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Merge pull request #7997 from SamGondelman/touchFixes

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Corrected Oculus Touch coordinate system so that hands track properly
This commit is contained in:
Brad Hefta-Gaub 2016-06-08 15:39:17 -07:00
commit 69ae33ad9a
7 changed files with 184 additions and 58 deletions
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34
interface/resources/controllers/oculus_touch.json
View file

@ -1,22 +1,40 @@
{
"name": "Oculus Touch to Standard",
"channels": [
{ "from": "OculusTouch.LY", "filters": "invert", "to": "Standard.LY" },
{ "from": "OculusTouch.LX", "to": "Standard.LX" },
{ "from": "OculusTouch.A", "to": "Standard.A" },
{ "from": "OculusTouch.B", "to": "Standard.B" },
{ "from": "OculusTouch.X", "to": "Standard.X" },
{ "from": "OculusTouch.Y", "to": "Standard.Y" },
{ "from": "OculusTouch.LY", "filters": "invert", "to": "Standard.LY" },
{ "from": "OculusTouch.LX", "to": "Standard.LX" },
{ "from": "OculusTouch.LT", "to": "Standard.LT" },
{ "from": "OculusTouch.LS", "to": "Standard.LS" },
{ "from": "OculusTouch.LeftGrip", "to": "Standard.LeftGrip" },
{ "from": "OculusTouch.LeftHand", "to": "Standard.LeftHand" },
{ "from": "OculusTouch.RY", "filters": "invert", "to": "Standard.RY" },
{ "from": "OculusTouch.RX", "to": "Standard.RX" },
{ "from": "OculusTouch.RY", "filters": "invert", "to": "Standard.RY" },
{ "from": "OculusTouch.RX", "to": "Standard.RX" },
{ "from": "OculusTouch.RT", "to": "Standard.RT" },
{ "from": "OculusTouch.RB", "to": "Standard.RB" },
{ "from": "OculusTouch.RS", "to": "Standard.RS" },
{ "from": "OculusTouch.RightGrip", "to": "Standard.RightGrip" },
{ "from": "OculusTouch.RightHand", "to": "Standard.RightHand" },
{ "from": "OculusTouch.LeftApplicationMenu", "to": "Standard.Back" },
{ "from": "OculusTouch.RightApplicationMenu", "to": "Standard.Start" },
{ "from": "OculusTouch.LeftHand", "to": "Standard.LeftHand" },
{ "from": "OculusTouch.RightHand", "to": "Standard.RightHand" }
{ "from": "OculusTouch.LeftPrimaryThumbTouch", "to": "Standard.LeftPrimaryThumbTouch" },
{ "from": "OculusTouch.LeftSecondaryThumbTouch", "to": "Standard.LeftSecondaryThumbTouch" },
{ "from": "OculusTouch.RightPrimaryThumbTouch", "to": "Standard.RightPrimaryThumbTouch" },
{ "from": "OculusTouch.RightSecondaryThumbTouch", "to": "Standard.RightSecondaryThumbTouch" },
{ "from": "OculusTouch.LeftPrimaryIndexTouch", "to": "Standard.LeftPrimaryIndexTouch" },
{ "from": "OculusTouch.RightPrimaryIndexTouch", "to": "Standard.RightPrimaryIndexTouch" },
{ "from": "OculusTouch.LSTouch", "to": "Standard.LSTouch" },
{ "from": "OculusTouch.RSTouch", "to": "Standard.RSTouch" },
{ "from": "OculusTouch.LeftThumbUp", "to": "Standard.LeftThumbUp" },
{ "from": "OculusTouch.RightThumbUp", "to": "Standard.RightThumbUp" },
{ "from": "OculusTouch.LeftIndexPoint", "to": "Standard.LeftIndexPoint" },
{ "from": "OculusTouch.RightIndexPoint", "to": "Standard.RightIndexPoint" }
]
}

