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274 lines
15 KiB
274 lines
15 KiB
3 years ago
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using HTC.UnityPlugin.Utility;
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using HTC.UnityPlugin.Vive;
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using UnityEngine;
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#if VIU_WAVEVR && UNITY_ANDROID
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using wvr;
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#endif
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namespace HTC.UnityPlugin.VRModuleManagement
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{
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public sealed class WaveVRModule : VRModule.ModuleBase
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{
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#if VIU_WAVEVR && UNITY_ANDROID
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private const uint HMD_INDEX = 0;
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private const uint RIGHT_INDEX = 1;
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private const uint LEFT_INDEX = 2;
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private const uint DEVICE_COUNT = 3;
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private const uint INPUT_TYPE = (uint)(WVR_InputType.WVR_InputType_Button | WVR_InputType.WVR_InputType_Touch | WVR_InputType.WVR_InputType_Analog);
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public static readonly Vector3 DEFAULT_NECK_POSITION = new Vector3(0.0f, -0.15f, 0.0f);
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public static readonly Vector3 DEFAULT_ELBOW_REST_POSITION = new Vector3(0.195f, -0.5f, 0.005f);
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public static readonly Vector3 DEFAULT_WRIST_REST_POSITION = new Vector3(0.0f, 0.0f, 0.25f);
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public static readonly Vector3 DEFAULT_CONTROLLER_REST_POSITION = new Vector3(0.0f, 0.0f, 0.05f);
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public static readonly Vector3 DEFAULT_ARM_EXTENSION_OFFSET = new Vector3(-0.13f, 0.14f, 0.08f);
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public static readonly Vector3 RIGHT_ARM_MULTIPLIER = new Vector3(1f, 1f, 1f);
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public static readonly Vector3 LEFT_ARM_MULTIPLIER = new Vector3(1f, 1f, 1f);
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public const float DEFAULT_ELBOW_BEND_RATIO = 0.6f;
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public const float MIN_EXTENSION_ANGLE = 7.0f;
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public const float MAX_EXTENSION_ANGLE = 60.0f;
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public const float EXTENSION_WEIGHT = 0.4f;
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private Vector3 handedMultiplier;
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private WVR_DeviceType[] m_deviceTypes = new WVR_DeviceType[]
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{
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WVR_DeviceType.WVR_DeviceType_HMD,
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WVR_DeviceType.WVR_DeviceType_Controller_Right,
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WVR_DeviceType.WVR_DeviceType_Controller_Left,
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};
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private WVR_DevicePosePair_t[] m_poses = new WVR_DevicePosePair_t[DEVICE_COUNT]; // HMD, R, L controllers.
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private WVR_AnalogState_t[] m_analogStates = new WVR_AnalogState_t[2];
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public override bool ShouldActiveModule()
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{
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return !Application.isEditor && VIUSettings.activateWaveVRModule;
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}
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public override void OnActivated()
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{
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var instance = Object.FindObjectOfType<WaveVR_Init>();
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if (instance == null)
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{
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VRModule.Instance.gameObject.AddComponent<WaveVR_Init>();
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}
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}
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public override void OnDeactivated() { }
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public override uint GetRightControllerDeviceIndex() { return RIGHT_INDEX; }
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public override uint GetLeftControllerDeviceIndex() { return LEFT_INDEX; }
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public override void UpdateDeviceState(IVRModuleDeviceState[] prevState, IVRModuleDeviceStateRW[] currState)
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{
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if (WaveVR.Instance == null) { return; }
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WVR_PoseOriginModel poseOrigin;
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switch (VRModule.trackingSpaceType)
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{
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case VRModuleTrackingSpaceType.RoomScale:
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{ poseOrigin = WVR_PoseOriginModel.WVR_PoseOriginModel_OriginOnGround; break; }
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case VRModuleTrackingSpaceType.Stationary:
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default:
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{ poseOrigin = WVR_PoseOriginModel.WVR_PoseOriginModel_OriginOnHead; break; }
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}
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IVRModuleDeviceStateRW headState = null;
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IVRModuleDeviceStateRW rightState = null;
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IVRModuleDeviceStateRW leftState = null;
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Interop.WVR_GetSyncPose(poseOrigin, m_poses, DEVICE_COUNT);
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for (int i = 0; i < DEVICE_COUNT; ++i)
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{
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var deviceType = m_poses[i].type;
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var devicePose = m_poses[i].pose;
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if (deviceType == m_deviceTypes[i])
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{
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currState[i].isConnected = true;
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if (deviceType == WVR_DeviceType.WVR_DeviceType_HMD)
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{
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currState[i].deviceClass = VRModuleDeviceClass.HMD;
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currState[i].deviceModel = VRModuleDeviceModel.ViveFocusHMD;
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}
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else
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{
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currState[i].deviceClass = VRModuleDeviceClass.Controller;
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currState[i].deviceModel = VRModuleDeviceModel.ViveFocusFinch;
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}
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var rigidTransform = new WaveVR_Utils.RigidTransform(devicePose.PoseMatrix);
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currState[i].isPoseValid = devicePose.IsValidPose;
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currState[i].isOutOfRange = false;
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currState[i].isCalibrating = false;
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currState[i].isUninitialized = false;
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currState[i].velocity = new Vector3(devicePose.Velocity.v0, devicePose.Velocity.v1, -devicePose.Velocity.v2);
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currState[i].angularVelocity = new Vector3(-devicePose.AngularVelocity.v0, -devicePose.AngularVelocity.v1, devicePose.AngularVelocity.v2);
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currState[i].position = rigidTransform.pos;
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currState[i].rotation = rigidTransform.rot;
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switch (deviceType)
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{
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case WVR_DeviceType.WVR_DeviceType_HMD:
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headState = currState[i];
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break;
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case WVR_DeviceType.WVR_DeviceType_Controller_Right:
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rightState = currState[i];
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break;
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case WVR_DeviceType.WVR_DeviceType_Controller_Left:
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leftState = currState[i];
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break;
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}
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uint buttons = 0;
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uint touches = 0;
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// FIXME: What does WVR_GetInputTypeCount means?
