Avii/bevy_oxr
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

both hands work

Browse Source
This commit is contained in:
Jay Christy
2023-10-03 15:47:18 -04:00
parent c49f716a02
commit 68cdf19390
1 changed files with 68 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files

117
examples/xr.rs
View File

@@ -1,9 +1,10 @@
use std::f32::consts::PI;
use std::ops::Mul;
use bevy::diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin};
use bevy::prelude::*;
use bevy::transform::components::Transform;
use bevy_openxr::xr_input::{Vec3Conv, QuatConv};
use bevy_openxr::xr_input::{Vec3Conv, QuatConv, Hand};
use bevy_openxr::xr_input::debug_gizmos::OpenXrDebugRenderer;
use bevy_openxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig};
use bevy_openxr::xr_input::trackers::{
@@ -24,7 +25,7 @@ fn main() {
.add_systems(Startup, setup)
.add_systems(Update, proto_locomotion)
.add_systems(Startup, spawn_controllers_example)
.add_systems(Update, draw_skeleton_hand)
.add_systems(Update, draw_skeleton_hands)
.insert_resource(PrototypeLocomotionConfig::default())
.run();
}
@@ -72,24 +73,39 @@ fn setup(
},));
}
fn draw_skeleton_hand(mut commands: Commands,
fn draw_skeleton_hands(mut commands: Commands,
mut gizmos: Gizmos,
right_controller_query: Query<(
&GlobalTransform,
With<OpenXRRightController>,
)>, ) {
)>,
left_controller_query: Query<(
&GlobalTransform,
With<OpenXRLeftController>,
)>,) {
let left_hand_transform = left_controller_query.get_single().unwrap().0.compute_transform();
draw_hand(&mut gizmos, left_hand_transform, Hand::Left);
let right_hand_transform = right_controller_query.get_single().unwrap().0.compute_transform();
draw_hand(&mut gizmos, right_hand_transform, Hand::Right)
}
fn draw_hand(mut gizmos: &mut Gizmos,
controller_transform: Transform,
hand: Hand) {
//draw debug for controller grip center to match palm to
let right_transform = right_controller_query.get_single().unwrap().0;
let right_translation = right_transform.compute_transform().translation;
let right_quat = right_transform.compute_transform().rotation;
let hand_translation = controller_transform.translation;
let hand_quat = controller_transform.rotation;
//we need to flip this i dont know why
let flip = Quat::from_rotation_x(PI);
let flap = Quat::from_rotation_z(-45.0*(PI/180.0));
let controller_backward = right_quat.mul_quat(flip).mul_quat(flap);
let controller_backward = hand_quat.mul_quat(flip);
let hand_pose: [Posef; 26] = [
let test: [Posef; 26] = [
Posef { position: Vector3f {x: 0.0, y: 0.0, z: 0.0}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}}, //palm
Posef { position: Vector3f {x: 0.0, y: 0.32, z: 0.0}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}},
Posef { position: Vector3f { x: 0.02, y: -0.040, z: -0.015}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}},
Posef { position: Vector3f {x: 0.019, y: -0.037, z: 0.011}, orientation: Quaternionf {x: -0.744, y: -0.530, z: 0.156, w: -0.376}},
Posef { position: Vector3f {x: 0.015, y: -0.014, z: 0.047}, orientation: Quaternionf {x: -0.786, y: -0.550, z: 0.126, w: -0.254}},
@@ -121,80 +137,83 @@ fn draw_skeleton_hand(mut commands: Commands,
