Added controller pose type.

Author: Malcolmnixon

VERSIONS.md

@@ -1,6 +1,7 @@
 # 1.2.0 (in progress)
 - Added hand pose controller capable of generating XR input actions
 - Added debounce hold and release times for poses
+- Added controller pose type [skeleton, aim, grab]
 
 # 1.1.0
 - Moved fitness function to separate resource

addons/hand_pose_detector/hand_pose_controller.gd

@@ -8,13 +8,60 @@ extends Node
 ## This script creates an XRControllerTracker moved by an associated
 ## HandPoseDetector, and capable of generating XR Input Actions in response
 ## to detected hand poses.
+##
+## The XRControllerTracker will have a "default" pose whose position is based
+## on the tracked hand and the selected pose_type.
+
+
+## Pose Type
+enum PoseType {
+	SKELETON,	## Skeleton pose (palm pose)
+	AIM,		## Aim pose (aiming pose)
+	GRIP		## Grip pose (gripping pose)
+}
+
+# Table of left-hand pose transforms by PoseType
+const _POSE_TRANSFORMS_LEFT : Array[Transform3D] = [
+	# Skeleton-pose (identity)
+	Transform3D(
+		Basis.IDENTITY,
+		Vector3.ZERO),
+
+	# Aim pose - see OpenXR specification
+	Transform3D(
+		Basis(Quaternion(0.4304593, -0.5609855, 0.4304593, 0.5609855)),
+		Vector3(-0.03, 0.08, 0.025)),
+
+	# Grip pose - see OpenXR specification
+	Transform3D(
+		Basis(Quaternion(0.6408564, -0.2988362, 0.6408564, 0.2988362)),
+		Vector3(0.0, 0.0, 0.025))
+]
+
+# Table of right-hand pose transforms by PoseType
+const _POSE_TRANSFORMS_RIGHT : Array[Transform3D] = [
+	# Skeleton-pose (identity)
+	Transform3D(
+		Basis.IDENTITY,
+		Vector3.ZERO),
+
+	# Aim pose - see OpenXR specification
+	Transform3D(
+		Basis(Quaternion(0.4304593, 0.5609855, -0.4304593, 0.5609855)),
+		Vector3(0.03, 0.08, 0.025)),
+
+	# Grip pose - see OpenXR specification
+	Transform3D(
+		Basis(Quaternion(-0.6408564, -0.2988362, 0.6408564, -0.2988362)),
+		Vector3(0.0, 0.0, 0.025))
+]
 
 
 ## Name for the virtual controller tracker
 @export var tracker_name : String = "/user/hand_pose_controller/left"
 
-## Pose name
-@export var pose_name : String = &"default"
+## Pose type
+@export var pose_type : PoseType = PoseType.SKELETON
 
 ## Hand poses generating boolean values
 @export var action_set : HandPoseActionSet
@@ -56,17 +103,33 @@ func _process(_delta: float) -> void:
 	if not pose_detector.tracker or not tracker:
 		return
 
-	# Get the tracker pose
-	var pose := pose_detector.tracker.get_pose(pose_name)
+	# Get the hand tracker pose
+	var pose := pose_detector.tracker.get_pose(&"default")
 	if not pose:
 		return
 
+	# Get the conversion transform
+	var hand := pose_detector.tracker.hand
+
+	# Get the conversion transform
+	var conv_xform : Transform3D
+	if hand == XRPositionalTracker.TrackerHand.TRACKER_HAND_LEFT:
+		conv_xform = _POSE_TRANSFORMS_LEFT[pose_type]
+	else:
+		conv_xform = _POSE_TRANSFORMS_RIGHT[pose_type]
+
+	# Apply conversion to pose components
+	var pose_transform := pose.transform * conv_xform
+	var pose_linear := pose.linear_velocity * conv_xform.basis
+	var pose_angular := _rotate_angular_velocity(pose.angular_velocity, conv_xform.basis)
+
 	# Update the controller tracker pose
+	tracker.hand = hand
 	tracker.set_pose(
 		pose.name,
-		pose.transform,
-		pose.linear_velocity,
-		pose.angular_velocity,
+		pose_transform,
+		pose_linear,
+		pose_angular,
 		pose.tracking_confidence)
 
