mirror of https://github.com/bjornbytes/lovr.git
OpenXR: Support vive trackers;
This commit is contained in:
bjorn
parent
ef9754c114
commit
e4eb4e0df1
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@ -128,6 +128,7 @@ XR_FOREACH(XR_DECLARE)
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enum {
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ACTION_HAND_POSE,
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ACTION_POINTER_POSE,
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ACTION_TRACKER_POSE,
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ACTION_TRIGGER_DOWN,
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ACTION_TRIGGER_TOUCH,
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ACTION_TRIGGER_AXIS,
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@ -181,12 +182,13 @@ static struct {
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bool hasImage;
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XrActionSet actionSet;
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XrAction actions[MAX_ACTIONS];
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XrPath actionFilters[2];
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XrPath actionFilters[MAX_DEVICES];
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XrHandTrackerEXT handTrackers[2];
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struct {
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bool handTracking;
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bool handTrackingMesh;
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bool overlay;
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bool viveTrackers;
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} features;
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} state;
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@ -208,6 +210,34 @@ static bool hasExtension(XrExtensionProperties* extensions, uint32_t count, cons
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return false;
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}
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static XrAction getPoseActionForDevice(Device device) {
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switch (device) {
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case DEVICE_HEAD:
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return XR_NULL_HANDLE; // Uses reference space
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case DEVICE_HAND_LEFT:
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case DEVICE_HAND_RIGHT:
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return state.actions[ACTION_HAND_POSE];
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case DEVICE_HAND_LEFT_POINT:
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case DEVICE_HAND_RIGHT_POINT:
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return state.actions[ACTION_POINTER_POSE];
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case DEVICE_ELBOW_LEFT:
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case DEVICE_ELBOW_RIGHT:
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case DEVICE_SHOULDER_LEFT:
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case DEVICE_SHOULDER_RIGHT:
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case DEVICE_CHEST:
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case DEVICE_WAIST:
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case DEVICE_KNEE_LEFT:
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case DEVICE_KNEE_RIGHT:
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case DEVICE_FOOT_LEFT:
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case DEVICE_FOOT_RIGHT:
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case DEVICE_CAMERA:
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case DEVICE_KEYBOARD:
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return state.actions[ACTION_TRACKER_POSE];
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default:
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return XR_NULL_HANDLE;
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}
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}
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// Hand trackers are created lazily because on some implementations xrCreateHandTrackerEXT will
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// return XR_ERROR_FEATURE_UNSUPPORTED if called too early.
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static XrHandTrackerEXT getHandTracker(Device device) {
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@ -265,7 +295,7 @@ static bool openxr_init(float supersample, float offset, uint32_t msaa, bool ove
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for (uint32_t i = 0; i < extensionCount; i++) extensions[i].type = XR_TYPE_EXTENSION_PROPERTIES;
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xrEnumerateInstanceExtensionProperties(NULL, extensionCount, &extensionCount, extensions);
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const char* enabledExtensionNames[5];
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const char* enabledExtensionNames[7];
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uint32_t enabledExtensionCount = 0;
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#ifdef __ANDROID__
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@ -292,6 +322,11 @@ static bool openxr_init(float supersample, float offset, uint32_t msaa, bool ove
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}
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#endif
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if (hasExtension(extensions, extensionCount, XR_HTCX_VIVE_TRACKER_INTERACTION_EXTENSION_NAME)) {
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enabledExtensionNames[enabledExtensionCount++] = XR_HTCX_VIVE_TRACKER_INTERACTION_EXTENSION_NAME;
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state.features.viveTrackers = true;
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}
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#ifdef LOVR_LINUX_EGL
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enabledExtensionNames[enabledExtensionCount++] = XR_MNDX_EGL_ENABLE_EXTENSION_NAME;
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#endif