4
interface/resources/controllers/vive.json
View file

@ -5,7 +5,7 @@
{ "from": "Vive.LX", "when": "Vive.LSOuter", "to": "Standard.LX" },
{ "from": "Vive.LT", "to": "Standard.LT" },
{ "from": "Vive.LeftGrip", "to": "Standard.LB" },
{ "from": "Vive.LeftGrip", "to": "Standard.LeftGrip" },
{ "from": "Vive.LS", "to": "Standard.LS" },
{ "from": "Vive.LSTouch", "to": "Standard.LSTouch" },
@ -13,7 +13,7 @@
{ "from": "Vive.RX", "when": "Vive.RSOuter", "to": "Standard.RX" },
{ "from": "Vive.RT", "to": "Standard.RT" },
{ "from": "Vive.RightGrip", "to": "Standard.RB" },
{ "from": "Vive.RightGrip", "to": "Standard.RightGrip" },
{ "from": "Vive.RS", "to": "Standard.RS" },
{ "from": "Vive.RSTouch", "to": "Standard.RSTouch" },

8
libraries/controllers/src/controllers/StandardControls.h
View file

@ -66,9 +66,7 @@ namespace controller {
RIGHT_SECONDARY_INDEX_TOUCH,
RIGHT_INDEX_POINT,
LEFT_GRIP,
LEFT_GRIP_TOUCH,
RIGHT_GRIP,
RIGHT_GRIP_TOUCH,
NUM_STANDARD_BUTTONS
@ -85,9 +83,9 @@ namespace controller {
// Triggers
LT,
RT,
// Grips (Oculus touch squeeze)
LG,
RG,
// Grips
LEFT_GRIP,
RIGHT_GRIP,
NUM_STANDARD_AXES,
LZ = LT,
RZ = RT

