mirror of https://github.com/bjornbytes/lovr.git
Finish Leap backend;
This commit is contained in:
bjorn
parent
5ff49e73c2
commit
e22d98e09e
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@ -357,7 +357,9 @@ static int l_lovrHeadsetUpdate(lua_State* L) {
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}
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FOREACH_TRACKING_DRIVER(driver) {
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driver->update(dt);
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if (driver->update && driver != lovrHeadsetDriver) {
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driver->update(dt);
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}
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}
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return 0;
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@ -5,13 +5,15 @@
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#include "lib/tinycthread/tinycthread.h"
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#include <LeapC.h>
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#include <stdlib.h>
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#include <inttypes.h>
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static struct {
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LEAP_CONNECTION connection;
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LEAP_CLOCK_REBASER clock;
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LEAP_TRACKING_EVENT* frame;
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LEAP_HAND* leftHand;
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LEAP_HAND* rightHand;
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uint64_t frameSize;
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float headPose[16];
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thrd_t thread;
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bool connected;
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} state;
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@ -61,122 +63,149 @@ static void destroy(void) {
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}
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static bool getPose(const char* path, float* x, float* y, float* z, float* angle, float* ax, float* ay, float* az) {
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if (!state.frame) {
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return false;
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}
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eLeapHandType handType;
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if (!strncmp("hand/left", path, strlen("hand/left"))) {
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handType = eLeapHandType_Left;
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LEAP_HAND* hand;
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if (state.leftHand && !strncmp("hand/left", path, strlen("hand/left"))) {
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hand = state.leftHand;
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path += strlen("hand/left");
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} else if (!strncmp("hand/right", path, strlen("hand/right"))) {
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handType = eLeapHandType_Right;
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} else if (state.rightHand && !strncmp("hand/right", path, strlen("hand/right"))) {
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hand = state.rightHand;
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path += strlen("hand/right");
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} else {
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return false;
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}
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for (uint32_t i = 0; i < state.frame->nHands; i++) {
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LEAP_HAND* hand = &state.frame->pHands[i];
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float direction[3];
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if (hand->type != handType) {
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continue;
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}
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if (*path == '\0') {
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*x = hand->palm.position.x;
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*y = hand->palm.position.z;
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*z = hand->palm.position.y;
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vec3_init(direction, hand->palm.normal.v);
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} else if (!strncmp("/finger/", path, strlen("/finger/"))) {
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path += strlen("/finger/");
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float orientation[4];
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int fingerIndex;
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if (!strncmp("thumb", path, strlen("thumb"))) { fingerIndex = 0; path += strlen("thumb"); }
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else if (!strncmp("index", path, strlen("index"))) { fingerIndex = 1; path += strlen("index"); }
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else if (!strncmp("middle", path, strlen("middle"))) { fingerIndex = 2; path += strlen("middle"); }
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else if (!strncmp("ring", path, strlen("ring"))) { fingerIndex = 3; path += strlen("ring"); }
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else if (!strncmp("pinky", path, strlen("pinky"))) { fingerIndex = 4; path += strlen("pinky"); }
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else { return false; }
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LEAP_DIGIT* finger = &hand->digits[fingerIndex];
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vec3 base;
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vec3 tip;
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if (*path == '\0') {
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*x = hand->palm.position.x;
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*y = hand->palm.position.y;
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*z = hand->palm.position.z;
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quat_init(orientation, hand->palm.orientation.v);
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} else if (!strcmp(path, "/palm")) {
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*x = hand->palm.position.x;
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*y = hand->palm.position.y;
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*z = hand->palm.position.z;
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quat_between(orientation, (float[3]) { 0.f, 0.f, -1.f }, hand->palm.normal.v);
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} else if (!strncmp("/finger/", path, strlen("/finger/"))) {
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path += strlen("/finger/");
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tip = finger->distal.next_joint.v;
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base = finger->distal.prev_joint.v;
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*x = tip[0];
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*y = tip[2];
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*z = tip[1];
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} else if (!strncmp("/bone/", path, strlen("/bone/"))) {
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path += strlen("/bone/");
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int fingerIndex;
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if (!strncmp("thumb", path, strlen("thumb"))) { fingerIndex = 0; path += strlen("thumb"); }
