openvr_getSkeleton;

Untested

src/api/l_math_vectors.c

@@ -1287,7 +1287,7 @@ static int l_lovrQuatMul(lua_State* L) {
     quat_rotate(q, r);
     lua_settop(L, 2);
   } else {
-    quat_mul(q, r);
+    quat_mul(q, q, r);
     lua_settop(L, 1);
   }
   return 1;
@@ -1339,7 +1339,7 @@ static int l_lovrQuat__mul(lua_State* L) {
     quat_rotate(q, vec3_init(out, r));
   } else {
     quat out = luax_newtempvector(L, V_QUAT);
-    quat_mul(quat_init(out, q), r);
+    quat_mul(out, q, r);
   }
   return 1;
 }

src/core/maf.h

@@ -157,8 +157,8 @@ MAF quat quat_fromMat4(quat q, mat4 m) {
   return quat_set(q, x, y, z, w);
 }
 
-MAF quat quat_mul(quat q, quat r) {
-  return quat_set(q,
+MAF quat quat_mul(quat out, quat q, quat r) {
+  return quat_set(out,
     q[0] * r[3] + q[3] * r[0] + q[1] * r[2] - q[2] * r[1],
     q[1] * r[3] + q[3] * r[1] + q[2] * r[0] - q[0] * r[2],
     q[2] * r[3] + q[3] * r[2] + q[0] * r[1] - q[1] * r[0],

src/modules/headset/headset_openvr.c

@@ -410,43 +410,64 @@ static bool openvr_isTouched(Device device, DeviceButton button, bool* touched)
 }
 
 static bool openvr_getAxis(Device device, DeviceAxis axis, vec3 value) {
-  if (device == DEVICE_HAND_LEFT || device == DEVICE_HAND_RIGHT) {
-    InputAnalogActionData_t actionData;
-    state.input->GetAnalogActionData(state.axisActions[device - DEVICE_HAND_LEFT][axis], &actionData, sizeof(actionData), 0);
-    vec3_set(value, actionData.x, actionData.y, actionData.z);
-    return actionData.bActive;
-  }
-
-  uint32_t finger;
-  VRActionHandle_t skeletonAction;
-  if (device >= DEVICE_HAND_LEFT_FINGER_THUMB && device <= DEVICE_HAND_LEFT_FINGER_PINKY) {
-    finger = device - DEVICE_HAND_LEFT_FINGER_THUMB;
-    skeletonAction = state.skeletonActions[0];
-  } else if (device >= DEVICE_HAND_RIGHT_FINGER_THUMB && device <= DEVICE_HAND_RIGHT_FINGER_PINKY) {
-    finger = device - DEVICE_HAND_RIGHT_FINGER_THUMB;
-    skeletonAction = state.skeletonActions[1];
-  } else {
+  if (device != DEVICE_HAND_LEFT && device != DEVICE_HAND_RIGHT) {
     return false;
   }
 
-  VRSkeletalSummaryData_t summary;
-  if (state.input->GetSkeletalSummaryData(skeletonAction, &summary)) {
-    return false;
-  }
-
-  if (axis == AXIS_CURL) {
-    value[0] = summary.flFingerCurl[finger];
-    return true;
-  } else if (axis == AXIS_SPLAY && finger < 4) {
-    value[0] = summary.flFingerSplay[finger];
-    return true;
-  }
-
-  return false;
+  InputAnalogActionData_t actionData;
+  state.input->GetAnalogActionData(state.axisActions[device - DEVICE_HAND_LEFT][axis], &actionData, sizeof(actionData), 0);
+  vec3_set(value, actionData.x, actionData.y, actionData.z);
+  return actionData.bActive;
 }
 
 static bool openvr_getSkeleton(Device device, float* poses) {
-  return false;
+  if (device != DEVICE_HAND_LEFT && device != DEVICE_HAND_RIGHT) {
+    return false;
+  }
+
+  // Bone transforms are relative to the hand instead of the origin, so get the hand pose first
+  InputPoseActionData_t handPose;
+  state.input->GetPoseActionData(state.poseActions[device], state.compositor->GetTrackingSpace(), 0.f, &handPose, sizeof(handPose), 0);
+  if (!handPose.pose.bPoseIsValid) {
+    return false;
+  }
+  float transform[16], position[4], orientation[4];
+  mat4_fromMat34(transform, handPose.pose.mDeviceToAbsoluteTracking.m);
+  transform[13] += state.offset;
+  mat4_getPosition(transform, position);
+  mat4_getOrientation(transform, orientation);
+
+  InputSkeletalActionData_t info;
+  VRActionHandle_t skeleton = state.skeletonActions[device - DEVICE_HAND_LEFT];
+  EVRInputError error = state.input->GetSkeletalActionData(skeleton, &info, sizeof(info));
+  if (error || !info.bActive) {
+    return false;
+  }
+
+  VRBoneTransform_t bones[32];
+  EVRSkeletalTransformSpace space = EVRSkeletalTransformSpace_VRSkeletalTransformSpace_Model;
+  EVRSkeletalMotionRange motionRange = EVRSkeletalMotionRange_VRSkeletalMotionRange_WithController;
+  error = state.input->GetSkeletalBoneData(skeleton, space, motionRange, bones, 32);
+  if (error) {
+    return false;
+  }
+
+  // Copy SteamVR bone transform to output (indices match up)
+  // Swap x/w (HmdQuaternionf_t has w first)
+  // Premultiply by hand pose
+  float* pose = poses;
+  for (uint32_t i = 0; i < HAND_JOINT_COUNT; i++) {
+    memcpy(pose, &bones[i].position, 8 * sizeof(float));
+    float w = pose[4];
+    pose[4] = pose[7];
+    pose[7] = w;
+    quat_rotate(orientation, pose);
+    vec3_add(pose, position);
+    quat_mul(pose + 4, orientation, pose + 4);
+    pose += 8;
+  }
+
+  return true;
 }
 
 static bool openvr_vibrate(Device device, float strength, float duration, float frequency) {

src/modules/headset/headset_vrapi.c

@@ -351,7 +351,7 @@ static bool vrapi_getSkeleton(Device device, float* poses) {
     memcpy(translation, &skeleton->BonePoses[i].Position.x, 3 * sizeof(float));
     quat_rotate(pose + 4, translation);
     vec3_add(pose + 0, translation);
-    quat_mul(pose + 4, &handPose->BoneRotations[i].x);
+    quat_mul(pose + 4, pose + 4, &handPose->BoneRotations[i].x);
   }
 
   // We try our best, okay?