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refactor the way we calculate the mesh bone reference transforms to read from the settings system instead of the hardcoded values

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Mamadou Babaei
2024-05-21 13:10:05 +02:00
parent 8458e12d0b
commit 76720fc777
1 changed files with 70 additions and 229 deletions
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Source/SenseGloveTracking/Private/SGTracking/SGXRTracker.cpp
+70 -229
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@@ -254,177 +254,80 @@ struct FSGXRTracker::FImpl
return Name; return Name;
} }
static const FTransform& GetMeshBoneRefTransform(bool bRight, const FName& BoneName); static const FTransform& GetRawMeshBoneRefTransform(bool bRight, const FName& BoneName);
FORCEINLINE static const FTransform& GetMeshBoneRefTransform(const bool bRight, const int32 JointIndex) FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(const bool bRight, const int32 JointIndex)
{ {
const FName& Name{GetMeshBoneName(bRight, JointIndex)}; const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
const FTransform& Transform{GetMeshBoneRefTransform(bRight, Name)}; const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static const FTransform& GetMeshBoneRefTransform(const bool bRight, const EHandKeypoint Keypoint) FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(const bool bRight, const EHandKeypoint Keypoint)
{ {
const FName& Name{GetMeshBoneName(bRight, Keypoint)}; const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
const FTransform& Transform{GetMeshBoneRefTransform(bRight, Name)}; const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static const FTransform& GetMeshBoneRefTransform(const EControllerHand Hand, const FName& BoneName) FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(const EControllerHand Hand, const FName& BoneName)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform& Transform{GetMeshBoneRefTransform(bRight, BoneName)}; const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static const FTransform& GetMeshBoneRefTransform(const EControllerHand Hand, const int32 JointIndex) FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(const EControllerHand Hand, const int32 JointIndex)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform& Transform{GetMeshBoneRefTransform(bRight, JointIndex)}; const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static const FTransform& GetMeshBoneRefTransform( FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(
const EControllerHand Hand, const EHandKeypoint Keypoint) const EControllerHand Hand, const EHandKeypoint Keypoint)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform& Transform{GetMeshBoneRefTransform(bRight, Keypoint)}; const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static const FVector& GetMeshDefaultRootBoneLocation(const bool bRight) static FTransform GetMeshBoneRefTransform(bool bRight, const FName& BoneName);
{
static const FVector LocationLeft{0.0f, 0.0f, 0.0f};
static const FVector LocationRight{0.0f, 0.0f, 0.0f};
return bRight ? LocationRight : LocationLeft;
}
FORCEINLINE static const FQuat& GetMeshDefaultRootBoneRotation(const bool bRight) FORCEINLINE static FTransform GetMeshBoneRefTransform(const bool bRight, const int32 JointIndex)
{ {
static const FQuat RotationLeft{FRotator{0.0f, -180.0f, 90.0f}}; const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
static const FQuat RotationRight{FRotator{0.0f, -180.0f, 90.0f}}; const FTransform Transform{GetMeshBoneRefTransform(bRight, BoneName)};
return bRight ? RotationRight : RotationLeft;
}
FORCEINLINE static const FVector& GetMeshDefaultPalmBoneLocation(const bool bRight)
{
static const FVector LocationLeft{0.0f, 0.0f, -6.615570f};
static const FVector LocationRight{0.000052f, -0.000629f, -6.615405f};
return bRight ? LocationRight : LocationLeft;
}
FORCEINLINE static const FQuat& GetMeshDefaultPalmBoneRotation(const bool bRight)
{
static const FQuat RotationLeft{FRotator{0.0f, 0.0f, 0.0f}};
static const FQuat RotationRight{FRotator{0.0f, 0.0f, 0.0f}};
return bRight ? RotationRight : RotationLeft;
}
FORCEINLINE static const FVector& GetMeshDefaultIndexMetacarpalBoneLocation(const bool bRight)
{
static const FVector LocationLeft{2.379324f, -0.384681f, -3.444506f};
static const FVector LocationRight{-2.379309f, -0.385167f, -3.444514f};
