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The open source OpenXR runtime
d/ht_ctrl_emu: Expose the device as XRT_DEVICE_HAND_CTRL_EMU
And bind to simple controller through rebindings.
Co-authored-by: Jakob Bornecrantz <tbornecrantz@nvidia.com>
Part-of: <https://gitlab.freedesktop.org/monado/monado/-/merge_requests/2619>
authored by
Wanhang Lu
Jakob Bornecrantz
and committed by
Marge Bot
2fbb6bce
79a472e6
+35
-14
+35
-14
src/xrt/drivers/ht_ctrl_emu/ht_ctrl_emu.cpp
+35
-14
src/xrt/drivers/ht_ctrl_emu/ht_ctrl_emu.cpp
···
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enum cemu_input_index
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{
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CEMU_INDEX_HAND_TRACKING,
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CEMU_INDEX_SELECT,
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CEMU_INDEX_MENU,
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CEMU_INDEX_PINCH_BOOL,
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CEMU_INDEX_PINCH_FLOAT,
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CEMU_INDEX_GRIP,
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CEMU_INDEX_AIM,
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CEMU_NUM_INPUTS,
···
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struct cemu_device *dev = cemu_device(xdev);
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struct cemu_system *sys = dev->sys;
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if (name != XRT_INPUT_SIMPLE_GRIP_POSE && name != XRT_INPUT_SIMPLE_AIM_POSE) {
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if (name != XRT_INPUT_HAND_CTRL_EMU_AIM_POSE && name != XRT_INPUT_HAND_CTRL_EMU_GRIP_POSE) {
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U_LOG_XDEV_UNSUPPORTED_INPUT(&dev->base, dev->sys->log_level, name);
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return XRT_ERROR_INPUT_UNSUPPORTED;
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}
···
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xret = XRT_SUCCESS;
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switch (name) {
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case XRT_INPUT_SIMPLE_GRIP_POSE: {
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case XRT_INPUT_HAND_CTRL_EMU_GRIP_POSE: {
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xret = do_grip_pose(&joint_set, out_relation, sys->grip_offset_from_palm, dev->hand_index);
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break;
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}
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case XRT_INPUT_SIMPLE_AIM_POSE: {
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case XRT_INPUT_HAND_CTRL_EMU_AIM_POSE: {
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// Assume that now we're doing everything in the timestamp from the hand-tracker, so use
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// hand_timestamp_ns. This will cause the controller to lag behind but otherwise be correct
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xret = do_aim_pose(dev, &joint_set, at_timestamp_ns, hand_timestamp_ns, out_relation);
···
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U_LOG_CHK_AND_RET(sys->log_level, xret, "xrt_device_get_hand_tracking");
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if (!joint_set.is_active) {
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xdev->inputs[CEMU_INDEX_SELECT].value.boolean = false;
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xdev->inputs[CEMU_INDEX_MENU].value.boolean = false;
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xdev->inputs[CEMU_INDEX_PINCH_BOOL].value.boolean = false;
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xdev->inputs[CEMU_INDEX_PINCH_FLOAT].value.vec1.x = 0.f;
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return XRT_SUCCESS;
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}
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decide(joint_set.values.hand_joint_set_default[XRT_HAND_JOINT_INDEX_TIP].relation.pose.position,
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joint_set.values.hand_joint_set_default[XRT_HAND_JOINT_THUMB_TIP].relation.pose.position,
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&xdev->inputs[CEMU_INDEX_SELECT].value.boolean);
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&xdev->inputs[CEMU_INDEX_PINCH_BOOL].value.boolean);
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// For now, all other inputs are off - detecting any gestures more complicated than pinch is too unreliable for
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// now.
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xdev->inputs[CEMU_INDEX_MENU].value.boolean = false;
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if (xdev->inputs[CEMU_INDEX_PINCH_BOOL].value.boolean) {
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xdev->inputs[CEMU_INDEX_PINCH_FLOAT].value.vec1.x = 1.0f;
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} else {
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xdev->inputs[CEMU_INDEX_PINCH_FLOAT].value.vec1.x = 0.0f;
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}
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return XRT_SUCCESS;
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}
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static struct xrt_binding_input_pair simple_inputs[3] = {
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{XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_HAND_CTRL_EMU_PINCH_BOOL},
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{XRT_INPUT_SIMPLE_GRIP_POSE, XRT_INPUT_HAND_CTRL_EMU_GRIP_POSE},
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{XRT_INPUT_SIMPLE_AIM_POSE, XRT_INPUT_HAND_CTRL_EMU_AIM_POSE},
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};
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static struct xrt_binding_profile binding_profiles[1] = {
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{
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.name = XRT_DEVICE_SIMPLE_CONTROLLER,
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.inputs = simple_inputs,
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.input_count = ARRAY_SIZE(simple_inputs),
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.outputs = nullptr,
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.output_count = 0,
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},
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};
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extern "C" int
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cemu_devices_create(struct xrt_device *head, struct xrt_device *hands, struct xrt_device **out_xdevs)
···
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cemud[i]->base.tracking_origin = hands->tracking_origin;
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cemud[i]->base.name = XRT_DEVICE_SIMPLE_CONTROLLER;
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cemud[i]->base.name = XRT_DEVICE_HAND_CTRL_EMU;
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cemud[i]->base.supported.hand_tracking = true;
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cemud[i]->base.supported.orientation_tracking = true;
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cemud[i]->base.supported.position_tracking = true;
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cemud[i]->base.binding_profiles = binding_profiles;
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cemud[i]->base.binding_profile_count = ARRAY_SIZE(binding_profiles);
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cemud[i]->base.inputs[CEMU_INDEX_HAND_TRACKING].name = ht_input_names[i];
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cemud[i]->base.inputs[CEMU_INDEX_SELECT].name = XRT_INPUT_SIMPLE_SELECT_CLICK;
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cemud[i]->base.inputs[CEMU_INDEX_MENU].name = XRT_INPUT_SIMPLE_MENU_CLICK;
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cemud[i]->base.inputs[CEMU_INDEX_GRIP].name = XRT_INPUT_SIMPLE_GRIP_POSE;
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cemud[i]->base.inputs[CEMU_INDEX_AIM].name = XRT_INPUT_SIMPLE_AIM_POSE;
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cemud[i]->base.inputs[CEMU_INDEX_PINCH_BOOL].name = XRT_INPUT_HAND_CTRL_EMU_PINCH_BOOL;
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cemud[i]->base.inputs[CEMU_INDEX_PINCH_FLOAT].name = XRT_INPUT_HAND_CTRL_EMU_PINCH_VALUE;
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cemud[i]->base.inputs[CEMU_INDEX_GRIP].name = XRT_INPUT_HAND_CTRL_EMU_GRIP_POSE;
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cemud[i]->base.inputs[CEMU_INDEX_AIM].name = XRT_INPUT_HAND_CTRL_EMU_AIM_POSE;
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cemud[i]->base.update_inputs = cemu_device_update_inputs;
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cemud[i]->base.get_tracked_pose = cemu_device_get_tracked_pose;