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else if (!strncmp("index", path, strlen("index"))) { fingerIndex = 1; path += strlen("index"); }
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else if (!strncmp("middle", path, strlen("middle"))) { fingerIndex = 2; path += strlen("middle"); }
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else if (!strncmp("ring", path, strlen("ring"))) { fingerIndex = 3; path += strlen("ring"); }
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else if (!strncmp("pinky", path, strlen("pinky"))) { fingerIndex = 4; path += strlen("pinky"); }
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int boneIndex;
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if (!strcmp(path, "metacarpal")) { boneIndex = 0; }
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else if (!strcmp(path, "proximal")) { boneIndex = 1; }
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else if (!strcmp(path, "intermediate")) { boneIndex = 2; }
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else if (!strcmp(path, "distal")) { boneIndex = 3; }
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else { return false; }
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LEAP_DIGIT* finger = &hand->digits[fingerIndex];
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vec3 base;
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vec3 tip;
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if (*path == '\0') {
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tip = finger->distal.next_joint.v;
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base = finger->distal.prev_joint.v;
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*x = tip[0];
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*y = tip[1];
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*z = tip[2];
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} else if (!strncmp("/bone/", path, strlen("/bone/"))) {
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path += strlen("/bone/");
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int boneIndex;
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if (!strcmp(path, "metacarpal")) { boneIndex = 0; }
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else if (!strcmp(path, "proximal")) { boneIndex = 1; }
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else if (!strcmp(path, "intermediate")) { boneIndex = 2; }
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else if (!strcmp(path, "distal")) { boneIndex = 3; }
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else { return false; }
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LEAP_BONE* bone = &finger->bones[boneIndex];
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tip = bone->next_joint.v;
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base = bone->prev_joint.v;
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*x = base[0];
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*y = base[1];
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*z = base[2];
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} else {
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return false;
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}
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float direction[3];
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vec3_sub(vec3_init(direction, tip), base);
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quat_between(orientation, (float[3]) { 0.f, 0.f, -1.f }, direction);
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LEAP_BONE* bone = &finger->bones[boneIndex];
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tip = bone->next_joint.v;
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base = bone->prev_joint.v;
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*x = base[0];
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*y = base[2];
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*z = base[1];
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} else {
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return false;
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}
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float hx, hy, hz, hangle, hax, hay, haz;
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float head[16] = MAT4_IDENTITY;
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// A lot of the matrix stuff here could be cached
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if (lovrHeadsetDriver && lovrHeadsetDriver->getPose("head", &hx, &hy, &hz, &hangle, &hax, &hay, &haz)) {
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mat4_translate(head, hx, hy, hz);
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mat4_rotate(head, hangle, hax, hay, haz);
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}
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float remap[16] = { -1.f, 0.f, 0.f, 0.f, 0.f, 0.f, -1.f, 0.f, 0.f, -1.f, 0.f, 0.f, 0.f, 0.f, -80.f, 1.f };
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mat4_scale(head, .001f, .001f, .001f);
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mat4_multiply(head, remap);
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mat4_transform(head, x, y, z);
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mat4_rotateQuat(head, orientation);
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quat_fromMat4(orientation, head);
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quat_getAngleAxis(orientation, angle, ax, ay, az);
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return true;
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vec3_sub(vec3_init(direction, tip), base);
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}
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return false;
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// Convert hand positions to meters, and push them back a bit to account for the discrepancy
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// between the leap motion device and the HMD
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*x *= -.001f;
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*y *= -.001f;
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*z *= -.001f;
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*z += -.080f;
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mat4_transform(state.headPose, x, y, z);
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vec3_normalize(direction);
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vec3_scale(direction, -1.f);
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float temp = direction[1];
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direction[1] = direction[2];
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direction[2] = temp;
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mat4_transformDirection(state.headPose, &direction[0], &direction[1], &direction[2]);
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float orientation[4];
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quat_between(orientation, (float[3]) { 0.f, 0.f, -1.f }, direction);
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quat_getAngleAxis(orientation, angle, ax, ay, az);
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return true;
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}
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static bool getVelocity(const char* path, float* vx, float* vy, float* vz, float* vax, float* vay, float* vaz) {
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LEAP_HAND* hand;
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if (state.leftHand && !strcmp(path, "hand/left")) {
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hand = state.leftHand;
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} else if (state.rightHand && !strcmp(path, "hand/right")) {
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hand = state.rightHand;
