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fix diff

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This commit is contained in:
Schmarni
2023-10-27 19:58:02 +02:00
parent c982f0f658 ec9b3ac014
commit 5cd0f906b9
3 changed files with 351 additions and 24 deletions
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331
examples/demo/src/main.rs
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@@ -15,10 +15,11 @@ use bevy_openxr::{
resources::{XrFrameState, XrInstance, XrSession},
xr_input::{
debug_gizmos::OpenXrDebugRenderer,
hand::{HandBone, HandInputDebugRenderer, HandResource, HandsResource, OpenXrHandInput},
interactions::{
draw_interaction_gizmos, draw_socket_gizmos, interactions, socket_interactions,
update_interactable_states, InteractionEvent, Touched, XRDirectInteractor,
XRInteractable, XRInteractableState, XRInteractorState, XRRayInteractor,
XRInteractable, XRInteractableState, XRInteractorState, XRSelection,
},
oculus_touch::OculusController,
prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig},
@@ -49,7 +50,7 @@ fn main() {
.add_plugins(OpenXrDebugRenderer)
//rapier goes here
.add_plugins(RapierPhysicsPlugin::<NoUserData>::default().with_default_system_setup(false))
// .add_plugins(RapierDebugRenderPlugin::default())
.add_plugins(RapierDebugRenderPlugin::default())
//lets setup the starting scene
.add_systems(Startup, setup_scene)
.add_systems(Startup, spawn_controllers_example) //you need to spawn controllers or it crashes TODO:: Fix this
@@ -80,7 +81,14 @@ fn main() {
bevy::time::TimerMode::Once,
)))
.add_systems(Update, request_cube_spawn)
.add_systems(Update, cube_spawner.after(request_cube_spawn));
.add_systems(Update, cube_spawner.after(request_cube_spawn))
//test capsule
.add_systems(Startup, spawn_capsule)
//physics hands
.add_plugins(OpenXrHandInput)
.add_plugins(HandInputDebugRenderer)
.add_systems(Startup, spawn_physics_hands)
.add_systems(Update, update_physics_hands);
//configure rapier sets
app.configure_sets(
@@ -121,6 +129,7 @@ fn spawn_controllers_example(mut commands: Commands) {
SpatialBundle::default(),
XRDirectInteractor,
XRInteractorState::default(),
XRSelection::default(),
));
//right hand
commands.spawn((
@@ -130,9 +139,283 @@ fn spawn_controllers_example(mut commands: Commands) {
SpatialBundle::default(),
XRDirectInteractor,
XRInteractorState::default(),
XRSelection::default(),
));
}
fn spawn_capsule(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
) {
commands.spawn((
PbrBundle {
mesh: meshes.add(Mesh::from(shape::Capsule {
radius: 0.033,
depth: 0.115,
..default()
})),
material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
transform: Transform::from_xyz(0.0, 2.0, 0.0),
..default()
},
// Collider::capsule_y(0.0575, 0.034),
Collider::capsule(
Vec3 {
x: 0.0,
y: -0.0575,
z: 0.0,
},
Vec3 {
x: 0.0,
y: 0.0575,
z: 0.0,
},
0.034,
),
RigidBody::Dynamic,
));
}
#[derive(Component, PartialEq, Debug, Clone, Copy)]
pub enum PhysicsHandBone {
Palm,
Wrist,
ThumbMetacarpal,
ThumbProximal,
ThumbDistal,
ThumbTip,
IndexMetacarpal,
IndexProximal,
IndexIntermediate,
IndexDistal,
IndexTip,
MiddleMetacarpal,
MiddleProximal,
MiddleIntermediate,
MiddleDistal,
MiddleTip,
RingMetacarpal,
RingProximal,
RingIntermediate,
RingDistal,
RingTip,
LittleMetacarpal,
LittleProximal,
LittleIntermediate,
LittleDistal,
LittleTip,
}
#[derive(Component, PartialEq)]
pub enum BoneInitState {
True,
False,
}
fn spawn_physics_hands(mut commands: Commands) {
//here we go
let hands = [Hand::Left, Hand::Right];
let bones = [
PhysicsHandBone::Palm,
PhysicsHandBone::Wrist,
PhysicsHandBone::ThumbMetacarpal,
PhysicsHandBone::ThumbProximal,
PhysicsHandBone::ThumbDistal,
PhysicsHandBone::ThumbTip,
PhysicsHandBone::IndexMetacarpal,
PhysicsHandBone::IndexProximal,
PhysicsHandBone::IndexIntermediate,
PhysicsHandBone::IndexDistal,
PhysicsHandBone::IndexTip,
PhysicsHandBone::MiddleMetacarpal,
PhysicsHandBone::MiddleProximal,
PhysicsHandBone::MiddleIntermediate,
PhysicsHandBone::MiddleDistal,
PhysicsHandBone::MiddleTip,
PhysicsHandBone::RingMetacarpal,
PhysicsHandBone::RingProximal,
PhysicsHandBone::RingIntermediate,
PhysicsHandBone::RingDistal,
PhysicsHandBone::RingTip,
PhysicsHandBone::LittleMetacarpal,
PhysicsHandBone::LittleProximal,
PhysicsHandBone::LittleIntermediate,
PhysicsHandBone::LittleDistal,
PhysicsHandBone::LittleTip,
];
//lets just do the Right ThumbMetacarpal for now
//i dont understand the groups yet
let self_group = Group::GROUP_1;
let interaction_group = Group::ALL;
let radius = 0.010;
for hand in hands.iter() {
for bone in bones.iter() {
//spawn the thing
commands.spawn((
SpatialBundle::default(),
Collider::capsule(
Vec3 {
x: 0.0,
y: -0.0575,
z: 0.0,
},
Vec3 {
x: 0.0,
y: 0.0575,
z: 0.0,
},
radius,
),
RigidBody::KinematicPositionBased,
// CollisionGroups::new(self_group, interaction_group),
// SolverGroups::new(self_group, interaction_group),
bone.clone(),
BoneInitState::False,
hand.clone(),
));
}
}
}
fn update_physics_hands(
hands_res: Option<Res<HandsResource>>,
mut bone_query: Query<(
&mut Transform,
&mut Collider,
&PhysicsHandBone,
&mut BoneInitState,
&Hand,
)>,
hand_query: Query<(&Transform, &HandBone, &Hand, Without<PhysicsHandBone>)>,
) {
//sanity check do we even have hands?
