Add getSkeleton;

src/api/l_headset.c

@@ -492,6 +492,49 @@ static int l_lovrHeadsetGetAxis(lua_State* L) {
   return count;
 }
 
+static int l_lovrHeadsetGetSkeleton(lua_State* L) {
+  Device device = luax_optdevice(L, 1);
+  float poses[MAX_HEADSET_BONES * 8];
+  uint32_t poseCount = MAX_HEADSET_BONES;
+  FOREACH_TRACKING_DRIVER(driver) {
+    if (driver->getSkeleton(device, poses, &poseCount)) {
+      if (!lua_istable(L, 2)) {
+        lua_createtable(L, poseCount, 0);
+      } else {
+        lua_settop(L, 2);
+      }
+
+      for (uint32_t i = 0; i < poseCount; i++) {
+        lua_createtable(L, 7, 0);
+
+        float angle, ax, ay, az;
+        float* pose = poses + i * 8;
+        quat_getAngleAxis(pose + 4, &angle, &ax, &ay, &az);
+        lua_pushnumber(L, pose[0]);
+        lua_pushnumber(L, pose[1]);
+        lua_pushnumber(L, pose[2]);
+        lua_pushnumber(L, angle);
+        lua_pushnumber(L, ax);
+        lua_pushnumber(L, ay);
+        lua_pushnumber(L, az);
+        lua_rawseti(L, -8, 7);
+        lua_rawseti(L, -7, 6);
+        lua_rawseti(L, -6, 5);
+        lua_rawseti(L, -5, 4);
+        lua_rawseti(L, -4, 3);
+        lua_rawseti(L, -3, 2);
+        lua_rawseti(L, -2, 1);
+
+        lua_rawseti(L, -2, i + 1);
+      }
+
+      return 1;
+    }
+  }
+  lua_pushnil(L);
+  return 1;
+}
+
 static int l_lovrHeadsetVibrate(lua_State* L) {
   Device device = luax_optdevice(L, 1);
   float strength = luax_optfloat(L, 2, 1.f);
@@ -632,6 +675,7 @@ static const luaL_Reg lovrHeadset[] = {
   { "getAxis", l_lovrHeadsetGetAxis },
   { "vibrate", l_lovrHeadsetVibrate },
   { "newModel", l_lovrHeadsetNewModel },
+  { "getSkeleton", l_lovrHeadsetGetSkeleton },
   { "renderTo", l_lovrHeadsetRenderTo },
   { "update", l_lovrHeadsetUpdate },
   { "getTime", l_lovrHeadsetGetTime },

src/modules/headset/headset.h

@@ -4,14 +4,11 @@
 
 #pragma once
 
+#define MAX_HEADSET_BONES 32
+
 struct ModelData;
 struct Texture;
 
-typedef enum {
-  ORIGIN_HEAD,
-  ORIGIN_FLOOR
-} HeadsetOrigin;
-
 typedef enum {
   DRIVER_DESKTOP,
   DRIVER_LEAP_MOTION,
@@ -22,6 +19,11 @@ typedef enum {
   DRIVER_WEBVR
 } HeadsetDriver;
 
+typedef enum {
+  ORIGIN_HEAD,
+  ORIGIN_FLOOR
+} HeadsetOrigin;
+
 typedef enum {
   DEVICE_HEAD,
   DEVICE_HAND_LEFT,
@@ -95,6 +97,7 @@ typedef struct HeadsetInterface {
   bool (*isDown)(Device device, DeviceButton button, bool* down, bool* changed);
   bool (*isTouched)(Device device, DeviceButton button, bool* touched);
   bool (*getAxis)(Device device, DeviceAxis axis, float* value);
+  bool (*getSkeleton)(Device device, float* poses, uint32_t* poseCount);
   bool (*vibrate)(Device device, float strength, float duration, float frequency);
   struct ModelData* (*newModelData)(Device device);
   void (*renderTo)(void (*callback)(void*), void* userdata);

src/modules/headset/leap.c

@@ -239,6 +239,10 @@ static bool leap_getAxis(Device device, DeviceAxis axis, float* value) {
   return false;
 }
 
+static bool leap_getSkeleton(Device device, float* poses, uint32_t* poseCount) {
+  return false;
+}
+
 static bool leap_vibrate(Device device, float strength, float duration, float frequency) {
   return false;
 }
@@ -296,6 +300,7 @@ HeadsetInterface lovrHeadsetLeapMotionDriver = {
   .isDown = leap_isDown,
   .isTouched = leap_isTouched,
   .getAxis = leap_getAxis,
+  .getSkeleton = leap_getSkeleton,
   .vibrate = leap_vibrate,
   .newModelData = leap_newModelData,
   .update = leap_update

src/modules/headset/openvr.c

@@ -475,6 +475,46 @@ static bool openvr_getAxis(Device device, DeviceAxis axis, vec3 value) {
   return false;
 }
 
+static bool openvr_getSkeleton(Device device, float* poses, uint32_t* poseCount) {
+  if (device != DEVICE_HAND_LEFT && device != DEVICE_HAND_RIGHT) {
+    return false;
+  }
+
+  InputSkeletalActionData_t info;
+  VRActionHandle_t action = state.skeletonActions[device - DEVICE_HAND_LEFT];
+  EVRInputError error = state.input->GetSkeletalActionData(action, &info, sizeof(info));
+  if (error || !info.bActive) {
+    return false;
+  }
+
+  uint32_t boneCount;
+  error = state.input->GetBoneCount(action, &boneCount);
+  if (error || boneCount > MAX_HEADSET_BONES || boneCount > *poseCount) {
+    return false;
+  }
+
+  VRBoneTransform_t bones[MAX_HEADSET_BONES];
+  EVRSkeletalTransformSpace space = EVRSkeletalTransformSpace_VRSkeletalTransformSpace_Parent;
+  EVRSkeletalMotionRange motionRange = EVRSkeletalMotionRange_VRSkeletalMotionRange_WithController;
+  error = state.input->GetSkeletalBoneData(action, space, motionRange, bones, boneCount);
+  if (error) {
+    return false;
+  }
+
+  float* p = poses;
+  for (uint32_t i = 0; i < boneCount; i++) {
+    memcpy(p, bones[i].position.v, 4 * sizeof(float));
+    p[4] = bones[i].orientation.x;
+    p[5] = bones[i].orientation.y;
+    p[6] = bones[i].orientation.z;
+    p[7] = bones[i].orientation.w;
+    p += 8;
+  }
+
+  *poseCount = boneCount;
+  return true;
+}
+
 static bool openvr_vibrate(Device device, float strength, float duration, float frequency) {
   if (duration <= 0.f || (device != DEVICE_HAND_LEFT && device != DEVICE_HAND_RIGHT)) return false;
 
@@ -684,6 +724,7 @@ HeadsetInterface lovrHeadsetOpenVRDriver = {
   .isDown = openvr_isDown,
   .isTouched = openvr_isTouched,
   .getAxis = openvr_getAxis,
+  .getSkeleton = openvr_getSkeleton,
   .vibrate = openvr_vibrate,
   .newModelData = openvr_newModelData,
   .renderTo = openvr_renderTo,