170 lines
6.8 KiB
C
170 lines
6.8 KiB
C
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// Copyright Epic Games, Inc. All Rights Reserved.
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#pragma once
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#include "HeadMountedDisplayTypes.h"
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#include "XRMotionControllerBase.h"
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#include "ILiveLinkSource.h"
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#include "IInputDevice.h"
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#include "IHandTracker.h"
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#include "IOpenXRExtensionPlugin.h"
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enum class ETrackingStatus : uint8;
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struct FMotionControllerSource;
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/**
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* OpenXR HandTracking
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*/
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class FHandTrackingPICO :
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public IOpenXRExtensionPlugin,
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public IInputDevice,
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public FXRMotionControllerBase,
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public IHandTracker,
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public ILiveLinkSource
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{
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public:
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struct FHandState : public FNoncopyable
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{
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FHandState();
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XrHandTrackerEXT HandTracker{};
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XrHandJointLocationEXT JointLocations[XR_HAND_JOINT_COUNT_EXT];
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XrHandJointVelocityEXT JointVelocities[XR_HAND_JOINT_COUNT_EXT];
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XrHandJointVelocitiesEXT Velocities{ XR_TYPE_HAND_JOINT_VELOCITIES_EXT };
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XrHandJointLocationsEXT Locations{ XR_TYPE_HAND_JOINT_LOCATIONS_EXT };
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XrHandTrackingScaleFB Scale{ XR_TYPE_HAND_TRACKING_SCALE_FB };
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// Transforms are cached in Unreal Tracking Space
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FTransform KeypointTransforms[EHandKeypointCount];
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float Radii[EHandKeypointCount];
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FVector LinearVelocity[EHandKeypointCount];
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FVector AngularVelocity[EHandKeypointCount];
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float HandScale = 1.0f;
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bool ReceivedJointPoses = false;
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bool GetTransform(EHandKeypoint KeyPoint, FTransform& OutTransform) const;
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const FTransform& GetTransform(EHandKeypoint KeyPoint) const;
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};
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public:
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FHandTrackingPICO(const TSharedRef<FGenericApplicationMessageHandler>& InMessageHandler);
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virtual ~FHandTrackingPICO();
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/** IOpenXRExtensionPlugin */
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virtual FString GetDisplayName() override
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{
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return FString(TEXT("HandTrackingPICO"));
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}
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virtual bool GetRequiredExtensions(TArray<const ANSICHAR*>& OutExtensions) override;
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virtual bool GetOptionalExtensions(TArray<const ANSICHAR*>& OutExtensions) override;
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virtual const void* OnGetSystem(XrInstance InInstance, const void* InNext) override;
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virtual const void* OnCreateSession(XrInstance InInstance, XrSystemId InSystem, const void* InNext) override;
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virtual const void* OnBeginSession(XrSession InSession, const void* InNext) override;
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virtual void UpdateDeviceLocations(XrSession InSession, XrTime DisplayTime, XrSpace TrackingSpace) override;
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/** IMotionController interface */
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virtual bool GetControllerOrientationAndPosition(const int32 ControllerIndex, const FName MotionSource, FRotator& OutOrientation, FVector& OutPosition, float WorldToMetersScale) const override;
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virtual ETrackingStatus GetControllerTrackingStatus(const int32 ControllerIndex, const FName MotionSource) const override;
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virtual FName GetMotionControllerDeviceTypeName() const override;
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virtual void EnumerateSources(TArray<FMotionControllerSource>& SourcesOut) const override;
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// ILiveLinkSource interface
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virtual void ReceiveClient(ILiveLinkClient* InClient, FGuid InSourceGuid) override;
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virtual bool IsSourceStillValid() const override;
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virtual bool RequestSourceShutdown() override;
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virtual FText GetSourceMachineName() const override;
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virtual FText GetSourceStatus() const override;
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virtual FText GetSourceType() const override;
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// End ILiveLinkSource
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/** IInputDevice interface */
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virtual void Tick(float DeltaTime) override;
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virtual void SendControllerEvents() override;
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virtual void SetMessageHandler(const TSharedRef<FGenericApplicationMessageHandler>& InMessageHandler) override;