match hands_res {
Some(res) => {
//config stuff
let radius = 0.010;
for mut bone in bone_query.iter_mut() {
let hand_res = match bone.4 {
Hand::Left => res.left,
Hand::Right => res.right,
};
//lets just do the Right ThumbMetacarpal for now
let result = get_start_and_end_entities(hand_res, bone.2);
if let Some((start_entity, end_entity)) = result {
//now we need their transforms
let start_components = hand_query.get(start_entity);
let end_components = hand_query.get(end_entity);
let direction = end_components.unwrap().0.translation
- start_components.unwrap().0.translation;
if direction.length() < 0.001 {
//i hate this but we need to skip init if the length is zero
return;
}
match *bone.3 {
BoneInitState::True => {
//if we are init then we just move em?
*bone.0 = start_components
.unwrap()
.0
.clone()
.looking_at(end_components.unwrap().0.translation, Vec3::Y);
}
BoneInitState::False => {
//build a new collider?
*bone.1 = Collider::capsule(
Vec3::splat(0.0),
Vec3 {
x: 0.0,
y: 0.0,
z: -direction.length(),
},
radius,
);
*bone.3 = BoneInitState::True;
}
}
}
}
}
None => info!("hand states resource not initialized yet"),
}
}
fn get_start_and_end_entities(
hand_res: HandResource,
bone: &PhysicsHandBone,
) -> Option<(Entity, Entity)> {
match bone {
PhysicsHandBone::Palm => return None,
PhysicsHandBone::Wrist => return None,
PhysicsHandBone::ThumbMetacarpal => {
return Some((hand_res.thumb.metacarpal, hand_res.thumb.proximal))
}
PhysicsHandBone::ThumbProximal => {
return Some((hand_res.thumb.proximal, hand_res.thumb.distal))
}
PhysicsHandBone::ThumbDistal => return Some((hand_res.thumb.distal, hand_res.thumb.tip)),
PhysicsHandBone::ThumbTip => return None,
PhysicsHandBone::IndexMetacarpal => {
return Some((hand_res.index.metacarpal, hand_res.index.proximal))
}
PhysicsHandBone::IndexProximal => {
return Some((hand_res.index.proximal, hand_res.index.intermediate))
}
PhysicsHandBone::IndexIntermediate => {
return Some((hand_res.index.intermediate, hand_res.index.distal))
}
PhysicsHandBone::IndexDistal => return Some((hand_res.index.distal, hand_res.index.tip)),
PhysicsHandBone::IndexTip => return None,
PhysicsHandBone::MiddleMetacarpal => {
return Some((hand_res.middle.metacarpal, hand_res.middle.proximal))
}
PhysicsHandBone::MiddleProximal => {
return Some((hand_res.middle.proximal, hand_res.middle.intermediate))
}
PhysicsHandBone::MiddleIntermediate => {
return Some((hand_res.middle.intermediate, hand_res.middle.distal))
}
PhysicsHandBone::MiddleDistal => {
return Some((hand_res.middle.distal, hand_res.middle.tip))
}
PhysicsHandBone::MiddleTip => return None,
PhysicsHandBone::RingMetacarpal => {
return Some((hand_res.ring.metacarpal, hand_res.ring.proximal))
}
PhysicsHandBone::RingProximal => {
return Some((hand_res.ring.proximal, hand_res.ring.intermediate))
}
PhysicsHandBone::RingIntermediate => {
return Some((hand_res.ring.intermediate, hand_res.ring.distal))
}
PhysicsHandBone::RingDistal => return Some((hand_res.ring.distal, hand_res.ring.tip)),
PhysicsHandBone::RingTip => return None,
PhysicsHandBone::LittleMetacarpal => {
return Some((hand_res.little.metacarpal, hand_res.little.proximal))
}
PhysicsHandBone::LittleProximal => {
return Some((hand_res.little.proximal, hand_res.little.intermediate))
}
PhysicsHandBone::LittleIntermediate => {
return Some((hand_res.little.intermediate, hand_res.little.distal))
}
PhysicsHandBone::LittleDistal => {
return Some((hand_res.little.distal, hand_res.little.tip))
}
PhysicsHandBone::LittleTip => return None,
};
}
fn get_hand_res(res: &Res<'_, HandsResource>, hand: Hand) -> HandResource {
