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grab with realign

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This commit is contained in:
galister
2023-12-09 22:26:55 +01:00
parent 1842259e66
commit 6cfbc6ffcd
10 changed files with 289 additions and 211 deletions
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226
src/backend/input.rs
View File

@@ -26,14 +26,21 @@ pub enum TrackedDeviceRole {
Tracker,
}
pub struct InputState<TState, THand> {
pub struct InputState {
pub hmd: Affine3A,
pub pointers: [Pointer<THand>; 2],
pub pointers: [Pointer; 2],
pub devices: Vec<TrackedDevice>,
pub(super) data: TState,
}
impl<TState, THand> InputState<TState, THand> {
impl InputState {
pub fn new() -> Self {
Self {
hmd: Affine3A::IDENTITY,
pointers: [Pointer::new(0), Pointer::new(1)],
devices: Vec::new(),
}
}
pub fn pre_update(&mut self) {
self.pointers[0].before = self.pointers[0].now;
self.pointers[1].before = self.pointers[1].now;
@@ -86,7 +93,7 @@ impl<TState, THand> InputState<TState, THand> {
let hmd_up = self.hmd.transform_vector3a(Vec3A::Y);
let dot =
hmd_up.dot(hand.pose.transform_vector3a(Vec3A::X)) * (1.0 - 2.0 * hand.hand as f32);
hmd_up.dot(hand.pose.transform_vector3a(Vec3A::X)) * (1.0 - 2.0 * hand.idx as f32);
hand.interaction.mode = if dot < -0.85 {
PointerMode::Right
@@ -137,17 +144,28 @@ impl Default for InteractionState {
}
}
pub struct Pointer<THand> {
pub struct Pointer {
pub idx: usize,
pub hand: u8,
pub pose: Affine3A,
pub now: PointerState,
pub before: PointerState,
pub(super) interaction: InteractionState,
pub(super) data: THand,
}
#[derive(Debug, Clone, Copy, Default)]
impl Pointer {
pub fn new(idx: usize) -> Self {
debug_assert!(idx == 0 || idx == 1);
Self {
idx,
pose: Affine3A::IDENTITY,
now: Default::default(),
before: Default::default(),
interaction: Default::default(),
}
}
}
#[derive(Clone, Copy, Default)]
pub struct PointerState {
pub scroll: f32,
pub click: bool,
@@ -207,98 +225,115 @@ pub enum PointerMode {
Middle,
}
impl<THand> Pointer<THand> {
pub fn interact<O>(&mut self, overlays: &mut OverlayContainer<O>, app: &mut AppState) -> f32
where
O: Default,
{
if let Some(grab_data) = self.interaction.grabbed {
if let Some(grabbed) = overlays.mut_by_id(grab_data.grabbed_id) {
self.handle_grabbed(grabbed);
} else {
log::warn!("Grabbed overlay {} does not exist", grab_data.grabbed_id);
self.interaction.grabbed = None;
}
return 0.1;
}
pub fn interact<O>(overlays: &mut OverlayContainer<O>, app: &mut AppState) -> [f32; 2]
where
O: Default,
{
[
interact_hand(0, overlays, app),
interact_hand(1, overlays, app),
]
}
let Some(mut hit) = self.get_nearest_hit(overlays) else {
if let Some(hovered_id) = self.interaction.hovered_id.take() {
if let Some(hovered) = overlays.mut_by_id(hovered_id) {
hovered.backend.on_left(app, self.idx);
}
self.interaction.hovered_id = None;
}
if let Some(clicked_id) = self.interaction.clicked_id.take() {
if let Some(clicked) = overlays.mut_by_id(clicked_id) {
let hit = PointerHit {
pointer: self.idx,
overlay: clicked_id,
mode: self.interaction.mode,
..Default::default()
};
clicked.backend.on_pointer(app, &hit, false);
}
}
return 0.0; // no hit
};
if let Some(hovered_id) = self.interaction.hovered_id {
if hovered_id != hit.overlay {
if let Some(old_hovered) = overlays.mut_by_id(hovered_id) {
if Some(self.idx) == old_hovered.primary_pointer {
old_hovered.primary_pointer = None;
}
old_hovered.backend.on_left(app, self.idx);
}
}
}
let Some(hovered) = overlays.mut_by_id(hit.overlay) else {
log::warn!("Hit overlay {} does not exist", hit.overlay);
return 0.0; // no hit
};
self.interaction.hovered_id = Some(hit.overlay);
if let Some(primary_pointer) = hovered.primary_pointer {
if hit.pointer <= primary_pointer {
hovered.primary_pointer = Some(hit.pointer);
hit.primary = true;
}
fn interact_hand<O>(idx: usize, overlays: &mut OverlayContainer<O>, app: &mut AppState) -> f32
where
O: Default,
{
let hmd = &app.input_state.hmd;
let mut pointer = &mut app.input_state.pointers[idx];
if let Some(grab_data) = pointer.interaction.grabbed {
if let Some(grabbed) = overlays.mut_by_id(grab_data.grabbed_id) {
pointer.handle_grabbed(grabbed, hmd);
} else {
log::warn!("Grabbed overlay {} does not exist", grab_data.grabbed_id);
pointer.interaction.grabbed = None;
}
return 0.1;
}
let Some(mut hit) = pointer.get_nearest_hit(overlays) else {
if let Some(hovered_id) = pointer.interaction.hovered_id.take() {
if let Some(hovered) = overlays.mut_by_id(hovered_id) {
hovered.backend.on_left(app, idx);
}
pointer = &mut app.input_state.pointers[idx];
pointer.interaction.hovered_id = None;
}
if let Some(clicked_id) = pointer.interaction.clicked_id.take() {
if let Some(clicked) = overlays.mut_by_id(clicked_id) {
let hit = PointerHit {
pointer: pointer.idx,
overlay: clicked_id,
mode: pointer.interaction.mode,
..Default::default()
};
clicked.backend.on_pointer(app, &hit, false);
}
}
return 0.0; // no hit
};
if let Some(hovered_id) = pointer.interaction.hovered_id {
if hovered_id != hit.overlay {
if let Some(old_hovered) = overlays.mut_by_id(hovered_id) {
if Some(pointer.idx) == old_hovered.primary_pointer {
old_hovered.primary_pointer = None;
}
old_hovered.backend.on_left(app, idx);
pointer = &mut app.input_state.pointers[idx];
}
}
}
let Some(hovered) = overlays.mut_by_id(hit.overlay) else {
log::warn!("Hit overlay {} does not exist", hit.overlay);
return 0.0; // no hit
};
pointer.interaction.hovered_id = Some(hit.overlay);
if let Some(primary_pointer) = hovered.primary_pointer {
if hit.pointer <= primary_pointer {
hovered.primary_pointer = Some(hit.pointer);
hit.primary = true;
}
#[cfg(debug_assertions)]
log::trace!("Hit: {} {:?}", hovered.state.name, hit);
if self.now.grab && !self.before.grab {
self.start_grab(hovered);
return hit.dist;
}
hovered.backend.on_hover(app, &hit);
if self.now.scroll.abs() > 0.1 {
hovered.backend.on_scroll(app, &hit, self.now.scroll);
}
if self.now.click && !self.before.click {
self.interaction.clicked_id = Some(hit.overlay);
hovered.backend.on_pointer(app, &hit, true);
} else if !self.now.click && self.before.click {
if let Some(clicked_id) = self.interaction.clicked_id.take() {
if let Some(clicked) = overlays.mut_by_id(clicked_id) {
clicked.backend.on_pointer(app, &hit, false);
}
} else {
hovered.backend.on_pointer(app, &hit, false);
}
}
hit.dist
} else {
hovered.primary_pointer = Some(hit.pointer);
hit.primary = true;
}
#[cfg(debug_assertions)]
log::trace!("Hit: {} {:?}", hovered.state.name, hit);
if pointer.now.grab && !pointer.before.grab {
pointer.start_grab(hovered);
return hit.dist;
}
hovered.backend.on_hover(app, &hit);
pointer = &mut app.input_state.pointers[idx];
if pointer.now.scroll.abs() > 0.1 {
let scroll = pointer.now.scroll;
hovered.backend.on_scroll(app, &hit, scroll);
pointer = &mut app.input_state.pointers[idx];
}
if pointer.now.click && !pointer.before.click {
pointer.interaction.clicked_id = Some(hit.overlay);
hovered.backend.on_pointer(app, &hit, true);
} else if !pointer.now.click && pointer.before.click {
if let Some(clicked_id) = pointer.interaction.clicked_id.take() {
if let Some(clicked) = overlays.mut_by_id(clicked_id) {
clicked.backend.on_pointer(app, &hit, false);
}
} else {
hovered.backend.on_pointer(app, &hit, false);
}
}
hit.dist
}
impl Pointer {
fn get_nearest_hit<O>(&mut self, overlays: &mut OverlayContainer<O>) -> Option<PointerHit>
where
O: Default,
@@ -362,7 +397,7 @@ impl<THand> Pointer<THand> {
log::debug!("Hand {}: grabbed {}", self.idx, overlay.state.name);
}
fn handle_grabbed<O>(&mut self, overlay: &mut OverlayData<O>)
fn handle_grabbed<O>(&mut self, overlay: &mut OverlayData<O>, hmd: &Affine3A)
where
O: Default,
{
@@ -386,6 +421,7 @@ impl<THand> Pointer<THand> {
}
}
overlay.state.transform.translation = self.pose.transform_point3a(grab_data.offset);
overlay.state.realign(hmd);
overlay.state.dirty = true;
} else {
overlay.state.spawn_point = overlay.state.transform.translation;

123
src/backend/openvr/input.rs
View File

@@ -11,8 +11,9 @@ use ovr_overlay::{
TrackedDeviceIndex,
};
use crate::backend::input::{
InputState, InteractionState, Pointer, PointerState, TrackedDevice, TrackedDeviceRole,
use crate::{
backend::input::{TrackedDevice, TrackedDeviceRole},
state::AppState,
};
macro_rules! result_str {
@@ -46,7 +47,8 @@ const PATH_CLICK_MODIFIER_MIDDLE: &str = "/actions/default/in/ClickModifierMiddl
const INPUT_ANY: InputValueHandle = InputValueHandle(ovr_overlay::sys::k_ulInvalidInputValueHandle);
pub(super) struct OpenVrInputState {
pub(super) struct OpenVrInputSource {
hands: [OpenVrHandSource; 2],
set_hnd: ActionSetHandle,
click_hnd: ActionHandle,
grab_hnd: ActionHandle,
@@ -58,15 +60,14 @@ pub(super) struct OpenVrInputState {
click_modifier_middle_hnd: ActionHandle,
}
pub(super) struct OpenVrHandState {
pub(super) line_id: usize,
pub(super) struct OpenVrHandSource {
has_pose: bool,
input_hnd: InputValueHandle,
pose_hnd: ActionHandle,
haptics_hnd: ActionHandle,
}
impl InputState<OpenVrInputState, OpenVrHandState> {
impl OpenVrInputSource {
pub fn new(input: &mut InputManager) -> Result<Self, &'static str> {
let set_hnd = result_str!(input.get_action_set_handle(SET_DEFAULT))?;
@@ -96,44 +97,36 @@ impl InputState<OpenVrInputState, OpenVrHandState> {
.map(|path| Ok(result_str!(input.get_action_handle(path))?))
.collect::<Result<_, &'static str>>()?;
let hands: [Pointer<OpenVrHandState>; 2] = array::from_fn(|i| Pointer::<OpenVrHandState> {
idx: i,
hand: i as u8,
now: PointerState::default(),
before: PointerState::default(),
pose: Affine3A::IDENTITY,
interaction: InteractionState::default(),
data: OpenVrHandState {
line_id: 0,
has_pose: false,
input_hnd: input_hnd[i],
pose_hnd: pose_hnd[i],
haptics_hnd: haptics_hnd[i],
},
let hands: [OpenVrHandSource; 2] = array::from_fn(|i| OpenVrHandSource {
has_pose: false,
input_hnd: input_hnd[i],
pose_hnd: pose_hnd[i],
haptics_hnd: haptics_hnd[i],
});
Ok(InputState {
hmd: Affine3A::IDENTITY,
pointers: hands,
devices: vec![],
data: OpenVrInputState {
set_hnd,
click_hnd,
grab_hnd,
scroll_hnd,
alt_click_hnd,
show_hide_hnd,
space_drag_hnd,
click_modifier_right_hnd,
click_modifier_middle_hnd,
},
Ok(OpenVrInputSource {
set_hnd,
click_hnd,
grab_hnd,
scroll_hnd,
alt_click_hnd,
show_hide_hnd,
space_drag_hnd,
click_modifier_right_hnd,
click_modifier_middle_hnd,
hands,
})
}
pub fn update(&mut self, input: &mut InputManager, system: &mut SystemManager) {
pub fn update(
&mut self,
input: &mut InputManager,
system: &mut SystemManager,
app: &mut AppState,
) {
let aas = ActiveActionSet {
0: ovr_overlay::sys::VRActiveActionSet_t {
ulActionSet: self.data.set_hnd.0,
ulActionSet: self.set_hnd.0,
ulRestrictedToDevice: 0,
ulSecondaryActionSet: 0,
unPadding: 0,
@@ -146,70 +139,74 @@ impl InputState<OpenVrInputState, OpenVrHandState> {
let universe = ETrackingUniverseOrigin::TrackingUniverseStanding;
for i in 0..2 {
let hand = &mut self.pointers[i];
let hand = &mut self.hands[i];
let app_hand = &mut app.input_state.pointers[i];
hand.data.has_pose = false;
hand.has_pose = false;
let _ = input
.get_pose_action_data_relative_to_now(
hand.data.pose_hnd,
hand.pose_hnd,
universe.clone(),
0.005,
INPUT_ANY,
)
.and_then(|pose| {
copy_from_hmd(&pose.0.pose.mDeviceToAbsoluteTracking, &mut hand.pose);
hand.data.has_pose = true;
copy_from_hmd(&pose.0.pose.mDeviceToAbsoluteTracking, &mut app_hand.pose);
hand.has_pose = true;
Ok(())
});
hand.now.click = input
.get_digital_action_data(self.data.click_hnd, hand.data.input_hnd)
app_hand.now.click = input
.get_digital_action_data(self.click_hnd, hand.input_hnd)
.map(|x| x.0.bState)
.unwrap_or(false);
hand.now.grab = input
.get_digital_action_data(self.data.grab_hnd, hand.data.input_hnd)
app_hand.now.grab = input
.get_digital_action_data(self.grab_hnd, hand.input_hnd)
.map(|x| x.0.bState)
.unwrap_or(false);
hand.now.alt_click = input
.get_digital_action_data(self.data.alt_click_hnd, hand.data.input_hnd)
app_hand.now.alt_click = input
.get_digital_action_data(self.alt_click_hnd, hand.input_hnd)
.map(|x| x.0.bState)
.unwrap_or(false);
hand.now.show_hide = input
.get_digital_action_data(self.data.show_hide_hnd, hand.data.input_hnd)
app_hand.now.show_hide = input
.get_digital_action_data(self.show_hide_hnd, hand.input_hnd)
.map(|x| x.0.bState)
.unwrap_or(false);
hand.now.space_drag = input
.get_digital_action_data(self.data.space_drag_hnd, hand.data.input_hnd)
app_hand.now.space_drag = input
.get_digital_action_data(self.space_drag_hnd, hand.input_hnd)
.map(|x| x.0.bState)
.unwrap_or(false);
hand.now.click_modifier_right = input
.get_digital_action_data(self.data.click_modifier_right_hnd, hand.data.input_hnd)
app_hand.now.click_modifier_right = input
.get_digital_action_data(self.click_modifier_right_hnd, hand.input_hnd)
.map(|x| x.0.bState)
.unwrap_or(false);
hand.now.click_modifier_middle = input
.get_digital_action_data(self.data.click_modifier_middle_hnd, hand.data.input_hnd)
app_hand.now.click_modifier_middle = input
.get_digital_action_data(self.click_modifier_middle_hnd, hand.input_hnd)
.map(|x| x.0.bState)
.unwrap_or(false);
hand.now.scroll = input
.get_analog_action_data(self.data.scroll_hnd, hand.data.input_hnd)
app_hand.now.scroll = input
.get_analog_action_data(self.scroll_hnd, hand.input_hnd)
.map(|x| x.0.y)
.unwrap_or(0.0);
}
let devices = system.get_device_to_absolute_tracking_pose(universe, 0.005);
copy_from_hmd(&devices[0].mDeviceToAbsoluteTracking, &mut self.hmd);
copy_from_hmd(
&devices[0].mDeviceToAbsoluteTracking,
&mut app.input_state.hmd,
);
}
pub fn update_devices(&mut self, system: &mut SystemManager) {
self.devices.clear();
pub fn update_devices(&mut self, system: &mut SystemManager, app: &mut AppState) {
app.input_state.devices.clear();
for i in 0..k_unMaxTrackedDeviceCount {
let index = TrackedDeviceIndex(i);
let maybe_role = match system.get_tracked_device_class(index) {
@@ -234,11 +231,11 @@ impl InputState<OpenVrInputState, OpenVrHandState> {
if let Some(role) = maybe_role {
if let Some(device) = get_tracked_device(system, index, role) {
self.devices.push(device);
app.input_state.devices.push(device);
}
}
}
self.devices.sort_by(|a, b| {
app.input_state.devices.sort_by(|a, b| {
(a.role as u8)
.cmp(&(b.role as u8))
.then(a.index.0.cmp(&b.index.0))

51
src/backend/openvr/mod.rs
View File

@@ -14,14 +14,17 @@ use vulkano::{
Handle, VulkanObject,
};
use crate::{backend::openvr::lines::LinePool, state::AppState};
use crate::{
backend::{
input::interact,
openvr::{input::OpenVrInputSource, lines::LinePool},
},
state::AppState,
};
use self::{input::action_manifest_path, overlay::OpenVrOverlayData};
use super::{
common::{OverlayContainer, TaskType},
input::InputState,
};
use super::common::{OverlayContainer, TaskType};
pub mod input;
pub mod lines;
@@ -55,14 +58,14 @@ pub fn openvr_run() {
let mut state = AppState::new(instance_extensions, device_extensions_fn);
let mut overlays = OverlayContainer::<OpenVrOverlayData>::new(&mut state);
state.input.set_desktop_extent(overlays.extent);
state.hid_provider.set_desktop_extent(overlays.extent);
if let Err(e) = input_mngr.set_action_manifest(action_manifest_path()) {
log::error!("Failed to set action manifest: {}", e.description());
return;
};
let Ok(mut input) = InputState::new(&mut input_mngr) else {
let Ok(mut input_source) = OpenVrInputSource::new(&mut input_mngr) else {
log::error!("Failed to initialize input");
return;
};
@@ -82,8 +85,10 @@ pub fn openvr_run() {
let mut due_tasks = VecDeque::with_capacity(4);
let mut lines = LinePool::new(state.graphics.clone());
input.pointers[0].data.line_id = lines.allocate(&mut overlay_mngr, &mut state);
input.pointers[1].data.line_id = lines.allocate(&mut overlay_mngr, &mut state);
let pointer_lines = [
lines.allocate(&mut overlay_mngr, &mut state),
lines.allocate(&mut overlay_mngr, &mut state),
];
loop {
while let Some(event) = system_mngr.poll_next_event() {
@@ -102,7 +107,7 @@ pub fn openvr_run() {
}
if next_device_update <= Instant::now() {
input.update_devices(&mut system_mngr);
input_source.update_devices(&mut system_mngr, &mut state);
next_device_update = Instant::now() + Duration::from_secs(30);
}
@@ -118,19 +123,19 @@ pub fn openvr_run() {
}
}
input.pre_update();
input.update(&mut input_mngr, &mut system_mngr);
input.post_update();
state.input_state.pre_update();
input_source.update(&mut input_mngr, &mut system_mngr, &mut state);
state.input_state.post_update();
input.pointers.iter_mut().for_each(|p| {
let dist = p.interact(&mut overlays, &mut state);
if dist > 0.001 {
lines.draw_from(p.data.line_id, p.pose, dist, Vec4::ONE);
} else {
lines.draw_from(p.data.line_id, p.pose, 20.0, Vec4::ONE);
// lines.hide(p.data.line_id);
}
});
let pointer_lengths = interact(&mut overlays, &mut state);
for (idx, len) in pointer_lengths.iter().enumerate() {
lines.draw_from(
pointer_lines[idx],
state.input_state.pointers[idx].pose,
*len,
Vec4::ONE,
);
}
lines.update(&mut overlay_mngr, &mut state);
@@ -157,7 +162,7 @@ pub fn openvr_run() {
// playspace moved end frame
state.input.on_new_frame();
state.hid_provider.on_new_frame();
let mut seconds_since_vsync = 0f32;
std::thread::sleep(Duration::from_secs_f32(

50
src/backend/overlay.rs
View File

@@ -1,9 +1,12 @@
use std::sync::{
atomic::{AtomicUsize, Ordering},
Arc,
use std::{
f32::consts::PI,
sync::{
atomic::{AtomicUsize, Ordering},
Arc,
},
};
use glam::{Affine2, Affine3A, Quat, Vec3A};
use glam::{Affine2, Affine3A, Mat3A, Quat, Vec3, Vec3A};
use vulkano::image::ImageViewAbstract;
use crate::state::AppState;
@@ -80,6 +83,45 @@ impl OverlayState {
pub fn reset(&mut self, _app: &mut AppState) {
todo!()
}
pub fn realign(&mut self, hmd: &Affine3A) {
let to_hmd = hmd.translation - self.transform.translation;
let up_dir: Vec3A;
if hmd.x_axis.dot(Vec3A::Y).abs() > 0.2 {
// Snap upright
up_dir = hmd.y_axis;
} else {
let dot = to_hmd.normalize().dot(hmd.z_axis);
let z_dist = to_hmd.length();
let y_dist = (self.transform.translation.y - hmd.translation.y).abs();
let x_angle = (y_dist / z_dist).asin();
if dot < -f32::EPSILON {
// facing down
let up_point = hmd.translation + z_dist / x_angle.cos() * Vec3A::Y;
up_dir = (up_point - self.transform.translation).normalize();
} else if dot > f32::EPSILON {
// facing up
let dn_point = hmd.translation + z_dist / x_angle.cos() * Vec3A::NEG_Y;
up_dir = (self.transform.translation - dn_point).normalize();
} else {
// perfectly upright
up_dir = Vec3A::Y;
}
}
let scale = self.transform.x_axis.length();
let col_z = (self.transform.translation - hmd.translation).normalize();
let col_y = up_dir;
let col_x = col_y.cross(col_z);
let col_y = col_z.cross(col_x).normalize();
let col_x = col_x.normalize();
let rot = Mat3A::from_quat(self.spawn_rotation)
* Mat3A::from_quat(Quat::from_axis_angle(Vec3::Y, PI));
self.transform.matrix3 = Mat3A::from_cols(col_x, col_y, col_z).mul_scalar(scale) * rot;
}
}
impl<T> OverlayData<T>