 
@@ -85,10 +148,6 @@ func _get_configuration_warnings() -> PackedStringArray:
 	if tracker_name == "":
 		warnings.append("Tracker name not set")
 
-	# Verify pose name is set
-	if pose_name == "":
-		warnings.append("Pose name not set")
-
 	# Verify parent pose
 	var parent_pose_detector := get_parent() as HandPoseDetector
 	if not parent_pose_detector:
@@ -132,3 +191,22 @@ func _pose_ended(p_name : String) -> void:
 		tracker.set_input(action.action_name, false)
 	else:
 		tracker.set_input(action.action_name, 0.0)
+
+
+# Returns an angular velocity rotated by the given basis matrix.
+static func _rotate_angular_velocity(vel : Vector3, basis : Basis) -> Vector3:
+	# Get the angular velocity length
+	var len := vel.length()
+	if is_zero_approx(len):
+		return Vector3.ZERO
+
+	# Normalize the angular velocity
+	vel /= len
+
+	# Rotate the angular velocity using quaternion composition
+	var vel_quat := Quaternion.from_euler(vel)
+	vel_quat *= basis.get_rotation_quaternion()
+	vel = vel_quat.get_euler()
+
+	# Scale the angular velocity back to the appropriate magnitude
+	return vel * len

addons/hand_pose_detector/poses/point.tres

@@ -15,24 +15,24 @@ max = 0.0
 script = ExtResource("2_kgqxd")
 type = 0
 min = 0.0
-from = 90.0
-to = 130.0
+from = 80.0
+to = 110.0
 max = 0.0
 
 [sub_resource type="Resource" id="Resource_ngpot"]
 script = ExtResource("2_kgqxd")
 type = 0
 min = 0.0
-from = 90.0
-to = 130.0
+from = 80.0
+to = 110.0
 max = 0.0
 
 [sub_resource type="Resource" id="Resource_kbi8m"]
 script = ExtResource("2_kgqxd")
 type = 0
 min = 0.0
-from = 90.0
-to = 130.0
+from = 80.0
+to = 110.0
 max = 0.0
 
 [sub_resource type="Resource" id="Resource_3xngl"]

addons/hand_pose_detector/poses/point_thumb_up.tres

@@ -23,24 +23,24 @@ max = 0.0
 script = ExtResource("2_0x328")
 type = 0
 min = 0.0
-from = 90.0
-to = 130.0
+from = 80.0
+to = 110.0
 max = 0.0
 
 [sub_resource type="Resource" id="Resource_nqpii"]
 script = ExtResource("2_0x328")
 type = 0
 min = 0.0
-from = 90.0
-to = 130.0
+from = 80.0
+to = 110.0
 max = 0.0
 
 [sub_resource type="Resource" id="Resource_1ygpc"]
 script = ExtResource("2_0x328")
 type = 0
 min = 0.0
-from = 90.0
-to = 130.0
+from = 80.0
+to = 110.0
 max = 0.0
 
 [sub_resource type="Resource" id="Resource_yunfv"]
@@ -55,8 +55,8 @@ max = 0.0
 script = ExtResource("2_0x328")
 type = 0
 min = 0.0
-from = 40.0
-to = 20.0
+from = 50.0
+to = 40.0
 max = 0.0
 
 [resource]

demo.tscn

@@ -1,10 +1,14 @@
-[gd_scene load_steps=9 format=3 uid="uid://y0j46ct8rv7f"]
+[gd_scene load_steps=18 format=3 uid="uid://y0j46ct8rv7f"]
 
 [ext_resource type="Script" path="res://demo.gd" id="1_3t01i"]
 [ext_resource type="PackedScene" uid="uid://cjcehqrfoxav3" path="res://assets/gltf/LeftHandHumanoid.gltf" id="2_qj6xm"]
 [ext_resource type="PackedScene" uid="uid://df5hynbooj1uj" path="res://addons/hand_pose_detector/hand_pose_detector.tscn" id="3_sea3p"]
 [ext_resource type="Resource" uid="uid://ckjd0xa2a240p" path="res://addons/hand_pose_detector/poses/standard_pose_set.tres" id="4_aw253"]
 [ext_resource type="PackedScene" uid="uid://dabmoo0spa6vg" path="res://assets/gltf/RightHandHumanoid.gltf" id="4_uvuof"]
+[ext_resource type="PackedScene" uid="uid://bh8isvqs258cp" path="res://addons/hand_pose_detector/hand_pose_controller.tscn" id="5_0abgo"]
+[ext_resource type="Script" path="res://addons/hand_pose_detector/hand_pose_action.gd" id="7_ownji"]
+[ext_resource type="Resource" uid="uid://ra50ueubhepa" path="res://addons/hand_pose_detector/poses/point_thumb_up.tres" id="8_pcf64"]
+[ext_resource type="Script" path="res://addons/hand_pose_detector/hand_pose_action_set.gd" id="9_ux58f"]
 
