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Expose OpenXR raw hand tracking data #78032

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Sep 7, 2023
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Expose OpenXR raw hand tracking data #78032

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153 changes: 153 additions & 0 deletions modules/openxr/doc_classes/OpenXRInterface.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,53 @@
Returns display refresh rates supported by the current HMD. Only returned if this feature is supported by the OpenXR runtime and after the interface has been initialized.
</description>
</method>
<method name="get_hand_joint_angular_velocity" qualifiers="const">
<return type="Vector3" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
<description>
If handtracking is enabled, returns the angular velocity of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is relative to [XROrigin3D]!
</description>
</method>
<method name="get_hand_joint_linear_velocity" qualifiers="const">
<return type="Vector3" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
<description>
If handtracking is enabled, returns the linear velocity of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is relative to [XROrigin3D] without worldscale applied!
</description>
</method>
<method name="get_hand_joint_position" qualifiers="const">
<return type="Vector3" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
<description>
If handtracking is enabled, returns the position of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is relative to [XROrigin3D] without worldscale applied!
</description>
</method>
<method name="get_hand_joint_radius" qualifiers="const">
<return type="float" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
<description>
If handtracking is enabled, returns the radius of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR. This is without worldscale applied!
</description>
</method>
<method name="get_hand_joint_rotation" qualifiers="const">
<return type="Quaternion" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="joint" type="int" enum="OpenXRInterface.HandJoints" />
<description>
If handtracking is enabled, returns the rotation of a joint ([param joint]) of a hand ([param hand]) as provided by OpenXR.
</description>
</method>
<method name="get_motion_range" qualifiers="const">
<return type="int" enum="OpenXRInterface.HandMotionRange" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<description>
If handtracking is enabled and motion range is supported, gets the currently configured motion range for [param hand].
</description>
</method>
<method name="is_action_set_active" qualifiers="const">
<return type="bool" />
<param index="0" name="name" type="String" />
Expand All @@ -38,6 +85,14 @@
Sets the given action set as active or inactive.
</description>
</method>
<method name="set_motion_range">
<return type="void" />
<param index="0" name="hand" type="int" enum="OpenXRInterface.Hand" />
<param index="1" name="motion_range" type="int" enum="OpenXRInterface.HandMotionRange" />
<description>
If handtracking is enabled and motion range is supported, sets the currently configured motion range for [param hand] to [param motion_range].
</description>
</method>
</methods>
<members>
<member name="display_refresh_rate" type="float" setter="set_display_refresh_rate" getter="get_display_refresh_rate" default="0.0">
Expand Down Expand Up @@ -74,4 +129,102 @@
</description>
</signal>
</signals>
<constants>
<constant name="HAND_LEFT" value="0" enum="Hand">
Left hand.
</constant>
<constant name="HAND_RIGHT" value="1" enum="Hand">
Right hand.
</constant>
<constant name="HAND_MAX" value="2" enum="Hand">
Maximum value for the hand enum.
</constant>
<constant name="HAND_MOTION_RANGE_UNOBSTRUCTED" value="0" enum="HandMotionRange">
</constant>
<constant name="HAND_MOTION_RANGE_CONFORM_TO_CONTROLLER" value="1" enum="HandMotionRange">
</constant>
<constant name="HAND_MOTION_RANGE_MAX" value="2" enum="HandMotionRange">
</constant>
<constant name="HAND_JOINT_PALM" value="0" enum="HandJoints">
Palm joint.
</constant>
<constant name="HAND_JOINT_WRIST" value="1" enum="HandJoints">
Wrist joint.
</constant>
<constant name="HAND_JOINT_THUMB_METACARPAL" value="2" enum="HandJoints">
Thumb metacarpal joint.
</constant>
<constant name="HAND_JOINT_THUMB_PROXIMAL" value="3" enum="HandJoints">
Thumb proximal joint.
</constant>
<constant name="HAND_JOINT_THUMB_DISTAL" value="4" enum="HandJoints">
Thumb distal joint.
</constant>
<constant name="HAND_JOINT_THUMB_TIP" value="5" enum="HandJoints">
Thumb tip joint.
</constant>
<constant name="HAND_JOINT_INDEX_METACARPAL" value="6" enum="HandJoints">
Index metacarpal joint.
</constant>
<constant name="HAND_JOINT_INDEX_PROXIMAL" value="7" enum="HandJoints">
Index proximal joint.
</constant>
<constant name="HAND_JOINT_INDEX_INTERMEDIATE" value="8" enum="HandJoints">
Index intermediate joint.
</constant>
<constant name="HAND_JOINT_INDEX_DISTAL" value="9" enum="HandJoints">
Index distal joint.
</constant>
<constant name="HAND_JOINT_INDEX_TIP" value="10" enum="HandJoints">
Index tip joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_METACARPAL" value="11" enum="HandJoints">
Middle metacarpal joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_PROXIMAL" value="12" enum="HandJoints">
Middle proximal joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_INTERMEDIATE" value="13" enum="HandJoints">
Middle intermediate joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_DISTAL" value="14" enum="HandJoints">
Middle distal joint.
</constant>
<constant name="HAND_JOINT_MIDDLE_TIP" value="15" enum="HandJoints">
Middle tip joint.
</constant>
<constant name="HAND_JOINT_RING_METACARPAL" value="16" enum="HandJoints">
Ring metacarpal joint.
</constant>
<constant name="HAND_JOINT_RING_PROXIMAL" value="17" enum="HandJoints">
Ring proximal joint.
</constant>
<constant name="HAND_JOINT_RING_INTERMEDIATE" value="18" enum="HandJoints">
Ring intermediate joint.
</constant>
<constant name="HAND_JOINT_RING_DISTAL" value="19" enum="HandJoints">
Ring distal joint.
</constant>
<constant name="HAND_JOINT_RING_TIP" value="20" enum="HandJoints">
Ring tip joint.
</constant>
<constant name="HAND_JOINT_LITTLE_METACARPAL" value="21" enum="HandJoints">
Little metacarpal joint.
</constant>
<constant name="HAND_JOINT_LITTLE_PROXIMAL" value="22" enum="HandJoints">
Little proximal joint.
</constant>
<constant name="HAND_JOINT_LITTLE_INTERMEDIATE" value="23" enum="HandJoints">
Little intermediate joint.
</constant>
<constant name="HAND_JOINT_LITTLE_DISTAL" value="24" enum="HandJoints">
Little distal joint.
</constant>
<constant name="HAND_JOINT_LITTLE_TIP" value="25" enum="HandJoints">
Little tip joint.
</constant>
<constant name="HAND_JOINT_MAX" value="26" enum="HandJoints">
Maximum value for the hand joint enum.
</constant>
</constants>
</class>
59 changes: 59 additions & 0 deletions modules/openxr/extensions/openxr_hand_tracking_extension.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -276,3 +276,62 @@ void OpenXRHandTrackingExtension::set_motion_range(uint32_t p_hand, XrHandJoints
ERR_FAIL_UNSIGNED_INDEX(p_hand, MAX_OPENXR_TRACKED_HANDS);
hand_trackers[p_hand].motion_range = p_motion_range;
}

Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Quaternion());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Quaternion());

if (!hand_trackers[p_hand].is_initialized) {
return Quaternion();
}

const XrHandJointLocationEXT &location = hand_trackers[p_hand].joint_locations[p_joint];
return Quaternion(location.pose.orientation.x, location.pose.orientation.y, location.pose.orientation.z, location.pose.orientation.w);
}

Vector3 OpenXRHandTrackingExtension::get_hand_joint_position(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());

if (!hand_trackers[p_hand].is_initialized) {
return Vector3();
}

const XrHandJointLocationEXT &location = hand_trackers[p_hand].joint_locations[p_joint];
return Vector3(location.pose.position.x, location.pose.position.y, location.pose.position.z);
}

float OpenXRHandTrackingExtension::get_hand_joint_radius(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, 0.0);
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, 0.0);

if (!hand_trackers[p_hand].is_initialized) {
return 0.0;
}

return hand_trackers[p_hand].joint_locations[p_joint].radius;
}

Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());

if (!hand_trackers[p_hand].is_initialized) {
return Vector3();
}

const XrHandJointVelocityEXT &velocity = hand_trackers[p_hand].joint_velocities[p_joint];
return Vector3(velocity.linearVelocity.x, velocity.linearVelocity.y, velocity.linearVelocity.z);
}

Vector3 OpenXRHandTrackingExtension::get_hand_joint_angular_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const {
ERR_FAIL_UNSIGNED_INDEX_V(p_hand, MAX_OPENXR_TRACKED_HANDS, Vector3());
ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());

if (!hand_trackers[p_hand].is_initialized) {
return Vector3();
}

const XrHandJointVelocityEXT &velocity = hand_trackers[p_hand].joint_velocities[p_joint];
return Vector3(velocity.angularVelocity.x, velocity.angularVelocity.y, velocity.angularVelocity.z);
}
8 changes: 8 additions & 0 deletions modules/openxr/extensions/openxr_hand_tracking_extension.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
#define OPENXR_HAND_TRACKING_EXTENSION_H

#include "../util.h"
#include "core/math/quaternion.h"
#include "openxr_extension_wrapper.h"

#define MAX_OPENXR_TRACKED_HANDS 2
Expand Down Expand Up @@ -73,6 +74,13 @@ class OpenXRHandTrackingExtension : public OpenXRExtensionWrapper {
XrHandJointsMotionRangeEXT get_motion_range(uint32_t p_hand) const;
void set_motion_range(uint32_t p_hand, XrHandJointsMotionRangeEXT p_motion_range);

Quaternion get_hand_joint_rotation(uint32_t p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_position(uint32_t p_hand, XrHandJointEXT p_joint) const;
float get_hand_joint_radius(uint32_t p_hand, XrHandJointEXT p_joint) const;

Vector3 get_hand_joint_linear_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const;
Vector3 get_hand_joint_angular_velocity(uint32_t p_hand, XrHandJointEXT p_joint) const;

private:
static OpenXRHandTrackingExtension *singleton;

Expand Down
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