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//var analogCount = Interop.WVR_GetInputTypeCount(deviceType, WVR_InputType.WVR_InputType_Analog);
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//if (m_analogStates == null || m_analogStates.Length < analogCount) { m_analogStates = new WVR_AnalogState_t[analogCount]; }
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#if VIU_WAVEVR_2_0_32_OR_NEWER
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if (Interop.WVR_GetInputDeviceState(deviceType, INPUT_TYPE, ref buttons, ref touches, m_analogStates, (uint)m_analogStates.Length))
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#else
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if (Interop.WVR_GetInputDeviceState(deviceType, INPUT_TYPE, ref buttons, ref touches, m_analogStates, m_analogStates.Length))
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#endif
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{
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const uint dpadMask =
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(1 << (int)(WVR_InputId.WVR_InputId_Alias1_Touchpad)) |
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(1 << (int)(WVR_InputId.WVR_InputId_Alias1_DPad_Left)) |
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(1 << (int)(WVR_InputId.WVR_InputId_Alias1_DPad_Up)) |
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(1 << (int)(WVR_InputId.WVR_InputId_Alias1_DPad_Right)) |
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(1 << (int)(WVR_InputId.WVR_InputId_Alias1_DPad_Down));
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const uint triggerBumperMask =
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(1 << (int)(WVR_InputId.WVR_InputId_Alias1_Trigger)) |
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(1 << (int)(WVR_InputId.WVR_InputId_Alias1_Bumper));
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currState[i].SetButtonPress(VRModuleRawButton.System, (buttons & (1 << (int)WVR_InputId.WVR_InputId_Alias1_System)) != 0u);
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currState[i].SetButtonPress(VRModuleRawButton.ApplicationMenu, (buttons & (1 << (int)WVR_InputId.WVR_InputId_Alias1_Menu)) != 0u);
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currState[i].SetButtonPress(VRModuleRawButton.Touchpad, (buttons & dpadMask) != 0u);
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currState[i].SetButtonPress(VRModuleRawButton.Trigger, (buttons & triggerBumperMask) != 0u);
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currState[i].SetButtonPress(VRModuleRawButton.Grip, (buttons & (1 << (int)WVR_InputId.WVR_InputId_Alias1_Grip)) != 0u);
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currState[i].SetButtonPress(VRModuleRawButton.DPadLeft, (buttons & (1 << (int)WVR_InputId.WVR_InputId_Alias1_DPad_Left)) != 0u);
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currState[i].SetButtonPress(VRModuleRawButton.DPadUp, (buttons & (1 << (int)WVR_InputId.WVR_InputId_Alias1_DPad_Up)) != 0u);
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currState[i].SetButtonPress(VRModuleRawButton.DPadRight, (buttons & (1 << (int)WVR_InputId.WVR_InputId_Alias1_DPad_Right)) != 0u);
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currState[i].SetButtonPress(VRModuleRawButton.DPadDown, (buttons & (1 << (int)WVR_InputId.WVR_InputId_Alias1_DPad_Down)) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.System, (touches & (1 << (int)WVR_InputId.WVR_InputId_Alias1_System)) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.ApplicationMenu, (touches & (1 << (int)WVR_InputId.WVR_InputId_Alias1_Menu)) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.Touchpad, (touches & dpadMask) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.Trigger, (touches & triggerBumperMask) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.Grip, (touches & (1 << (int)WVR_InputId.WVR_InputId_Alias1_Grip)) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.DPadLeft, (touches & (1 << (int)WVR_InputId.WVR_InputId_Alias1_DPad_Left)) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.DPadUp, (touches & (1 << (int)WVR_InputId.WVR_InputId_Alias1_DPad_Up)) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.DPadRight, (touches & (1 << (int)WVR_InputId.WVR_InputId_Alias1_DPad_Right)) != 0u);
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currState[i].SetButtonTouch(VRModuleRawButton.DPadDown, (touches & (1 << (int)WVR_InputId.WVR_InputId_Alias1_DPad_Down)) != 0u);
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for (int j = 0, jmax = m_analogStates.Length; j < jmax; ++j)
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{
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switch (m_analogStates[j].id)
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{
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case WVR_InputId.WVR_InputId_Alias1_Trigger:
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if (m_analogStates[j].type == WVR_AnalogType.WVR_AnalogType_Trigger)
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{
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currState[i].SetAxisValue(VRModuleRawAxis.Trigger, m_analogStates[j].axis.x);
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}
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break;
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case WVR_InputId.WVR_InputId_Alias1_Touchpad:
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if (m_analogStates[j].type == WVR_AnalogType.WVR_AnalogType_TouchPad && currState[i].GetButtonTouch(VRModuleRawButton.Touchpad))
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{
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currState[i].SetAxisValue(VRModuleRawAxis.TouchpadX, m_analogStates[j].axis.x);
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currState[i].SetAxisValue(VRModuleRawAxis.TouchpadY, m_analogStates[j].axis.y);
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}
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else
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{
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currState[i].SetAxisValue(VRModuleRawAxis.TouchpadX, 0f);
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currState[i].SetAxisValue(VRModuleRawAxis.TouchpadY, 0f);
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}
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break;
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}
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}
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}
