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added tracker markers and change detection

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This commit is contained in:
Jay Christy
2023-09-24 01:34:20 -04:00
parent 9e69777a45
commit 8cea603cb5
5 changed files with 172 additions and 37 deletions
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57
src/xr_input/debug_gizmos.rs
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@@ -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,