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Add an ARMeshManager + to the XR Rig (underneath the Camera Offset) as well as a mesh prefab to + start spawning scene reconstruction (SR) meshes! + + + SR meshes can + be used for occlusion as well as collision. 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- target: {fileID: 2351505567455720332, guid: 4d7e2f87fefe0ba468719b15288b46e7, type: 3} - propertyPath: m_LocalRotation.z - value: 0 - objectReference: {fileID: 0} - target: {fileID: 2351505567455720332, guid: 4d7e2f87fefe0ba468719b15288b46e7, type: 3} propertyPath: m_LocalEulerAnglesHint.x value: 0 diff --git a/UnityProjects/MRTKDevTemplate/Assets/Scripts/OnlyShowWhileOpaque.cs b/UnityProjects/MRTKDevTemplate/Assets/Scripts/OnlyShowWhileOpaque.cs new file mode 100644 index 00000000000..e132f9f7c45 --- /dev/null +++ b/UnityProjects/MRTKDevTemplate/Assets/Scripts/OnlyShowWhileOpaque.cs @@ -0,0 +1,47 @@ +// Copyright (c) Microsoft Corporation. +// Licensed under the MIT License. + +using System.Collections; +using System.Collections.Generic; +using UnityEngine; +using UnityEngine.XR; + +namespace Microsoft.MixedReality.Toolkit.Examples.Demos +{ + /// + /// This script disables the target gameObject if the first detected XRDisplaySubsystem is + /// not opaque. Useful for only showing environment models on opaque/VR devices. + /// + internal class OnlyShowWhileOpaque : MonoBehaviour + { + [SerializeField] + [Tooltip("GameObject to enable/disable based on XR display opacity. If null, defaults to this GameObject.")] + private GameObject targetObject; + + private XRDisplaySubsystem displaySubsystem = null; + + private void Awake() + { + if (targetObject == null) + { + targetObject = gameObject; + } + } + + private void Update() + { + // TODO: possibly remove timeout once XRSubsystemHelpers are more efficient (#10852) + if (displaySubsystem == null && Time.time < 5.0f) + { + displaySubsystem = XRSubsystemHelpers.DisplaySubsystem; + } + + // If we've successfully found a displaySubsystem, but the current visibility + // doesn't match the opacity of the XR display... + if (displaySubsystem != null && targetObject.activeSelf != displaySubsystem.displayOpaque) + { + targetObject.SetActive(displaySubsystem.displayOpaque); + } + } + } +} diff --git a/UnityProjects/MRTKDevTemplate/Assets/Scripts/OnlyShowWhileOpaque.cs.meta b/UnityProjects/MRTKDevTemplate/Assets/Scripts/OnlyShowWhileOpaque.cs.meta new file mode 100644 index 00000000000..164c7652c4a --- /dev/null +++ b/UnityProjects/MRTKDevTemplate/Assets/Scripts/OnlyShowWhileOpaque.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 1e5ac6eef6eaecb42a21a13c07de0043 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/UnityProjects/MRTKDevTemplate/Assets/Scripts/SampleSceneHandMenu.cs b/UnityProjects/MRTKDevTemplate/Assets/Scripts/SampleSceneHandMenu.cs index 9f434a776f8..5bcc7713798 100644 --- a/UnityProjects/MRTKDevTemplate/Assets/Scripts/SampleSceneHandMenu.cs +++ b/UnityProjects/MRTKDevTemplate/Assets/Scripts/SampleSceneHandMenu.cs @@ -68,7 +68,7 @@ private void Awake() /// public void SetHandRaysActive(bool value) { - var handRays = PlayspaceUtilities.ReferenceTransform.GetComponentsInChildren(true); + var handRays = PlayspaceUtilities.XROrigin.GetComponentsInChildren(true); foreach (var interactor in handRays) { @@ -81,7 +81,7 @@ public void SetHandRaysActive(bool value) /// public void SetGazePinchActive(bool value) { - var gazePinchInteractors = PlayspaceUtilities.ReferenceTransform.GetComponentsInChildren(true); + var gazePinchInteractors = PlayspaceUtilities.XROrigin.GetComponentsInChildren(true); foreach (var interactor in gazePinchInteractors) { diff --git a/com.microsoft.mrtk.core/Utilities/HandJointPose.cs b/com.microsoft.mrtk.core/Utilities/HandJointPose.cs index 945f225b1eb..c7a598c39ca 100644 --- a/com.microsoft.mrtk.core/Utilities/HandJointPose.cs +++ b/com.microsoft.mrtk.core/Utilities/HandJointPose.cs @@ -23,10 +23,32 @@ public HandJointPose( this.radius = radius; } + /// + /// Constructor. + /// + /// The pose of the hand joint. + /// The radius of the hand joint. + public HandJointPose( + Pose pose, + float radius) + { + this.pose = pose; + this.radius = radius; + } + [SerializeField] [Tooltip("The pose of the hand joint.")] private Pose pose; + /// + /// The pose of the hand joint. + /// + public Pose Pose + { + get => pose; + set => pose = value; + } + /// /// The position of the hand joint. /// diff --git a/com.microsoft.mrtk.core/Utilities/PlayspaceUtilities.cs b/com.microsoft.mrtk.core/Utilities/PlayspaceUtilities.cs index da3f5f7cbb0..e129b554000 100644 --- a/com.microsoft.mrtk.core/Utilities/PlayspaceUtilities.cs +++ b/com.microsoft.mrtk.core/Utilities/PlayspaceUtilities.cs @@ -1,6 +1,7 @@ // Copyright (c) Microsoft Corporation. // Licensed under the MIT License. +using