Posef { position: Vector3f {x: -0.068, y:0.059, z:-0.013}, orientation: Quaternionf {x: 0.045, y: -0.780, z: 0.378, w: -0.496}},
];
let hand_pose = flip_hand_pose(test.clone(), hand);
//log_hand(hand_pose);
//cursed wrist math
let wrist_dist = Vec3{ x: -0.01, y: -0.040, z: -0.015};
//cursed offset
let offset = right_translation;
//old stuff dont touch for now
let palm = hand_pose[HandJoint::PALM];
gizmos.sphere(palm.position.to_vec3() + offset, palm.orientation.to_quat().mul_quat(controller_backward), 0.01, Color::WHITE);
gizmos.sphere(palm.position.to_vec3() + hand_translation, palm.orientation.to_quat().mul_quat(controller_backward), 0.01, Color::WHITE);
let rotated_wfp = palm.position.to_vec3() + right_quat.mul_quat(flip).mul_vec3(wrist_dist);
gizmos.sphere(offset + rotated_wfp, palm.orientation.to_quat(), 0.01, Color::GRAY);
let wrist = hand_pose[HandJoint::WRIST];
draw_joint(&mut gizmos, wrist.position.to_vec3(), wrist.orientation.to_quat(), 0.01, Color::GRAY, controller_backward, hand_translation);
let thumb_meta = hand_pose[HandJoint::THUMB_METACARPAL];
draw_joint(&mut gizmos, thumb_meta.position.to_vec3(), thumb_meta.orientation.to_quat(), 0.01, Color::RED, controller_backward, offset);
draw_joint(&mut gizmos, thumb_meta.position.to_vec3(), thumb_meta.orientation.to_quat(), 0.01, Color::RED, controller_backward, hand_translation);
let thumb_prox = hand_pose[HandJoint::THUMB_PROXIMAL];
draw_joint(&mut gizmos, thumb_prox.position.to_vec3(), thumb_prox.orientation.to_quat(), 0.008, Color::RED, controller_backward, offset);
draw_joint(&mut gizmos, thumb_prox.position.to_vec3(), thumb_prox.orientation.to_quat(), 0.008, Color::RED, controller_backward, hand_translation);
let thumb_dist = hand_pose[HandJoint::THUMB_DISTAL];
draw_joint(&mut gizmos, thumb_dist.position.to_vec3(), thumb_dist.orientation.to_quat(), 0.006, Color::RED, controller_backward, offset);
draw_joint(&mut gizmos, thumb_dist.position.to_vec3(), thumb_dist.orientation.to_quat(), 0.006, Color::RED, controller_backward, hand_translation);
let thumb_tip = hand_pose[HandJoint::THUMB_TIP];
draw_joint(&mut gizmos, thumb_tip.position.to_vec3(), thumb_tip.orientation.to_quat(), 0.004, Color::RED, controller_backward, offset);
draw_joint(&mut gizmos, thumb_tip.position.to_vec3(), thumb_tip.orientation.to_quat(), 0.004, Color::RED, controller_backward, hand_translation);
let index_meta = hand_pose[HandJoint::INDEX_METACARPAL];
draw_joint(&mut gizmos, index_meta.position.to_vec3(), index_meta.orientation.to_quat(), 0.01, Color::ORANGE, controller_backward, offset);
draw_joint(&mut gizmos, index_meta.position.to_vec3(), index_meta.orientation.to_quat(), 0.01, Color::ORANGE, controller_backward, hand_translation);
let index_prox = hand_pose[HandJoint::INDEX_PROXIMAL];
draw_joint(&mut gizmos, index_prox.position.to_vec3(), index_prox.orientation.to_quat(), 0.008, Color::ORANGE, controller_backward, offset);
draw_joint(&mut gizmos, index_prox.position.to_vec3(), index_prox.orientation.to_quat(), 0.008, Color::ORANGE, controller_backward, hand_translation);
let index_inter = hand_pose[HandJoint::INDEX_INTERMEDIATE];
draw_joint(&mut gizmos, index_inter.position.to_vec3(), index_inter.orientation.to_quat(), 0.006, Color::ORANGE, controller_backward, offset);
