UnrealEngine/Plugin
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Mamadou Babaei
2024-05-21 13:10:05 +02:00
parent 8458e12d0b
commit 76720fc777
1 changed files with 70 additions and 229 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Source/SenseGloveTracking/Private/SGTracking/SGXRTracker.cpp
+65 -224
View File
@@ -254,177 +254,80 @@ struct FSGXRTracker::FImpl
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 FTransform& Transform{GetMeshBoneRefTransform(bRight, Name)};
const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
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 FTransform& Transform{GetMeshBoneRefTransform(bRight, Name)};
const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
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 FTransform& Transform{GetMeshBoneRefTransform(bRight, BoneName)};
const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
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 FTransform& Transform{GetMeshBoneRefTransform(bRight, JointIndex)};
const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
const FTransform& Transform{GetRawMeshBoneRefTransform(bRight, BoneName)};
return Transform;
}
FORCEINLINE static const FTransform& GetMeshBoneRefTransform(
FORCEINLINE static const FTransform& GetRawMeshBoneRefTransform(
const EControllerHand Hand, const EHandKeypoint Keypoint)
{
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;
}
FORCEINLINE static const FVector& GetMeshDefaultRootBoneLocation(const bool bRight)
{
static const FVector LocationLeft{0.0f, 0.0f, 0.0f};
static const FVector LocationRight{0.0f, 0.0f, 0.0f};
return bRight ? LocationRight : LocationLeft;
}
static FTransform GetMeshBoneRefTransform(bool bRight, const FName& BoneName);
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}};
static const FQuat RotationRight{FRotator{0.0f, -180.0f, 90.0f}};
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)
};
const FName& BoneName{GetMeshBoneName(bRight, JointIndex)};
const FTransform Transform{GetMeshBoneRefTransform(bRight, BoneName)};
return Transform;
}
static FTransform GetRootAppliedMeshBoneRefTransformOrDefault(bool bRight, const FName& BoneName);
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault(const bool bRight, const int32 JointIndex)
FORCEINLINE static FTransform GetMeshBoneRefTransform(const bool bRight, const EHandKeypoint Keypoint)
{
const FName& Name{GetMeshBoneName(bRight, JointIndex)};
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, Name)};
const FName& BoneName{GetMeshBoneName(bRight, Keypoint)};
const FTransform Transform{GetMeshBoneRefTransform(bRight, BoneName)};
return Transform;
}
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault(
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)
FORCEINLINE static FTransform GetMeshBoneRefTransform(const EControllerHand Hand, const FName& BoneName)
{
const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, BoneName)};
const FTransform Transform{GetMeshBoneRefTransform(bRight, BoneName)};
return Transform;
}
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault(
const EControllerHand Hand, const int32 JointIndex)
FORCEINLINE static FTransform GetMeshBoneRefTransform(const EControllerHand Hand, const int32 JointIndex)
{
const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, JointIndex)};
const FTransform Transform{GetMeshBoneRefTransform(bRight, JointIndex)};
return Transform;
}
FORCEINLINE static FTransform GetRootAppliedMeshBoneRefTransformOrDefault(
const EControllerHand Hand, const EHandKeypoint Keypoint)
FORCEINLINE static FTransform GetMeshBoneRefTransform(const EControllerHand Hand, const EHandKeypoint Keypoint)
{
const bool bRight = Hand == EControllerHand::Right;
const FTransform Transform{GetRootAppliedMeshBoneRefTransformOrDefault(bRight, Keypoint)};
const FTransform Transform{GetMeshBoneRefTransform(bRight, Keypoint)};
return Transform;
}
