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got a hand array

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This commit is contained in:
Jay Christy
2023-09-26 12:54:52 -04:00
parent 6e7f158dd5
commit fd1a3efa0b
2 changed files with 103 additions and 1 deletions
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102
examples/xr.rs
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@@ -5,12 +5,14 @@ use bevy::diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin};
use bevy::prelude::*;
use bevy::transform::components::Transform;
use bevy_openxr::xr_input::{QuatConv, Vec3Conv};
use bevy_openxr::xr_input::hand::{OpenXrHandInput, HandInputDebugRenderer};
use bevy_openxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig};
use bevy_openxr::xr_input::trackers::{
OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker,
};
use bevy_openxr::DefaultXrPlugins;
use openxr::{Posef, Quaternionf, Vector3f, HandJoint};
fn main() {
color_eyre::install().unwrap();
@@ -80,6 +82,106 @@ 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);
let offset = Vec3 { x: 0.548, y: 1.0, z: 0.137 };
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
}
fn spawn_controllers_example(mut commands: Commands) {
//left hand
commands.spawn((

2
src/xr_input/hand.rs
View File

@@ -1015,7 +1015,7 @@ pub fn update_hand_skeletons(
match input_source {
Some(res) => match *res {
HandInputSource::Emulated => {
info!("hand input source is emulated");
// info!("hand input source is emulated");
match hand_states_option {
Some(hands) => {
let left_hand_transform = left_controller_query