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@ -373,17 +408,52 @@ static bool openxr_init(float supersample, float offset, uint32_t msaa, bool ove
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XR_INIT(xrCreateActionSet(state.instance, &info, &state.actionSet));
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XR_INIT(xrStringToPath(state.instance, "/user/hand/left", &state.actionFilters[0]));
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XR_INIT(xrStringToPath(state.instance, "/user/hand/right", &state.actionFilters[1]));
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// Subaction paths, for filtering actions by device
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XR_INIT(xrStringToPath(state.instance, "/user/hand/left", &state.actionFilters[DEVICE_HAND_LEFT]));
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XR_INIT(xrStringToPath(state.instance, "/user/hand/right", &state.actionFilters[DEVICE_HAND_RIGHT]));
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state.actionFilters[DEVICE_HAND_LEFT_POINT] = state.actionFilters[DEVICE_HAND_LEFT];
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state.actionFilters[DEVICE_HAND_RIGHT_POINT] = state.actionFilters[DEVICE_HAND_RIGHT];
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if (state.features.viveTrackers) {
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/left_elbow", &state.actionFilters[DEVICE_ELBOW_LEFT]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/right_elbow", &state.actionFilters[DEVICE_ELBOW_RIGHT]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/left_shoulder", &state.actionFilters[DEVICE_SHOULDER_LEFT]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/right_shoulder", &state.actionFilters[DEVICE_SHOULDER_RIGHT]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/chest", &state.actionFilters[DEVICE_CHEST]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/waist", &state.actionFilters[DEVICE_WAIST]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/left_knee", &state.actionFilters[DEVICE_KNEE_LEFT]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/right_knee", &state.actionFilters[DEVICE_KNEE_RIGHT]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/left_foot", &state.actionFilters[DEVICE_FOOT_LEFT]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/right_foot", &state.actionFilters[DEVICE_FOOT_RIGHT]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/camera", &state.actionFilters[DEVICE_CAMERA]));
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XR_INIT(xrStringToPath(state.instance, "/user/vive_tracker_htcx/role/keyboard", &state.actionFilters[DEVICE_KEYBOARD]));
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}
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XrPath hands[] = {
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state.actionFilters[0],
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state.actionFilters[1]
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state.actionFilters[DEVICE_HAND_LEFT],
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state.actionFilters[DEVICE_HAND_RIGHT]
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};
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XrPath trackers[] = {
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state.actionFilters[DEVICE_ELBOW_LEFT],
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state.actionFilters[DEVICE_ELBOW_RIGHT],
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state.actionFilters[DEVICE_SHOULDER_LEFT],
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state.actionFilters[DEVICE_SHOULDER_RIGHT],
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state.actionFilters[DEVICE_CHEST],
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state.actionFilters[DEVICE_WAIST],
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state.actionFilters[DEVICE_KNEE_LEFT],
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state.actionFilters[DEVICE_KNEE_RIGHT],
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state.actionFilters[DEVICE_FOOT_LEFT],
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state.actionFilters[DEVICE_FOOT_RIGHT],
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state.actionFilters[DEVICE_CAMERA],
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state.actionFilters[DEVICE_KEYBOARD]
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};
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XrActionCreateInfo actionInfo[] = {
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{ 0, NULL, "hand_pose", XR_ACTION_TYPE_POSE_INPUT, 2, hands, "Hand Pose" },
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{ 0, NULL, "pointer_pose", XR_ACTION_TYPE_POSE_INPUT, 2, hands, "Pointer Pose" },
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{ 0, NULL, "tracker_pose", XR_ACTION_TYPE_POSE_INPUT, 12, trackers, "Tracker Pose" },
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{ 0, NULL, "trigger_down", XR_ACTION_TYPE_BOOLEAN_INPUT, 2, hands, "Trigger Down" },
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{ 0, NULL, "trigger_touch", XR_ACTION_TYPE_BOOLEAN_INPUT, 2, hands, "Trigger Touch" },
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{ 0, NULL, "trigger_axis" , XR_ACTION_TYPE_FLOAT_INPUT, 2, hands, "Trigger Axis" },
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@ -414,6 +484,10 @@ static bool openxr_init(float supersample, float offset, uint32_t msaa, bool ove
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_Static_assert(sizeof(actionInfo) / sizeof(actionInfo[0]) == MAX_ACTIONS, "Unbalanced action table!");
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if (!state.features.viveTrackers) {
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actionInfo[ACTION_TRACKER_POSE].countSubactionPaths = 0;
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}
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for (uint32_t i = 0; i < MAX_ACTIONS; i++) {
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actionInfo[i].type = XR_TYPE_ACTION_CREATE_INFO;
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XR_INIT(xrCreateAction(state.actionSet, &actionInfo[i], &state.actions[i]));
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@ -426,6 +500,7 @@ static bool openxr_init(float supersample, float offset, uint32_t msaa, bool ove
