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basics of ray interactors

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This commit is contained in:
Jay Christy
2023-09-27 15:40:29 -04:00
parent c6ed104373
commit e1f1948726
3 changed files with 170 additions and 34 deletions
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11
examples/xr.rs
View File

@@ -5,13 +5,13 @@ 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::interactions::{
draw_interaction_gizmos, hover_interaction, XRDirectInteractor, XRInteractable,
XRInteractableState, XRInteractorState,
draw_interaction_gizmos, direct_interaction, XRDirectInteractor, XRInteractable,
XRInteractableState, XRInteractorState, XRRayInteractor, ray_interaction,
};
use bevy_openxr::xr_input::oculus_touch::OculusController;
use bevy_openxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig};
use bevy_openxr::xr_input::trackers::{
OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker,
OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker, AimPose,
};
use bevy_openxr::xr_input::Hand;
use bevy_openxr::DefaultXrPlugins;
@@ -30,7 +30,8 @@ fn main() {
.add_systems(Startup, spawn_controllers_example)
.insert_resource(PrototypeLocomotionConfig::default())
.add_systems(Update, draw_interaction_gizmos)
.add_systems(Update, hover_interaction)
.add_systems(Update, direct_interaction)
.add_systems(Update, ray_interaction)
.add_systems(Update, prototype_interaction_input)
.run();
}
@@ -95,6 +96,8 @@ fn spawn_controllers_example(mut commands: Commands) {
OpenXRTracker,
SpatialBundle::default(),
XRDirectInteractor,
XRRayInteractor,
AimPose(Transform::default()),
XRInteractorState::default(),
));
//right hand

157
src/xr_input/interactions.rs
View File

@@ -1,11 +1,17 @@
use std::f32::consts::PI;
use bevy::prelude::{
info, Color, Component, Gizmos, GlobalTransform, Quat, Query, Vec3, With, Without,
info, Color, Component, Gizmos, GlobalTransform, Quat, Query, Transform, Vec3, With, Without,
};
use super::trackers::{AimPose, OpenXRTrackingRoot};
#[derive(Component)]
pub struct XRDirectInteractor;
#[derive(Component)]
pub struct XRRayInteractor;
#[derive(Component)]
pub enum XRInteractableState {
Idle,
@@ -40,10 +46,18 @@ pub fn draw_interaction_gizmos(
(With<XRInteractable>, Without<XRDirectInteractor>),
>,
interactor_query: Query<
(&GlobalTransform, &XRInteractorState),
(With<XRDirectInteractor>, Without<XRInteractable>),
(
&GlobalTransform,
&XRInteractorState,
Option<&XRDirectInteractor>,
Option<&XRRayInteractor>,
Option<&AimPose>,
),
(Without<XRInteractable>),
>,
tracking_root_query: Query<(&mut Transform, With<OpenXRTrackingRoot>)>,
) {
let root = tracking_root_query.get_single().unwrap().0;
for (global_transform, interactable_state) in interactable_query.iter() {
let transform = global_transform.compute_transform();
let color = match interactable_state {
@@ -54,25 +68,49 @@ pub fn draw_interaction_gizmos(
gizmos.sphere(transform.translation, transform.rotation, 0.1, color);
}
for (interactor_global_transform, interactor_state) in interactor_query.iter() {
let mut transform = interactor_global_transform.compute_transform();
transform.scale = Vec3::splat(0.1);
let quat = Quat::from_euler(
bevy::prelude::EulerRot::XYZ,
45.0 * (PI / 180.0),
0.0,
45.0 * (PI / 180.0),
);
transform.rotation = quat;
let color = match interactor_state {
XRInteractorState::Idle => Color::BLUE,
XRInteractorState::Selecting => Color::PURPLE,
};
gizmos.cuboid(transform, color);
for (interactor_global_transform, interactor_state, direct, ray, aim) in interactor_query.iter()
{
let transform = interactor_global_transform.compute_transform();
match direct {
Some(_) => {
let mut local = transform.clone();
local.scale = Vec3::splat(0.1);
let quat = Quat::from_euler(
bevy::prelude::EulerRot::XYZ,
45.0 * (PI / 180.0),
0.0,
45.0 * (PI / 180.0),
);
local.rotation = quat;
let color = match interactor_state {
XRInteractorState::Idle => Color::BLUE,
XRInteractorState::Selecting => Color::PURPLE,
};
gizmos.cuboid(local, color);
}
None => (),
}
match ray {
Some(_) => match aim {
Some(aim) => {
let color = match interactor_state {
XRInteractorState::Idle => Color::BLUE,
XRInteractorState::Selecting => Color::PURPLE,
};
gizmos.ray(
root.translation + root.rotation.mul_vec3(aim.0.translation),
root.rotation.mul_vec3(aim.0.forward()),
color,
);
}
None => todo!(),
},
None => (),
}
}
}
pub fn hover_interaction(
pub fn direct_interaction(
mut interactable_query: Query<
(&GlobalTransform, &mut XRInteractableState),
(With<XRInteractable>, Without<XRDirectInteractor>),
@@ -82,9 +120,7 @@ pub fn hover_interaction(
(With<XRDirectInteractor>, Without<XRInteractable>),
>,
) {
for (xr_interactable_global_transform, mut state) in
interactable_query.iter_mut()
{
for (xr_interactable_global_transform, mut state) in interactable_query.iter_mut() {
let mut hovered = false;
let mut selected = false;
for (interactor_global_transform, interactor_state) in interactor_query.iter() {
@@ -100,7 +136,6 @@ pub fn hover_interaction(
)
< (size * size) * 2.0
{
//check for selections first
match interactor_state {
XRInteractorState::Idle => hovered = true,
@@ -121,3 +156,79 @@ pub fn hover_interaction(
}
}
}
pub fn ray_interaction(
mut interactable_query: Query<
(&GlobalTransform, &mut XRInteractableState),
(With<XRInteractable>, Without<XRDirectInteractor>),
>,
interactor_query: Query<
(&GlobalTransform, &XRInteractorState, Option<&AimPose>),
(With<XRRayInteractor>, Without<XRInteractable>),
>,
tracking_root_query: Query<(&mut Transform, With<OpenXRTrackingRoot>)>,
) {
for (xr_interactable_global_transform, mut state) in interactable_query.iter_mut() {
let mut hovered = false;
let mut selected = false;
for (interactor_global_transform, interactor_state, aim) in interactor_query.iter() {
//check for ray-sphere intersection
let sphere_transform = xr_interactable_global_transform.compute_transform();
let center = sphere_transform.translation;
let radius: f32 = 0.1;
//I hate this but the aim pose needs the root for now
let root = tracking_root_query.get_single().unwrap().0;
match aim {
Some(aim) => {
let ray_origin = root.translation + root.rotation.mul_vec3(aim.0.translation);
let ray_dir = root.rotation.mul_vec3(aim.0.forward());
if ray_sphere_intersection(
center,
radius,
ray_origin,
ray_dir.normalize_or_zero(),
) {
//check for selections first
match interactor_state {
XRInteractorState::Idle => hovered = true,
XRInteractorState::Selecting => {
selected = true;
}
}
}
}
None => info!("no aim pose"),
}
}
//check what we found
//also i dont like this
if selected {
*state = XRInteractableState::Select;
} else if hovered {
*state = XRInteractableState::Hover;
} else {
*state = XRInteractableState::Idle;
}
}
}
fn ray_sphere_intersection(center: Vec3, radius: f32, ray_origin: Vec3, ray_dir: Vec3) -> bool {
let l = center - ray_origin;
let adj = l.dot(ray_dir);
let d2 = l.dot(l) - (adj * adj);
let radius2 = radius * radius;
if d2 > radius2 {
return false;
}
let thc = (radius2 - d2).sqrt();
let t0 = adj - thc;
let t1 = adj + thc;
if t0 < 0.0 && t1 < 0.0 {
return false;
}
// let distance = if t0 < t1 { t0 } else { t1 };
return true;
}

