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Working with Varjo and Vive Tracker

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This commit is contained in:
Marek S. Łukasiewicz 2025-02-20 17:18:02 +01:00
parent 6d93630e50
commit 55004f3e60
5 changed files with 44 additions and 10 deletions
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14
project/aircraft/aircraft.gd
View file

@ -12,6 +12,9 @@ var _rotor_azimuth: float = 0
@onready var connector: MarshConnector = $MarshConnector
@onready var skeleton: Skeleton3D = $"Mi-2/Armature/Skeleton3D"
@onready var attitude_root: Node3D = $AttitudeRoot
@onready var tracker_mount: Node3D = $AttitudeRoot/PilotEyes/PilotFloor/TrackerMountChair
@onready var xr_origin: XROrigin3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D
@onready var tracker: XRController3D = $AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/ViveTracker
@onready var bone_cg: int = skeleton.find_bone("BodyCG")
@onready var bone_cyclic: int = skeleton.find_bone("Cyclic")
@ -20,7 +23,7 @@ var _rotor_azimuth: float = 0
func _process(delta: float) -> void:
var target := 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()
@ -28,14 +31,14 @@ func _process(delta: float) -> void:
# 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 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
@ -43,3 +46,8 @@ func _process(delta: float) -> void:
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)
if tracker.get_has_tracking_data():
xr_origin.transform = tracker_mount.transform * tracker.transform.affine_inverse()
else:
xr_origin.transform = Transform3D.IDENTITY

32
project/aircraft/aircraft.tscn
View file

@ -1,7 +1,9 @@
[gd_scene load_steps=4 format=3 uid="uid://bj1s0g7ixjw71"]
[gd_scene load_steps=6 format=3 uid="uid://bj1s0g7ixjw71"]
[ext_resource type="Script" uid="uid://cx30pr7kn4c74" path="res://aircraft/aircraft.gd" id="1_l4uib"]
[ext_resource type="PackedScene" uid="uid://cux4tju0ovvly" path="res://assets/mi2/Mi-2.glb" id="1_mrxe8"]
[ext_resource type="PackedScene" uid="uid://fmygcraoturj" path="res://reference_axes.tscn" id="3_2bi7g"]
[ext_resource type="PackedScene" uid="uid://cis4s43ubuynp" path="res://instruments.tscn" id="3_5w717"]
[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_mrxe8"]
@ -17,12 +19,32 @@ material_override = SubResource("StandardMaterial3D_mrxe8")
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.4, 0)
[node name="PilotEyes" type="Node3D" parent="AttitudeRoot"]
editor_description = "Added only to provide a convenient point to reset XROrigin3D to"
transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 0.214, -0.721897, 1.53478)
editor_description = "Target position for Local XR tracking"
transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 0.214, -0.7, 1.594)
[node name="XROrigin3D" type="XROrigin3D" parent="AttitudeRoot/PilotEyes"]
[node name="PilotFloor" type="Node3D" parent="AttitudeRoot/PilotEyes"]
editor_description = "Required for floor tracking
(Varjo can only do that)"
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.8, 0)
[node name="XRCamera3D" type="XRCamera3D" parent="AttitudeRoot/PilotEyes/XROrigin3D"]
[node name="TrackerMountChair" type="Node3D" parent="AttitudeRoot/PilotEyes/PilotFloor"]
transform = Transform3D(-1, 8.74228e-08, -3.82137e-15, 0, -4.37114e-08, -1, -8.74228e-08, -1, 4.37114e-08, 0.27, 0.4, 0)
[node name="ReferenceAxes" parent="AttitudeRoot/PilotEyes/PilotFloor/TrackerMountChair" instance=ExtResource("3_2bi7g")]
transform = Transform3D(0.25, 0, 0, 0, 0.25, 0, 0, 0, 0.25, 0, 0, 0)
[node name="XROrigin3D" type="XROrigin3D" parent="AttitudeRoot/PilotEyes/PilotFloor"]
[node name="XRCamera3D" type="XRCamera3D" parent="AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D"]
[node name="ViveTracker" type="XRController3D" parent="AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D"]
tracker = &"/user/vive_tracker_htcx/role/camera"
[node name="ReferenceAxes" parent="AttitudeRoot/PilotEyes/PilotFloor/XROrigin3D/ViveTracker" instance=ExtResource("3_2bi7g")]
transform = Transform3D(0.25, 0, 0, 0, 0.25, 0, 0, 0, 0.25, 0, 0, 0)
[node name="Instruments" parent="AttitudeRoot" instance=ExtResource("3_5w717")]
transform = Transform3D(-0.5, -1.27582e-08, 7.43353e-08, 4.33325e-10, 0.4923, 0.0874084, -7.5421e-08, 0.0874084, -0.4923, 0.00724897, -1.1581, 2.40391)
[node name="MarshConnector" type="MarshConnector" parent="."]