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PROFILE_GO,
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PROFILE_INDEX,
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PROFILE_WMR,
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PROFILE_TRACKER,
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MAX_PROFILES
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};
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@ -435,7 +510,8 @@ static bool openxr_init(float supersample, float offset, uint32_t msaa, bool ove
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[PROFILE_TOUCH] = "/interaction_profiles/oculus/touch_controller",
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[PROFILE_GO] = "/interaction_profiles/oculus/go_controller",
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[PROFILE_INDEX] = "/interaction_profiles/valve/index_controller",
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[PROFILE_WMR] = "/interaction_profiles/microsoft/motion_controller"
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[PROFILE_WMR] = "/interaction_profiles/microsoft/motion_controller",
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[PROFILE_TRACKER] = "/interaction_profiles/htc/vive_tracker_htcx"
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};
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typedef struct {
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@ -611,9 +687,29 @@ static bool openxr_init(float supersample, float offset, uint32_t msaa, bool ove
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{ ACTION_VIBRATE, "/user/hand/left/output/haptic" },
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{ ACTION_VIBRATE, "/user/hand/right/output/haptic" },
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{ 0, NULL }
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},
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[PROFILE_TRACKER] = (Binding[]) {
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/left_elbow/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/right_elbow/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/left_shoulder/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/right_shoulder/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/chest/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/waist/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/left_knee/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/right_knee/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/left_foot/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/right_foot/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/camera/input/grip/pose" },
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{ ACTION_TRACKER_POSE, "/user/vive_tracker_htcx/role/keyboard/input/grip/pose" },
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{ 0, NULL }
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}
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};
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// Only suggest bindings for vive trackers if the extension is supported
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if (!state.features.viveTrackers) {
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bindings[PROFILE_TRACKER][0].path = NULL;
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}
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XrPath path;
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XrActionSuggestedBinding suggestedBindings[40];
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for (uint32_t i = 0, count = 0; i < MAX_PROFILES; i++, count = 0) {
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@ -623,13 +719,15 @@ static bool openxr_init(float supersample, float offset, uint32_t msaa, bool ove
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suggestedBindings[j].binding = path;
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}
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XR_INIT(xrStringToPath(state.instance, interactionProfilePaths[i], &path));
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XR_INIT(xrSuggestInteractionProfileBindings(state.instance, &(XrInteractionProfileSuggestedBinding) {
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.type = XR_TYPE_INTERACTION_PROFILE_SUGGESTED_BINDING,
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.interactionProfile = path,
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.countSuggestedBindings = count,
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.suggestedBindings = suggestedBindings
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}));
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if (count > 0) {
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XR_INIT(xrStringToPath(state.instance, interactionProfilePaths[i], &path));
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XR_INIT(xrSuggestInteractionProfileBindings(state.instance, &(XrInteractionProfileSuggestedBinding) {
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.type = XR_TYPE_INTERACTION_PROFILE_SUGGESTED_BINDING,
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.interactionProfile = path,
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.countSuggestedBindings = count,
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.suggestedBindings = suggestedBindings
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}));
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}
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}
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}
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@ -698,11 +796,9 @@ static void openxr_start(void) {
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};
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#ifdef XR_EXTX_overlay
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// Provisional extension.
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XrSessionCreateInfoOverlayEXTX overlayInfo = {
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.type = XR_TYPE_SESSION_CREATE_INFO_OVERLAY_EXTX,
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.next = info.next,
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// Fields may fluctuate, leave as auto initialised for now.
