Merge pull request #17 from ForTehLose/hands

Hands

examples/xr.rs

@@ -1,9 +1,13 @@
+
+
 use bevy::diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin};
+
 use bevy::prelude::*;
 use bevy::transform::components::Transform;
 use bevy_openxr::input::XrInput;
 use bevy_openxr::resources::{XrFrameState, XrInstance, XrSession};
-use bevy_openxr::xr_input::debug_gizmos::OpenXrDebugRenderer;
+
+use bevy_openxr::xr_input::hand::{OpenXrHandInput, HandInputDebugRenderer};
 use bevy_openxr::xr_input::interactions::{
     draw_interaction_gizmos, draw_socket_gizmos, interactions, socket_interactions,
     update_interactable_states, InteractionEvent, Touched, XRDirectInteractor, XRInteractable,
@@ -23,13 +27,15 @@ fn main() {
     info!("Running `openxr-6dof` skill");
     App::new()
         .add_plugins(DefaultXrPlugins)
-        .add_plugins(OpenXrDebugRenderer) //new debug renderer adds gizmos to
+        //.add_plugins(OpenXrDebugRenderer) //new debug renderer adds gizmos to
         .add_plugins(LogDiagnosticsPlugin::default())
         .add_plugins(FrameTimeDiagnosticsPlugin)
         .add_systems(Startup, setup)
         .add_systems(Update, proto_locomotion)
-        .add_systems(Startup, spawn_controllers_example)
         .insert_resource(PrototypeLocomotionConfig::default())
+        .add_systems(Startup, spawn_controllers_example)
+        .add_plugins(OpenXrHandInput)
+        .add_plugins(HandInputDebugRenderer)
         .add_systems(
             Update,
             draw_interaction_gizmos.after(update_interactable_states),
@@ -88,7 +94,14 @@ fn setup(
     });
     // camera
     commands.spawn((Camera3dBundle {
-        transform: Transform::from_xyz(-2.0, 2.5, 5.0).looking_at(Vec3::ZERO, Vec3::Y),
+        transform: Transform::from_xyz(0.25, 1.25, 0.0).looking_at(
+            Vec3 {
+                x: -0.548,
+                y: -0.161,
+                z: -0.137,
+            },
+            Vec3::Y,
+        ),
         ..default()
     },));
     //simple interactable