 [sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_gp80n"]
 sky_horizon_color = Color(0.64625, 0.65575, 0.67075, 1)
@@ -18,6 +22,40 @@ background_mode = 2
 sky = SubResource("Sky_wwtaq")
 tonemap_mode = 2
 
+[sub_resource type="Resource" id="Resource_0u7th"]
+script = ExtResource("7_ownji")
+pose = ExtResource("8_pcf64")
+action_type = 0
+action_name = "point_thumb_up"
+
+[sub_resource type="Resource" id="Resource_0mgap"]
+script = ExtResource("9_ux58f")
+actions = Array[ExtResource("7_ownji")]([SubResource("Resource_0u7th")])
+
+[sub_resource type="GDScript" id="GDScript_tpxpg"]
+script/source = "extends XRController3D
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+func _process(_delta: float) -> void:
+	$Aim.visible = is_button_pressed(\"point_thumb_up\")
+"
+
+[sub_resource type="CapsuleMesh" id="CapsuleMesh_oevpt"]
+radius = 0.01
+height = 0.05
+radial_segments = 6
+rings = 3
+
+[sub_resource type="GDScript" id="GDScript_xq4qg"]
+script/source = "extends XRController3D
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+func _process(_delta: float) -> void:
+	$Aim.visible = is_button_pressed(\"point_thumb_up\")
+"
+
 [node name="Demo" type="Node3D"]
 script = ExtResource("1_3t01i")
 
@@ -45,6 +83,11 @@ show_when_tracked = true
 [node name="LeftHandPose" parent="XROrigin3D/LeftTrackedHand" instance=ExtResource("3_sea3p")]
 hand_pose_set = ExtResource("4_aw253")
 
+[node name="LeftHandPoseController" parent="XROrigin3D/LeftTrackedHand/LeftHandPose" instance=ExtResource("5_0abgo")]
+tracker_name = "/user/hand_pose_controller/left"
+pose_type = 1
+action_set = SubResource("Resource_0mgap")
+
 [node name="RightTrackedHand" type="XRNode3D" parent="XROrigin3D"]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.3, 1, 0)
 tracker = &"/user/hand_tracker/right"
@@ -59,6 +102,29 @@ hand_tracker = &"/user/hand_tracker/right"
 hand_pose_set = ExtResource("4_aw253")
 tracker_name = "/user/hand_tracker/right"
 
+[node name="RightHandPoseController" parent="XROrigin3D/RightTrackedHand/RightHandPose" instance=ExtResource("5_0abgo")]
+tracker_name = "/user/hand_pose_controller/right"
+pose_type = 1
+action_set = SubResource("Resource_0mgap")
+
+[node name="LeftPoseController" type="XRController3D" parent="XROrigin3D"]
+tracker = &"/user/hand_pose_controller/left"
+script = SubResource("GDScript_tpxpg")
+
+[node name="Aim" type="MeshInstance3D" parent="XROrigin3D/LeftPoseController"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0)
+visible = false
+mesh = SubResource("CapsuleMesh_oevpt")
+
+[node name="RightPoseController" type="XRController3D" parent="XROrigin3D"]
+tracker = &"/user/hand_pose_controller/right"
+script = SubResource("GDScript_xq4qg")
+
+[node name="Aim" type="MeshInstance3D" parent="XROrigin3D/RightPoseController"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0)
+visible = false
+mesh = SubResource("CapsuleMesh_oevpt")
+
 [node name="LeftHandLabel" type="Label3D" parent="."]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1, 2, -3)
 text = "Left Hand"