diff --git a/examples/xr.rs b/examples/xr.rs index 80eb3b7..1f3df09 100644 --- a/examples/xr.rs +++ b/examples/xr.rs @@ -1,3 +1,5 @@ +use std::f32::consts::PI; + use bevy::diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin}; use bevy::prelude::*; use bevy::transform::components::Transform; @@ -16,13 +18,13 @@ 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) - .add_systems(Update, spawn_skeleton) + .add_systems(Update, draw_skeleton_hand) .insert_resource(PrototypeLocomotionConfig::default()) .run(); } @@ -70,103 +72,127 @@ fn setup( },)); } -fn spawn_skeleton(mut commands: Commands, mut gizmos: Gizmos) { - let hand_pose: [Posef; 26] = [ - Posef { position: Vector3f {x: -0.548, y: -0.161, z: -0.137}, orientation: Quaternionf {x: -0.267,y: 0.849, z: 0.204,w: 0.407}}, //palm - Posef { position: Vector3f {x: -0.548, y: 0.161, z: -0.137}, orientation: Quaternionf {x: -0.267,y: 0.849, z: 0.204,w: 0.407}}, - Posef { position: Vector3f {x: -0.529, y: -0.198, z: -0.126}, orientation: Quaternionf {x: -0.744, y: -0.530, z: 0.156,w: -0.376}}, - Posef { position: Vector3f {x: -0.533, y: -0.175, z: -0.090}, orientation: Quaternionf {x: -0.786, y: -0.550, z: 0.126,w: -0.254}}, - Posef { position: Vector3f {x: -0.544, y: -0.158, z: -0.069}, orientation: Quaternionf {x: -0.729, y: -0.564, z: 0.027,w: -0.387}}, - Posef { position: Vector3f {x: -0.557, y: -0.150, z: -0.065}, orientation: Quaternionf {x: -0.585, y: -0.548, z: -0.140,w: -0.582}}, - Posef { position: Vector3f {x: -0.521, y: -0.182, z: -0.136}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317,w: -0.376}}, - Posef { position: Vector3f {x: -0.550, y: -0.135, z: -0.102}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317,w: -0.376}}, - Posef { position: Vector3f {x: -0.571, y: -0.112, z: -0.082}, orientation: Quaternionf {x: -0.244, y: -0.843, z: 0.256,w: -0.404}}, - Posef { position: Vector3f {x: -0.585, y: -0.102, z: -0.070}, orientation: Quaternionf {x: -0.200, y: -0.866, z: 0.165,w: -0.428}}, - Posef { position: Vector3f {x: -0.593, y: -0.098, z: -0.064}, orientation: Quaternionf {x: -0.172, y: -0.874, z: 0.110,w: -0.440}}, - Posef { position: Vector3f {x: -0.527, y: -0.178, z: -0.144}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370,w: -0.401}}, - Posef { position: Vector3f {x: -0.559, y: -0.132, z: -0.119}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370,w: -0.401}}, - Posef { position: Vector3f {x: -0.582, y: -0.101, z: -0.104}, orientation: Quaternionf {x: -0.175, y: -0.809, z: 0.371,w: -0.420}}, - Posef { position: Vector3f {x: -0.599, y: -0.089, z: -0.092}, orientation: Quaternionf {x: -0.109, y: -0.856, z: 0.245,w: -0.443}}, - Posef { position: Vector3f {x: -0.608, y: -0.084, z: -0.086}, orientation: Quaternionf {x: -0.075, y: -0.871, z: 0.180,w: -0.450}}, - Posef { position: Vector3f {x: -0.535, y: -0.178, z: -0.152}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408,w: -0.445}}, - Posef { position: Vector3f {x: -0.568, y: -0.136, z: -0.137}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408,w: -0.445}}, - Posef { position: Vector3f {x: -0.590, y: -0.106, z: -0.130}, orientation: Quaternionf {x: -0.131, y: -0.762, z: 0.432,w: -0.464}}, - Posef { position: Vector3f {x: -0.607, y: -0.092, z: -0.122}, orientation: Quaternionf {x: -0.071, y: -0.810, z: 0.332,w: -0.477}}, - Posef { position: Vector3f {x: -0.617, y: -0.086, z: -0.117}, orientation: Quaternionf {x: -0.029, y: -0.836, z: 0.260,w: -0.482}}, - Posef { position: Vector3f {x: -0.544, y: -0.183, z: -0.159}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481,w: -0.452}}, - Posef { position: Vector3f {x: -0.576, y: -0.143, z: -0.152}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481,w: -0.452}}, - Posef { position: Vector3f {x: -0.594, y: -0.119, z: -0.154}, orientation: Quaternionf {x: -0.061, y: -0.684, z: 0.534,w: -0.493}}, - Posef { position: Vector3f {x: -0.607, y: -0.108, z: -0.152}, orientation: Quaternionf {x: 0.002, y: -0.745, z: 0.444,w: -0.498}}, - Posef { position: Vector3f {x: -0.616, y: -0.102, z: -0.150}, orientation: Quaternionf {x: 0.045, y: -0.780, z: 0.378,w: -0.496}}, - ]; - //cursed wrist math - let wrist_dist = Vec3{ x: 0.01, y: -0.05, z: 0.0 }; - let huh = Quaternionf {x: -0.267,y: 0.849, z: 0.204,w: 0.407}.to_quat(); - let why: Vec3 = huh.mul_vec3(wrist_dist); +fn draw_skeleton_hand(mut commands: Commands, + mut gizmos: Gizmos, + right_controller_query: Query<( + &GlobalTransform, + With, +)>, ) { + //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; + gizmos.sphere(right_translation, Quat::IDENTITY, 0.01, Color::PINK); + //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_forward = right_quat.mul_quat(flip).mul_vec3(Vec3::Y); + let controller_backward = right_quat.mul_quat(flip).mul_quat(flap); + gizmos.ray(right_translation, controller_forward, Color::PINK); - let offset = Vec3 { x: 0.548, y: 1.0, z: 0.137 }; + let hand_pose: [Posef; 26] = [ + Posef { position: Vector3f {x: -0.548, y: -0.161, z: -0.137}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}}, //palm + Posef { position: Vector3f {x: -0.548, y: 0.161, z: -0.137}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}}, + Posef { position: Vector3f {x: -0.529, y: -0.198, z: -0.126}, orientation: Quaternionf {x: -0.744, y: -0.530, z: 0.156, w: -0.376}}, + Posef { position: Vector3f {x: -0.533, y: -0.175, z: -0.090}, orientation: Quaternionf {x: -0.786, y: -0.550, z: 0.126, w: -0.254}}, + Posef { position: Vector3f {x: -0.544, y: -0.158, z: -0.069}, orientation: Quaternionf {x: -0.729, y: -0.564, z: 0.027, w: -0.387}}, + Posef { position: Vector3f {x: -0.557, y: -0.150, z: -0.065}, orientation: Quaternionf {x: -0.585, y: -0.548, z: -0.140,w: -0.582}}, + Posef { position: Vector3f {x: -0.521, y: -0.182, z: -0.136}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317, w: -0.376}}, + Posef { position: Vector3f {x: -0.550, y: -0.135, z: -0.102}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317, w: -0.376}}, + Posef { position: Vector3f {x: -0.571, y: -0.112, z: -0.082}, orientation: Quaternionf {x: -0.244, y: -0.843, z: 0.256, w: -0.404}}, + Posef { position: Vector3f {x: -0.585, y: -0.102, z: -0.070}, orientation: Quaternionf {x: -0.200, y: -0.866, z: 0.165, w: -0.428}}, + Posef { position: Vector3f {x: -0.593, y: -0.098, z: -0.064}, orientation: Quaternionf {x: -0.172, y: -0.874, z: 0.110, w: -0.440}}, + Posef { position: Vector3f {x: -0.527, y: -0.178, z: -0.144}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370, w: -0.401}}, + Posef { position: Vector3f {x: -0.559, y: -0.132, z: -0.119}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370, w: -0.401}}, + Posef { position: Vector3f {x: -0.582, y: -0.101, z: -0.104}, orientation: Quaternionf {x: -0.175, y: -0.809, z: 0.371, w: -0.420}}, + Posef { position: Vector3f {x: -0.599, y: -0.089, z: -0.092}, orientation: Quaternionf {x: -0.109, y: -0.856, z: 0.245, w: -0.443}}, + Posef { position: Vector3f {x: -0.608, y: -0.084, z: -0.086}, orientation: Quaternionf {x: -0.075, y: -0.871, z: 0.180, w: -0.450}}, + Posef { position: Vector3f {x: -0.535, y: -0.178, z: -0.152}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408, w: -0.445}}, + Posef { position: Vector3f {x: -0.568, y: -0.136, z: -0.137}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408, w: -0.445}}, + Posef { position: Vector3f {x: -0.590, y: -0.106, z: -0.130}, orientation: Quaternionf {x: -0.131, y: -0.762, z: 0.432, w: -0.464}}, + Posef { position: Vector3f {x: -0.607, y: -0.092, z: -0.122}, orientation: Quaternionf {x: -0.071, y: -0.810, z: 0.332, w: -0.477}}, + Posef { position: Vector3f {x: -0.617, y: -0.086, z: -0.117}, orientation: Quaternionf {x: -0.029, y: -0.836, z: 0.260, w: -0.482}}, + Posef { position: Vector3f {x: -0.544, y: -0.183, z: -0.159}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481, w: -0.452}}, + Posef { position: Vector3f {x: -0.576, y: -0.143, z: -0.152}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481, w: -0.452}}, + Posef { position: Vector3f {x: -0.594, y: -0.119, z: -0.154}, orientation: Quaternionf {x: -0.061, y: -0.684, z: 0.534, w: -0.493}}, + Posef { position: Vector3f {x: -0.607, y: -0.108, z: -0.152}, orientation: Quaternionf {x: 0.002, y: -0.745, z: 0.444, w: -0.498}}, + Posef { position: Vector3f {x: -0.616, y: -0.102, z: -0.150}, orientation: Quaternionf {x: 0.045, y: -0.780, z: 0.378, w: -0.496}}, + ]; + + //cursed wrist math + let wrist_dist = Vec3{ x: -0.01, y: -0.040, z: -0.015}; + + //cursed offset + let palm_negation = Vec3 { x: 0.548, y: 0.161, z: 0.137 }; + 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(), 0.01, Color::WHITE); - let wrist = hand_pose[HandJoint::WRIST]; - gizmos.sphere(palm.position.to_vec3() + offset + why, palm.orientation.to_quat(), 0.01, Color::GRAY); + gizmos.sphere(palm.position.to_vec3() + offset + palm_negation, 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 + palm_negation + rotated_wfp, palm.orientation.to_quat(), 0.01, Color::GRAY); + + let thumb_meta = hand_pose[HandJoint::THUMB_METACARPAL]; - gizmos.sphere(thumb_meta.position.to_vec3() + offset, thumb_meta.orientation.to_quat(), 0.01, Color::RED); + draw_joint(&mut gizmos, thumb_meta.position.to_vec3(), thumb_meta.orientation.to_quat(), 0.01, Color::RED, controller_backward, palm_negation, offset); + let thumb_prox = hand_pose[HandJoint::THUMB_PROXIMAL]; - gizmos.sphere(thumb_prox.position.to_vec3() + offset, thumb_prox.orientation.to_quat(), 0.008, Color::RED); + draw_joint(&mut gizmos, thumb_prox.position.to_vec3(), thumb_prox.orientation.to_quat(), 0.008, Color::RED, controller_backward, palm_negation, offset); let thumb_dist = hand_pose[HandJoint::THUMB_DISTAL]; - gizmos.sphere(thumb_dist.position.to_vec3() + offset, thumb_dist.orientation.to_quat(), 0.006, Color::RED); + draw_joint(&mut gizmos, thumb_dist.position.to_vec3(), thumb_dist.orientation.to_quat(), 0.006, Color::RED, controller_backward, palm_negation, offset); let thumb_tip = hand_pose[HandJoint::THUMB_TIP]; - gizmos.sphere(thumb_tip.position.to_vec3() + offset, thumb_tip.orientation.to_quat(), 0.004, Color::RED); + draw_joint(&mut gizmos, thumb_tip.position.to_vec3(), thumb_tip.orientation.to_quat(), 