OpenXR all hand tracking and controller features

xr/OpenXRHandTrackingDemo/FlatDisplay.tscn

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+[gd_scene format=3 uid="uid://dd35twe7yvkqf"]
+
+[node name="FlatDisplay" type="Control"]
+layout_mode = 3
+anchors_preset = 0
+offset_right = 1148.0
+offset_bottom = 643.0
+
+[node name="ColorRect" type="ColorRect" parent="."]
+visible = false
+custom_minimum_size = Vector2(100, 100)
+layout_mode = 0
+offset_left = 484.0
+offset_top = 20.0
+offset_right = 584.0
+offset_bottom = 120.0
+color = Color(0.305882, 1, 1, 1)
+
+[node name="VBoxTrackers0" type="VBoxContainer" parent="."]
+layout_mode = 2
+offset_left = 30.0
+offset_right = 99.0
+offset_bottom = 40.0
+
+[node name="Button" type="Button" parent="VBoxTrackers0"]
+layout_mode = 2
+theme_override_colors/font_pressed_color = Color(0.878431, 0.917647, 0.0627451, 1)
+theme_override_colors/font_outline_color = Color(0, 0.631373, 1, 1)
+toggle_mode = true
+text = "sdfkkkk"
+
+[node name="VBoxTrackers1" type="VBoxContainer" parent="."]
+layout_mode = 2
+anchor_right = 0.099
+offset_left = 650.0
+offset_right = 605.348
+offset_bottom = 40.0
+
+[node name="Button" type="Button" parent="VBoxTrackers1"]
+layout_mode = 2
+theme_override_colors/font_pressed_color = Color(0.878431, 0.917647, 0.0627451, 1)
+theme_override_colors/font_outline_color = Color(0, 0.631373, 1, 1)
+toggle_mode = true
+text = "sdfkkkk"
+
+[node name="VSlider0trigger" type="VSlider" parent="."]
+layout_mode = 2
+offset_left = 218.0
+offset_top = 20.0
+offset_right = 252.0
+offset_bottom = 235.0
+value = 20.0
+
+[node name="VSlider0grip" type="VSlider" parent="."]
+layout_mode = 2
+offset_left = 255.0
+offset_top = 20.0
+offset_right = 289.0
+offset_bottom = 235.0
+value = 20.0
+
+[node name="VSlider1trigger" type="VSlider" parent="."]
+layout_mode = 2
+offset_left = 567.0
+offset_top = 20.0
+offset_right = 601.0
+offset_bottom = 235.0
+value = 20.0
+
+[node name="VSlider1grip" type="VSlider" parent="."]
+layout_mode = 2
+offset_left = 603.0
+offset_top = 20.0
+offset_right = 637.0
+offset_bottom = 235.0
+value = 20.0
+
+[node name="Thumbstick0" type="ColorRect" parent="."]
+layout_mode = 0
+offset_left = 319.0
+offset_top = 160.0
+offset_right = 399.0
+offset_bottom = 240.0
+color = Color(0, 0.482353, 0.482353, 1)
+
+[node name="Pos" type="ColorRect" parent="Thumbstick0"]
+layout_mode = 0
+offset_left = 10.0
+offset_top = 10.0
+offset_right = 20.0
+offset_bottom = 20.0
+color = Color(1, 0.588235, 0.988235, 1)
+
+[node name="Thumbstick1" type="ColorRect" parent="."]