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else
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{
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currState[i].buttonPressed = 0u;
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currState[i].buttonTouched = 0u;
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for (int j = 0, jmax = currState[i].axisValue.Length; j < jmax; ++j) { currState[i].axisValue[j] = 0f; }
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}
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}
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else
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{
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if (prevState[i].isConnected)
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{
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currState[i].Reset();
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}
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}
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}
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// add right arm
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if (rightState != null && rightState.isConnected && rightState.position == Vector3.zero)
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{
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rightState.position = GetControllerPositionWithVirtualArm(GetNeckPose(headState.pose), rightState.rotation, RIGHT_ARM_MULTIPLIER);
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}
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// add left arm
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if (leftState != null && leftState.isConnected && leftState.position == Vector3.zero)
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{
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leftState.position = GetControllerPositionWithVirtualArm(GetNeckPose(headState.pose), leftState.rotation, LEFT_ARM_MULTIPLIER);
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}
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}
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private static RigidPose GetNeckPose(RigidPose headPose)
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{
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var headForward = headPose.forward;
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return new RigidPose(headPose.pos + DEFAULT_NECK_POSITION, Quaternion.FromToRotation(Vector3.forward, new Vector3(headForward.x, 0f, headForward.z)));
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}
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private static float GetExtensionRatio(Vector3 v)
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{
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var xAngle = 90f - Vector3.Angle(v, Vector3.up);
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return Mathf.Clamp01(Mathf.InverseLerp(MIN_EXTENSION_ANGLE, MAX_EXTENSION_ANGLE, xAngle));
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}
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private static Quaternion GetLerpRotation(Quaternion xyRotation, float extensionRatio)
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{
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float totalAngle = Quaternion.Angle(xyRotation, Quaternion.identity);
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float lerpSuppresion = 1.0f - Mathf.Pow(totalAngle / 180.0f, 6.0f);
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float inverseElbowBendRatio = 1.0f - DEFAULT_ELBOW_BEND_RATIO;
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float lerpValue = inverseElbowBendRatio + DEFAULT_ELBOW_BEND_RATIO * extensionRatio * EXTENSION_WEIGHT;
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lerpValue *= lerpSuppresion;
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return Quaternion.Lerp(Quaternion.identity, xyRotation, lerpValue);
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}
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private static Vector3 GetControllerPositionWithVirtualArm(RigidPose neckPose, Quaternion ctrlRot, Vector3 sideMultiplier)
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{
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var localCtrlForward = (Quaternion.Inverse(neckPose.rot) * ctrlRot) * Vector3.forward;
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var localCtrlXYRot = Quaternion.FromToRotation(Vector3.forward, localCtrlForward);
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var extensionRatio = GetExtensionRatio(localCtrlForward);
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var lerpRotation = GetLerpRotation(localCtrlXYRot, extensionRatio);
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var elbowPose = new RigidPose(
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Vector3.Scale(DEFAULT_ELBOW_REST_POSITION, sideMultiplier) + Vector3.Scale(DEFAULT_ARM_EXTENSION_OFFSET, sideMultiplier) * extensionRatio,
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Quaternion.Inverse(lerpRotation) * localCtrlXYRot);
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var wristPose = new RigidPose(
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Vector3.Scale(DEFAULT_WRIST_REST_POSITION, sideMultiplier),
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lerpRotation);
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var palmPose = new RigidPose(
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Vector3.Scale(DEFAULT_CONTROLLER_REST_POSITION, sideMultiplier),
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Quaternion.identity);
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var finalCtrlPose = neckPose * elbowPose * wristPose * palmPose;
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return finalCtrlPose.pos;
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}
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public override void TriggerViveControllerHaptic(uint deviceIndex, ushort durationMicroSec = 500)
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{
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Interop.WVR_TriggerVibrator(m_deviceTypes[deviceIndex], WVR_InputId.WVR_InputId_Alias1_Touchpad, durationMicroSec);
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}
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#endif
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}
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}
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