136
plugins/oculus/src/OculusControllerManager.cpp
View file

@ -120,14 +120,14 @@ static const std::vector<std::pair<ovrButton, StandardButtonChannel>> BUTTON_MAP
{ ovrButton_B, B },
{ ovrButton_LThumb, LS },
{ ovrButton_RThumb, RS },
{ ovrButton_LShoulder, LB },
{ ovrButton_RShoulder, RB },
//{ ovrButton_LShoulder, LB },
//{ ovrButton_RShoulder, RB },
} };
static const std::vector<std::pair<ovrTouch, StandardButtonChannel>> TOUCH_MAP { {
{ ovrTouch_X, LEFT_SECONDARY_THUMB_TOUCH },
{ ovrTouch_X, LEFT_PRIMARY_THUMB_TOUCH },
{ ovrTouch_Y, LEFT_SECONDARY_THUMB_TOUCH },
{ ovrTouch_A, RIGHT_SECONDARY_THUMB_TOUCH },
{ ovrTouch_A, RIGHT_PRIMARY_THUMB_TOUCH },
{ ovrTouch_B, RIGHT_SECONDARY_THUMB_TOUCH },
{ ovrTouch_LIndexTrigger, LEFT_PRIMARY_INDEX_TOUCH },
{ ovrTouch_RIndexTrigger, RIGHT_PRIMARY_INDEX_TOUCH },
@ -183,6 +183,8 @@ void OculusControllerManager::TouchDevice::update(float deltaTime, const control
++numTrackedControllers;
if (REQUIRED_HAND_STATUS == (tracking.HandStatusFlags[hand] & REQUIRED_HAND_STATUS)) {
handlePose(deltaTime, inputCalibrationData, hand, tracking.HandPoses[hand]);
} else {
_poseStateMap[hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND].valid = false;
}
});
using namespace controller;
@ -191,12 +193,12 @@ void OculusControllerManager::TouchDevice::update(float deltaTime, const control
_axisStateMap[LX] = inputState.Thumbstick[ovrHand_Left].x;
_axisStateMap[LY] = inputState.Thumbstick[ovrHand_Left].y;
_axisStateMap[LT] = inputState.IndexTrigger[ovrHand_Left];
_axisStateMap[LG] = inputState.HandTrigger[ovrHand_Left];
_axisStateMap[LEFT_GRIP] = inputState.HandTrigger[ovrHand_Left];
_axisStateMap[RX] = inputState.Thumbstick[ovrHand_Right].x;
_axisStateMap[RY] = inputState.Thumbstick[ovrHand_Right].y;
_axisStateMap[RT] = inputState.IndexTrigger[ovrHand_Right];
_axisStateMap[RG] = inputState.HandTrigger[ovrHand_Right];
_axisStateMap[RIGHT_GRIP] = inputState.HandTrigger[ovrHand_Right];
// Buttons
for (const auto& pair : BUTTON_MAP) {
@ -220,38 +222,142 @@ void OculusControllerManager::TouchDevice::focusOutEvent() {
void OculusControllerManager::TouchDevice::handlePose(float deltaTime,
const controller::InputCalibrationData& inputCalibrationData, ovrHandType hand,
const ovrPoseStatef& handPose) {
// When the sensor-to-world rotation is identity the coordinate axes look like this:
//
// user
// forward
// -z
// |
// y| user
// y o----x right
// o-----x user
// | up
// |
// z
//
// Rift
// From ABOVE the hand canonical axes looks like this:
//
// | | | | y | | | |
// | | | | | | | | |
// | | | | |
// |left | / x---- + \ |right|
// | _/ z \_ |
// | | | |
// | | | |
//
// So when the user is in Rift space facing the -zAxis with hands outstretched and palms down
// the rotation to align the Touch axes with those of the hands is:
//
// touchToHand = halfTurnAboutY * quaterTurnAboutX
// Due to how the Touch controllers fit into the palm there is an offset that is different for each hand.
// You can think of this offset as the inverse of the measured rotation when the hands are posed, such that
// the combination (measurement * offset) is identity at this orientation.
//
// Qoffset = glm::inverse(deltaRotation when hand is posed fingers forward, palm down)
//
// An approximate offset for the Touch can be obtained by inspection:
//
// Qoffset = glm::inverse(glm::angleAxis(sign * PI/2.0f, zAxis) * glm::angleAxis(PI/4.0f, xAxis))
//
// So the full equation is:
//
// Q = combinedMeasurement * touchToHand
//
