name name,
uint64_t at_timestamp, uint64_t at_timestamp,
union xrt_hand_joint_set *out_value) struct xrt_hand_joint_set *out_value)
{ {
// To make the code a bit more readable. // To make the code a bit more readable.

2
src/xrt/ipc/shared/proto.json
View file

@ -187,7 +187,7 @@
{"name": "at_timestamp", "type": "uint64_t"} {"name": "at_timestamp", "type": "uint64_t"}
], ],
"out": [ "out": [
{"name": "value", "type": "union xrt_hand_joint_set"} {"name": "value", "type": "struct xrt_hand_joint_set"}
] ]
}, },

2
src/xrt/state_trackers/oxr/oxr_objects.h
View file

@ -942,7 +942,7 @@ oxr_xdev_get_hand_tracking_at(struct oxr_logger *log,
struct xrt_device *xdev, struct xrt_device *xdev,
enum xrt_input_name name, enum xrt_input_name name,
XrTime at_time, XrTime at_time,
union xrt_hand_joint_set *out_value); struct xrt_hand_joint_set *out_value);
/* /*
* *

69
src/xrt/state_trackers/oxr/oxr_session.c
View file

@ -2351,7 +2351,7 @@ oxr_session_hand_joints(struct oxr_logger *log,
&xdev->tracking_origin->offset; &xdev->tracking_origin->offset;
XrTime at_time = locateInfo->time; XrTime at_time = locateInfo->time;
union xrt_hand_joint_set value; struct xrt_hand_joint_set value;
enum xrt_input_name name; enum xrt_input_name name;
if (hand_tracker->hand_joint_set == XR_HAND_JOINT_SET_DEFAULT_EXT) { if (hand_tracker->hand_joint_set == XR_HAND_JOINT_SET_DEFAULT_EXT) {
@ -2365,27 +2365,74 @@ oxr_session_hand_joints(struct oxr_logger *log,
&value); &value);
for (uint32_t i = 0; i < locations->jointCount; i++) { for (uint32_t i = 0; i < locations->jointCount; i++) {
locations->jointLocations[i] locations->jointLocations[i].locationFlags =
.locationFlags = xrt_to_xr_space_location_flags( xrt_to_xr_space_location_flags(
value.hand_joint_set_default[i].relation.relation_flags); value.values.hand_joint_set_default[i]
.relation.relation_flags);
locations->jointLocations[i].radius = locations->jointLocations[i].radius =
value.hand_joint_set_default[i].radius; value.values.hand_joint_set_default[i].radius;
struct xrt_space_relation r = struct xrt_space_relation r =
value.hand_joint_set_default[i].relation; value.values.hand_joint_set_default[i].relation;
struct xrt_space_relation result; struct xrt_space_relation result;
struct xrt_space_graph graph = {0}; struct xrt_space_graph graph = {0};
m_space_graph_add_relation(&graph, &r); m_space_graph_add_relation(&graph, &r);
m_space_graph_add_pose_if_not_identity(&graph,
tracking_origin_offset);
if (baseSpc->type == XR_REFERENCE_SPACE_TYPE_STAGE) {
m_space_graph_add_relation(&graph, &value.hand_origin);
m_space_graph_add_pose_if_not_identity(
&graph, tracking_origin_offset);
} else if (baseSpc->type == XR_REFERENCE_SPACE_TYPE_LOCAL) {
// for local space, first do stage space and transform
// result to local @todo: improve local space
m_space_graph_add_relation(&graph, &value.hand_origin);
m_space_graph_add_pose_if_not_identity(
&graph, tracking_origin_offset);
} else if (!baseSpc->is_reference) {
// action space
struct oxr_action_input *input = NULL;
oxr_action_get_pose_input(log, sess, baseSpc->act_key,
&baseSpc->sub_paths, &input);
// If the input isn't active.
if (input == NULL) {
locations->isActive = false;
return XR_SUCCESS;
}
struct xrt_space_relation act_space_relation;
oxr_xdev_get_space_relation(
log, sess->sys->inst, input->xdev,
input->input->name, at_time, &act_space_relation);
m_space_graph_add_relation(&graph, &value.hand_origin);
m_space_graph_add_pose_if_not_identity(
&graph, tracking_origin_offset);
m_space_graph_add_inverted_relation(
&graph, &act_space_relation);
m_space_graph_add_inverted_pose_if_not_identity(
&graph, &input->xdev->tracking_origin->offset);
}
m_space_graph_add_inverted_pose_if_not_identity(&graph, m_space_graph_add_inverted_pose_if_not_identity(&graph,
&baseSpc->pose); &baseSpc->pose);
m_space_graph_resolve(&graph, &result); m_space_graph_resolve(&graph, &result);
//! @todo need general handling of local space
if (baseSpc->type == XR_REFERENCE_SPACE_TYPE_LOCAL) { if (baseSpc->type == XR_REFERENCE_SPACE_TYPE_LOCAL) {
global_to_local_space(sess, &result); if (!global_to_local_space(sess, &result)) {
locations->isActive = false;
return XR_SUCCESS;
}
} }
xrt_to_xr_pose(&result.pose, xrt_to_xr_pose(&result.pose,
@ -2394,5 +2441,5 @@ oxr_session_hand_joints(struct oxr_logger *log,
locations->isActive = true; locations->isActive = true;
return true; return XR_SUCCESS;
} }

4
src/xrt/state_trackers/oxr/oxr_xdev.c
View file

@ -107,13 +107,13 @@ oxr_xdev_get_hand_tracking_at(struct oxr_logger *log,
struct xrt_device *xdev, struct xrt_device *xdev,
enum xrt_input_name name, enum xrt_input_name name,
XrTime at_time, XrTime at_time,
union xrt_hand_joint_set *out_value) struct xrt_hand_joint_set *out_value)
{ {
//! @todo Convert at_time to monotonic and give to device. //! @todo Convert at_time to monotonic and give to device.
uint64_t at_timestamp_ns = os_monotonic_get_ns(); uint64_t at_timestamp_ns = os_monotonic_get_ns();
(void)at_time; (void)at_time;
union xrt_hand_joint_set value; struct xrt_hand_joint_set value;
xrt_device_get_hand_tracking(xdev, name, at_timestamp_ns, &value); xrt_device_get_hand_tracking(xdev, name, at_timestamp_ns, &value);