36
src/xr_input/trackers.rs
View File

@@ -1,8 +1,14 @@
use bevy::prelude::{Added, BuildChildren, Commands, Entity, Query, With, Res, Transform, Without, Component, info};
use bevy::prelude::{
info, Added, BuildChildren, Commands, Component, Entity, Query, Res, Transform, Vec3, With,
Without,
};
use crate::{resources::{XrFrameState, XrInstance, XrSession}, input::XrInput};
use crate::{
input::XrInput,
resources::{XrFrameState, XrInstance, XrSession},
};
use super::{oculus_touch::OculusController, Hand, Vec3Conv, QuatConv};
use super::{oculus_touch::OculusController, Hand, QuatConv, Vec3Conv};
#[derive(Component)]
pub struct OpenXRTrackingRoot;
@@ -20,6 +26,8 @@ pub struct OpenXRLeftController;
pub struct OpenXRRightController;
#[derive(Component)]
pub struct OpenXRController;
#[derive(Component)]
pub struct AimPose(pub Transform);
pub fn adopt_open_xr_trackers(
query: Query<(Entity), Added<OpenXRTracker>>,
@@ -43,11 +51,13 @@ pub fn update_open_xr_controllers(
oculus_controller: Res<OculusController>,
mut left_controller_query: Query<(
&mut Transform,
Option<&mut AimPose>,
With<OpenXRLeftController>,
Without<OpenXRRightController>,
)>,
mut right_controller_query: Query<(
&mut Transform,
Option<&mut AimPose>,
With<OpenXRRightController>,
Without<OpenXRLeftController>,
)>,
@@ -61,8 +71,20 @@ pub fn update_open_xr_controllers(
//get controller
let controller = oculus_controller.get_ref(&instance, &session, &frame_state, &xr_input);
//get left controller
let left = controller.grip_space(Hand::Left);
let left_postion = left.0.pose.position.to_vec3();
let left_grip_space = controller.grip_space(Hand::Left);
let left_aim_space = controller.aim_space(Hand::Left);
let left_postion = left_grip_space.0.pose.position.to_vec3();
let aim_pose = left_controller_query.get_single_mut().unwrap().1;
match aim_pose {
Some(mut pose) => {
*pose = AimPose(Transform {
translation: left_aim_space.0.pose.position.to_vec3(),
rotation: left_aim_space.0.pose.orientation.to_quat(),
scale: Vec3::splat(1.0),
});
}
None => (),
}
left_controller_query
.get_single_mut()
@@ -70,7 +92,8 @@ pub fn update_open_xr_controllers(
.0
.translation = left_postion;
left_controller_query.get_single_mut().unwrap().0.rotation = left.0.pose.orientation.to_quat();
left_controller_query.get_single_mut().unwrap().0.rotation =
left_grip_space.0.pose.orientation.to_quat();
//get right controller
let right = controller.grip_space(Hand::Right);
let right_postion = right.0.pose.position.to_vec3();
@@ -84,4 +107,3 @@ pub fn update_open_xr_controllers(
right_controller_query.get_single_mut().unwrap().0.rotation =
right.0.pose.orientation.to_quat();
}