Changing skeleton logic to new agreed upon bone names

demo/Main.tscn

@@ -4,8 +4,8 @@
 [ext_resource path="res://Ground.tscn" type="PackedScene" id=2]
 [ext_resource path="res://Table.tscn" type="PackedScene" id=3]
 [ext_resource path="res://addons/godot-openxr/scenes/first_person_controller_vr.tscn" type="PackedScene" id=4]
-[ext_resource path="res://addons/godot-openxr/scenes/left_hand.tscn" type="PackedScene" id=5]
-[ext_resource path="res://addons/godot-openxr/scenes/right_hand.tscn" type="PackedScene" id=6]
+[ext_resource path="res://addons/godot-openxr/scenes/right_hand_nodes.tscn" type="PackedScene" id=5]
+[ext_resource path="res://addons/godot-openxr/scenes/left_hand_nodes.tscn" type="PackedScene" id=6]
 [ext_resource path="res://addons/godot-openxr/scenes/XRPose.tscn" type="PackedScene" id=7]
 [ext_resource path="res://addons/godot-xr-tools/objects/Viewport_2D_in_3D.tscn" type="PackedScene" id=8]
 [ext_resource path="res://ControllerInfo.tscn" type="PackedScene" id=9]
@@ -55,23 +55,13 @@ visible = true
 
 [node name="Info" parent="FPSController/LeftHandController" index="0" instance=ExtResource( 8 )]
 transform = Transform( 1, 0, 0, 0, 0.939693, 0.34202, 0, -0.34202, 0.939693, 0.0483518, 0.0719222, 0 )
-enabled = true
 screen_size = Vector2( 0.16, 0.12 )
 viewport_size = Vector2( 600, 400 )
-transparent = true
 scene = ExtResource( 9 )
 collision_layer = 0
 
 [node name="Function_Teleport" parent="FPSController/LeftHandController" index="1" instance=ExtResource( 10 )]
 collision_mask = 1022
-enabled = true
-teleport_button = 15
-can_teleport_color = Color( 0, 1, 0, 1 )
-cant_teleport_color = Color( 1, 0, 0, 1 )
-player_height = 1.8
-player_radius = 0.4
-strength = 5.0
-max_slope = 20.0
 camera = NodePath("../../ARVRCamera")
 
 [node name="Function_pointer" parent="FPSController/LeftHandController" index="2" instance=ExtResource( 13 )]
@@ -85,10 +75,8 @@ visible = true
 
 [node name="Info" parent="FPSController/RightHandController" index="0" instance=ExtResource( 8 )]
 transform = Transform( 1, 0, 0, 0, 0.939693, 0.34202, 0, -0.34202, 0.939693, -0.0871993, 0.072, 0 )
-enabled = true
 screen_size = Vector2( 0.16, 0.12 )
 viewport_size = Vector2( 600, 400 )
-transparent = true
 scene = ExtResource( 9 )
 collision_layer = 0
 
@@ -103,12 +91,6 @@ show_target = true
 collision_mask = 1024
 collide_with_areas = true
 
-[node name="Left_hand" parent="FPSController" instance=ExtResource( 5 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -0.5, 1, -0.5 )
-
-[node name="Right_hand" parent="FPSController" instance=ExtResource( 6 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0.5, 1, -0.5 )
-
 [node name="Left_grip_pose" parent="FPSController" instance=ExtResource( 7 )]
 transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -0.5, 1, -0.5 )
 action = "godot/grip_pose"
@@ -127,17 +109,20 @@ transform = Transform( 1, 0, 0, 0, -1.62921e-07, -1, 0, 1, -1.62921e-07, 0, 0, 0
 mesh = SubResource( 3 )
 material/0 = null
 
+[node name="Left_hand" parent="FPSController" instance=ExtResource( 6 )]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -0.5, 1, -0.5 )
+
+[node name="Right_hand" parent="FPSController" instance=ExtResource( 5 )]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0.5, 1, -0.5 )
+
 [node name="Table" parent="." instance=ExtResource( 3 )]
 transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -6 )
 
 [node name="Ground" parent="." instance=ExtResource( 2 )]
 
