added tracker markers and change detection

src/xr_input/debug_gizmos.rs

@@ -1,5 +1,6 @@
 use bevy::prelude::{
-    info, Color, Gizmos, Plugin, Quat, Query, Res, Transform, Update, Vec2, Vec3, With,
+    info, Color, Gizmos, GlobalTransform, Plugin, Quat, Query, Res, Transform, Update, Vec2, Vec3,
+    With, Without,
 };
 
 use crate::{
@@ -9,9 +10,11 @@ use crate::{
 
 use crate::xr_input::{
     oculus_touch::{OculusController, OculusControllerRef},
-    Hand, QuatConv, TrackingRoot, Vec3Conv,
+    Hand, QuatConv, Vec3Conv,
 };
 
+use super::trackers::{OpenXRLeftController, OpenXRRightController, OpenXRTrackingRoot};
+
 /// add debug renderer for controllers
 #[derive(Default)]
 pub struct OpenXrDebugRenderer;
@@ -29,7 +32,19 @@ pub fn draw_gizmos(
     xr_input: Res<XrInput>,
     instance: Res<XrInstance>,
     session: Res<XrSession>,
-    tracking_root_query: Query<(&mut Transform, With<TrackingRoot>)>,
+    tracking_root_query: Query<(&mut Transform, With<OpenXRTrackingRoot>)>,
+    left_controller_query: Query<(
+        &GlobalTransform,
+        With<OpenXRLeftController>,
+        Without<OpenXRRightController>,
+        Without<OpenXRTrackingRoot>,
+    )>,
+    right_controller_query: Query<(
+        &GlobalTransform,
+        With<OpenXRRightController>,
+        Without<OpenXRLeftController>,
+        Without<OpenXRTrackingRoot>,
+    )>,
 ) {
     //lock frame
     let frame_state = *frame_state.lock().unwrap();
@@ -56,21 +71,21 @@ pub fn draw_gizmos(
         Err(_) => info!("too many tracking roots"),
     }
     //draw the hands
-    draw_hand_gizmo(&mut gizmos, &controller, Hand::Right, tracking_transform);
-    draw_hand_gizmo(&mut gizmos, &controller, Hand::Left, tracking_transform);
+    let left_transform = left_controller_query.get_single().unwrap().0;
+    let right_transform = right_controller_query.get_single().unwrap().0;
+
+    draw_hand_gizmo(&mut gizmos, &controller, Hand::Right, right_transform);
+    draw_hand_gizmo(&mut gizmos, &controller, Hand::Left, left_transform);
 }
 
 fn draw_hand_gizmo(
     gizmos: &mut Gizmos,
     controller: &OculusControllerRef<'_>,
     hand: Hand,
-    tracking_root: &Transform,
+    hand_transform: &GlobalTransform,
 ) {
     match hand {
         Hand::Left => {
-            //get left controller
-            let left_controller = controller.grip_space(Hand::Left);
-
             let left_color = Color::YELLOW_GREEN;
             let off_color = Color::BLUE;
             let touch_color = Color::GREEN;
@@ -78,14 +93,9 @@ fn draw_hand_gizmo(
 
             let grip_quat_offset = Quat::from_rotation_x(-1.4);
             let face_quat_offset = Quat::from_rotation_x(1.05);
-
-            let controller_vec3 = tracking_root
-                .rotation
-                .mul_vec3(left_controller.0.pose.position.to_vec3())
-                + tracking_root.translation;
-            let controller_quat = tracking_root
-                .rotation
-                .mul_quat(left_controller.0.pose.orientation.to_quat());
+            let trans = hand_transform.compute_transform();
+            let controller_vec3 = trans.translation;
+            let controller_quat = trans.rotation;
             let face_quat = controller_quat.mul_quat(face_quat_offset);
             let face_quat_normal = face_quat.mul_vec3(Vec3::Z);
 
@@ -182,7 +192,6 @@ fn draw_hand_gizmo(
         }
         Hand::Right => {
             //get right controller
-            let right_controller = controller.grip_space(Hand::Right);
             let right_color = Color::YELLOW_GREEN;
             let off_color = Color::BLUE;
             let touch_color = Color::GREEN;
@@ -191,16 +200,14 @@ fn draw_hand_gizmo(
             let grip_quat_offset = Quat::from_rotation_x(-1.4);
             let face_quat_offset = Quat::from_rotation_x(1.05);
 