draw_joint(&mut gizmos, index_inter.position.to_vec3(), index_inter.orientation.to_quat(), 0.006, Color::ORANGE, controller_backward, hand_translation);
let index_dist = hand_pose[HandJoint::INDEX_DISTAL];
draw_joint(&mut gizmos, index_dist.position.to_vec3(), index_dist.orientation.to_quat(), 0.004, Color::ORANGE, controller_backward, offset);
draw_joint(&mut gizmos, index_dist.position.to_vec3(), index_dist.orientation.to_quat(), 0.004, Color::ORANGE, controller_backward, hand_translation);
let index_tip = hand_pose[HandJoint::INDEX_TIP];
draw_joint(&mut gizmos, index_tip.position.to_vec3(), index_tip.orientation.to_quat(), 0.002, Color::ORANGE, controller_backward, offset);
draw_joint(&mut gizmos, index_tip.position.to_vec3(), index_tip.orientation.to_quat(), 0.002, Color::ORANGE, controller_backward, hand_translation);
let middle_meta = hand_pose[HandJoint::MIDDLE_METACARPAL];
draw_joint(&mut gizmos, middle_meta.position.to_vec3(), middle_meta.orientation.to_quat(), 0.01, Color::YELLOW, controller_backward, offset);
draw_joint(&mut gizmos, middle_meta.position.to_vec3(), middle_meta.orientation.to_quat(), 0.01, Color::YELLOW, controller_backward, hand_translation);
let middle_prox = hand_pose[HandJoint::MIDDLE_PROXIMAL];
draw_joint(&mut gizmos, middle_prox.position.to_vec3(), middle_prox.orientation.to_quat(), 0.008, Color::YELLOW, controller_backward, offset);
draw_joint(&mut gizmos, middle_prox.position.to_vec3(), middle_prox.orientation.to_quat(), 0.008, Color::YELLOW, controller_backward, hand_translation);
let middle_inter = hand_pose[HandJoint::MIDDLE_INTERMEDIATE];
draw_joint(&mut gizmos, middle_inter.position.to_vec3(), middle_inter.orientation.to_quat(), 0.006, Color::YELLOW, controller_backward, offset);
draw_joint(&mut gizmos, middle_inter.position.to_vec3(), middle_inter.orientation.to_quat(), 0.006, Color::YELLOW, controller_backward, hand_translation);
let middle_dist = hand_pose[HandJoint::MIDDLE_DISTAL];
draw_joint(&mut gizmos, middle_dist.position.to_vec3(), middle_dist.orientation.to_quat(), 0.004, Color::YELLOW, controller_backward, offset);
draw_joint(&mut gizmos, middle_dist.position.to_vec3(), middle_dist.orientation.to_quat(), 0.004, Color::YELLOW, controller_backward, hand_translation);
let middle_tip = hand_pose[HandJoint::MIDDLE_TIP];
draw_joint(&mut gizmos, middle_tip.position.to_vec3(), middle_tip.orientation.to_quat(), 0.002, Color::YELLOW, controller_backward, offset);
draw_joint(&mut gizmos, middle_tip.position.to_vec3(), middle_tip.orientation.to_quat(), 0.002, Color::YELLOW, controller_backward, hand_translation);
let ring_meta = hand_pose[HandJoint::RING_METACARPAL];
draw_joint(&mut gizmos, ring_meta.position.to_vec3(), ring_meta.orientation.to_quat(), 0.01, Color::GREEN, controller_backward, offset);
draw_joint(&mut gizmos, ring_meta.position.to_vec3(), ring_meta.orientation.to_quat(), 0.01, Color::GREEN, controller_backward, hand_translation);
let ring_prox = hand_pose[HandJoint::RING_PROXIMAL];
draw_joint(&mut gizmos, ring_prox.position.to_vec3(), ring_prox.orientation.to_quat(), 0.008, Color::GREEN, controller_backward, offset);
draw_joint(&mut gizmos, ring_prox.position.to_vec3(), ring_prox.orientation.to_quat(), 0.008, Color::GREEN, controller_backward, hand_translation);