+layout_mode = 0
+offset_left = 460.0
+offset_top = 160.0
+offset_right = 540.0
+offset_bottom = 240.0
+color = Color(0, 0.482353, 0.482353, 1)
+
+[node name="Pos" type="ColorRect" parent="Thumbstick1"]
+layout_mode = 0
+offset_left = 60.0
+offset_top = 10.0
+offset_right = 70.0
+offset_bottom = 20.0
+color = Color(1, 0.588235, 0.988235, 1)

xr/OpenXRHandTrackingDemo/HandJoints.gd

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+extends Node3D
+
+var hjtips = [ OpenXRInterface.HAND_JOINT_THUMB_TIP, OpenXRInterface.HAND_JOINT_INDEX_TIP, OpenXRInterface.HAND_JOINT_MIDDLE_TIP, 
+			   OpenXRInterface.HAND_JOINT_RING_TIP, OpenXRInterface.HAND_JOINT_LITTLE_TIP ]
+
+var hjsticks = [ [ OpenXRInterface.HAND_JOINT_WRIST, OpenXRInterface.HAND_JOINT_THUMB_METACARPAL, OpenXRInterface.HAND_JOINT_THUMB_PROXIMAL, OpenXRInterface.HAND_JOINT_THUMB_DISTAL, OpenXRInterface.HAND_JOINT_THUMB_TIP ],
+				 [ OpenXRInterface.HAND_JOINT_WRIST, OpenXRInterface.HAND_JOINT_INDEX_METACARPAL, OpenXRInterface.HAND_JOINT_INDEX_PROXIMAL, OpenXRInterface.HAND_JOINT_INDEX_INTERMEDIATE, OpenXRInterface.HAND_JOINT_INDEX_DISTAL, OpenXRInterface.HAND_JOINT_INDEX_TIP ],
+				 [ OpenXRInterface.HAND_JOINT_WRIST, OpenXRInterface.HAND_JOINT_MIDDLE_METACARPAL, OpenXRInterface.HAND_JOINT_MIDDLE_PROXIMAL, OpenXRInterface.HAND_JOINT_MIDDLE_INTERMEDIATE, OpenXRInterface.HAND_JOINT_MIDDLE_DISTAL, OpenXRInterface.HAND_JOINT_MIDDLE_TIP ],
+				 [ OpenXRInterface.HAND_JOINT_WRIST, OpenXRInterface.HAND_JOINT_RING_METACARPAL, OpenXRInterface.HAND_JOINT_RING_PROXIMAL, OpenXRInterface.HAND_JOINT_RING_INTERMEDIATE, OpenXRInterface.HAND_JOINT_RING_DISTAL, OpenXRInterface.HAND_JOINT_RING_TIP ],
+				 [ OpenXRInterface.HAND_JOINT_WRIST, OpenXRInterface.HAND_JOINT_LITTLE_METACARPAL, OpenXRInterface.HAND_JOINT_LITTLE_PROXIMAL, OpenXRInterface.HAND_JOINT_LITTLE_INTERMEDIATE, OpenXRInterface.HAND_JOINT_LITTLE_DISTAL, OpenXRInterface.HAND_JOINT_LITTLE_TIP ]
+			   ]
+
+var xr_interface : OpenXRInterface
+var xr_tracker_head : XRPositionalTracker
+var xr_tracker_hands = [ ]
+var xr_play_area : PackedVector3Array
+
+@onready var flat_display = $FrontOfPlayer/FlatDisplayMesh/SubViewport/FlatDisplay
+@onready var joints3D = $Joints3D
+@onready var joints2D = $FrontOfPlayer/Joints2D
+
+var buttonsignalnames = [ 
+	"select_button", "menu_button", 
+	"trigger_touch", "trigger_click", 
+	"grip_touch", "grip_click", 
+	"primary_touch", "primary_click", 
+	"ax_touch", "ax_button",
+	"by_touch", "by_button",
+]
+
+# Set up the displayed axes for each hand and each joint of the hand 
+func _ready():
+	var axes3dscene = load("res://axes3d.tscn")
+	var stickscene = load("res://stick.tscn")
+
+	for hand in range(2):
+		var LRd = "L%d" if hand == 0 else "R%d"
+
+		# Make the axes for each hand joint
+		for j in range(OpenXRInterface.HAND_JOINT_MAX):
+			var rj = axes3dscene.instantiate()
+			rj.name = LRd % j
+			rj.scale = Vector3(0.01, 0.01, 0.01)
+			rj.get_node("SkinPad").visible = true
+			rj.get_node("TipPad").visible = hjtips.has(j)
+			joints3D.add_child(rj)
+
+			# static copy of each joint arranged on 2D panel
+			var rjf = axes3dscene.instantiate()
+			rjf.name = LRd % j
+			rjf.scale = Vector3(0.01, 0.01, 0.01)
+			var p = flatlefthandjointsfromwrist[j]
+			rjf.transform.origin = Vector3(p.x - 0.12, -p.z, p.y) if hand == 0 else Vector3(-p.x + 0.12, -p.z, p.y)
+			joints2D.add_child(rjf)
+
+		# Make the white sticks between connecting joints to see the skeleton 
+		var LRstick = "L%dt%d" if hand == 0 else "R%dt%d"
+		for hjstick in hjsticks:
+			for i in range(0, len(hjstick)-1):
+				var rstick = stickscene.instantiate()
+				var j1 = hjstick[i]
+				var j2 = hjstick[i+1]
+				rstick.name = LRstick % [j1, j2]
+				rstick.scale = Vector3(0.01, 0.01, 0.01)
+				joints3D.add_child(rstick)
+
+				var rstickf = stickscene.instantiate()
+				rstickf.name = LRstick % [hjstick[i], hjstick[i+1]]
+				joints2D.add_child(rstickf)
+				rstickf.transform = sticktransform(joints2D.get_node(LRd % j1).transform.origin, joints2D.get_node(LRd % j2).transform.origin)
+