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} else {
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return false;
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}
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*vx = -hand->palm.velocity.x * .001f;
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*vy = -hand->palm.velocity.z * .001f;
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*vz = -hand->palm.velocity.y * .001f;
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mat4_transformDirection(state.headPose, vx, vy, vz);
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return true;
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}
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static bool isDown(const char* path, bool* down) {
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return false;
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}
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static int getAxis(const char* path, float* x, float* y, float* z) {
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LEAP_HAND* hand;
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if (state.leftHand && !strncmp("hand/left", path, strlen("hand/left"))) {
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hand = state.leftHand;
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path += strlen("hand/left");
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} else if (state.rightHand && !strncmp("hand/right", path, strlen("hand/right"))) {
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hand = state.rightHand;
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path += strlen("hand/right");
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} else {
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return 0;
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}
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if (!strcmp(path, "/pinch")) {
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*x = hand->pinch_strength;
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return 1;
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} else if (!strcmp(path, "/grip")) {
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*x = hand->grab_strength;
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return 1;
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}
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return 0;
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}
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static bool vibrate(const char* path, float strength, float duration, float frequency) {
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return false;
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}
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static struct ModelData* newModelData(const char* path) {
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return NULL;
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}
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static void update(float dt) {
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if (!state.connected) {
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return;
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}
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double relativePredictedDisplayTime = lovrHeadsetDriver ? lovrHeadsetDriver->getDisplayTime() : 0.;
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double displayTime = lovrHeadsetDriver ? lovrHeadsetDriver->getDisplayTime() : 0.;
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int64_t now = (int64_t) ((lovrPlatformGetTime() * (double) 1e6) + .5);
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int64_t predicted = now + (int64_t) ((relativePredictedDisplayTime * (double) 1e6) + .5);
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int64_t predicted = (int64_t) ((displayTime * (double) 1e6) + .5);
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LeapUpdateRebase(state.clock, now, LeapGetNow());
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int64_t targetTime;
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@ -192,6 +221,23 @@ static void update(float dt) {
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}
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LeapInterpolateFrame(state.connection, targetTime, state.frame, size);
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state.leftHand = state.rightHand = NULL;
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for (uint32_t i = 0; i < state.frame->nHands; i++) {
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if (!state.leftHand && state.frame->pHands[i].type == eLeapHandType_Left) {
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state.leftHand = &state.frame->pHands[i];
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} else if (!state.rightHand && state.frame->pHands[i].type == eLeapHandType_Right) {
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state.rightHand = &state.frame->pHands[i];
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}
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}
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float x, y, z, angle, ax, ay, az;
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if (lovrHeadsetDriver && lovrHeadsetDriver->getPose("head", &x, &y, &z, &angle, &ax, &ay, &az)) {
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mat4 m = state.headPose;
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mat4_identity(m);
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mat4_translate(m, x, y, z);
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mat4_rotate(m, angle, ax, ay, az);
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}
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}
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}
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@ -201,5 +247,9 @@ HeadsetInterface lovrHeadsetLeapMotionDriver = {
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.destroy = destroy,
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.getPose = getPose,
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.getVelocity = getVelocity,
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.isDown = isDown,
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.getAxis = getAxis,
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.vibrate = vibrate,
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.newModelData = newModelData,
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.update = update
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};
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@ -3,6 +3,7 @@
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#include "graphics/graphics.h"
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#include "graphics/canvas.h"
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#include "lib/maf.h"
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#include "platform.h"
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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@ -141,7 +142,7 @@ static double getDisplayTime() {
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float frameDuration = 1.f / frequency;
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float vsyncToPhotons = state.system->GetFloatTrackedDeviceProperty(HEADSET, ETrackedDeviceProperty_Prop_SecondsFromVsyncToPhotons_Float, NULL);
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return (double) (frameDuration - secondsSinceVsync + vsyncToPhotons);
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return lovrPlatformGetTime() + (double) (frameDuration - secondsSinceVsync + vsyncToPhotons);
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}
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static void getClipDistance(float* clipNear, float* clipFar) {
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