0.004, Color::RED, controller_backward, palm_negation, offset); let index_meta = hand_pose[HandJoint::INDEX_METACARPAL]; - gizmos.sphere(index_meta.position.to_vec3() + offset, index_meta.orientation.to_quat(), 0.01, Color::ORANGE); + draw_joint(&mut gizmos, index_meta.position.to_vec3(), index_meta.orientation.to_quat(), 0.01, Color::ORANGE, controller_backward, palm_negation, offset); let index_prox = hand_pose[HandJoint::INDEX_PROXIMAL]; - gizmos.sphere(index_prox.position.to_vec3() + offset, index_prox.orientation.to_quat(), 0.008, Color::ORANGE); + draw_joint(&mut gizmos, index_prox.position.to_vec3(), index_prox.orientation.to_quat(), 0.008, Color::ORANGE, controller_backward, palm_negation, offset); let index_inter = hand_pose[HandJoint::INDEX_INTERMEDIATE]; - gizmos.sphere(index_inter.position.to_vec3() + offset, index_inter.orientation.to_quat(), 0.006, Color::ORANGE); + draw_joint(&mut gizmos, index_inter.position.to_vec3(), index_inter.orientation.to_quat(), 0.006, Color::ORANGE, controller_backward, palm_negation, offset); let index_dist = hand_pose[HandJoint::INDEX_DISTAL]; - gizmos.sphere(index_dist.position.to_vec3() + offset, index_dist.orientation.to_quat(), 0.004, Color::ORANGE); + draw_joint(&mut gizmos, index_dist.position.to_vec3(), index_dist.orientation.to_quat(), 0.004, Color::ORANGE, controller_backward, palm_negation, offset); let index_tip = hand_pose[HandJoint::INDEX_TIP]; - gizmos.sphere(index_tip.position.to_vec3() + offset, index_tip.orientation.to_quat(), 0.002, Color::ORANGE); + draw_joint(&mut gizmos, index_tip.position.to_vec3(), index_tip.orientation.to_quat(), 0.002, Color::ORANGE, controller_backward, palm_negation, offset); let middle_meta = hand_pose[HandJoint::MIDDLE_METACARPAL]; - gizmos.sphere(middle_meta.position.to_vec3() + offset, middle_meta.orientation.to_quat(), 0.01, Color::YELLOW); + draw_joint(&mut gizmos, middle_meta.position.to_vec3(), middle_meta.orientation.to_quat(), 0.01, Color::YELLOW, controller_backward, palm_negation, offset); let middle_prox = hand_pose[HandJoint::MIDDLE_PROXIMAL]; - gizmos.sphere(middle_prox.position.to_vec3() + offset, middle_prox.orientation.to_quat(), 0.008, Color::YELLOW); + draw_joint(&mut gizmos, middle_prox.position.to_vec3(), middle_prox.orientation.to_quat(), 0.008, Color::YELLOW, controller_backward, palm_negation, offset); let middle_inter = hand_pose[HandJoint::MIDDLE_INTERMEDIATE]; - gizmos.sphere(middle_inter.position.to_vec3() + offset, middle_inter.orientation.to_quat(), 0.006, Color::YELLOW); + draw_joint(&mut gizmos, middle_inter.position.to_vec3(), middle_inter.orientation.to_quat(), 0.006, Color::YELLOW, controller_backward, palm_negation, offset); let middle_dist = hand_pose[HandJoint::MIDDLE_DISTAL]; - gizmos.sphere(middle_dist.position.to_vec3() + offset, middle_dist.orientation.to_quat(), 0.004, Color::YELLOW); + draw_joint(&mut gizmos, middle_dist.position.to_vec3(), middle_dist.orientation.to_quat(), 0.004, Color::YELLOW, controller_backward, palm_negation, offset); let middle_tip = hand_pose[HandJoint::MIDDLE_TIP]; - gizmos.sphere(middle_tip.position.to_vec3() + offset, middle_tip.orientation.to_quat(), 0.002, Color::YELLOW); + draw_joint(&mut gizmos, middle_tip.position.to_vec3(), middle_tip.orientation.to_quat(), 0.002, Color::YELLOW, controller_backward, palm_negation, offset); let ring_meta = hand_pose[HandJoint::RING_METACARPAL]; - gizmos.sphere(ring_meta.position.to_vec3() + offset, ring_meta.orientation.to_quat(), 