src/xr_input/hand_poses.rs

@@ -0,0 +1,520 @@
+use bevy::prelude::{Quat, Transform, Vec3};
+use openxr::{Posef, Quaternionf, Vector3f};
+
+use super::Hand;
+
+pub fn get_simulated_open_hand_transforms(hand: Hand) -> [Transform; 26] {
+    let test_hand_bones: [Vec3; 26] = [
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.0,
+        }, //palm
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: -0.04,
+        }, //wrist
+        Vec3 {
+            x: -0.02,
+            y: 0.00,
+            z: 0.015,
+        }, //thumb
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.03,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.024,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.024,
+        },
+        Vec3 {
+            x: -0.01,
+            y: -0.015,
+            z: 0.0155,
+        }, //index
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.064,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.037,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.02,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.01,
+        },
+        Vec3 {
+            x: 0.0,
+            y: -0.02,
+            z: 0.016,
+        }, //middle
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.064,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.037,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.02,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.01,
+        },
+        Vec3 {
+            x: 0.01,
+            y: -0.015,
+            z: 0.015,
+        }, //ring
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.064,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.037,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.02,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.01,
+        },
+        Vec3 {
+            x: 0.02,
+            y: -0.01,
+            z: 0.015,
+        }, //little
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.064,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.037,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.02,
+        },
+        Vec3 {
+            x: 0.0,
+            y: 0.0,
+            z: 0.01,
+        },
+    ];
+    let result = bones_to_transforms(test_hand_bones, hand);
+    return result;
+}
+
+fn bones_to_transforms(hand_bones: [Vec3; 26], hand: Hand) -> [Transform; 26] {
+    match hand {
+        Hand::Left => {
+            let mut result_array: [Transform; 26] = [Transform::default(); 26];
+            for (place, data) in result_array.iter_mut().zip(hand_bones.iter()) {
+                *place = Transform {
+                    translation: Vec3 {
+                        x: -data.x,
+                        y: -data.y,
+                        z: -data.z,
+                    },
+                    rotation: Quat::IDENTITY,
+                    scale: Vec3::splat(1.0),
+                }
+            }
+            return result_array;
+        }
+        Hand::Right => {
+            let mut result_array: [Transform; 26] = [Transform::default(); 26];
+            for (place, data) in result_array.iter_mut().zip(hand_bones.iter()) {
+                *place = Transform {
+                    translation: Vec3 {
+                        x: data.x,
+                        y: -data.y,
+                        z: -data.z,
+                    },
+                    rotation: Quat::IDENTITY,
+                    scale: Vec3::splat(1.0),
+                }
+            }
+            return result_array;
+        }
+    }
+}
+
+pub fn get_test_hand_pose_array() -> [Posef; 26] {
+    let test_hand_pose: [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: 0.02,
+                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,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: 0.004,
+                y: 0.003,
+                z: 0.068,
+            },
+            orientation: Quaternionf {
+                x: -0.729,
+                y: -0.564,
+                z: 0.027,
+                w: -0.387,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.009,
+                y: 0.011,
+                z: 0.072,
+            },
+            orientation: Quaternionf {
+                x: -0.585,
+                y: -0.548,
+                z: -0.140,
+                w: -0.582,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: 0.027,
+                y: -0.021,
+                z: 0.001,
+            },
+            orientation: Quaternionf {
+                x: -0.277,
+                y: -0.826,
+                z: 0.317,
+                w: -0.376,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.002,
+                y: 0.026,
+                z: 0.034,
+            },
+            orientation: Quaternionf {
+                x: -0.277,
+                y: -0.826,
+                z: 0.317,
+                w: -0.376,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.023,
+                y: 0.049,
+                z: 0.055,
+            },
+            orientation: Quaternionf {
+                x: -0.244,
+                y: -0.843,
+                z: 0.256,
+                w: -0.404,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.037,
+                y: 0.059,
+                z: 0.067,
+            },
+            orientation: Quaternionf {
+                x: -0.200,
+                y: -0.866,
+                z: 0.165,
+                w: -0.428,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.045,
+                y: 0.063,
+                z: 0.073,
+            },
+            orientation: Quaternionf {
+                x: -0.172,
+                y: -0.874,
+                z: 0.110,
+                w: -0.440,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: 0.021,
+                y: -0.017,
+                z: -0.007,
+            },
+            orientation: Quaternionf {
+                x: -0.185,
+                y: -0.817,
+                z: 0.370,
+                w: -0.401,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.011,
+                y: 0.029,
+                z: 0.018,
+            },
+            orientation: Quaternionf {
+                x: -0.185,
+                y: -0.817,
+                z: 0.370,
+                w: -0.401,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.034,
+                y: 0.06,
+                z: 0.033,
+            },
+            orientation: Quaternionf {
+                x: -0.175,
+                y: -0.809,
+                z: 0.371,
+                w: -0.420,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.051,
+                y: 0.072,
+                z: 0.045,
+            },
+            orientation: Quaternionf {
+                x: -0.109,
+                y: -0.856,
+                z: 0.245,
+                w: -0.443,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.06,
+                y: 0.077,
+                z: 0.051,
+            },
+            orientation: Quaternionf {
+                x: -0.075,
+                y: -0.871,
+                z: 0.180,
+                w: -0.450,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: 0.013,
+                y: -0.017,
+                z: -0.015,
+            },
+            orientation: Quaternionf {
+                x: -0.132,
+                y: -0.786,
+                z: 0.408,
+                w: -0.445,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.02,
+                y: 0.025,
+                z: 0.0,
+            },
+            orientation: Quaternionf {
+                x: -0.132,
+                y: -0.786,
+                z: 0.408,
+                w: -0.445,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.042,
+                y: 0.055,
+                z: 0.007,
+            },
+            orientation: Quaternionf {
+                x: -0.131,
+                y: -0.762,
+                z: 0.432,
+                w: -0.464,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.06,
+                y: 0.069,
+                z: 0.015,
+            },
+            orientation: Quaternionf {
+                x: -0.071,
+                y: -0.810,
+                z: 0.332,
+                w: -0.477,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.069,
+                y: 0.075,
+                z: 0.02,
+            },
+            orientation: Quaternionf {
+                x: -0.029,
+                y: -0.836,
+                z: 0.260,
+                w: -0.482,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: 0.004,
+                y: -0.022,
+                z: -0.022,
+            },
+            orientation: Quaternionf {
+                x: -0.060,
+                y: -0.749,
+                z: 0.481,
+                w: -0.452,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.028,
+                y: 0.018,
+                z: -0.015,
+            },
+            orientation: Quaternionf {
+                x: -0.060,
+                y: -0.749,
+                z: 0.481,
+                w: -0.452,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.046,
+                y: 0.042,
+                z: -0.017,
+            },
+            orientation: Quaternionf {
+                x: -0.061,
+                y: -0.684,
+                z: 0.534,
+                w: -0.493,
+            },
+        },
+        Posef {
+            position: Vector3f {
+                x: -0.059,
+                y: 0.053,
+                z: -0.015,
+            },
+            orientation: Quaternionf {
+                x: 0.002,
+                y: -0.745,
+                z: 0.444,
+                w: -0.498,
+            },
+        },
+        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,
+            },
+        },
+    ];
+    return test_hand_pose;
+}

src/xr_input/mod.rs

@@ -5,6 +5,8 @@ pub mod oculus_touch;
 pub mod prototype_locomotion;
 pub mod trackers;
 pub mod xr_camera;
+pub mod hand_poses;
+pub mod hand;
 
 use crate::resources::XrSession;
 use crate::xr_begin_frame;
@@ -13,7 +15,7 @@ use crate::xr_input::oculus_touch::{setup_oculus_controller, ActionSets};
 use crate::xr_input::xr_camera::{xr_camera_head_sync, Eye, XRProjection, XrCameraBundle};
 use bevy::app::{App, PostUpdate, Startup};
 use bevy::log::warn;
-use bevy::prelude::{BuildChildren, IntoSystemConfigs};
+use bevy::prelude::{BuildChildren, IntoSystemConfigs, Component};
 use bevy::prelude::{Commands, Plugin, PreUpdate, Quat, Res, SpatialBundle, Update, Vec3};
 use bevy::render::camera::CameraProjectionPlugin;
 use bevy::render::view::{update_frusta, VisibilitySystems};
@@ -28,7 +30,7 @@ use self::trackers::{
 pub struct OpenXrInput {
     pub controller_type: XrControllerType,
 }
-#[derive(Clone, Copy, Debug, Ord, PartialOrd, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Ord, PartialOrd, Eq, PartialEq, Component)]
 pub enum Hand {
     Left,
     Right,