+				joints3D.get_node(LRd % hjstick[i+1]).get_node("Sphere").visible = (i > 0)
+
+
+		# Make the main pose axes for grip,aim (valid for hand and controller) 
+		var LRpose = "L%s" if hand == 0 else "R%s"
+		for posename in [ "grip", "aim"]:
+			var rpose = axes3dscene.instantiate()
+			rpose.name = LRpose % posename
+			rpose.scale = Vector3(0.05, 0.05, 0.05)
+			joints3D.add_child(rpose)
+
+		# Make the toggle buttons that show the activated button signals
+		var vboxsignals = flat_display.get_node("VBoxTrackers%d" % hand)
+		var buttonsig = vboxsignals.get_child(0)
+		vboxsignals.remove_child(buttonsig)
+		for bn in buttonsignalnames:
+			var bs = buttonsig.duplicate()
+			bs.text = bn
+			bs.name = bn
+			vboxsignals.add_child(bs)
+
+		# Make the labels for the finger lengths
+		var flatdisplaymesh = flat_display.get_parent().get_parent()
+		var subviewport = flat_display.get_parent()
+		for j in hjtips:
+			var p = joints2D.get_node(LRd % j).transform.origin
+			var p1 = flatdisplaymesh.transform.inverse() * p
+			var p2 = Vector2((p1.x*1.1 + flatdisplaymesh.mesh.size.x*0.5)/flatdisplaymesh.mesh.size.x, (p1.y + flatdisplaymesh.mesh.size.y*0.5)/flatdisplaymesh.mesh.size.y)
+			var p3 = Vector2(p2.x * subviewport.size.x, (1-p2.y) * subviewport.size.y)
+			var fingerlenglab = Label.new()
+			fingerlenglab.text = LRd%j
+			fingerlenglab.name = "FL_"+(LRd%j)
+			fingerlenglab.position = p3
+			flat_display.add_child(fingerlenglab)
+
+	get_node("Joints3D/L0").transform.origin = Vector3(0,1.7,-0.2)
+
+
+func _button_signal(name, hand, pressed):
+	var buttonsig = flat_display.get_node_or_null("VBoxTrackers%d/%s" % [ hand, name ])
+	if buttonsig:
+		buttonsig.button_pressed = pressed
+	else:
+		print("buttonsignal ", hand, " ", name, " ", pressed)
+
+func _input_float_changed(name, value, hand):
+	var ifsig = flat_display.get_node_or_null("VSlider%d%s" % [ hand, name ])
+	if ifsig:
+		ifsig.value = value*100
+	else:
+		print("inputfloatchanged ", hand, " ", name, " ", value)
+
+func _input_vector2_changed(name, vector, hand):
+	var ifstick = flat_display.get_node_or_null("Thumbstick%d" % hand)
+	if ifstick:
+		ifstick.get_node("Pos").position = (vector + Vector2(1,1))*(70/2)
+	else:
+		print("inputvector2changed ", hand, " ", name, " ", vector)
+	#print("inputvector2changed ", name)  # it's always primary
+
+# Get the trackers once the interface has been initialized
+func set_xr_interface(lxr_interface : OpenXRInterface):
+	xr_interface = lxr_interface
+	var trackers1 = XRServer.get_trackers(1)
+	xr_tracker_head = trackers1["head"]
+	var trackers2 = XRServer.get_trackers(2)
+	xr_tracker_hands = [ trackers2["left_hand"], trackers2["right_hand"] ]
+
+	# Play area code to be implemented in v4.3
+	xr_play_area = xr_interface.get_play_area()
+	print("PlayAreaMode: ", xr_interface.xr_play_area_mode)
+	# XR_PLAY_AREA_UNKNOWN = 0, XR_PLAY_AREA_3DOF = 1, XR_PLAY_AREA_SITTING = 2, XR_PLAY_AREA_ROOMSCALE = 3, XR_PLAY_AREA_STAGE = 4
+	if xr_play_area:
+		print("Play area feature supported (NOT YET DRAWN)", xr_play_area)
+	else:
+		print("xr_interface.get_play_area() returns [ ]")
+
+	print("action_sets: ", xr_interface.get_action_sets())
+
+	# wire up the signals from the hand trackers
+	for hand in range(2):
+		xr_tracker_hands[hand].button_pressed.connect(_button_signal.bind(hand, true))
+		xr_tracker_hands[hand].button_released.connect(_button_signal.bind(hand))
+		xr_tracker_hands[hand].input_float_changed.connect(_input_float_changed.bind(hand))
+		xr_tracker_hands[hand].input_vector2_changed.connect(_input_vector2_changed.bind(hand))
+
+	# reset the position of the 2D information panel 3 times in the first 15 seconds
+	for t in range(3):
+		await get_tree().create_timer(5).timeout
+		var headtransform = get_node("../XRCamera3D").transform	
+		$FrontOfPlayer.transform = Transform3D(headtransform.basis, headtransform.origin - headtransform.basis.z*0.5 + Vector3(0,-0.2,0))
+
+
+# Other signals to be implemented
+# pose_changed(pose: XRPose)Emitted when the state of a pose tracked by this tracker changes.