return bRight ? LocationRight : LocationLeft;
}
FORCEINLINE static const FQuat& GetMeshDefaultIndexMetacarpalBoneRotation(const bool bRight)
{
static const FQuat RotationLeft{FRotator{7.277920f, 3.392215f, 1.032481f}};
static const FQuat RotationRight{FRotator{-7.277920f, -3.392215f, 1.032481f}};
return bRight ? RotationRight : RotationLeft;
}
FORCEINLINE static const FVector& GetMeshDefaultMiddleMetacarpalBoneLocation(const bool bRight)
{
static const FVector LocationLeft{0.182864f, -0.753571f, -3.375834f};
static const FVector LocationRight{-0.182806f, -0.754004f, -3.37580f};
return bRight ? LocationRight : LocationLeft;
}
FORCEINLINE static const FQuat& GetMeshDefaultMiddleMetacarpalBoneRotation(const bool bRight)
{
static const FQuat RotationLeft{FRotator{0.042392f, -4.274287f, 2.321687f}};
static const FQuat RotationRight{FRotator{-0.042392f, 4.274287f, 2.321687f}};
return bRight ? RotationRight : RotationLeft;
}
FORCEINLINE static const FVector& GetMeshDefaultRingMetacarpalBoneLocation(const bool bRight)
{
static const FVector LocationLeft{-1.091757f, -0.542517f, -3.374304f};
static const FVector LocationRight{1.091782f, -0.542992f, -3.374208f};
return bRight ? LocationRight : LocationLeft;
}
FORCEINLINE static const FQuat& GetMeshDefaultRingMetacarpalBoneRotation(const bool bRight)
{
static const FQuat RotationLeft{FRotator{-11.109678f, -13.886395f, 4.333313f}};
static const FQuat RotationRight{FRotator{11.109678f, 13.886395f, 4.333313f}};
return bRight ? RotationRight : RotationLeft;
}
FORCEINLINE static const FVector& GetMeshDefaultLittleMetacarpalBoneLocation(const bool bRight)
{
static const FVector LocationLeft{-2.391111f, -0.305917f, -3.314378f};
static const FVector LocationRight{2.391287f, -0.305935f, -3.314677f};
return bRight ? LocationRight : LocationLeft;
}
FORCEINLINE static const FQuat& GetMeshDefaultLittleMetacarpalBoneRotation(const bool bRight)
{
static const FQuat RotationLeft{FRotator{-22.652560f, -25.358337f, -1.818999f}};
static const FQuat RotationRight{FRotator{22.652560f, 25.358337f, -1.818999f}};
return bRight ? RotationRight : RotationLeft;
}
static const FVector& GetMeshDefaultBoneLocation(bool bRight, const FName& BoneName);
static const FQuat& GetMeshDefaultBoneRotation(bool bRight, const FName& BoneName);
FORCEINLINE static FTransform GetMeshBoneDefaultRefTransform(const bool bRight, const FName& BoneName)
{
const FTransform Transform{
GetMeshDefaultBoneRotation(bRight, BoneName), GetMeshDefaultBoneLocation(bRight, BoneName)
};
return Transform; return Transform;
} }
static FTransform GetRootAppliedMeshBoneRefTransformOrDefault(bool bRight, const FName& BoneName); FORCEINLINE static FTransform GetMeshBoneRefTransform(const bool bRight, const EHandKeypoint Keypoint)
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault(const bool bRight, const int32 JointIndex)
{ {
const FName& Name{GetMeshBoneName(bRight, JointIndex)}; const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, Name)}; const FTransform Transform{GetMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault( FORCEINLINE static FTransform GetMeshBoneRefTransform(const EControllerHand Hand, const FName& BoneName)
const bool bRight, const EHandKeypoint Keypoint)
{
const FName& Name{GetMeshBoneName(bRight, Keypoint)};
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, Name)};
return Transform;
}
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault(
const EControllerHand Hand, const FName& BoneName)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, BoneName)}; const FTransform Transform{GetMeshBoneRefTransform(bRight, BoneName)};
return Transform; return Transform;
} }
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault( FORCEINLINE static FTransform GetMeshBoneRefTransform(const EControllerHand Hand, const int32 JointIndex)
const EControllerHand Hand, const int32 JointIndex)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, JointIndex)}; const FTransform Transform{GetMeshBoneRefTransform(bRight, JointIndex)};
return Transform; return Transform;
} }
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault( FORCEINLINE static FTransform GetMeshBoneRefTransform(const EControllerHand Hand, const EHandKeypoint Keypoint)
const EControllerHand Hand, const EHandKeypoint Keypoint)
{ {
const bool bRight = Hand == EControllerHand::Right; const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, Keypoint)}; const FTransform Transform{GetMeshBoneRefTransform(bRight, Keypoint)};
