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OpenXrInputPlugin: Adjust hand and head-to-eyes offsets

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Hands are now basically perfect (on Vive controllers, at least,
palm pose/grip surface would really help but it's not well supported)
Head now bends properly at the bottom of the head bone and the HMD view
isn't stuck at the bottom of the head bone.

TODO: The current solution doesn't account for avatar scale or the
actual positions of their eyes. The pull-forward offset for the view
might also be too far, I'll need to get feedback on it.
This commit is contained in:
Ada 2025-01-02 17:44:41 +10:00
parent 13ba848a00
commit c9b528545d
1 changed files with 17 additions and 6 deletions
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23
plugins/openxr/src/OpenXrInputPlugin.cpp
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@ -446,7 +446,7 @@ bool OpenXrInputPlugin::InputDevice::initActions() {
{"stick_click_left", "/user/hand/left/input/thumbstick/click"},
{"stick_click_right", "/user/hand/right/input/thumbstick/click"},
{"hand_pose_left", std::string("/user/hand/left/input") + hand_pose_name},
{"hand_pose_right", std::string("/user/hand/right/input") + hand_pose_name},
{"hand_pose_right", std::string("/user/hand/right/input") + hand_pose_name},
{"hand_haptic_left", "/user/hand/left/output/haptic"},
{"hand_haptic_right", "/user/hand/right/output/haptic"},
}},
@ -463,7 +463,7 @@ bool OpenXrInputPlugin::InputDevice::initActions() {
{"stick_click_left", "/user/hand/left/input/thumbstick/click"},
{"stick_click_right", "/user/hand/right/input/thumbstick/click"},
{"hand_pose_left", std::string("/user/hand/left/input") + hand_pose_name},
{"hand_pose_right", std::string("/user/hand/right/input") + hand_pose_name},
{"hand_pose_right", std::string("/user/hand/right/input") + hand_pose_name},
{"hand_haptic_left", "/user/hand/left/output/haptic"},
{"hand_haptic_right", "/user/hand/right/output/haptic"},
}},
@ -557,15 +557,26 @@ void OpenXrInputPlugin::InputDevice::update(float deltaTime, const controller::I
// (apparently the openvr plugin uses similar constants?)
glm::mat4 posOffset(1.0f);
posOffset *= glm::translate(glm::vec3(handOffset[0]) * (i == 0 ? 0.04f : -0.04f));
posOffset *= glm::translate(glm::vec3(handOffset[1]) * -0.15f);
posOffset *= glm::translate(glm::vec3(handOffset[2]) * 0.02f);
posOffset *= glm::translate(glm::vec3(handOffset[1]) * -0.16f);
posOffset *= glm::translate(glm::vec3(handOffset[2]) * -0.04f);
_poseStateMap[i == 0 ? controller::LEFT_HAND : controller::RIGHT_HAND] =
pose.postTransform(posOffset).postTransform(handOffset).transform(sensorToAvatar);
}
}
glm::mat4 defaultHeadOffset = createMatFromQuatAndPos(-DEFAULT_AVATAR_HEAD_ROT, -DEFAULT_AVATAR_HEAD_TO_MIDDLE_EYE_OFFSET);
_poseStateMap[controller::HEAD] = _context->_lastHeadPose.postTransform(defaultHeadOffset).transform(sensorToAvatar);
glm::mat4 defaultHeadOffset;
if (inputCalibrationData.hmdAvatarAlignmentType == controller::HmdAvatarAlignmentType::Eyes) {
// align the eyes of the user with the eyes of the avatar
defaultHeadOffset = (glm::inverse(inputCalibrationData.defaultCenterEyeMat) * inputCalibrationData.defaultHeadMat) * Matrices::Y_180;
} else {
defaultHeadOffset = createMatFromQuatAndPos(-DEFAULT_AVATAR_HEAD_ROT, -DEFAULT_AVATAR_HEAD_TO_MIDDLE_EYE_OFFSET);
}
// try to account for weirdness with HMD view being inside the root of the head bone
// TODO: is the 15cm(?) forward shift too much?
// FIXME: this doesn't account for avatar scale
auto headCorrectionA = glm::translate(glm::vec3(0.0f, 0.15f, 0.15f));
auto headCorrectionB = glm::translate(glm::vec3(0.0f, -0.2f, 0.0f));
_poseStateMap[controller::HEAD] = _context->_lastHeadPose.postTransform(headCorrectionA).postTransform(defaultHeadOffset).transform(sensorToAvatar).postTransform(headCorrectionB);
std::vector<std::pair<std::string, controller::StandardAxisChannel>> floatsToUpdate = {
{"interact_left", controller::LT},