System; using Unity.XR.CoreUtils; using UnityEngine; @@ -11,40 +12,83 @@ namespace Microsoft.MixedReality.Toolkit /// public static class PlayspaceUtilities { - private static Transform referenceTransform; + private static XROrigin xrOrigin; /// - /// The transform of XR offset, which all tracked objects are relative to. + /// The first detected XROrigin in the current scene. To transform a trackable's pose + /// into world space, either use or use + /// the and methods. /// - public static Transform ReferenceTransform + public static XROrigin XROrigin { get { - if (referenceTransform == null) + if (xrOrigin == null) { // Unfortunately, the XROrigin has no singleton property. // Instead, we can find it through the main camera. - var rig = Camera.main.GetComponentInParent(); - Debug.Assert(rig != null, "PlayspaceUtilities requires the use of an XROrigin. Check if your main camera is a child of an XROrigin."); - - if (rig != null) - { - referenceTransform = rig.CameraFloorOffsetObject.transform; - } + xrOrigin = Camera.main.GetComponentInParent(); + Debug.Assert(xrOrigin != null, "PlayspaceUtilities requires the use of an XROrigin. Check if your main camera is a child of an XROrigin."); } - return referenceTransform; + return xrOrigin; } } + + [ObsoleteAttribute("For transforming trackables poses into worldspace, use XROrigin.FloorOffsetObject.transform.")] + public static Transform ReferenceTransform; - public static HandJointPose TransformJointPose(HandJointPose playspaceLocalJoint) + /// + /// Transforms a from OpenXR scene-origin-space to Unity world-space. + /// Uses the XROrigin's CameraFloorOffsetObject transform. + /// + public static Pose TransformPose(Pose pose) { // Null-checking Unity objects can be expensive. Caching this here cuts two null checks into one. - Transform referenceTransform = ReferenceTransform; + // Here, we use CameraFloorOffsetObject, because poses are reported local to the floor offset. + Transform origin = XROrigin.CameraFloorOffsetObject.transform; + return new Pose( + origin.TransformPoint(pose.position), + origin.rotation * pose.rotation + ); + } + + /// + /// Transforms a from OpenXR scene-origin-space to Unity world-space. + /// Uses the XROrigin's CameraFloorOffsetObject transform. + /// + public static HandJointPose TransformPose(HandJointPose pose) + { + return new HandJointPose( + TransformPose(pose.Pose), + pose.Radius + ); + } + + /// + /// Transforms a from Unity world-space to OpenXR scene-origin-space. + /// Uses the XROrigin's CameraFloorOffsetObject transform. + /// + public static Pose InverseTransformPose(Pose pose) + { + // Null-checking Unity objects can be expensive. Caching this here cuts two null checks into one. + // Here, we use CameraFloorOffsetObject, because poses are reported local to the floor offset. + Transform origin = XROrigin.CameraFloorOffsetObject.transform; + return new Pose( + origin.InverseTransformPoint(pose.position), + Quaternion.Inverse(origin.rotation) * pose.rotation + ); + } + + /// + /// Transforms a from Unity world-space to OpenXR scene-origin-space. + /// Uses the XROrigin's CameraFloorOffsetObject transform. + /// + public static HandJointPose InverseTransformPose(HandJointPose pose) + { return new HandJointPose( - referenceTransform.TransformPoint(playspaceLocalJoint.Position), - referenceTransform.rotation * playspaceLocalJoint.Rotation, - playspaceLocalJoint.Radius + InverseTransformPose(pose.Pose), + pose.Radius ); } } diff --git a/com.microsoft.mrtk.input/Assets/Prefabs/MRTK XR Rig.prefab b/com.microsoft.mrtk.input/Assets/Prefabs/MRTK XR Rig.prefab index f15e2513737..2741e97f094 100644 --- a/com.microsoft.mrtk.input/Assets/Prefabs/MRTK XR Rig.prefab +++ b/com.microsoft.mrtk.input/Assets/Prefabs/MRTK XR Rig.prefab @@ -199,6 +199,8 @@ GameObject: serializedVersion: 6 m_Component: - component: {fileID: 2351505566903569412} + - component: {fileID: 353802728361921669} + - component: {fileID: 3712792914886690938} m_Layer: 0 m_Name: Camera Offset m_TagString: Untagged @@ -214,7 +216,7 @@ Transform: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 2351505566903569413} m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} - m_LocalPosition: {x: 0, y: 0, z: 0} + m_LocalPosition: {x: 0, y: 1.6, z: 0} m_LocalScale: {x: 1, y: 1, z: 1} m_Children: - {fileID: 2351505566771328526} @@ -224,6 +226,36 @@ Transform: m_Father: {fileID: 2351505567455720332} m_RootOrder: 1 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!114 &353802728361921669 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 2351505566903569413} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: 520bb47c46cf8624fafb307b7d1b862a, type: 3} + m_Name: + m_EditorClassIdentifier: + m_Camera: {fileID: 2351505566771328527} +--- !u!114 &3712792914886690938 +MonoBehaviour: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 