 [node name="Screen" parent="." instance=ExtResource( 8 )]
 transform = Transform( 0.843251, 0, -0.53752, 0, 1, 0, 0.53752, 0, 0.843251, 1.92678, 1.5, -2.47671 )
-enabled = true
-screen_size = Vector2( 3, 2 )
 viewport_size = Vector2( 600, 400 )
-transparent = true
 scene = ExtResource( 12 )
 collision_layer = 1024
 

demo/addons/godot-xr-tools/assets/LeftHandBlendTree.tres

@@ -34,4 +34,4 @@ nodes/SetGrip/position = Vector2( 360, 40 )
 nodes/SetIndex/node = SubResource( 7 )
 nodes/SetIndex/position = Vector2( 360, 240 )
 nodes/output/position = Vector2( 1020, 80 )
-node_connections = [ "IndexTimeScale", 0, "SetIndex", "Blend2", 0, "GripTimeScale", "Blend2", 1, "IndexTimeScale", "GripTimeScale", 0, "SetGrip", "SetIndex", 0, "Animation 2", "SetGrip", 0, "GripAnimation", "output", 0, "Blend2" ]
+node_connections = [ "output", 0, "Blend2", "SetGrip", 0, "GripAnimation", "Blend2", 0, "GripTimeScale", "Blend2", 1, "IndexTimeScale", "IndexTimeScale", 0, "SetIndex", "SetIndex", 0, "Animation 2", "GripTimeScale", 0, "SetGrip" ]

demo/project.godot

@@ -8,6 +8,10 @@
 
 config_version=4
 
+_global_script_classes=[  ]
+_global_script_class_icons={
+}
+
 [application]
 
 config/name="Godot OpenXR demo"

src/openxr/OpenXRSkeleton.cpp

@@ -37,39 +37,46 @@ void OpenXRSkeleton::_init() {
 
 void OpenXRSkeleton::_ready() {
 	const char *bone_names[XR_HAND_JOINT_COUNT_EXT] = {
-		".",
+		"Palm",
 		"Wrist",
-		"ThumbMetacarpal",
-		"ThumbProximal",
-		"ThumbDistal",
-		"ThumbTip",
-		"IndexMetacarpal",
-		"IndexProximal",
-		"IndexIntermediate",
-		"IndexDistal",
-		"IndexTip",
-		"MiddleMetacarpal",
-		"MiddleProximal",
-		"MiddleIntermediate",
-		"MiddleDistal",
-		"MiddleTip",
-		"RingMetacarpal",
-		"RingProximal",
-		"RingIntermediate",
-		"RingDistal",
-		"RingTip",
-		"LittleMetacarpal",
-		"LittleProximal",
-		"LittleIntermediate",
-		"LittleDistal",
-		"LittleTip",
+		"Thumb_Metacarpal",
+		"Thumb_Proximal",
+		"Thumb_Distal",
+		"Thumb_Tip",
+		"Index_Metacarpal",
+		"Index_Proximal",
+		"Index_Intermediate",
+		"Index_Distal",
+		"Index_Tip",
+		"Middle_Metacarpal",
+		"Middle_Proximal",
+		"Middle_Intermediate",
+		"Middle_Distal",
+		"Middle_Tip",
+		"Ring_Metacarpal",
+		"Ring_Proximal",
+		"Ring_Intermediate",
+		"Ring_Distal",
+		"Ring_Tip",
+		"Little_Metacarpal",
+		"Little_Proximal",
+		"Little_Intermediate",
+		"Little_Distal",
+		"Little_Tip",
 	};
 
 	// We cast to spatials which should allow us to use any subclass of that.
 	for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
-		bones[i] = find_bone(bone_names[i]);
+		char bone_name[250];
+		if (hand == 0) {
+			sprintf(bone_name, "%s_L", bone_names[i]);
+		} else {
+			sprintf(bone_name, "%s_R", bone_names[i]);
+		}
+
+		bones[i] = find_bone(bone_name);
 		if (bones[i] == -1) {
-			printf("Couldn't obtain bone for %s\n", bone_names[i]);
+			Godot::print("Couldn't obtain bone for {0}", bone_name);
 		}
 	}
 }
@@ -81,63 +88,41 @@ void OpenXRSkeleton::_physics_process(float delta) {
 		return;
 	}
 
-	const int parents[XR_HAND_JOINT_COUNT_EXT]{
-		-1, // XR_HAND_JOINT_PALM_EXT = 0,
-		0, // XR_HAND_JOINT_WRIST_EXT = 1,
-		1, // XR_HAND_JOINT_THUMB_METACARPAL_EXT = 2,
-		2, // XR_HAND_JOINT_THUMB_PROXIMAL_EXT = 3,
-		3, // XR_HAND_JOINT_THUMB_DISTAL_EXT = 4,
-		4, // XR_HAND_JOINT_THUMB_TIP_EXT = 5,
-		1, // XR_HAND_JOINT_INDEX_METACARPAL_EXT = 6,
-		6, // XR_HAND_JOINT_INDEX_PROXIMAL_EXT = 7,
-		7, // XR_HAND_JOINT_INDEX_INTERMEDIATE_EXT = 8,
-		8, // XR_HAND_JOINT_INDEX_DISTAL_EXT = 9,
-		9, // XR_HAND_JOINT_INDEX_TIP_EXT = 10,
-		1, // XR_HAND_JOINT_MIDDLE_METACARPAL_EXT = 11,
-		11, // XR_HAND_JOINT_MIDDLE_PROXIMAL_EXT = 12,
-		12, // XR_HAND_JOINT_MIDDLE_INTERMEDIATE_EXT = 13,
-		13, // XR_HAND_JOINT_MIDDLE_DISTAL_EXT = 14,
-		14, // XR_HAND_JOINT_MIDDLE_TIP_EXT = 15,
-		1, // XR_HAND_JOINT_RING_METACARPAL_EXT = 16,
-		16, // XR_HAND_JOINT_RING_PROXIMAL_EXT = 17,
-		17, // XR_HAND_JOINT_RING_INTERMEDIATE_EXT = 18,
-		18, // XR_HAND_JOINT_RING_DISTAL_EXT = 19,
-		19, // XR_HAND_JOINT_RING_TIP_EXT = 20,
-		1, // XR_HAND_JOINT_LITTLE_METACARPAL_EXT = 21,
-		21, // XR_HAND_JOINT_LITTLE_PROXIMAL_EXT = 22,
-		22, // XR_HAND_JOINT_LITTLE_INTERMEDIATE_EXT = 23,
-		23, // XR_HAND_JOINT_LITTLE_DISTAL_EXT = 24,
-		24, // XR_HAND_JOINT_LITTLE_TIP_EXT = 25,
-	};
-
-	// we cache the inverse of our transforms so we can quickly calculate local transforms
+	// we cache our transforms so we can quickly calculate local transforms
+	Transform transforms[XR_HAND_JOINT_COUNT_EXT];
 	Transform inv_transforms[XR_HAND_JOINT_COUNT_EXT];
 
 	const HandTracker *hand_tracker = openxr_api->get_hand_tracker(hand);
 	const float ws = ARVRServer::get_singleton()->get_world_scale();
 
 	if (hand_tracker->is_initialised && hand_tracker->locations.isActive) {
+		// get our transforms
+		for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
+			const XrPosef &pose = hand_tracker->joint_locations[i].pose;
+			transforms[i] = openxr_api->transform_from_pose(pose, ws);
+			inv_transforms[i] = transforms[i].inverse();
+		}
+
+		// now update our skeleton
 		for (int i = 0; i < XR_HAND_JOINT_COUNT_EXT; i++) {
-			if (i == 0) {
-				// just get our transform, we place our mesh with OpenXRPose
-				const XrPosef &pose = hand_tracker->joint_locations[i].pose;
-				Transform t = openxr_api->transform_from_pose(pose, ws);
-
-				inv_transforms[i] = t.inverse();
-			} else if (bones[i] == -1) {
-				// missing bone...
-				inv_transforms[i] = Transform();
-			} else if (parents[i] != -1) {
-				const XrPosef &pose = hand_tracker->joint_locations[i].pose;
-
-				Transform t = openxr_api->transform_from_pose(pose, ws);
-				inv_transforms[i] = t.inverse();
-
-				// get local translation
-				if (parents[i] != -1) {
-					// parent should already be processed
-					int parent = parents[i];
-					t = inv_transforms[parent] * t;
+			if (bones[i] != -1) {
+				int bone = bones[i];
+				int parent = get_bone_parent(bone);
+
+				Transform t = transforms[i];
+
+				// get local translation, parent should already be processed
+				if (parent == -1) {
+					// use our palm location here, that is what we are tracking
+					t = inv_transforms[XR_HAND_JOINT_PALM_EXT] * t;
+				} else {
+					int found = false;
+					for (int b = 0; b < XR_HAND_JOINT_COUNT_EXT && !found; b++) {
+						if (bones[b] == parent) {
+							t = inv_transforms[b] * t;
+							found = true;
+						}
+					}
 				}
 
 				// get difference with rest