+# pose_lost_tracking(pose: XRPose)Emitted when a pose tracked by this tracker stops getting updated tracking data.
+# profile_changed(role: String)Emitted when the profile of our tracker changes.
+
+# Called when finger touches the yellow sphere (to check if values have been updated long after startup)
+func fingertiptouchbutton():
+	print("PlayArea ", xr_interface.get_play_area())
+	print("PlayAreaMode: ", xr_interface.xr_play_area_mode)
+
+func rotationtoalign(a, b):
+	var axis = a.cross(b).normalized();
+	if (axis.length_squared() != 0):
+		var dot = a.dot(b)/(a.length()*b.length())
+		dot = clamp(dot, -1.0, 1.0)
+		var angle_rads = acos(dot)
+		return Basis(axis, angle_rads)
+	return Basis()
+
+func sticktransform(j1, j2):
+	var b = rotationtoalign(Vector3(0,1,0), j2 - j1)
+	var d = (j2 - j1).length()
+	return Transform3D(b, (j1 + j2)*0.5).scaled_local(Vector3(0.01, d, 0.01))
+
+func basisfrom(a, b):
+	var vx = (b - a).normalized()
+	var vy = vx.cross(-a.normalized())
+	var vz = vx.cross(vy)
+	return Basis(vx, vy, vz)
+
+func arrowYbasis(v):
+	var axisy = v
+	var axisxL = Vector3(v.y, -v.x, 0.0) if abs(v.x) < abs(v.z) else Vector3(0.0, -v.x, v.z)
+	var vlen = v.length()
+	var axisx = axisxL * (vlen/axisxL.length())
+	var axisz = axisx.cross(axisy)/(vlen if vlen != 0 else vlen)
+	return Basis(axisx, axisy, axisz)
+
+
+func _process(delta):
+	if xr_interface != null:
+		for hand in range(2):
+
+			# Update all the joint positions, rotations and validity flags
+			var wristtransform = Transform3D(Basis(xr_interface.get_hand_joint_rotation(hand, OpenXRInterface.HAND_JOINT_WRIST)), 
+												   xr_interface.get_hand_joint_position(hand, OpenXRInterface.HAND_JOINT_WRIST))
+			var LRd = "L%d" if hand == 0 else "R%d"
+			for j in range(OpenXRInterface.HAND_JOINT_MAX):
+				var jointradius = xr_interface.get_hand_joint_radius(hand, j)
+				var handjointflags = xr_interface.get_hand_joint_flags(hand, j);
+
+				var joint3d = $Joints3D.get_node(LRd % j)
+				joint3d.get_node("InvalidMesh").visible = not (handjointflags & OpenXRInterface.HAND_JOINT_POSITION_VALID)
+				joint3d.get_node("UntrackedMesh").visible = not (handjointflags & OpenXRInterface.HAND_JOINT_POSITION_TRACKED)
+				var handjointtransform = Transform3D(Basis(xr_interface.get_hand_joint_rotation(hand, j)), xr_interface.get_hand_joint_position(hand, j))
+				joint3d.transform = handjointtransform.scaled_local(Vector3(jointradius, jointradius, jointradius))
+
+				var joint2d = joints2D.get_node(LRd % j)
+				joint2d.get_node("InvalidMesh").visible = not (handjointflags & OpenXRInterface.HAND_JOINT_POSITION_VALID)
+				joint2d.get_node("UntrackedMesh").visible = not (handjointflags & OpenXRInterface.HAND_JOINT_POSITION_TRACKED)
+				joint2d.transform.basis = Basis(xr_interface.get_hand_joint_rotation(hand, j))*0.013
+
+			# reposition the joining sticks
+			var LRstick = "L%dt%d" if hand == 0 else "R%dt%d"