0.01, Color::GREEN); + draw_joint(&mut gizmos, ring_meta.position.to_vec3(), ring_meta.orientation.to_quat(), 0.01, Color::GREEN, controller_backward, palm_negation, offset); let ring_prox = hand_pose[HandJoint::RING_PROXIMAL]; - gizmos.sphere(ring_prox.position.to_vec3() + offset, ring_prox.orientation.to_quat(), 0.008, Color::GREEN); + draw_joint(&mut gizmos, ring_prox.position.to_vec3(), ring_prox.orientation.to_quat(), 0.008, Color::GREEN, controller_backward, palm_negation, offset); let ring_inter = hand_pose[HandJoint::RING_INTERMEDIATE]; - gizmos.sphere(ring_inter.position.to_vec3() + offset, ring_inter.orientation.to_quat(), 0.006, Color::GREEN); + draw_joint(&mut gizmos, ring_inter.position.to_vec3(), ring_inter.orientation.to_quat(), 0.006, Color::GREEN, controller_backward, palm_negation, offset); let ring_dist = hand_pose[HandJoint::RING_DISTAL]; - gizmos.sphere(ring_dist.position.to_vec3() + offset, ring_dist.orientation.to_quat(), 0.004, Color::GREEN); + draw_joint(&mut gizmos, ring_dist.position.to_vec3(), ring_dist.orientation.to_quat(), 0.004, Color::GREEN, controller_backward, palm_negation, offset); let ring_tip = hand_pose[HandJoint::RING_TIP]; - gizmos.sphere(ring_tip.position.to_vec3() + offset, ring_tip.orientation.to_quat(), 0.002, Color::GREEN); + draw_joint(&mut gizmos, ring_tip.position.to_vec3(), ring_tip.orientation.to_quat(), 0.002, Color::GREEN, controller_backward, palm_negation, offset); let little_meta = hand_pose[HandJoint::LITTLE_METACARPAL]; - gizmos.sphere(little_meta.position.to_vec3() + offset, little_meta.orientation.to_quat(), 0.01, Color::BLUE); + draw_joint(&mut gizmos, little_meta.position.to_vec3(), little_meta.orientation.to_quat(), 0.01, Color::BLUE, controller_backward, palm_negation, offset); let little_prox = hand_pose[HandJoint::LITTLE_PROXIMAL]; - gizmos.sphere(little_prox.position.to_vec3() + offset, little_prox.orientation.to_quat(), 0.008, Color::BLUE); + draw_joint(&mut gizmos, little_prox.position.to_vec3(), little_prox.orientation.to_quat(), 0.008, Color::BLUE, controller_backward, palm_negation, offset); let little_inter = hand_pose[HandJoint::LITTLE_INTERMEDIATE]; - gizmos.sphere(little_inter.position.to_vec3() + offset, little_inter.orientation.to_quat(), 0.006, Color::BLUE); + draw_joint(&mut gizmos, little_inter.position.to_vec3(), little_inter.orientation.to_quat(), 0.006, Color::BLUE, controller_backward, palm_negation, offset); let little_dist = hand_pose[HandJoint::LITTLE_DISTAL]; - gizmos.sphere(little_dist.position.to_vec3() + offset, little_dist.orientation.to_quat(), 0.004, Color::BLUE); + draw_joint(&mut gizmos, little_dist.position.to_vec3(), little_dist.orientation.to_quat(), 0.004, Color::BLUE, controller_backward, palm_negation, offset); let little_tip = hand_pose[HandJoint::LITTLE_TIP]; - gizmos.sphere(little_tip.position.to_vec3() + offset, little_tip.orientation.to_quat(), 0.002, Color::BLUE); - - - + draw_joint(&mut gizmos, little_tip.position.to_vec3(), little_tip.orientation.to_quat(), 0.002, Color::BLUE, controller_backward, palm_negation, offset); +} +fn draw_joint(gizmos: &mut Gizmos, joint_pos: Vec3, joint_rot: Quat, radius: f32, color: Color, controller_backwards: Quat, palm_negation: Vec3, offset: Vec3) { + gizmos.sphere(controller_backwards.mul_vec3(joint_pos + palm_negation) + offset, joint_rot, radius, color); }