// Q = (deltaQ * QOffset) * (yFlip * quarterTurnAboutX)
//
// Q = (deltaQ * inverse(deltaQForAlignedHand)) * (yFlip * quarterTurnAboutX)
auto poseId = hand == ovrHand_Left ? controller::LEFT_HAND : controller::RIGHT_HAND;
auto& pose = _poseStateMap[poseId];
static const glm::quat yFlip = glm::angleAxis(PI, Vectors::UNIT_Y);
static const glm::quat quarterX = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_X);
static const glm::quat touchToHand = yFlip * quarterX;
static const glm::quat leftQuarterZ = glm::angleAxis(-PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat rightQuarterZ = glm::angleAxis(PI_OVER_TWO, Vectors::UNIT_Z);
static const glm::quat eighthX = glm::angleAxis(PI / 4.0f, Vectors::UNIT_X);
static const glm::quat leftRotationOffset = glm::inverse(leftQuarterZ * eighthX) * touchToHand;
static const glm::quat rightRotationOffset = glm::inverse(rightQuarterZ * eighthX) * touchToHand;
static const float CONTROLLER_LENGTH_OFFSET = 0.0762f; // three inches
static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET / 2.0f,
CONTROLLER_LENGTH_OFFSET * 2.0f);
static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
auto translationOffset = (hand == ovrHand_Left ? leftTranslationOffset : rightTranslationOffset);
auto rotationOffset = (hand == ovrHand_Left ? leftRotationOffset : rightRotationOffset);
glm::quat rotation = toGlm(handPose.ThePose.Orientation);
pose.translation = toGlm(handPose.ThePose.Position);
pose.rotation = toGlm(handPose.ThePose.Orientation);
pose.translation += rotation * translationOffset;
pose.rotation = rotation * rotationOffset;
pose.angularVelocity = toGlm(handPose.AngularVelocity);
pose.velocity = toGlm(handPose.LinearVelocity);
pose.valid = true;
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
pose = pose.transform(controllerToAvatar);
}
controller::Input::NamedVector OculusControllerManager::TouchDevice::getAvailableInputs() const {
using namespace controller;
QVector<Input::NamedPair> availableInputs{
// Trackpad analogs
// buttons
makePair(A, "A"),
makePair(B, "B"),
makePair(X, "X"),
makePair(Y, "Y"),
// trackpad analogs
makePair(LX, "LX"),
makePair(LY, "LY"),
makePair(RX, "RX"),
makePair(RY, "RY"),
// trigger analogs
// triggers
makePair(LT, "LT"),
makePair(RT, "RT"),
makePair(LB, "LB"),
makePair(RB, "RB"),
// trigger buttons
//makePair(LB, "LB"),
//makePair(RB, "RB"),
// side grip triggers
makePair(LEFT_GRIP, "LeftGrip"),
makePair(RIGHT_GRIP, "RightGrip"),
// joystick buttons
makePair(LS, "LS"),
makePair(RS, "RS"),
makePair(LEFT_HAND, "LeftHand"),
makePair(RIGHT_HAND, "RightHand"),
makePair(LEFT_PRIMARY_THUMB, "LeftPrimaryThumb"),
makePair(LEFT_SECONDARY_THUMB, "LeftSecondaryThumb"),
makePair(RIGHT_PRIMARY_THUMB, "RightPrimaryThumb"),
makePair(RIGHT_SECONDARY_THUMB, "RightSecondaryThumb"),
makePair(LEFT_PRIMARY_THUMB_TOUCH, "LeftPrimaryThumbTouch"),
makePair(LEFT_SECONDARY_THUMB_TOUCH, "LeftSecondaryThumbTouch"),
makePair(RIGHT_PRIMARY_THUMB_TOUCH, "RightPrimaryThumbTouch"),
makePair(RIGHT_SECONDARY_THUMB_TOUCH, "RightSecondaryThumbTouch"),
makePair(LEFT_PRIMARY_INDEX_TOUCH, "LeftPrimaryIndexTouch"),
makePair(RIGHT_PRIMARY_INDEX_TOUCH, "RightPrimaryIndexTouch"),
makePair(LS_TOUCH, "LSTouch"),
makePair(RS_TOUCH, "RSTouch"),
makePair(LEFT_THUMB_UP, "LeftThumbUp"),
makePair(RIGHT_THUMB_UP, "RightThumbUp"),
makePair(LEFT_INDEX_POINT, "LeftIndexPoint"),
makePair(RIGHT_INDEX_POINT, "RightIndexPoint"),
makePair(BACK, "LeftApplicationMenu"),
makePair(START, "RightApplicationMenu"),
};
return availableInputs;
}