2351505566903569413} + m_Enabled: 1 + m_EditorHideFlags: 0 + m_Script: {fileID: 11500000, guid: e0cb9aa70a22847b5925ee5f067c10a9, type: 3} + m_Name: + m_EditorClassIdentifier: + m_Camera: {fileID: 2351505566771328527} + m_OriginBaseGameObject: {fileID: 2351505567455720334} + m_CameraFloorOffsetObject: {fileID: 2351505566903569413} + m_RequestedTrackingOriginMode: 0 + m_CameraYOffset: 1.6 --- !u!1 &2351505567455720334 GameObject: m_ObjectHideFlags: 0 @@ -235,8 +267,6 @@ GameObject: - component: {fileID: 2351505567455720332} - component: {fileID: 4160709927669568829} - component: {fileID: 6400715630075217958} - - component: {fileID: 5456432097472220313} - - component: {fileID: 5731710784244998705} m_Layer: 0 m_Name: MRTK XR Rig m_TagString: Untagged @@ -288,36 +318,6 @@ MonoBehaviour: m_Script: {fileID: 11500000, guid: 1a107350295baaf4489642caa92f05de, type: 3} m_Name: m_EditorClassIdentifier: ---- !u!114 &5456432097472220313 -MonoBehaviour: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 2351505567455720334} - m_Enabled: 1 - m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: 520bb47c46cf8624fafb307b7d1b862a, type: 3} - m_Name: - m_EditorClassIdentifier: - m_Camera: {fileID: 2351505566771328527} ---- !u!114 &5731710784244998705 -MonoBehaviour: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 2351505567455720334} - m_Enabled: 1 - m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: e0cb9aa70a22847b5925ee5f067c10a9, type: 3} - m_Name: - m_EditorClassIdentifier: - m_Camera: {fileID: 2351505566771328527} - m_OriginBaseGameObject: {fileID: 2351505567455720334} - m_CameraFloorOffsetObject: {fileID: 2351505566903569413} - m_RequestedTrackingOriginMode: 1 - m_CameraYOffset: 0 --- !u!1 &7735890427496681069 GameObject: m_ObjectHideFlags: 0 diff --git a/com.microsoft.mrtk.input/Controllers/ArticulatedHandController.cs b/com.microsoft.mrtk.input/Controllers/ArticulatedHandController.cs index d6cd29c0eec..60a9e07cc00 100644 --- a/com.microsoft.mrtk.input/Controllers/ArticulatedHandController.cs +++ b/com.microsoft.mrtk.input/Controllers/ArticulatedHandController.cs @@ -158,17 +158,21 @@ private bool TryGetPolyfillDevicePose(out Pose devicePose) bool poseRetrieved = false; Handedness handedness = HandNode.ToHandedness(); + // palmPose retrieved in global space. if (HandsAggregator != null && HandsAggregator.TryGetJoint(TrackedHandJoint.Palm, HandNode, out HandJointPose palmPose)) { - devicePose.position = palmPose.Position; + // XRControllers work in OpenXR scene-origin-space, so we need to transform + // our global palm pose back into scene-origin-space. + devicePose = PlayspaceUtilities.InverseTransformPose(palmPose.Pose); + switch (handedness) { case Handedness.Left: - devicePose.rotation = palmPose.Rotation * leftPalmOffset; + devicePose.rotation = devicePose.rotation * leftPalmOffset; poseRetrieved = true; break; case Handedness.Right: - devicePose.rotation = palmPose.Rotation * rightPalmOffset; + devicePose.rotation = devicePose.rotation * rightPalmOffset; poseRetrieved = true; break; default: diff --git a/com.microsoft.mrtk.input/Simulation/Devices/SimulatedController.cs b/com.microsoft.mrtk.input/Simulation/Devices/SimulatedController.cs index 7806e02f302..85d53100d37 100644 --- a/com.microsoft.mrtk.input/Simulation/Devices/SimulatedController.cs +++ b/com.microsoft.mrtk.input/Simulation/Devices/SimulatedController.cs @@ -80,26 +80,22 @@ internal class SimulatedController : IDisposable synthHandsSubsystem ??= XRSubsystemHelpers.GetFirstRunningSubsystem(); /// - /// Returns the current position, in camera relative space, of the input device which controls this simulated controller. - /// This is different from the devicePosition, which may be offset from this due to anchoring at a different point + /// Returns the current camera relative pose of the simulated controller. + /// This is different from the devicePosition, which may be offset from this due to anchoring at a different point. /// - public Vector3 SimulatedInputPosition { get; private set; } = Vector3.zero; - - /// - /// Returns the current rotation, in camera relative space, of the input device which controls this simulated controller - /// This is separated from the deviceRotation, which may be offset from this due to anchoring at a different point - /// - public Quaternion SimulatedInputRotation { get; private set; } = Quaternion.identity; + public Pose CameraRelativePose { get; private set; } = Pose.identity; /// /// Returns the current position, in worldspace, of the simulated controller. /// - public Vector3 WorldPosition => PlayspaceUtilities.ReferenceTransform.TransformPoint(simulatedControllerState.devicePosition); + public Vector3 WorldPosition => + PlayspaceUtilities.XROrigin.CameraFloorOffsetObject.transform.TransformPoint(simulatedControllerState.devicePosition); /// /// Returns