return Transform; return Transform;
} }
@@ -657,117 +560,55 @@ ESGPositionalTrackingHardware FSGXRTracker::FImpl::GetPositionalTrackingHardware
return TrackerHardware; return TrackerHardware;
} }
const FTransform& FSGXRTracker::FImpl::GetMeshBoneRefTransform(const bool bRight, const FName& BoneName) const FTransform& FSGXRTracker::FImpl::GetRawMeshBoneRefTransform(const bool bRight, const FName& BoneName)
{ {
const FReferenceSkeleton& ReferenceSkeleton{ const TSoftObjectPtr<USkeletalMesh>& HandMesh{
bRight bRight
? GetVirtualHandTrackingSettings().LeftHandReferenceMesh->GetRefSkeleton() ? GetVirtualHandTrackingSettings().LeftHandReferenceMesh
: GetVirtualHandTrackingSettings().RightHandReferenceMesh->GetRefSkeleton() : GetVirtualHandTrackingSettings().RightHandReferenceMesh
}; };
const int32 BoneIndex = ReferenceSkeleton.FindBoneIndex(BoneName);
if (BoneIndex == INDEX_NONE) if (HandMesh.IsValid())
{ {
SGLOG_WARNING(FString::Printf(TEXT("Could not find a bone index for the '%s' joint!"), const FReferenceSkeleton& ReferenceSkeleton{HandMesh->GetRefSkeleton()};
*BoneName.ToString())); const int32 BoneIndex = ReferenceSkeleton.FindBoneIndex(BoneName);
return FTransform::Identity;
if (BoneIndex == INDEX_NONE)
{
SGLOG_WARNING(FString::Printf(TEXT("Could not find a bone index for the '%s' joint!"),
*BoneName.ToString()));
}
const TArray<FTransform> Transforms{ReferenceSkeleton.GetRefBonePose()};
ensureAlwaysMsgf(Transforms.Num() > 0 && Transforms.Num() > BoneIndex,
TEXT("Invalid bone index '%d' or no transforms found!"), BoneIndex);
const FTransform& Transform{Transforms[BoneIndex]};
return Transform;
} }
const FTransform& BoneTransform{ReferenceSkeleton.GetRefBonePose()[BoneIndex]}; const FSGVirtualHandTrackingSettings& Settings{GetVirtualHandTrackingSettings()};
return BoneTransform; ensureAlwaysMsgf(
bRight
? Settings.RightHandDefaultReferenceBoneTransforms.Contains(BoneName)
: Settings.LeftHandDefaultReferenceBoneTransforms.Contains(BoneName),
TEXT("Invalid bone name '%s'!"), *BoneName.ToString());
const FTransform& Transform{
bRight
? Settings.RightHandDefaultReferenceBoneTransforms[BoneName]
: Settings.LeftHandDefaultReferenceBoneTransforms[BoneName]
};
return Transform;
} }
const FVector& FSGXRTracker::FImpl::GetMeshDefaultBoneLocation(const bool bRight, const FName& BoneName) FTransform FSGXRTracker::FImpl::GetMeshBoneRefTransform(const bool bRight, const FName& BoneName)
{ {
static const FVector Dummy{FVector::ZeroVector};
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::Palm))
{
return GetMeshDefaultPalmBoneLocation(bRight);
}
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::IndexMetacarpal))
{
return GetMeshDefaultIndexMetacarpalBoneLocation(bRight);
}
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::MiddleMetacarpal))
{
return GetMeshDefaultMiddleMetacarpalBoneLocation(bRight);
}
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::RingMetacarpal))
{
return GetMeshDefaultRingMetacarpalBoneLocation(bRight);
}
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::LittleMetacarpal))
{
return GetMeshDefaultLittleMetacarpalBoneLocation(bRight);
}
ensureAlwaysMsgf(false, TEXT("FATAL: the code flow should never reach here!"));
return Dummy;
}
const FQuat& FSGXRTracker::FImpl::GetMeshDefaultBoneRotation(const bool bRight, const FName& BoneName)
{
static const FQuat Dummy{FQuat::Identity};
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::Palm))
{
return GetMeshDefaultPalmBoneRotation(bRight);
}
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::IndexMetacarpal))
{
return GetMeshDefaultIndexMetacarpalBoneRotation(bRight);
}
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::MiddleMetacarpal))
{
return GetMeshDefaultMiddleMetacarpalBoneRotation(bRight);
}
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::RingMetacarpal))
{
return GetMeshDefaultRingMetacarpalBoneRotation(bRight);
}
if (BoneName == GetMeshBoneName(bRight, EHandKeypoint::LittleMetacarpal))
{
return GetMeshDefaultLittleMetacarpalBoneRotation(bRight);
}
ensureAlwaysMsgf(false, TEXT("FATAL: the code flow should never reach here!"));
return Dummy;
}
FTransform FSGXRTracker::FImpl::GetRootAppliedMeshBoneRefTransformOrDefault(const bool bRight, const FName& BoneName)
{
FTransform Transform;
