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178 lines
3.2 KiB
C
178 lines
3.2 KiB
C
// Copyright 2019-2020, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Hand Tracking API interface.
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* @author Christoph Haag <christoph.haag@collabora.com>
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* @ingroup aux_util
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*/
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#pragma once
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#include "xrt/xrt_defines.h"
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#include "util/u_misc.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*!
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* The hand tracking model being used.
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*
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* XRT_HAND_TRACKING_MODEL_INTRINSIC for devices that measure hand tracking through sensors, ie gloves and knuckles
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* XRT_HAND_TRACKING_MODEL_EXTRINSIC for devices that measure hand tracking through external factors like cameras
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*
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* @ingroup aux_util
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*/
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enum u_hand_tracking_model
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{
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XRT_HAND_TRACKING_MODEL_INTRINSIC,
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XRT_HAND_TRACKING_MODEL_EXTRINSIC,
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};
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struct u_hand_tracking_finger_value
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{
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float splay;
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float joint_curls[4];
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int joint_count;
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};
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struct u_hand_tracking_values
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{
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struct u_hand_tracking_finger_value little;
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struct u_hand_tracking_finger_value ring;
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struct u_hand_tracking_finger_value middle;
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struct u_hand_tracking_finger_value index;
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struct u_hand_tracking_finger_value thumb;
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};
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/*!
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* Values used for the XRT_HAND_TRACKING_MODEL_FINGERL_CURL model.
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*
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* @ingroup aux_util
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*/
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struct u_hand_tracking_curl_values
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{
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float little;
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float ring;
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float middle;
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float index;
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float thumb;
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};
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/*!
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* A space relation of a single joint.
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*
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* @ingroup aux_util
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*/
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struct u_joint_space_relation
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{
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enum xrt_hand_joint joint_id;
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struct xrt_space_relation relation;
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};
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/*!
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* A set of joints in a single finger.
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*
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* @ingroup aux_util
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*/
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struct u_finger_joint_set
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{
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struct u_joint_space_relation joints[5];
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int joint_count;
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};
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/*!
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* The set of joints in the XR_HAND_JOINT_SET_DEFAULT_EXT.
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*
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* @ingroup aux_util
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*/
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struct u_hand_joint_default_set
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{
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struct u_joint_space_relation palm;
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struct u_joint_space_relation wrist;
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struct u_finger_joint_set fingers[XRT_FINGER_COUNT];
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};
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/*!
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* Main struct drivers can use to implement hand and finger tracking.
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*
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* @ingroup aux_util
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*/
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struct u_hand_tracking
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{
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// scales dimensions like bone lengths
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float scale;
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enum u_hand_tracking_model model;
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union {
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struct u_hand_tracking_values finger_values;
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} model_data;
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struct u_hand_joint_default_set joints;
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uint64_t timestamp_ns;
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};
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/*!
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* Applies joint width to set.
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* @ingroup aux_util
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*/
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void
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u_hand_joints_apply_joint_width(struct xrt_hand_joint_set *set);
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/*!
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* @ingroup aux_util
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*/
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bool
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u_hand_joint_is_tip(enum xrt_hand_joint joint);
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/*!
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* @ingroup aux_util
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*/
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bool
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u_hand_joint_is_metacarpal(enum xrt_hand_joint joint);
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/*!
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* @ingroup aux_util
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*/
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bool
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u_hand_joint_is_proximal(enum xrt_hand_joint joint);
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/*!
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* @ingroup aux_util
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*/
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bool
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u_hand_joint_is_intermediate(enum xrt_hand_joint joint);
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/*!
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* @ingroup aux_util
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*/
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bool
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u_hand_joint_is_distal(enum xrt_hand_joint joint);
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/*!
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* @ingroup aux_util
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*/
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bool
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u_hand_joint_is_thumb(enum xrt_hand_joint joint);
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/*!
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* Simple helper function for positioning hands on Valve Index controllers.
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*
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* @ingroup aux_util
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*/
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void
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u_hand_joints_offset_valve_index_controller(enum xrt_hand hand,
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const struct xrt_vec3 *static_offset,
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struct xrt_pose *offset);
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#ifdef __cplusplus
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}
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#endif
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