let ring_inter = hand_pose[HandJoint::RING_INTERMEDIATE];
draw_joint(&mut gizmos, ring_inter.position.to_vec3(), ring_inter.orientation.to_quat(), 0.006, Color::GREEN, controller_backward, offset);
draw_joint(&mut gizmos, ring_inter.position.to_vec3(), ring_inter.orientation.to_quat(), 0.006, Color::GREEN, controller_backward, hand_translation);
let ring_dist = hand_pose[HandJoint::RING_DISTAL];
draw_joint(&mut gizmos, ring_dist.position.to_vec3(), ring_dist.orientation.to_quat(), 0.004, Color::GREEN, controller_backward, offset);
draw_joint(&mut gizmos, ring_dist.position.to_vec3(), ring_dist.orientation.to_quat(), 0.004, Color::GREEN, controller_backward, hand_translation);
let ring_tip = hand_pose[HandJoint::RING_TIP];
draw_joint(&mut gizmos, ring_tip.position.to_vec3(), ring_tip.orientation.to_quat(), 0.002, Color::GREEN, controller_backward, offset);
draw_joint(&mut gizmos, ring_tip.position.to_vec3(), ring_tip.orientation.to_quat(), 0.002, Color::GREEN, controller_backward, hand_translation);
let little_meta = hand_pose[HandJoint::LITTLE_METACARPAL];
draw_joint(&mut gizmos, little_meta.position.to_vec3(), little_meta.orientation.to_quat(), 0.01, Color::BLUE, controller_backward, offset);
draw_joint(&mut gizmos, little_meta.position.to_vec3(), little_meta.orientation.to_quat(), 0.01, Color::BLUE, controller_backward, hand_translation);
let little_prox = hand_pose[HandJoint::LITTLE_PROXIMAL];
draw_joint(&mut gizmos, little_prox.position.to_vec3(), little_prox.orientation.to_quat(), 0.008, Color::BLUE, controller_backward, offset);
draw_joint(&mut gizmos, little_prox.position.to_vec3(), little_prox.orientation.to_quat(), 0.008, Color::BLUE, controller_backward, hand_translation);
let little_inter = hand_pose[HandJoint::LITTLE_INTERMEDIATE];
draw_joint(&mut gizmos, little_inter.position.to_vec3(), little_inter.orientation.to_quat(), 0.006, Color::BLUE, controller_backward, offset);
draw_joint(&mut gizmos, little_inter.position.to_vec3(), little_inter.orientation.to_quat(), 0.006, Color::BLUE, controller_backward, hand_translation);
let little_dist = hand_pose[HandJoint::LITTLE_DISTAL];
draw_joint(&mut gizmos, little_dist.position.to_vec3(), little_dist.orientation.to_quat(), 0.004, Color::BLUE, controller_backward, offset);
draw_joint(&mut gizmos, little_dist.position.to_vec3(), little_dist.orientation.to_quat(), 0.004, Color::BLUE, controller_backward, hand_translation);
let little_tip = hand_pose[HandJoint::LITTLE_TIP];
draw_joint(&mut gizmos, little_tip.position.to_vec3(), little_tip.orientation.to_quat(), 0.002, Color::BLUE, controller_backward, offset);
draw_joint(&mut gizmos, little_tip.position.to_vec3(), little_tip.orientation.to_quat(), 0.002, Color::BLUE, controller_backward, hand_translation);
}
fn flip_hand_pose(hand_pose: [Posef; 26], hand: Hand) -> [Posef; 26] {
let mut new_pose = hand_pose;
match hand {
Hand::Left => {
for pose in new_pose.iter_mut() {
pose.position.x = -pose.position.x;
}
},
Hand::Right => (),
}
return new_pose;
}
fn draw_joint(gizmos: &mut Gizmos, joint_pos: Vec3, joint_rot: Quat, radius: f32, color: Color, controller_backwards: Quat, offset: Vec3) {