Merge branch 'master' of gitlab.polimi.it:DAER/frame-sim/marsh/visualisation-marsh

Refs: 4ddccdaf

.gitignore

@@ -14,6 +14,11 @@ compile_commands.json
 # Ignore addons files (copied from submodules), except uid created on import
 /project/addons/godot-xr-tools/**
 !/project/addons/godot-xr-tools/**/*.uid
+/project/addons/gdcef/**
+!/project/addons/gdcef/**/*.uid
+
+# Chrome Embedded Framework binaries
+/project/cef_artifacts
 
 # Created by https://www.toptal.com/developers/gitignore/api/c++,godot,scons,python
 # Edit at https://www.toptal.com/developers/gitignore?templates=c++,godot,scons,python

.gitmodules

@@ -7,3 +7,6 @@
 [submodule "modules/godot-xr-tools"]
 	path = modules/godot-xr-tools
 	url = https://github.com/GodotVR/godot-xr-tools.git
+[submodule "modules/gdcef"]
+	path = modules/gdcef
+	url = https://github.com/Lecrapouille/gdcef.git

README.md

@@ -32,6 +32,7 @@ godot --dump-extension-api  # after updating Godot
 python update_mavlink.py    # after updating MAVLink dialect
 python update_addons.py     # after changing any addon submodules
 scons compile_commands      # after modifying SConstruct
+cd project/addons/gdcef; python build.py
 ```
 
 ### Windows setup

modules/gdcef

@@ -0,0 +1 @@
+Subproject commit 76957e99ba87af9aecbde4dddc861e98f87ec43f

project/aircraft/aircraft.gd

@@ -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

project/aircraft/aircraft.tscn

@@ -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="."]
 

project/main.tscn

@@ -1,6 +1,6 @@
 [gd_scene load_steps=6 format=3 uid="uid://crq3o0eu4y8ya"]
 
-[ext_resource type="Script" path="res://start_vr.gd" id="1_ig7tw"]
+[ext_resource type="Script" uid="uid://dfcjdxesyn3l0" path="res://start_vr.gd" id="1_ig7tw"]
 [ext_resource type="PackedScene" uid="uid://bj1s0g7ixjw71" path="res://aircraft/aircraft.tscn" id="2_0xm2m"]
 
 [sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_7dm0k"]

project/project.godot

@@ -31,6 +31,6 @@ renderer/rendering_method.mobile="gl_compatibility"
 [xr]
 
 openxr/enabled=true
-openxr/reference_space=0
+openxr/reference_space=2
 openxr/foveation_level=3
 shaders/enabled=true

project/start_vr.gd

@@ -34,6 +34,7 @@ func _ready() -> void:
 		xr_interface.session_focussed.connect(_on_openxr_focused_state)
 		xr_interface.session_stopping.connect(_on_openxr_stopping)
 		xr_interface.pose_recentered.connect(_on_openxr_pose_recentered)
+		XRServer.tracker_added.connect(_on_tracker_added)
 	else:
 		# We couldn't start OpenXR.
 		print("OpenXR not instantiated!")
@@ -41,6 +42,9 @@ func _ready() -> void:
 		#get_tree().quit()
 
 
+func _on_tracker_added(tracker_name: StringName, type: int) -> void:
+	print("added tracker", tracker_name, "type", type)
+
 # Handle OpenXR session ready.
 func _on_openxr_session_begun() -> void:
 	# Get the reported refresh rate.

update_addons.py

@@ -0,0 +1,29 @@
+from os import path
+from shutil import copytree
+
+# Add repository root path
+root_path = path.abspath(path.dirname(__file__))
+
+# Copy the addon folder from each module
+copytree(
+    path.join(root_path, 'modules', 'gdcef', 'addons'),
+    path.join(root_path, 'project', 'addons'),
+    dirs_exist_ok=True,
+)
+
+# Configure gdcef version for precompiled binaries
+gdcef_build = path.join(root_path, 'project', 'addons', 'gdcef', 'build.py')
+gdcef_lines = []
+
+with open(gdcef_build, 'r', encoding='utf-8') as file:
+    gdcef_lines = file.readlines()
+
+for i, line in enumerate(gdcef_lines):
+    if not line.startswith('GITHUB_GDCEF_RELEASE'):
+        continue
+    gdcef_lines[i] = 'GITHUB_GDCEF_RELEASE = "0.16.1"\n'
+    break
+
+with open(gdcef_build, 'w', encoding='utf-8') as file:
+    file.writelines(gdcef_lines)
+