const FQuat RootRotationCorrection{GetVirtualHandTrackingSettings().HandRootBoneRotationCorrection.Quaternion()}; const FQuat RootRotationCorrection{GetVirtualHandTrackingSettings().HandRootBoneRotationCorrection.Quaternion()};
if ((bRight && GetVirtualHandTrackingSettings().RightHandReferenceMesh.IsValid()) FTransform RootBoneRefTransform{GetRawMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
|| (!bRight && GetVirtualHandTrackingSettings().LeftHandReferenceMesh.IsValid())) RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
{ const FTransform Transform{GetRawMeshBoneRefTransform(bRight, BoneName) * RootBoneRefTransform};
FTransform RootBoneRefTransform{GetMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
Transform = GetMeshBoneRefTransform(bRight, BoneName) * RootBoneRefTransform;
}
else
{
FTransform RootBoneRefTransform{
GetMeshDefaultRootBoneRotation(bRight), GetMeshDefaultRootBoneLocation(bRight)
};
RootBoneRefTransform.SetRotation(RootRotationCorrection * RootBoneRefTransform.GetRotation());
Transform = FTransform{
GetMeshDefaultBoneRotation(bRight, BoneName), GetMeshDefaultBoneLocation(bRight, BoneName)
} * RootBoneRefTransform;
}
return Transform; return Transform;
} }
@@ -1678,7 +1519,7 @@ bool FSGXRTracker::FImpl::UpdateSGPalmJointData(
return false; return false;
} }
const FTransform JointTransform{GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::Palm)}; const FTransform JointTransform{GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::Palm)};
FVector JointLocation{JointTransform.GetLocation()}; FVector JointLocation{JointTransform.GetLocation()};
FQuat JointRotation{JointTransform.GetRotation()}; FQuat JointRotation{JointTransform.GetRotation()};
@@ -1769,7 +1610,7 @@ bool FSGXRTracker::FImpl::UpdateSGIndexJointData(
static constexpr int32 IndexTipJointIndex = 3; static constexpr int32 IndexTipJointIndex = 3;
const FTransform& IndexMetacarpalTransform{ const FTransform& IndexMetacarpalTransform{
GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::IndexMetacarpal) GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::IndexMetacarpal)
}; };
FVector IndexMetacarpalLocation{IndexMetacarpalTransform.GetLocation()}; FVector IndexMetacarpalLocation{IndexMetacarpalTransform.GetLocation()};
FQuat IndexMetacarpalRotation{IndexMetacarpalTransform.GetRotation()}; FQuat IndexMetacarpalRotation{IndexMetacarpalTransform.GetRotation()};
@@ -1848,7 +1689,7 @@ bool FSGXRTracker::FImpl::UpdateSGMiddleJointData(
static constexpr int32 MiddleTipJointMiddle = 3; static constexpr int32 MiddleTipJointMiddle = 3;
const FTransform& MiddleMetacarpalTransform{ const FTransform& MiddleMetacarpalTransform{
GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::MiddleMetacarpal) GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::MiddleMetacarpal)
}; };
FVector MiddleMetacarpalLocation{MiddleMetacarpalTransform.GetLocation()}; FVector MiddleMetacarpalLocation{MiddleMetacarpalTransform.GetLocation()};
FQuat MiddleMetacarpalRotation{MiddleMetacarpalTransform.GetRotation()}; FQuat MiddleMetacarpalRotation{MiddleMetacarpalTransform.GetRotation()};
@@ -1927,7 +1768,7 @@ bool FSGXRTracker::FImpl::UpdateSGRingJointData(
static constexpr int32 RingTipJointRing = 3; static constexpr int32 RingTipJointRing = 3;
const FTransform& RingMetacarpalTransform{ const FTransform& RingMetacarpalTransform{
GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::RingMetacarpal) GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::RingMetacarpal)
}; };
FVector RingMetacarpalLocation{RingMetacarpalTransform.GetLocation()}; FVector RingMetacarpalLocation{RingMetacarpalTransform.GetLocation()};
FQuat RingMetacarpalRotation{RingMetacarpalTransform.GetRotation()}; FQuat RingMetacarpalRotation{RingMetacarpalTransform.GetRotation()};
@@ -2006,7 +1847,7 @@ bool FSGXRTracker::FImpl::UpdateSGLittleJointData(
static constexpr int32 LittleTipJointLittle = 3; static constexpr int32 LittleTipJointLittle = 3;
const FTransform& LittleMetacarpalTransform{ const FTransform& LittleMetacarpalTransform{
GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::LittleMetacarpal) GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::LittleMetacarpal)
}; };
FVector LittleMetacarpalLocation{LittleMetacarpalTransform.GetLocation()}; FVector LittleMetacarpalLocation{LittleMetacarpalTransform.GetLocation()};
FQuat LittleMetacarpalRotation{LittleMetacarpalTransform.GetRotation()}; FQuat LittleMetacarpalRotation{LittleMetacarpalTransform.GetRotation()};