the current rotation, in worldspace, of the simulated controller. /// - public Quaternion WorldRotation => PlayspaceUtilities.ReferenceTransform.rotation * simulatedControllerState.deviceRotation; + public Quaternion WorldRotation => + PlayspaceUtilities.XROrigin.CameraFloorOffsetObject.transform.rotation * simulatedControllerState.deviceRotation; /// /// Returns the position of the index finger joint on the simulated device, @@ -185,13 +181,12 @@ public SimulatedController( simulatedController.SimulationMode = controllerSimulationSettings.SimulationMode; - SimulatedInputPosition = initialRelativePosition; + CameraRelativePose = new Pose(initialRelativePosition, Quaternion.identity); SetUsage(); SetRelativePoseWithOffset( - initialRelativePosition, - Quaternion.identity, + CameraRelativePose, Vector3.zero, ControllerRotationMode.UserControl, true); @@ -308,17 +303,18 @@ public void UpdateRelative( const float jitterSeverity = 0.002f; Vector3 jitter = jitterStrength * jitterSeverity * UnityEngine.Random.insideUnitSphere; - SimulatedInputPosition += smoothedMoveDelta + jitter; + CameraRelativePose = new Pose( + CameraRelativePose.position + smoothedMoveDelta + jitter, - // If we not have been told to face the camera, apply the rotation delta. - if (rotationMode == ControllerRotationMode.UserControl) - { - SimulatedInputRotation *= rotationDelta; - } + // If we not have been told to face the camera, apply the rotation delta. + rotationMode == ControllerRotationMode.UserControl ? + CameraRelativePose.rotation * rotationDelta : + CameraRelativePose.rotation + ); Vector3 offset = WorldPosition - anchorPosition; - SetRelativePoseWithOffset(SimulatedInputPosition, SimulatedInputRotation, offset, rotationMode, shouldUseRayVector); + SetRelativePoseWithOffset(CameraRelativePose, offset, rotationMode, shouldUseRayVector); } ApplyState(controls); @@ -343,14 +339,12 @@ public void UpdateControls(ControllerControls controls) /// /// Update the controller simulation with a specified absolute pose in world-space. /// - /// The worldspace position. - /// The worldspace rotation. + /// The worldspace controller pose. /// The desired state of the controller's controls. /// The in which the controller is operating. /// Should pointerRotation be set to the body/head ray vector, instead of the raw rotation? public void UpdateAbsolute( - Vector3 position, - Quaternion rotation, + Pose worldPose, ControllerControls controls, ControllerRotationMode rotationMode, bool shouldUseRayVector) @@ -359,7 +353,7 @@ public void UpdateAbsolute( { if (simulatedController == null) { return; } - SetWorldPose(position, rotation, rotationMode, shouldUseRayVector); + SetWorldPose(worldPose, rotationMode, shouldUseRayVector); ApplyState(controls); } } @@ -371,59 +365,56 @@ public void UpdateAbsolute( /// Update the controller simulation with a specified absolute pose in world-space at which the /// poking position (usually index-tip) should be. /// - /// The worldspace position. - /// The worldspace rotation. + /// The worldspace pose. /// The desired state of the controller's controls. /// The in which the controller is operating. /// Should pointerRotation be set to the body/head ray vector, instead of the raw rotation? public void UpdateAbsoluteWithPokeAnchor( - Vector3 position, - Quaternion rotation, + Pose worldPose, ControllerControls controls, ControllerRotationMode rotationMode, bool shouldUseRayVector) { - UpdateAbsoluteWithAnchor(position, rotation, controls, rotationMode, shouldUseRayVector, PokePosition); + UpdateAbsoluteWithAnchor(worldPose, controls, rotationMode, shouldUseRayVector, PokePosition); } /// /// Update the controller simulation with a specified absolute pose in world-space at which the /// poking position (usually index-tip) should be. /// - /// The worldspace position. - /// The worldspace rotation. + /// The worldspace pose. /// The desired state of the controller's controls. /// The in which the controller is operating. /// Should pointerRotation be set to the body/head ray vector, instead of the raw rotation? public void UpdateAbsoluteWithGrabAnchor( - Vector3 position, - Quaternion rotation, + Pose worldPose, ControllerControls controls, ControllerRotationMode rotationMode, bool shouldUseRayVector) { - UpdateAbsoluteWithAnchor(position, rotation, controls, rotationMode, shouldUseRayVector, GrabPosition); + UpdateAbsoluteWithAnchor(worldPose, controls, rotationMode, shouldUseRayVector, GrabPosition); } /// /// Update the controller simulation with a specified absolute pose in world-space anchored at the specified point. /// - /// The worldspace position. - /// The worldspace rotation. + /// The pose in worldspace. /// The desired state of the controller's controls. /// The in which the controller is operating. /// Should pointerRotation