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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
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@ -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