match hand {
Hand::Left => res.left.clone(),
Hand::Right => res.right.clone(),
}
}
#[derive(Event, Default)]
pub struct SpawnCubeRequest;
@@ -247,12 +530,18 @@ pub struct Grabbable;
pub fn update_grabbables(
mut events: EventReader<InteractionEvent>,
mut grabbable_query: Query<(
Entity,
&mut Transform,
With<Grabbable>,
Without<XRDirectInteractor>,
Option<&mut RigidBody>,
)>,
interactor_query: Query<(&GlobalTransform, &XRInteractorState, Without<Grabbable>)>,
mut interactor_query: Query<(
&GlobalTransform,
&XRInteractorState,
&mut XRSelection,
Without<Grabbable>,
)>,
) {
//so basically the idea is to try all the events?
for event in events.read() {
@@ -261,24 +550,48 @@ pub fn update_grabbables(
Ok(mut grabbable_transform) => {
// info!("we got a grabbable");
//now we need the location of our interactor
match interactor_query.get(event.interactor) {
Ok(interactor_transform) => {
match interactor_query.get_mut(event.interactor) {
Ok(mut interactor_transform) => {
match *interactor_transform.2 {
XRSelection::Empty => {
match interactor_transform.1 {
XRInteractorState::Idle => match grabbable_transform.3 {
XRInteractorState::Idle => match grabbable_transform.4 {
Some(mut thing) => {
*thing = RigidBody::Dynamic;
*interactor_transform.2 = XRSelection::Empty;
}
None => (),
},
XRInteractorState::Selecting => {
// info!("its a direct interactor?");
match grabbable_transform.3 {
match grabbable_transform.4 {
Some(mut thing) => {
*thing = RigidBody::KinematicPositionBased;
*interactor_transform.2 =
XRSelection::Full(grabbable_transform.0);
}
None => (),
}
*grabbable_transform.0 = interactor_transform.0.compute_transform();
*grabbable_transform.1 =
interactor_transform.0.compute_transform();
}
}
}
XRSelection::Full(ent) => {
info!("nah bro we holding something");
match grabbable_transform.0 == ent {
true => {
*grabbable_transform.1 =
interactor_transform.0.compute_transform();
}
false => {}
}
match interactor_transform.1 {
XRInteractorState::Idle => {
*interactor_transform.2 = XRSelection::Empty
}
XRInteractorState::Selecting => {}
}
}
}
}

10
src/xr_input/hand.rs
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@@ -56,12 +56,12 @@ impl Default for HandInputSource {
}
}
#[derive(Resource, Default)]
#[derive(Resource, Default, Clone, Copy)]
pub struct HandsResource {
pub left: HandResource,
pub right: HandResource,
}
#[derive(Clone, Copy)]
pub struct HandResource {
pub palm: Entity,
pub wrist: Entity,
@@ -85,7 +85,7 @@ impl Default for HandResource {
}
}
}
#[derive(Clone, Copy)]
pub struct ThumbResource {
pub metacarpal: Entity,
pub proximal: Entity,
@@ -103,6 +103,7 @@ impl Default for ThumbResource {
}
}
}
#[derive(Clone, Copy)]
pub struct IndexResource {
pub metacarpal: Entity,
pub proximal: Entity,
@@ -122,6 +123,7 @@ impl Default for IndexResource {
}
}
}
#[derive(Clone, Copy)]
pub struct MiddleResource {
pub metacarpal: Entity,
pub proximal: Entity,
@@ -140,6 +142,7 @@ impl Default for MiddleResource {
}
}
}
#[derive(Clone, Copy)]
pub struct RingResource {
pub metacarpal: Entity,
pub proximal: Entity,
@@ -158,6 +161,7 @@ impl Default for RingResource {
}
}
}
#[derive(Clone, Copy)]
pub struct LittleResource {
pub metacarpal: Entity,
pub proximal: Entity,

10
src/xr_input/interactions.rs
View File

@@ -42,6 +42,16 @@ impl Default for XRInteractorState {
XRInteractorState::Idle
}
}
#[derive(Component)]
pub enum XRSelection {
Empty,
Full(Entity)
}
impl Default for XRSelection {
fn default() -> Self {
XRSelection::Empty
}
}
#[derive(Component)]
pub struct XRInteractable;