@@ -657,117 +560,55 @@ ESGPositionalTrackingHardware FSGXRTracker::FImpl::GetPositionalTrackingHardware
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
? GetVirtualHandTrackingSettings().LeftHandReferenceMesh->GetRefSkeleton()
: GetVirtualHandTrackingSettings().RightHandReferenceMesh->GetRefSkeleton()
? GetVirtualHandTrackingSettings().LeftHandReferenceMesh
: GetVirtualHandTrackingSettings().RightHandReferenceMesh
};
if (HandMesh.IsValid())
{
const FReferenceSkeleton& ReferenceSkeleton{HandMesh->GetRefSkeleton()};
const int32 BoneIndex = ReferenceSkeleton.FindBoneIndex(BoneName);
if (BoneIndex == INDEX_NONE)
{
SGLOG_WARNING(FString::Printf(TEXT("Could not find a bone index for the '%s' joint!"),
*BoneName.ToString()));
return FTransform::Identity;
}
const FTransform& BoneTransform{ReferenceSkeleton.GetRefBonePose()[BoneIndex]};
return BoneTransform;
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 FVector& FSGXRTracker::FImpl::GetMeshDefaultBoneLocation(const bool bRight, const FName& BoneName)
const FSGVirtualHandTrackingSettings& Settings{GetVirtualHandTrackingSettings()};
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;
}
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()};
if ((bRight && GetVirtualHandTrackingSettings().RightHandReferenceMesh.IsValid())
|| (!bRight && GetVirtualHandTrackingSettings().LeftHandReferenceMesh.IsValid()))
{
FTransform RootBoneRefTransform{GetMeshBoneRefTransform(bRight, EHandKeypoint::Wrist)};
FTransform RootBoneRefTransform{GetRawMeshBoneRefTransform(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;
}
const FTransform Transform{GetRawMeshBoneRefTransform(bRight, BoneName) * RootBoneRefTransform};
return Transform;
}
@@ -1678,7 +1519,7 @@ bool FSGXRTracker::FImpl::UpdateSGPalmJointData(
return false;
}
const FTransform JointTransform{GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::Palm)};
const FTransform JointTransform{GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::Palm)};
FVector JointLocation{JointTransform.GetLocation()};
FQuat JointRotation{JointTransform.GetRotation()};
@@ -1769,7 +1610,7 @@ bool FSGXRTracker::FImpl::UpdateSGIndexJointData(
static constexpr int32 IndexTipJointIndex = 3;
const FTransform& IndexMetacarpalTransform{
GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::IndexMetacarpal)
GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::IndexMetacarpal)
};
FVector IndexMetacarpalLocation{IndexMetacarpalTransform.GetLocation()};
FQuat IndexMetacarpalRotation{IndexMetacarpalTransform.GetRotation()};
@@ -1848,7 +1689,7 @@ bool FSGXRTracker::FImpl::UpdateSGMiddleJointData(
static constexpr int32 MiddleTipJointMiddle = 3;
const FTransform& MiddleMetacarpalTransform{
GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::MiddleMetacarpal)
GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::MiddleMetacarpal)
};
FVector MiddleMetacarpalLocation{MiddleMetacarpalTransform.GetLocation()};
FQuat MiddleMetacarpalRotation{MiddleMetacarpalTransform.GetRotation()};
@@ -1927,7 +1768,7 @@ bool FSGXRTracker::FImpl::UpdateSGRingJointData(
static constexpr int32 RingTipJointRing = 3;
const FTransform& RingMetacarpalTransform{
GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::RingMetacarpal)
GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::RingMetacarpal)
};
FVector RingMetacarpalLocation{RingMetacarpalTransform.GetLocation()};
FQuat RingMetacarpalRotation{RingMetacarpalTransform.GetRotation()};
@@ -2006,7 +1847,7 @@ bool FSGXRTracker::FImpl::UpdateSGLittleJointData(
static constexpr int32 LittleTipJointLittle = 3;
const FTransform& LittleMetacarpalTransform{
GetRootAppliedMeshBoneRefTransformOrDefault(DeviceHand, EHandKeypoint::LittleMetacarpal)
GetMeshBoneRefTransform(DeviceHand, EHandKeypoint::LittleMetacarpal)
};
FVector LittleMetacarpalLocation{LittleMetacarpalTransform.GetLocation()};
FQuat LittleMetacarpalRotation{LittleMetacarpalTransform.GetRotation()};