be set to the body/head ray vector, instead of the raw rotation? - public void UpdateAbsoluteWithAnchor(Vector3 position, - Quaternion rotation, + public void UpdateAbsoluteWithAnchor( + Pose worldPose, ControllerControls controls, ControllerRotationMode rotationMode, bool shouldUseRayVector, Vector3 anchorPoint) { - Vector3 handToAnchorDelta = (anchorPoint - WorldPosition); - Vector3 adjustedWorldPos = position - handToAnchorDelta; + // Adjust the *new* world pose by the anchor delta. + Pose adjustedWorldPose = new Pose( + worldPose.position - (anchorPoint - WorldPosition), + worldPose.rotation); - UpdateAbsolute(adjustedWorldPos, rotation, controls, rotationMode, shouldUseRayVector); + UpdateAbsolute(adjustedWorldPose, controls, rotationMode, shouldUseRayVector); } private static readonly ProfilerMarker ApplyStatePerfMarker = @@ -480,16 +471,17 @@ private void ApplyState(ControllerControls controls) /// camera relative space is not necessarily the same as the rig relative space (due to the offset GameObject in between). /// Transform the parameters into world space and call SetWorldPose where they will be transformed into rig relative space. private void SetRelativePoseWithOffset( - Vector3 position, - Quaternion rotation, + Pose cameraRelativePose, Vector3 offset, ControllerRotationMode rotationMode, bool shouldUseRayVector) { - Vector3 worldPosition = Camera.main.transform.TransformPoint(position) + offset; - Quaternion worldRotation = Camera.main.transform.rotation * rotation; + Pose worldPose = new Pose( + Camera.main.transform.TransformPoint(cameraRelativePose.position) + offset, + Camera.main.transform.rotation * cameraRelativePose.rotation + ); - SetWorldPose(worldPosition, worldRotation, rotationMode, shouldUseRayVector); + SetWorldPose(worldPose, rotationMode, shouldUseRayVector); } private static readonly ProfilerMarker SetWorldPosePerfMarker = @@ -498,23 +490,20 @@ private void SetRelativePoseWithOffset( /// /// Sets a controller to the specified worldspace pose. /// - /// The desired controller position, in world space. - /// The desired controller rotation, in world space. + /// The desired controller pose, in world space. /// The in which the controller is operating. /// /// Should pointerRotation be set to the body/head ray vector, instead of the raw rotation? /// private void SetWorldPose( - Vector3 position, - Quaternion rotation, + Pose worldPose, ControllerRotationMode rotationMode, bool shouldUseRayVector) { using (SetWorldPosePerfMarker.Auto()) { - Vector3 rigLocalPosition = PlayspaceUtilities.ReferenceTransform.InverseTransformPoint(position); - Quaternion rigLocalRotation = Quaternion.Inverse(PlayspaceUtilities.ReferenceTransform.rotation) * rotation; - SetRigLocalPose(rigLocalPosition, rigLocalRotation, rotationMode, shouldUseRayVector); + Pose cameraOffsetLocalPose = PlayspaceUtilities.InverseTransformPose(worldPose); + SetCameraOffsetLocalPose(cameraOffsetLocalPose, rotationMode, shouldUseRayVector); } } @@ -522,60 +511,66 @@ private void SetWorldPose( new ProfilerMarker("[MRTK] SimulatedController.SetRigLocalPose"); /// - /// Sets a controller to the specified rig-local pose. + /// Sets a controller to the specified camera-offset-local pose. /// - /// The desired controller position, in rig-local space. - /// The desired controller rotation, in rig-local space. + /// The desired controller pose, in camera-offset-local space. /// The in which the controller is operating. /// /// Should pointerRotation be set to the body/head ray vector, instead of the raw rotation? /// - private void SetRigLocalPose( - Vector3 position, - Quaternion rotation, + private void SetCameraOffsetLocalPose( + Pose localPose, ControllerRotationMode rotationMode, bool shouldUseRayVector) { using (SetRigLocalPosePerfMarker.Auto()) { // First set the device pose using the provided position and rotation. - simulatedControllerState.devicePosition = position; + simulatedControllerState.devicePosition = localPose.position; if (rotationMode == ControllerRotationMode.FaceCamera) { - Quaternion worldLookAtCamera = Quaternion.LookRotation(Camera.main.transform.position - position); - Quaternion rigLocalLookAtCamera = Quaternion.Inverse(PlayspaceUtilities.ReferenceTransform.rotation) * worldLookAtCamera; + Quaternion localLookAt = Quaternion.LookRotation(Camera.main.transform.localPosition - localPose.position); simulatedControllerState.deviceRotation = Smoothing.SmoothTo( simulatedControllerState.deviceRotation, - rigLocalLookAtCamera, + localLookAt, 0.1f, MoveSmoothingTime); } else if (rotationMode == ControllerRotationMode.CameraAligned) { - Quaternion worldCameraForward = Quaternion.LookRotation(Camera.main.transform.forward); - Quaternion rigLocalCameraForward = Quaternion.Inverse(PlayspaceUtilities.ReferenceTransform.rotation) * worldCameraForward; simulatedControllerState.deviceRotation = Smoothing.SmoothTo( simulatedControllerState.deviceRotation, - rigLocalCameraForward, + Camera.main.transform.localRotation, 0.1f, MoveSmoothingTime); } else { - simulatedControllerState.deviceRotation = rotation; + simulatedControllerState.deviceRotation = localPose.rotation; } // Then set the pointer pose. if (shouldUseRayVector && Handedness.ToXRNode().HasValue && HandSubsystem != null && - HandSubsystem.TryGetJoint(TrackedHandJoint.Palm, Handedness.ToXRNode().Value, out HandJointPose palmPose)) + HandSubsystem.TryGetJoint(TrackedHandJoint.Palm, Handedness.ToXRNode().Value, out HandJointPose palmPose) && + HandSubsystem.TryGetJoint(TrackedHandJoint.IndexProximal, Handedness.ToXRNode().Value, out HandJointPose knucklePose)) { - // If prompted to use the ray vector, this is pose is calculated by simulating a hand ray initialized at the device pose. - // This occurs when the simulation mode is set to ArticulatedHand - handRay.Update(PlayspaceUtilities.ReferenceTransform.TransformPoint(simulatedControllerState.devicePosition), -palmPose.Up, Camera.main.transform, Handedness); - Ray ray = handRay.Ray; - simulatedControllerState.pointerPosition = PlayspaceUtilities.ReferenceTransform.InverseTransformPoint(ray.origin); - simulatedControllerState.pointerRotation = Quaternion.Inverse(PlayspaceUtilities.ReferenceTransform.rotation) * Quaternion.LookRotation(ray.direction); + // If prompted to use the ray vector, this pose is calculated by simulating a hand ray. + // This occurs only when the simulation mode is set to ArticulatedHand. + handRay.Update( + knucklePose.Position, + -palmPose.Up, + Camera.main.transform, + Handedness); + + // Transform world ray back into local pose. + Pose localRayPose = PlayspaceUtilities.InverseTransformPose( + new Pose( + handRay.Ray.origin, + Quaternion.LookRotation(handRay.Ray.direction, palmPose.Up))); + + simulatedControllerState.pointerPosition = localRayPose.position; + simulatedControllerState.pointerRotation = localRayPose.rotation; } else { diff --git a/com.microsoft.mrtk.input/Simulation/Devices/SimulatedHMD.cs b/com.microsoft.mrtk.input/Simulation/Devices/SimulatedHMD.cs index 860e9b5c55a..6aa9cb9ebf2 100644 --- a/com.microsoft.mrtk.input/Simulation/Devices/SimulatedHMD.cs +++ b/com.microsoft.mrtk.input/Simulation/Devices/SimulatedHMD.cs @@ -136,7 +136,10 @@ public void Update( moveDelta; simulatedHmdState.trackingState = (int)(InputTrackingState.Position | InputTrackingState.Rotation); - simulatedHmdState.centerEyePosition += Quaternion.Inverse(PlayspaceUtilities.ReferenceTransform.rotation) * Camera.main.transform.rotation * (smoothedMoveDelta * moveSpeed); + + // HMD poses are relative to the camera floor offset. + Transform origin = PlayspaceUtilities.XROrigin.CameraFloorOffsetObject.transform; + simulatedHmdState.centerEyePosition += Quaternion.Inverse(origin.rotation) * Camera.main.transform.rotation * (smoothedMoveDelta * moveSpeed); simulatedHmdState.devicePosition = simulatedHmdState.centerEyePosition; cameraRotation += rotationDelta * rotationSensitivity; diff --git a/com.microsoft.mrtk.input/Simulation/InputSimulator.cs b/com.microsoft.mrtk.input/Simulation/InputSimulator.cs index e083350cce1..ae87626b1a1 100644 --- a/com.microsoft.mrtk.input/Simulation/InputSimulator.cs +++ b/com.microsoft.mrtk.input/Simulation/InputSimulator.cs @@ -463,7 +463,7 @@ private void UpdateSimulatedController(Handedness handedness) Vector3 inputPosition = ScreenToCameraRelative(mouseScreenPos); - positionDelta = inputPosition - simCtrl.SimulatedInputPosition; + positionDelta = inputPosition - simCtrl.CameraRelativePose.position; positionDelta.z = ctrlSettings.MoveDepth.action.ReadValue(); } else diff --git a/com.microsoft.mrtk.input/Simulation/Prefabs/MRTKInputSimulator.prefab b/com.microsoft.mrtk.input/Simulation/Prefabs/MRTKInputSimulator.prefab index 2707ef3a398..8e82f4f17d1 100644 --- a/com.microsoft.mrtk.input/Simulation/Prefabs/MRTKInputSimulator.prefab +++ b/com.microsoft.mrtk.input/Simulation/Prefabs/MRTKInputSimulator.prefab @@ -66,7 +66,7 @@ MonoBehaviour: sensitivity: 1 leftControllerSettings: simulationMode: 1 - anchorPoint: 0 + anchorPoint: 3 toggleSecondaryHandshapes: {fileID: -1599196918749775551, guid: 70b361cf3c037d54896482d1ffd9f999, type: 3} neutralHandshape: 2 triggerHandshape: 3 @@ -92,7 +92,7 @@ MonoBehaviour: gripButton: {fileID: -3526819263525005143, guid: 70b361cf3c037d54896482d1ffd9f999, type: 3} rightControllerSettings: simulationMode: 1 - anchorPoint: 0 + anchorPoint: 3 toggleSecondaryHandshapes: {fileID: -1040645400157157469, guid: 70b361cf3c037d54896482d1ffd9f999, type: 3} neutralHandshape: 2 triggerHandshape: 3 diff --git a/com.microsoft.mrtk.input/Subsystems/Hands/OpenXRHandsSubsystem.cs b/com.microsoft.mrtk.input/Subsystems/Hands/OpenXRHandsSubsystem.cs