+			for hjstick in hjsticks:
+				for i in range(0, len(hjstick)-1):
+					var j1 = hjstick[i]
+					var j2 = hjstick[i+1]
+					var rstick = $Joints3D.get_node(LRstick % [j1, j2])
+					rstick.transform = sticktransform($Joints3D.get_node(LRd % j1).transform.origin, $Joints3D.get_node(LRd % j2).transform.origin)
+
+			# Update the grip,aim poses
+			var LRpose = "L%s" if hand == 0 else "R%s"
+			for posename in [ "grip", "aim"]:
+				var rpose = $Joints3D.get_node(LRpose % posename)
+				var xrpose = xr_tracker_hands[hand].get_pose(posename)
+				if xrpose != null:
+					rpose.get_node("InvalidMesh").visible = not xrpose.has_tracking_data
+					rpose.get_node("UntrackedMesh").visible = (xrpose.tracking_confidence == 0)
+					rpose.transform = xrpose.transform.scaled_local(Vector3(0.05, 0.05, 0.05))
+
+			# Measure the lengths of the fingers
+			var FLLRd = "FL_L%d" if hand == 0 else "FL_R%d"
+			for j in hjtips:
+				var fingerlenglab = flat_display.get_node(FLLRd % j)
+				var fp = xr_interface.get_hand_joint_position(hand, j)
+				var fingleng = 0.0
+				for k in range(1, 4):
+					var fpn = xr_interface.get_hand_joint_position(hand, j-k)
+					fingleng += (fpn - fp).length()
+					fp = fpn
+				fingerlenglab.text = "%.0f" % (fingleng*1000)
+
+	var fingertipnode = $Joints3D.get_node("R%d" % OpenXRInterface.HAND_JOINT_INDEX_TIP)
+	var fingerbuttonnode = $FrontOfPlayer/FingerButton
+	var d = (fingertipnode.global_transform.origin - fingerbuttonnode.global_transform.origin).length()
+	var touching = (d < 0.03)
+	if !($FrontOfPlayer/FingerButton/Touched.visible) and touching:
+		fingertiptouchbutton()
+	$FrontOfPlayer/FingerButton/Touched.visible = touching
+
+
+
+var flatlefthandjointsfromwrist = [
+	Vector3(0.000861533, -0.0012695, -0.0477441), Vector3(0, 0, 0), Vector3(0.0315846, -0.0131271, -0.0329833), Vector3(0.0545926, -0.0174885, -0.0554602), 
+	Vector3(0.0757424, -0.0190563, -0.0816979), Vector3(0.0965827, -0.0188126, -0.0947297), Vector3(0.0204946, -0.00802441, -0.0356591), 
+	Vector3(0.0235117, -0.00730439, -0.0958373), Vector3(0.0364556, -0.00840877, -0.131404), Vector3(0.0444214, -0.00928009, -0.154306), 
+	Vector3(0.0501041, -0.00590578, -0.175658), Vector3(0.00431204, -0.00690232, -0.0335003), Vector3(0.00172306, -0.00253896, -0.0954883), 
+	Vector3(0.00447122, 0.00162174, -0.138053), Vector3(0.00599042, 0.00439228, -0.165375), Vector3(0.00627589, 0.0124663, -0.188982), 
+	Vector3(-0.0149675, -0.00600582, -0.034718), Vector3(-0.0174363, -0.00651854, -0.0885469), Vector3(-0.0249593, 0.000487596, -0.126097), 
+	Vector3(-0.0302005, 0.00494818, -0.151718), Vector3(-0.0342363, 0.0119404, -0.17468), Vector3(-0.0229605, -0.00940424, -0.0340171), 
+	Vector3(-0.034996, -0.0136686, -0.0777668), Vector3(-0.0520341, -0.00539365, -0.101889), Vector3(-0.0647082, 0.000211, -0.116692), 
+	Vector3(-0.0764616, 0.00869788, -0.133135)
+]