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.next = info.next
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};
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if (state.features.overlay) {
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@ -726,7 +822,7 @@ static void openxr_start(void) {
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XrReferenceSpaceCreateInfo info = {
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.type = XR_TYPE_REFERENCE_SPACE_CREATE_INFO,
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.referenceSpaceType = XR_REFERENCE_SPACE_TYPE_STAGE,
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.poseInReferenceSpace = { .orientation = { 0.f, 0.f, 0.f, 1.f }, .position = { 0.f, 0.f, 0.f } }
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.poseInReferenceSpace = { { 0.f, 0.f, 0.f, 1.f }, { 0.f, 0.f, 0.f } }
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};
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if (XR_FAILED(xrCreateReferenceSpace(state.session, &info, &state.referenceSpace))) {
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@ -741,50 +837,26 @@ static void openxr_start(void) {
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XrReferenceSpaceCreateInfo headSpaceInfo = {
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.type = XR_TYPE_REFERENCE_SPACE_CREATE_INFO,
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.referenceSpaceType = XR_REFERENCE_SPACE_TYPE_VIEW,
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.poseInReferenceSpace = { .orientation = { 0.f, 0.f, 0.f, 1.f }, .position = { 0.f, 0.f, 0.f } }
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.poseInReferenceSpace = { { 0.f, 0.f, 0.f, 1.f }, { 0.f, 0.f, 0.f } }
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};
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XR(xrCreateReferenceSpace(state.session, &headSpaceInfo, &state.spaces[DEVICE_HEAD]));
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// Left hand space
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XrActionSpaceCreateInfo leftHandSpaceInfo = {
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XrActionSpaceCreateInfo actionSpaceInfo = {
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.type = XR_TYPE_ACTION_SPACE_CREATE_INFO,
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.action = state.actions[ACTION_HAND_POSE],
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.subactionPath = state.actionFilters[0],
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.poseInActionSpace = { .orientation = { 0.f, 0.f, 0.f, 1.f }, .position = { 0.f, 0.f, 0.f } }
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.poseInActionSpace = { { 0.f, 0.f, 0.f, 1.f }, { 0.f, 0.f, 0.f } }
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};
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XR(xrCreateActionSpace(state.session, &leftHandSpaceInfo, &state.spaces[DEVICE_HAND_LEFT]));
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for (uint32_t i = 0; i < MAX_DEVICES; i++) {
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actionSpaceInfo.action = getPoseActionForDevice(i);
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actionSpaceInfo.subactionPath = state.actionFilters[i];
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// Right hand space
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XrActionSpaceCreateInfo rightHandSpaceInfo = {
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.type = XR_TYPE_ACTION_SPACE_CREATE_INFO,
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.action = state.actions[ACTION_HAND_POSE],
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.subactionPath = state.actionFilters[1],
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.poseInActionSpace = { .orientation = { 0.f, 0.f, 0.f, 1.f }, .position = { 0.f, 0.f, 0.f } }
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};
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if (!actionSpaceInfo.action || !actionSpaceInfo.subactionPath) {
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continue;
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}
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XR(xrCreateActionSpace(state.session, &rightHandSpaceInfo, &state.spaces[DEVICE_HAND_RIGHT]));
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// Left hand pointer space
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XrActionSpaceCreateInfo leftPointerSpaceInfo = {
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.type = XR_TYPE_ACTION_SPACE_CREATE_INFO,
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.action = state.actions[ACTION_POINTER_POSE],
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.subactionPath = state.actionFilters[0],
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.poseInActionSpace = { .orientation = { 0.f, 0.f, 0.f, 1.f }, .position = { 0.f, 0.f, 0.f } }
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};
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XR(xrCreateActionSpace(state.session, &leftPointerSpaceInfo, &state.spaces[DEVICE_HAND_LEFT_POINT]));
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// Right hand pointer space
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XrActionSpaceCreateInfo rightPointerSpaceInfo = {
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.type = XR_TYPE_ACTION_SPACE_CREATE_INFO,
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.action = state.actions[ACTION_POINTER_POSE],
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.subactionPath = state.actionFilters[1],
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.poseInActionSpace = { .orientation = { 0.f, 0.f, 0.f, 1.f }, .position = { 0.f, 0.f, 0.f } }
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};