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virtual bool Exec(UWorld* InWorld, const TCHAR* Cmd, FOutputDevice& Ar) override;
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virtual void SetChannelValue(int32 ControllerId, FForceFeedbackChannelType ChannelType, float Value) override {};
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virtual void SetChannelValues(int32 ControllerId, const FForceFeedbackValues &values) override {};
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virtual bool SupportsForceFeedback(int32 ControllerId) override { return false; }
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virtual bool IsGamepadAttached() const override;
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/** IHandTracker */
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virtual FName GetHandTrackerDeviceTypeName() const override;
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virtual bool IsHandTrackingStateValid() const override;
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virtual bool GetKeypointState(EControllerHand Hand, EHandKeypoint Keypoint, FTransform& OutTransform, float& OutRadius) const override;
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virtual bool GetAllKeypointStates(EControllerHand Hand, TArray<FVector>& OutPositions, TArray<FQuat>& OutRotations, TArray<float>& OutRadii) const override;
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private:
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XrSession Session = XR_NULL_HANDLE;
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XrSpace TrackingSpace = XR_NULL_HANDLE;
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XrTime DisplayTime = 0;
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bool bHandTrackingRunning = false;
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FHandState& GetLeftHandState();
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FHandState& GetRightHandState();
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public:
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bool StartHandTracking();
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void StopHandTracking();
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bool UpdateHandTrackingData();
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bool IsHandTrackingRunning() { return bHandTrackingRunning; }
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bool GetHandTrackingData(EControllerHand Hand, TArray<FVector>& OutPositions, TArray<FQuat>& OutRotations, TArray<float>& OutRadii, TArray<FVector>& LinearVelocity, TArray<FVector>& AngularVelocity, float& Scale) const;
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bool GetHandTrackingMeshScale(EControllerHand Hand, float& Scale);
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const FHandState& GetLeftHandState() const;
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const FHandState& GetRightHandState() const;
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bool IsHandTrackingSupportedByDevice() const;
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/** Parses the enum name removing the prefix */
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static FName ParseEOpenXRHandKeypointEnumName(FName EnumName)
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{
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static int32 EnumNameLength = FString(TEXT("EHandKeypoint::")).Len();
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FString EnumString = EnumName.ToString();
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return FName(*EnumString.Right(EnumString.Len() - EnumNameLength));
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}
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private:
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void AddKeys();
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void BuildMotionSourceToKeypointMap();
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void SetupLiveLinkData();
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void UpdateLiveLink();
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void UpdateLiveLinkTransforms(TArray<FTransform>& OutTransforms, const FHandTrackingPICO::FHandState& HandState);
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bool bHandTrackingAvailable = false;
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PFN_xrCreateHandTrackerEXT xrCreateHandTrackerEXT = nullptr;
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PFN_xrDestroyHandTrackerEXT xrDestroyHandTrackerEXT = nullptr;
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PFN_xrLocateHandJointsEXT xrLocateHandJointsEXT = nullptr;
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class IXRTrackingSystem* XRTrackingSystem = nullptr;
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TSharedPtr<FGenericApplicationMessageHandler> MessageHandler;
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int32 DeviceIndex;
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int32 CurrentHandTrackingDataIndex = 0;
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TArray<int32> BoneParents;
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TArray<EHandKeypoint> BoneKeypoints;
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typedef TPair<EHandKeypoint, bool> MotionSourceInfo; // bool true == left, false == right
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TMap<FName, MotionSourceInfo> MotionSourceToKeypointMap;
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bool bSupportLegacyControllerMotionSources = true;
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FHandState HandStates[2];
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// LiveLink Data
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/** The local client to push data updates to */
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ILiveLinkClient* LiveLinkClient = nullptr;
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/** Our identifier in LiveLink */
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FGuid LiveLinkSourceGuid;
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static FLiveLinkSubjectName LiveLinkLeftHandTrackingSubjectName;
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static FLiveLinkSubjectName LiveLinkRightHandTrackingSubjectName;
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FLiveLinkSubjectKey LiveLinkLeftHandTrackingSubjectKey;
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FLiveLinkSubjectKey LiveLinkRightHandTrackingSubjectKey;
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bool bNewLiveLinkClient = false;
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FLiveLinkStaticDataStruct LiveLinkSkeletonStaticData;
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TArray<FTransform> LeftAnimationTransforms;
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TArray<FTransform> RightAnimationTransforms;
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};
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DEFINE_LOG_CATEGORY_STATIC(PICOOpenXRHandTracking, Display, All);
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