-            let controller_vec3 = tracking_root
-                .rotation
-                .mul_vec3(right_controller.0.pose.position.to_vec3())
-                + tracking_root.translation;
-            let controller_quat = tracking_root
-                .rotation
-                .mul_quat(right_controller.0.pose.orientation.to_quat());
+            let trans = hand_transform.compute_transform();
+            let controller_vec3 = trans.translation;
+            let controller_quat = trans.rotation;
             let face_quat = controller_quat.mul_quat(face_quat_offset);
             let face_quat_normal = face_quat.mul_vec3(Vec3::Z);
 
+            let squeeze = controller.squeeze(Hand::Right);
+            //info!("{:?}", squeeze);
             //grip
             gizmos.rect(
                 controller_vec3,

src/xr_input/mod.rs

@@ -1,6 +1,7 @@
 pub mod controllers;
 pub mod debug_gizmos;
 pub mod oculus_touch;
+pub mod trackers;
 pub mod xr_camera;
 
 use crate::resources::XrSession;
@@ -10,12 +11,16 @@ 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::{default, Commands, Component, Plugin, PreUpdate, Quat, Res, Vec3};
+use bevy::prelude::{
+    default, Commands, Component, Plugin, PreUpdate, Quat, Res, SpatialBundle, Vec3,
+};
 use bevy::prelude::{BuildChildren, IntoSystemConfigs};
 use bevy::render::camera::CameraProjectionPlugin;
 use bevy::render::view::{update_frusta, VisibilitySystems};
 use bevy::transform::{TransformBundle, TransformSystem};
 
+use self::trackers::{OpenXRLeftEye, OpenXRRightEye, OpenXRTrackingRoot};
+
 #[derive(Copy, Clone)]
 pub struct OpenXrInput {
     pub controller_type: XrControllerType,
@@ -26,9 +31,6 @@ pub enum Hand {
     Right,
 }
 
-#[derive(Component)]
-pub struct TrackingRoot;
-
 impl OpenXrInput {
     pub fn new(controller_type: XrControllerType) -> Self {
         Self { controller_type }
@@ -58,9 +60,15 @@ impl Plugin for OpenXrInput {
 fn setup_xr_cameras(mut commands: Commands) {
     //this needs to do the whole xr tracking volume not just cameras
     //get the root?
-    let tracking_root = commands.spawn((TransformBundle { ..default() }, TrackingRoot)).id();
-    let right = commands.spawn(XrCameraBundle::new(Eye::Right)).id();
-    let left = commands.spawn(XrCameraBundle::new(Eye::Left)).id();
+    let tracking_root = commands
+        .spawn((SpatialBundle::default(), OpenXRTrackingRoot))
+        .id();
+    let right = commands
+        .spawn((XrCameraBundle::new(Eye::Right), OpenXRRightEye))
+        .id();
+    let left = commands
+        .spawn((XrCameraBundle::new(Eye::Left), OpenXRLeftEye))
+        .id();
     commands.entity(tracking_root).push_children(&[right, left]);
 }
 

src/xr_input/trackers.rs

@@ -0,0 +1,18 @@
+use bevy::prelude::Component;
+
+#[derive(Component)]
+pub struct OpenXRTrackingRoot;
+#[derive(Component)]
+pub struct OpenXRTracker;
+#[derive(Component)]
+pub struct OpenXRLeftEye;
+#[derive(Component)]
+pub struct OpenXRRightEye;
+#[derive(Component)]
+pub struct OpenXRHMD;
+#[derive(Component)]
+pub struct OpenXRLeftController;
+#[derive(Component)]
+pub struct OpenXRRightController;
+#[derive(Component)]
+pub struct OpenXRController;

src/xr_input/xr_camera.rs

@@ -223,6 +223,7 @@ pub fn xr_camera_head_sync(
     mut query: Query<(&mut Transform, &XrCameraType, &mut XRProjection)>,
 ) {
     let mut f = || -> Option<()> {
+        //TODO calculate HMD position
         for (mut transform, camera_type, mut xr_projection) in query.iter_mut() {
             let view_idx = match camera_type {
                 XrCameraType::Xr(eye) => *eye as usize,