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XR(xrCreateActionSpace(state.session, &rightPointerSpaceInfo, &state.spaces[DEVICE_HAND_RIGHT_POINT]));
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XR(xrCreateActionSpace(state.session, &actionSpaceInfo, &state.spaces[i]));
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}
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}
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{ // Swapchain
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@ -1001,20 +1073,13 @@ static bool openxr_getPose(Device device, vec3 position, quat orientation) {
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}
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// If there's a pose action for this device, see if the action is active before locating its space
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XrAction action = XR_NULL_HANDLE;
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switch (device) {
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case DEVICE_HAND_LEFT: action = state.actions[ACTION_HAND_POSE]; break;
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case DEVICE_HAND_RIGHT: action = state.actions[ACTION_HAND_POSE]; break;
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case DEVICE_HAND_LEFT_POINT: action = state.actions[ACTION_POINTER_POSE]; break;
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case DEVICE_HAND_RIGHT_POINT: action = state.actions[ACTION_POINTER_POSE]; break;
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default: break;
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}
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XrAction action = getPoseActionForDevice(device);
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if (action) {
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XrActionStateGetInfo info = {
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.type = XR_TYPE_ACTION_STATE_GET_INFO,
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.action = action,
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.subactionPath = state.actionFilters[device == DEVICE_HAND_RIGHT || device == DEVICE_HAND_RIGHT_POINT]
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.subactionPath = state.actionFilters[device]
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};
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XrActionStatePose poseState = {
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@ -1075,18 +1140,14 @@ static bool openxr_getVelocity(Device device, vec3 linearVelocity, vec3 angularV
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return velocity.velocityFlags & (XR_SPACE_VELOCITY_LINEAR_VALID_BIT | XR_SPACE_VELOCITY_ANGULAR_VALID_BIT);
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}
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static XrPath getActionFilter(Device device) {
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switch (device) {
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case DEVICE_HAND_LEFT: return state.actionFilters[0];
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case DEVICE_HAND_RIGHT: return state.actionFilters[1];
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default: return XR_NULL_PATH;
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}
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static XrPath getInputActionFilter(Device device) {
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return (device == DEVICE_HAND_LEFT || device == DEVICE_HAND_RIGHT) ? state.actionFilters[device] : XR_NULL_PATH;
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}
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static bool getButtonState(Device device, DeviceButton button, bool* value, bool* changed, bool touch) {
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XrActionStateGetInfo info = {
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.type = XR_TYPE_ACTION_STATE_GET_INFO,
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.subactionPath = getActionFilter(device)
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.subactionPath = getInputActionFilter(device)
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};
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if (info.subactionPath == XR_NULL_PATH) {
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@ -1096,6 +1157,7 @@ static bool getButtonState(Device device, DeviceButton button, bool* value, bool
|
|||
switch (button) {
|
||||
case BUTTON_TRIGGER: info.action = state.actions[ACTION_TRIGGER_DOWN + touch]; break;
|
||||
case BUTTON_THUMBREST: info.action = touch ? state.actions[ACTION_THUMBREST_TOUCH] : XR_NULL_HANDLE; break;
|
||||
case BUTTON_THUMBSTICK: info.action = state.actions[ACTION_THUMBSTICK_DOWN + touch]; break;
|
||||
case BUTTON_TOUCHPAD: info.action = state.actions[ACTION_TRACKPAD_DOWN + touch]; break;
|
||||
case BUTTON_MENU: info.action = state.actions[ACTION_MENU_DOWN + touch]; break;
|
||||
case BUTTON_GRIP: info.action = state.actions[ACTION_GRIP_DOWN + touch]; break;
|
||||
|
|
@ -1140,7 +1202,7 @@ static bool getFloatAction(uint32_t action, XrPath filter, float* value) {
|
|||
}
|
||||
|
||||
static bool openxr_getAxis(Device device, DeviceAxis axis, float* value) {
|
||||
XrPath filter = getActionFilter(device);
|
||||
XrPath filter = getInputActionFilter(device);
|
||||
|
||||
if (filter == XR_NULL_PATH) {
|
||||
return false;
|
||||
|
|
@ -1194,7 +1256,7 @@ static bool openxr_vibrate(Device device, float power, float duration, float fre
|
|||
XrHapticActionInfo info = {
|
||||
.type = XR_TYPE_HAPTIC_ACTION_INFO,
|
||||
.action = state.actions[ACTION_VIBRATE],
|
||||
.subactionPath = getActionFilter(device)
|
||||
.subactionPath = getInputActionFilter(device)
|
||||
};
|
||||
|
||||
if (info.subactionPath == XR_NULL_PATH) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue