311 lines
15 KiB
C#
311 lines
15 KiB
C#
/*******************************************************************************
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Copyright © 2015-2022 PICO Technology Co., Ltd.All rights reserved.
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NOTICE：All information contained herein is, and remains the property of
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PICO Technology Co., Ltd. The intellectual and technical concepts
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contained herein are proprietary to PICO Technology Co., Ltd. and may be
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covered by patents, patents in process, and are protected by trade secret or
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copyright law. Dissemination of this information or reproduction of this
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material is strictly forbidden unless prior written permission is obtained from
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PICO Technology Co., Ltd.
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*******************************************************************************/
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using Unity.Collections;
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using UnityEngine;
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using UnityEngine.Scripting;
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using System.Runtime.CompilerServices;
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#if XR_HANDS
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using UnityEngine.XR.Hands;
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using UnityEngine.XR.Hands.ProviderImplementation;
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namespace Unity.XR.PXR
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{
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[Preserve]
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/// <summary>
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/// Implement Unity XRHandSubSystem
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/// Reference: https://docs.unity3d.com/Packages/com.unity.xr.hands@1.1/manual/implement-a-provider.html
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/// </summary>
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public class PXR_HandSubSystem : XRHandSubsystem
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{
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XRHandProviderUtility.SubsystemUpdater m_Updater;
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// This method registers the subsystem descriptor with the SubsystemManager
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[RuntimeInitializeOnLoadMethod(RuntimeInitializeLoadType.SubsystemRegistration)]
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static void RegisterDescriptor()
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{
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var handsSubsystemCinfo = new XRHandSubsystemDescriptor.Cinfo
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{
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id = "PICO Hands",
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providerType = typeof(PXRHandSubsystemProvider),
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subsystemTypeOverride = typeof(PXR_HandSubSystem)
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};
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XRHandSubsystemDescriptor.Register(handsSubsystemCinfo);
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}
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protected override void OnCreate()
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{
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base.OnCreate();
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m_Updater = new XRHandProviderUtility.SubsystemUpdater(this);
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}
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protected override void OnStart()
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{
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Debug.Log("PXR_HandSubSystem Start");
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m_Updater.Start();
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base.OnStart();
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}
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protected override void OnStop()
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{
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m_Updater.Stop();
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base.OnStop();
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}
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protected override void OnDestroy()
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{
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m_Updater.Destroy();
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m_Updater = null;
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base.OnDestroy();
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}
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class PXRHandSubsystemProvider : XRHandSubsystemProvider
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{
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HandJointLocations jointLocations = new HandJointLocations();
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readonly HandLocationStatus AllStatus = HandLocationStatus.PositionTracked | HandLocationStatus.PositionValid |
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HandLocationStatus.OrientationTracked | HandLocationStatus.OrientationValid;
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bool isValid = false;
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public override void Start()
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{
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}
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public override void Stop()
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{
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}
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public override void Destroy()
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{
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}
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/// <summary>
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/// Mapping the PICO Joint Index To Unity Joint Index
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/// </summary>
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static int[] pxrJointIndexToUnityJointIndexMapping;
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static void Initialize()
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{
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if (pxrJointIndexToUnityJointIndexMapping == null)
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{
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pxrJointIndexToUnityJointIndexMapping = new int[(int)HandJoint.JointMax];
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointPalm] = XRHandJointID.Palm.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointWrist] = XRHandJointID.Wrist.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointThumbMetacarpal] = XRHandJointID.ThumbMetacarpal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointThumbProximal] = XRHandJointID.ThumbProximal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointThumbDistal] = XRHandJointID.ThumbDistal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointThumbTip] = XRHandJointID.ThumbTip.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointIndexMetacarpal] = XRHandJointID.IndexMetacarpal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointIndexProximal] = XRHandJointID.IndexProximal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointIndexIntermediate] = XRHandJointID.IndexIntermediate.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointIndexDistal] = XRHandJointID.IndexDistal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointIndexTip] = XRHandJointID.IndexTip.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointMiddleMetacarpal] = XRHandJointID.MiddleMetacarpal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointMiddleProximal] = XRHandJointID.MiddleProximal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointMiddleIntermediate] = XRHandJointID.MiddleIntermediate.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointMiddleDistal] = XRHandJointID.MiddleDistal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointMiddleTip] = XRHandJointID.MiddleTip.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointRingMetacarpal] = XRHandJointID.RingMetacarpal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointRingProximal] = XRHandJointID.RingProximal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointRingIntermediate] = XRHandJointID.RingIntermediate.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointRingDistal] = XRHandJointID.RingDistal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointRingTip] = XRHandJointID.RingTip.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointLittleMetacarpal] = XRHandJointID.LittleMetacarpal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointLittleProximal] = XRHandJointID.LittleProximal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointLittleIntermediate] = XRHandJointID.LittleIntermediate.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointLittleDistal] = XRHandJointID.LittleDistal.ToIndex();
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pxrJointIndexToUnityJointIndexMapping[(int)HandJoint.JointLittleTip] = XRHandJointID.LittleTip.ToIndex();
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}
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}
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/// <summary>
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/// Gets the layout of hand joints for this provider, by having the
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/// provider mark each index corresponding to a <see cref="XRHandJointID"/>
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/// get marked as <see langword="true"/> if the provider attempts to track
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/// that joint.
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/// </summary>
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/// <remarks>
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/// Called once on creation so that before the subsystem is even started,
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/// so the user can immediately create a valid hierarchical structure as
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/// soon as they get a reference to the subsystem without even needing to
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/// start it.
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/// </remarks>
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/// <param name="handJointsInLayout">
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/// Each index corresponds to a <see cref="XRHandJointID"/>. For each
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/// joint that the provider will attempt to track, mark that spot as
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/// <see langword="true"/> by calling <c>.ToIndex()</c> on that ID.
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/// </param>
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public override void GetHandLayout(NativeArray<bool> handJointsInLayout)
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{
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Initialize();
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handJointsInLayout[XRHandJointID.Palm.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.Wrist.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.ThumbMetacarpal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.ThumbProximal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.ThumbDistal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.ThumbTip.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.IndexMetacarpal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.IndexProximal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.IndexIntermediate.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.IndexDistal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.IndexTip.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.MiddleMetacarpal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.MiddleProximal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.MiddleIntermediate.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.MiddleDistal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.MiddleTip.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.RingMetacarpal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.RingProximal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.RingIntermediate.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.RingDistal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.RingTip.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.LittleMetacarpal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.LittleProximal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.LittleIntermediate.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.LittleDistal.ToIndex()] = true;
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handJointsInLayout[XRHandJointID.LittleTip.ToIndex()] = true;
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isValid = true;
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}
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/// <summary>
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/// Attempts to retrieve current hand-tracking data from the provider.
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/// </summary>
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public override XRHandSubsystem.UpdateSuccessFlags TryUpdateHands(
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XRHandSubsystem.UpdateType updateType,
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ref UnityEngine.Pose leftHandRootPose,
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NativeArray<XRHandJoint> leftHandJoints,
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ref UnityEngine.Pose rightHandRootPose,
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NativeArray<XRHandJoint> rightHandJoints)
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{
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if (!isValid)
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return XRHandSubsystem.UpdateSuccessFlags.None;
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XRHandSubsystem.UpdateSuccessFlags ret = UpdateSuccessFlags.None;
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const int handRootIndex = (int)HandJoint.JointWrist;
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if (PXR_HandTracking.GetJointLocations(HandType.HandLeft, ref jointLocations))
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{
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if (jointLocations.isActive != 0U)
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{
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for (int index = 0, jointCount = (int)jointLocations.jointCount; index < jointCount; ++index)
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{
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ref HandJointLocation joint = ref jointLocations.jointLocations[index];
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int unityHandJointIndex = pxrJointIndexToUnityJointIndexMapping[index];
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leftHandJoints[unityHandJointIndex] = CreateXRHandJoint(Handedness.Left, unityHandJointIndex, joint);
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if (index == handRootIndex)
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{
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leftHandRootPose = PXRPosefToUnityPose(joint.pose);
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ret |= UpdateSuccessFlags.LeftHandRootPose;
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}
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}
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ret |= UpdateSuccessFlags.LeftHandJoints;
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}
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}
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if (PXR_HandTracking.GetJointLocations(HandType.HandRight, ref jointLocations))
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{
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if (jointLocations.isActive != 0U)
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{
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for (int index = 0, jointCount = (int)jointLocations.jointCount; index < jointCount; ++index)
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{
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ref HandJointLocation joint = ref jointLocations.jointLocations[index];
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int unityHandJointIndex = pxrJointIndexToUnityJointIndexMapping[index];
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rightHandJoints[unityHandJointIndex] = CreateXRHandJoint(Handedness.Right, unityHandJointIndex, joint);
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if (index == handRootIndex)
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{
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rightHandRootPose = PXRPosefToUnityPose(joint.pose);
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ret |= UpdateSuccessFlags.RightHandRootPose;
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}
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}
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ret |= UpdateSuccessFlags.RightHandJoints;
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}
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}
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return ret;
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}
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/// <summary>
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/// Create Unity XRHandJoint From PXR HandJointLocation
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/// </summary>
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/// <param name="handedness"></param>
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/// <param name="unityHandJointIndex"></param>
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/// <param name="joint"></param>
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/// <returns></returns>
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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XRHandJoint CreateXRHandJoint(Handedness handedness, int unityHandJointIndex, in HandJointLocation joint)
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{
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UnityEngine.Pose pose = UnityEngine.Pose.identity;
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XRHandJointTrackingState state = XRHandJointTrackingState.None;
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if ((joint.locationStatus & AllStatus) == AllStatus)
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{
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state = (XRHandJointTrackingState.Pose | XRHandJointTrackingState.Radius);
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pose = PXRPosefToUnityPose(joint.pose);
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}
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return XRHandProviderUtility.CreateJoint(handedness,
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state,
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XRHandJointIDUtility.FromIndex(unityHandJointIndex),
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pose, joint.radius
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);
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}
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/// <summary>
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/// PXR's Posef to Unity'Pose
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/// </summary>
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/// <param name="pxrPose"></param>
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/// <returns></returns>
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[MethodImpl(MethodImplOptions.AggressiveInlining)]
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UnityEngine.Pose PXRPosefToUnityPose(in Unity.XR.PXR.Posef pxrPose)
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{
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Vector3 position = pxrPose.Position.ToVector3();
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Quaternion orientation = pxrPose.Orientation.ToQuat();
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return new UnityEngine.Pose(position, orientation);
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}
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}
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}
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}
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#endif //XR_HANDS |