2
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -347,7 +347,7 @@ void ViveControllerManager::InputDevice::handleButtonEvent(float deltaTime, uint
if (button == vr::k_EButton_ApplicationMenu) {
_buttonPressedMap.insert(isLeftHand ? LEFT_APP_MENU : RIGHT_APP_MENU);
} else if (button == vr::k_EButton_Grip) {
_buttonPressedMap.insert(isLeftHand ? LEFT_GRIP : RIGHT_GRIP);
_axisStateMap[isLeftHand ? LEFT_GRIP : RIGHT_GRIP] = 1.0f;
} else if (button == vr::k_EButton_SteamVR_Trigger) {
_buttonPressedMap.insert(isLeftHand ? LT : RT);
} else if (button == vr::k_EButton_SteamVR_Touchpad) {

2
scripts/system/away.js
View file

@ -265,9 +265,11 @@ eventMapping.from(Controller.Standard.RightSecondaryThumb).peek().to(goActive);
eventMapping.from(Controller.Standard.LT).peek().to(goActive);
eventMapping.from(Controller.Standard.LB).peek().to(goActive);
eventMapping.from(Controller.Standard.LS).peek().to(goActive);
eventMapping.from(Controller.Standard.LeftGrip).peek().to(goActive);
eventMapping.from(Controller.Standard.RT).peek().to(goActive);
eventMapping.from(Controller.Standard.RB).peek().to(goActive);
eventMapping.from(Controller.Standard.RS).peek().to(goActive);
eventMapping.from(Controller.Standard.RightGrip).peek().to(goActive);
eventMapping.from(Controller.Standard.Back).peek().to(goActive);
eventMapping.from(Controller.Standard.Start).peek().to(goActive);
Controller.enableMapping(eventMappingName);

