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Maintain tracker correction until it times out

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This commit is contained in:
Marek S. Łukasiewicz 2025-03-10 10:03:15 +01:00
parent c7f7f85992
commit 2c72168568
3 changed files with 21 additions and 11 deletions
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25
project/aircraft/aircraft.gd
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@ -19,43 +19,48 @@ var _rotor_azimuth: float = 0
@onready var xr_origin: XROrigin3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D
@onready var tracker: XRController3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/ViveTracker
@onready var xr_camera: XRCamera3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/XRCamera3D
@onready var recent_tracking: Timer = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/RecentTracking
@onready var bone_cg: int = skeleton.find_bone("BodyCG")
@onready var bone_cyclic: int = skeleton.find_bone("Cyclic")
@onready var bone_rotor: int = skeleton.find_bone("Rotor")
func _process(delta: float) -> void:
var target := connector.get_aircraft()
var target: Transform3D = connector.get_aircraft()
position = target.origin
# Add the rotation to the correct bone for rotation around CG
var rest := skeleton.get_bone_rest(bone_cg).basis.get_rotation_quaternion()
var attitude := target.basis.get_rotation_quaternion()
var rest: Quaternion = skeleton.get_bone_rest(bone_cg).basis.get_rotation_quaternion()
var attitude: Quaternion = target.basis.get_rotation_quaternion()
skeleton.set_bone_pose_rotation(bone_cg, attitude * rest)
# Rotate other children (not using BoneAttachment3D due to jitter)
attitude_root.rotation = target.basis.get_euler()
# Rotate the cyclic stick bone
var cyclic := connector.get_cyclic()
var cyc_rest := skeleton.get_bone_rest(bone_cyclic).basis.get_rotation_quaternion()
var cyc_angles_rad := cyclic * deg_to_rad(range_cyclic)
var cyclic: Vector2 = connector.get_cyclic()
var cyc_rest: Quaternion= skeleton.get_bone_rest(bone_cyclic).basis.get_rotation_quaternion()
var cyc_angles_rad: Vector2 = cyclic * deg_to_rad(range_cyclic)
var cyc_att := Quaternion.from_euler(Vector3(cyc_angles_rad.y, cyc_angles_rad.x, 0))
skeleton.set_bone_pose_rotation(bone_cyclic, cyc_att * cyc_rest)
# Spin the rotor only when receiving flight data
if connector.get_model_connected():
_rotor_azimuth += rotor_rpm * 2 * PI / 60 * delta
var rotor_rest := skeleton.get_bone_rest(bone_rotor).basis.get_rotation_quaternion()
var rotor_rest: Quaternion = skeleton.get_bone_rest(bone_rotor).basis.get_rotation_quaternion()
var rotor_att := Quaternion.from_euler(Vector3(0, _rotor_azimuth, 0))
# Note that this is reverse order, to rotate in local bone axes
skeleton.set_bone_pose_rotation(bone_rotor, rotor_rest * rotor_att)
# Move the XR origin in such way that the tracker is in reference position
if tracker.get_has_tracking_data():
var tracker_mount = tracker_mount_platform if track_platform else tracker_mount_chair
var tracker_mount: Node3D = tracker_mount_platform if track_platform else tracker_mount_chair
xr_origin.transform = tracker_mount.transform * tracker.transform.affine_inverse()
else:
xr_origin.transform = Transform3D.IDENTITY
recent_tracking.start()
# Only reset the position when tracking is lost for some time
func _on_recent_tracking_timeout() -> void:
xr_origin.transform = Transform3D.IDENTITY
func _on_vr_setup_failed() -> void:
xr_camera.current = false