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Rework XR positional trackers

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This commit is contained in:
Bastiaan Olij
2021-08-29 16:05:11 +10:00
parent c2a616f3ec
commit 5d1ea92daf
29 changed files with 1359 additions and 802 deletions
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56
modules/mobile_vr/mobile_vr_interface.cpp
View File

@ -126,6 +126,8 @@ void MobileVRInterface::set_position_from_sensors() {
// 9dof is a misleading marketing term coming from 3 accelerometer axis + 3 gyro axis + 3 magnetometer axis = 9 axis
// but in reality this only offers 3 dof (yaw, pitch, roll) orientation
Basis orientation;
uint64_t ticks = OS::get_singleton()->get_ticks_usec();
uint64_t ticks_elapsed = ticks - last_ticks;
float delta_time = (double)ticks_elapsed / 1000000.0;
@ -207,8 +209,8 @@ void MobileVRInterface::set_position_from_sensors() {
};
};
// JIC
orientation.orthonormalize();
// and copy to our head transform
head_transform.basis = orientation.orthonormalized();
last_ticks = ticks;
};
@ -318,7 +320,7 @@ bool MobileVRInterface::initialize() {
ERR_FAIL_NULL_V(xr_server, false);
if (!initialized) {
// reset our sensor data and orientation
// reset our sensor data
mag_count = 0;
has_gyro = false;
sensor_first = true;
@ -326,9 +328,15 @@ bool MobileVRInterface::initialize() {
mag_next_max = Vector3(-10000, -10000, -10000);
mag_current_min = Vector3(0, 0, 0);
mag_current_max = Vector3(0, 0, 0);
head_transform.basis = Basis();
head_transform.origin = Vector3(0.0, eye_height, 0.0);
// reset our orientation
orientation = Basis();
// we must create a tracker for our head
head.instantiate();
head->set_tracker_type(XRServer::TRACKER_HEAD);
head->set_tracker_name("head");
head->set_tracker_desc("Players head");
xr_server->add_tracker(head);
// make this our primary interface
xr_server->set_primary_interface(this);
@ -343,10 +351,19 @@ bool MobileVRInterface::initialize() {
void MobileVRInterface::uninitialize() {
if (initialized) {
// do any cleanup here...
XRServer *xr_server = XRServer::get_singleton();
if (xr_server != nullptr && xr_server->get_primary_interface() == this) {
// no longer our primary interface
xr_server->set_primary_interface(nullptr);
if (xr_server != nullptr) {
if (head.is_valid()) {
xr_server->remove_tracker(head);
head.unref();
}
if (xr_server->get_primary_interface() == this) {
// no longer our primary interface
xr_server->set_primary_interface(nullptr);
}
}
initialized = false;
@ -377,11 +394,10 @@ Transform3D MobileVRInterface::get_camera_transform() {
float world_scale = xr_server->get_world_scale();
// just scale our origin point of our transform
Transform3D hmd_transform;
hmd_transform.basis = orientation;
hmd_transform.origin = Vector3(0.0, eye_height * world_scale, 0.0);
Transform3D _head_transform = head_transform;
_head_transform.origin *= world_scale;
transform_for_eye = (xr_server->get_reference_frame()) * hmd_transform;
transform_for_eye = (xr_server->get_reference_frame()) * _head_transform;
}
return transform_for_eye;
@ -409,11 +425,10 @@ Transform3D MobileVRInterface::get_transform_for_view(uint32_t p_view, const Tra
};
// just scale our origin point of our transform
Transform3D hmd_transform;
hmd_transform.basis = orientation;
hmd_transform.origin = Vector3(0.0, eye_height * world_scale, 0.0);
Transform3D _head_transform = head_transform;
_head_transform.origin *= world_scale;
transform_for_eye = p_cam_transform * (xr_server->get_reference_frame()) * hmd_transform * transform_for_eye;
transform_for_eye = p_cam_transform * (xr_server->get_reference_frame()) * _head_transform * transform_for_eye;
} else {
// huh? well just return what we got....
transform_for_eye = p_cam_transform;
@ -476,7 +491,16 @@ void MobileVRInterface::process() {
_THREAD_SAFE_METHOD_
if (initialized) {
// update our head transform orientation
set_position_from_sensors();
// update our head transform position (should be constant)
head_transform.origin = Vector3(0.0, eye_height, 0.0);
if (head.is_valid()) {
// Set our head position, note in real space, reference frame and world scale is applied later
head->set_pose("default", head_transform, Vector3(), Vector3());
}
};
};

5
modules/mobile_vr/mobile_vr_interface.h
View File

@ -53,7 +53,6 @@ class MobileVRInterface : public XRInterface {
private:
bool initialized = false;
XRInterface::TrackingStatus tracking_state;
Basis orientation;
// Just set some defaults for these. At some point we need to look at adding a lookup table for common device + headset combos and/or support reading cardboard QR codes
double eye_height = 1.85;
@ -68,6 +67,10 @@ private:
double k2 = 0.215;
double aspect = 1.0;
// at a minimum we need a tracker for our head
Ref<XRPositionalTracker> head;
Transform3D head_transform;
/*
logic for processing our sensor data, this was originally in our positional tracker logic but I think
that doesn't make sense in hindsight. It only makes marginally more sense to park it here for now,