56
scripts/system/controllers/handControllerGrab.js
View file

@ -271,7 +271,7 @@ function MyController(hand) {
this.triggerValue = 0; // rolling average of trigger value
this.rawTriggerValue = 0;
this.rawBumperValue = 0;
this.rawSecondaryValue = 0;
this.rawThumbValue = 0;
//for visualizations
@ -509,10 +509,10 @@ function MyController(hand) {
var searchSphereLocation = Vec3.sum(distantPickRay.origin,
Vec3.multiply(distantPickRay.direction, this.searchSphereDistance));
this.searchSphereOn(searchSphereLocation, SEARCH_SPHERE_SIZE * this.searchSphereDistance,
(this.triggerSmoothedGrab() || this.bumperSqueezed()) ? INTERSECT_COLOR : NO_INTERSECT_COLOR);
(this.triggerSmoothedGrab() || this.secondarySqueezed()) ? INTERSECT_COLOR : NO_INTERSECT_COLOR);
if ((USE_OVERLAY_LINES_FOR_SEARCHING === true) && PICK_WITH_HAND_RAY) {
this.overlayLineOn(handPosition, searchSphereLocation,
(this.triggerSmoothedGrab() || this.bumperSqueezed()) ? INTERSECT_COLOR : NO_INTERSECT_COLOR);
(this.triggerSmoothedGrab() || this.secondarySqueezed()) ? INTERSECT_COLOR : NO_INTERSECT_COLOR);
}
}
@ -768,8 +768,8 @@ function MyController(hand) {
_this.rawTriggerValue = value;
};
this.bumperPress = function(value) {
_this.rawBumperValue = value;
this.secondaryPress = function(value) {
_this.rawSecondaryValue = value;
};
this.updateSmoothedTrigger = function() {
@ -791,20 +791,20 @@ function MyController(hand) {
return this.triggerValue < TRIGGER_OFF_VALUE;
};
this.bumperSqueezed = function() {
return _this.rawBumperValue > BUMPER_ON_VALUE;
this.secondarySqueezed = function() {
return _this.rawSecondaryValue > BUMPER_ON_VALUE;
};
this.bumperReleased = function() {
return _this.rawBumperValue < BUMPER_ON_VALUE;
this.secondaryReleased = function() {
return _this.rawSecondaryValue < BUMPER_ON_VALUE;
};
// this.triggerOrBumperSqueezed = function() {
// return triggerSmoothedSqueezed() || bumperSqueezed();
// this.triggerOrsecondarySqueezed = function() {
// return triggerSmoothedSqueezed() || secondarySqueezed();
// }
// this.triggerAndBumperReleased = function() {
// return triggerSmoothedReleased() && bumperReleased();
// this.triggerAndSecondaryReleased = function() {
// return triggerSmoothedReleased() && secondaryReleased();
// }
this.thumbPress = function(value) {
@ -820,13 +820,13 @@ function MyController(hand) {
};
this.off = function() {
if (this.triggerSmoothedSqueezed() || this.bumperSqueezed()) {
if (this.triggerSmoothedSqueezed() || this.secondarySqueezed()) {
this.lastPickTime = 0;
var controllerHandInput = (this.hand === RIGHT_HAND) ? Controller.Standard.RightHand : Controller.Standard.LeftHand;
this.startingHandRotation = Controller.getPoseValue(controllerHandInput).rotation;
if (this.triggerSmoothedSqueezed()) {
this.setState(STATE_SEARCHING);
} else if (this.bumperSqueezed()) {
} else if (this.secondarySqueezed()) {
this.setState(STATE_HOLD_SEARCHING);
}
}
@ -843,7 +843,7 @@ function MyController(hand) {
this.setState(STATE_RELEASE);
return;
}
if (this.state == STATE_HOLD_SEARCHING && this.bumperReleased()) {
if (this.state == STATE_HOLD_SEARCHING && this.secondaryReleased()) {
this.setState(STATE_RELEASE);
return;
}
@ -1000,7 +1000,7 @@ function MyController(hand) {
grabbableData = grabbableDataForCandidate;
}
}
if ((this.grabbedEntity !== null) && (this.triggerSmoothedGrab() || this.bumperSqueezed())) {
if ((this.grabbedEntity !== null) && (this.triggerSmoothedGrab() || this.secondarySqueezed())) {
// We are squeezing enough to grab, and we've found an entity that we'll try to do something with.
var near = (nearPickedCandidateEntities.indexOf(this.grabbedEntity) >= 0) || minDistance <= NEAR_PICK_MAX_DISTANCE;
var isPhysical = this.propsArePhysical(props);
@ -1166,7 +1166,7 @@ function MyController(hand) {
};
this.continueDistanceHolding = function() {
if (this.triggerSmoothedReleased() && this.bumperReleased()) {
if (this.triggerSmoothedReleased() && this.secondaryReleased()) {
this.setState(STATE_RELEASE);
this.callEntityMethodOnGrabbed("releaseGrab");
return;
@ -1390,7 +1390,7 @@ function MyController(hand) {
this.callEntityMethodOnGrabbed("releaseGrab");
return;
}
if (this.state == STATE_HOLD && this.bumperReleased()) {
if (this.state == STATE_HOLD && this.secondaryReleased()) {
this.setState(STATE_RELEASE);
this.callEntityMethodOnGrabbed("releaseGrab");
return;
@ -1504,7 +1504,7 @@ function MyController(hand) {
this.callEntityMethodOnGrabbed("releaseGrab");
return;
}
if (this.state == STATE_CONTINUE_HOLD && this.bumperReleased()) {
if (this.state == STATE_CONTINUE_HOLD && this.secondaryReleased()) {
this.setState(STATE_RELEASE);
this.callEntityMethodOnGrabbed("releaseEquip");
return;
@ -1633,7 +1633,7 @@ function MyController(hand) {
};
this.nearTrigger = function() {
if (this.triggerSmoothedReleased() && this.bumperReleased()) {
if (this.triggerSmoothedReleased() && this.secondaryReleased()) {
this.setState(STATE_RELEASE);
this.callEntityMethodOnGrabbed("stopNearTrigger");
return;
@ -1643,7 +1643,7 @@ function MyController(hand) {
};
this.farTrigger = function() {
if (this.triggerSmoothedReleased() && this.bumperReleased()) {
if (this.triggerSmoothedReleased() && this.secondaryReleased()) {
this.setState(STATE_RELEASE);
this.callEntityMethodOnGrabbed("stopFarTrigger");
return;
@ -1653,7 +1653,7 @@ function MyController(hand) {
};
this.continueNearTrigger = function() {
if (this.triggerSmoothedReleased() && this.bumperReleased()) {
if (this.triggerSmoothedReleased() && this.secondaryReleased()) {
this.setState(STATE_RELEASE);
this.callEntityMethodOnGrabbed("stopNearTrigger");
return;
@ -1662,7 +1662,7 @@ function MyController(hand) {
};
this.continueFarTrigger = function() {
if (this.triggerSmoothedReleased() && this.bumperReleased()) {
if (this.triggerSmoothedReleased() && this.secondaryReleased()) {
this.setState(STATE_RELEASE);
this.callEntityMethodOnGrabbed("stopFarTrigger");
return;
@ -1942,8 +1942,10 @@ var mapping = Controller.newMapping(MAPPING_NAME);
mapping.from([Controller.Standard.RT]).peek().to(rightController.triggerPress);
mapping.from([Controller.Standard.LT]).peek().to(leftController.triggerPress);
mapping.from([Controller.Standard.RB]).peek().to(rightController.bumperPress);
mapping.from([Controller.Standard.LB]).peek().to(leftController.bumperPress);
mapping.from([Controller.Standard.RB]).peek().to(rightController.secondaryPress);
mapping.from([Controller.Standard.LB]).peek().to(leftController.secondaryPress);
mapping.from([Controller.Standard.LeftGrip]).peek().to(leftController.secondaryPress);
mapping.from([Controller.Standard.RightGrip]).peek().to(rightController.secondaryPress);
mapping.from([Controller.Standard.LeftPrimaryThumb]).peek().to(leftController.thumbPress);
mapping.from([Controller.Standard.RightPrimaryThumb]).peek().to(rightController.thumbPress);
@ -2036,4 +2038,4 @@ function cleanup() {
Reticle.setVisible(true);
}
Script.scriptEnding.connect(cleanup);
Script.update.connect(update);
Script.update.connect(update);