index 4ba384f257c..f9f9ed811c6 100644 --- a/com.microsoft.mrtk.input/Subsystems/Hands/OpenXRHandsSubsystem.cs +++ b/com.microsoft.mrtk.input/Subsystems/Hands/OpenXRHandsSubsystem.cs @@ -96,15 +96,16 @@ public override bool TryGetJoint(TrackedHandJoint joint, out HandJointPose pose) return false; } - Transform playspaceTransform = PlayspaceUtilities.ReferenceTransform; - if (playspaceTransform == null) + // Joints are relative to the camera floor offset object. + Transform origin = PlayspaceUtilities.XROrigin.CameraFloorOffsetObject.transform; + if (origin == null) { pose = handJoints[index]; return false; } var jointLocation = HandJointLocations[HandJointIndexFromTrackedHandJointIndex[index]]; - UpdateJoint(index, jointLocation, playspaceTransform); + UpdateJoint(index, jointLocation, origin); thisQueryValid = true; } else @@ -141,15 +142,16 @@ private void TryCalculateEntireHand() // Null checks against Unity objects can be expensive, especially when you do // it 52 times per frame (26 hand joints across 2 hands). Instead, we manage // the playspace transformation internally for hand joints. - Transform playspaceTransform = PlayspaceUtilities.ReferenceTransform; - if (playspaceTransform == null) + // Joints are relative to the camera floor offset object. + Transform origin = PlayspaceUtilities.XROrigin.CameraFloorOffsetObject.transform; + if (origin == null) { return; } for (int i = 0; i < HandTracker.JointCount; i++) { - UpdateJoint(TrackedHandJointIndexFromHandJointIndex[i], HandJointLocations[i], playspaceTransform); + UpdateJoint(TrackedHandJointIndexFromHandJointIndex[i], HandJointLocations[i], origin); } // Mark this hand as having been fully queried this frame. diff --git a/com.microsoft.mrtk.input/Subsystems/Hands/XRSDKHandsSubsystem.cs b/com.microsoft.mrtk.input/Subsystems/Hands/XRSDKHandsSubsystem.cs index 957c2b32704..32243f971f4 100644 --- a/com.microsoft.mrtk.input/Subsystems/Hands/XRSDKHandsSubsystem.cs +++ b/com.microsoft.mrtk.input/Subsystems/Hands/XRSDKHandsSubsystem.cs @@ -95,8 +95,9 @@ public override bool TryGetJoint(TrackedHandJoint joint, out HandJointPose pose) return false; } - Transform playspaceTransform = PlayspaceUtilities.ReferenceTransform; - if (playspaceTransform == null) + // Joints are relative to the camera floor offset object. + Transform origin = PlayspaceUtilities.XROrigin.CameraFloorOffsetObject.transform; + if (origin == null) { pose = handJoints[HandsUtils.ConvertToIndex(joint)]; return false; @@ -106,7 +107,7 @@ public override bool TryGetJoint(TrackedHandJoint joint, out HandJointPose pose) if (joint == TrackedHandJoint.Palm) { handDevice.Value.TryGetRootBone(out Bone rootBone); - thisQueryValid |= TryUpdateJoint(TrackedHandJoint.Palm, rootBone, playspaceTransform); + thisQueryValid |= TryUpdateJoint(TrackedHandJoint.Palm, rootBone, origin); } else { @@ -114,7 +115,7 @@ public override bool TryGetJoint(TrackedHandJoint joint, out HandJointPose pose) if (handDevice.Value.TryGetFingerBones(finger, fingerBones)) { Bone bone = fingerBones[HandsUtils.GetOffsetFromBase(joint)]; - thisQueryValid |= TryUpdateJoint(joint, bone, playspaceTransform); + thisQueryValid |= TryUpdateJoint(joint, bone, origin); } } } @@ -200,8 +201,9 @@ private void TryCalculateEntireHand() // Null checks against Unity objects can be expensive, especially when you do // it 52 times per frame (26 hand joints across 2 hands). Instead, we manage // the playspace transformation internally for hand joints. - Transform playspaceTransform = PlayspaceUtilities.ReferenceTransform; - if (playspaceTransform == null) + // Joints are relative to the camera floor offset object. + Transform origin = PlayspaceUtilities.XROrigin.CameraFloorOffsetObject.transform; + if (origin == null) { return; } @@ -213,14 +215,14 @@ private void TryCalculateEntireHand() { for (int i = 0; i < fingerBones.Count; i++) { - FullQueryValid &= TryUpdateJoint(HandsUtils.ConvertToTrackedHandJoint(finger, i), fingerBones[i], playspaceTransform); + FullQueryValid &= TryUpdateJoint(HandsUtils.ConvertToTrackedHandJoint(finger, i), fingerBones[i], origin); } } } // Write root bone into handJoints as palm joint. handDevice.Value.TryGetRootBone(out Bone rootBone); - FullQueryValid &= TryUpdateJoint(TrackedHandJoint.Palm, rootBone, playspaceTransform); + FullQueryValid &= TryUpdateJoint(TrackedHandJoint.Palm, rootBone, origin); // Mark this hand as having been fully queried this frame. // If any joint is queried again this frame, we'll reuse the diff --git a/com.microsoft.mrtk.input/Subsystems/SyntheticHands/SyntheticHandsSubsystem.cs b/com.microsoft.mrtk.input/Subsystems/SyntheticHands/SyntheticHandsSubsystem.cs index 1e841de293f..ef7fe89a28c 100644 --- a/com.microsoft.mrtk.input/Subsystems/SyntheticHands/SyntheticHandsSubsystem.cs +++ b/com.microsoft.mrtk.input/Subsystems/SyntheticHands/SyntheticHandsSubsystem.cs @@ -333,8 +333,9 @@ private void TryCalculateEntireHand() // Null checks against Unity objects can be expensive, especially when you do // it 52 times per frame (26 hand joints across 2 hands). Instead, we manage // the playspace transformation internally for hand joints. - Transform playspaceTransform = PlayspaceUtilities.ReferenceTransform; - if (playspaceTransform == null) + // Joints are relative to the camera floor offset object. + Transform origin = PlayspaceUtilities.XROrigin.CameraFloorOffsetObject.transform; + if (origin == null) { return; } @@ -349,8 +350,8 @@ private void TryCalculateEntireHand() } handJoints[i] = new HandJointPose( - playspaceTransform.TransformPoint((handRotation * currentHandshape[i].Position) + handPosition), - playspaceTransform.rotation * (handRotation * currentHandshape[i].Rotation), + origin.TransformPoint((handRotation * currentHandshape[i].Position) + handPosition), + origin.rotation * (handRotation * currentHandshape[i].Rotation), currentHandshape[i].Radius); } } diff --git a/com.microsoft.mrtk.input/Tests/Runtime/Utilities/InputTestUtilities.cs b/com.microsoft.mrtk.input/Tests/Runtime/Utilities/InputTestUtilities.cs index 9d60a32ae84..b3f5fb381b8 100644 --- a/com.microsoft.mrtk.input/Tests/Runtime/Utilities/InputTestUtilities.cs +++ b/com.microsoft.mrtk.input/Tests/Runtime/Utilities/InputTestUtilities.cs @@ -213,21 +213,23 @@ public static IEnumerator UpdateHand( { float t = i / (float)numSteps; - Vector3 handPos = Vector3.Lerp(startPos, endPos, t); - Quaternion handRot = Quaternion.Slerp(startRot, endRot, t); + Pose handPose = new Pose( + Vector3.Lerp(startPos, endPos, t), + Quaternion.Lerp(startRot, endRot, t) + ); float pinchAmount = Mathf.Lerp(startPinch, isPinching ? 1 : 0, t); controls.TriggerAxis = pinchAmount; switch (anchorPoint) { case ControllerAnchorPoint.Device: - controller.UpdateAbsolute(handPos, handRot, controls, ControllerRotationMode.UserControl, shouldUseRayVector); + controller.UpdateAbsolute(handPose, controls, ControllerRotationMode.UserControl, shouldUseRayVector); break; case ControllerAnchorPoint.IndexFinger: - controller.UpdateAbsoluteWithPokeAnchor(handPos, handRot, controls, ControllerRotationMode.UserControl, shouldUseRayVector); + controller.UpdateAbsoluteWithPokeAnchor(handPose, controls, ControllerRotationMode.UserControl, shouldUseRayVector); break; case ControllerAnchorPoint.Grab: - controller.UpdateAbsoluteWithGrabAnchor(handPos, handRot, controls, ControllerRotationMode.UserControl, shouldUseRayVector); + controller.UpdateAbsoluteWithGrabAnchor(handPose, controls, ControllerRotationMode.UserControl, shouldUseRayVector); break; } diff --git a/com.microsoft.mrtk.input/Utilities/PoseSource/InputActionPoseSource.cs b/com.microsoft.mrtk.input/Utilities/PoseSource/InputActionPoseSource.cs index a0a29bd4918..86888c0a00d 100644 --- a/com.microsoft.mrtk.input/Utilities/PoseSource/InputActionPoseSource.cs +++ b/com.microsoft.mrtk.input/Utilities/PoseSource/InputActionPoseSource.cs @@ -38,10 +38,12 @@ public bool TryGetPose(out Pose pose) && rotationAction != null && rotationAction.controls.Count != 0 && ((InputTrackingState)trackingStateAction.ReadValue() & (InputTrackingState.Position | InputTrackingState.Rotation)) != 0) { - // Transform the pose into worldspace, as input actions are returned in rig space - pose.position = PlayspaceUtilities.ReferenceTransform.TransformPoint(positionAction.ReadValue()); - pose.rotation = PlayspaceUtilities.ReferenceTransform.rotation * rotationAction.ReadValue(); - + // Transform the pose into worldspace, as input actions are returned + // in floor-offset-relative coordinates. + pose = PlayspaceUtilities.TransformPose( + new Pose( + positionAction.ReadValue(), + rotationAction.ReadValue())); return true; } else diff --git a/com.microsoft.mrtk.input/Utilities/PoseSource/PolyfillHandRayPoseSource.cs b/com.microsoft.mrtk.input/Utilities/PoseSource/PolyfillHandRayPoseSource.cs index e47e326ade4..c756e35fc61 100644 --- a/com.microsoft.mrtk.input/Utilities/PoseSource/PolyfillHandRayPoseSource.cs +++ b/com.microsoft.mrtk.input/Utilities/PoseSource/PolyfillHandRayPoseSource.cs @@ -44,12 +44,10 @@ public override bool TryGetPose(out Pose pose) if(poseRetrieved) { handRay.Update(knuckle.Position, -palm.Up, Camera.main.transform, Hand); - Ray ray = handRay.Ray; - // controllerState is in rig-local space, our ray generator works in worldspace! - pose.position = PlayspaceUtilities.ReferenceTransform.InverseTransformPoint(ray.origin); - pose.rotation = Quaternion.LookRotation(PlayspaceUtilities.ReferenceTransform.InverseTransformVector(ray.direction), - PlayspaceUtilities.ReferenceTransform.InverseTransformVector(palm.Up)); + pose = new Pose( + handRay.Ray.origin, + Quaternion.LookRotation(handRay.Ray.direction, palm.Up)); } else {