@openhps/core
Version:
Open Hybrid Positioning System - Core component
307 lines (292 loc) • 9.5 kB
JavaScript
import { Vector3 } from '../../math/Vector3.js';
import { Group } from '../../objects/Group.js';
const _moveEvent = {
type: 'move'
};
/**
* Class for representing a XR controller with its
* different coordinate systems.
*
* @private
*/
class WebXRController {
/**
* Constructs a new XR controller.
*/
constructor() {
/**
* A group representing the target ray space
* of the XR controller.
*
* @private
* @type {?Group}
* @default null
*/
this._targetRay = null;
/**
* A group representing the grip space
* of the XR controller.
*
* @private
* @type {?Group}
* @default null
*/
this._grip = null;
/**
* A group representing the hand space
* of the XR controller.
*
* @private
* @type {?Group}
* @default null
*/
this._hand = null;
}
/**
* Returns a group representing the hand space of the XR controller.
*
* @return {Group} A group representing the hand space of the XR controller.
*/
getHandSpace() {
if (this._hand === null) {
this._hand = new Group();
this._hand.matrixAutoUpdate = false;
this._hand.visible = false;
this._hand.joints = {};
this._hand.inputState = {
pinching: false
};
}
return this._hand;
}
/**
* Returns a group representing the target ray space of the XR controller.
*
* @return {Group} A group representing the target ray space of the XR controller.
*/
getTargetRaySpace() {
if (this._targetRay === null) {
this._targetRay = new Group();
this._targetRay.matrixAutoUpdate = false;
this._targetRay.visible = false;
this._targetRay.hasLinearVelocity = false;
this._targetRay.linearVelocity = new Vector3();
this._targetRay.hasAngularVelocity = false;
this._targetRay.angularVelocity = new Vector3();
}
return this._targetRay;
}
/**
* Returns a group representing the grip space of the XR controller.
*
* @return {Group} A group representing the grip space of the XR controller.
*/
getGripSpace() {
if (this._grip === null) {
this._grip = new Group();
this._grip.matrixAutoUpdate = false;
this._grip.visible = false;
this._grip.hasLinearVelocity = false;
this._grip.linearVelocity = new Vector3();
this._grip.hasAngularVelocity = false;
this._grip.angularVelocity = new Vector3();
}
return this._grip;
}
/**
* Dispatches the given event to the groups representing
* the different coordinate spaces of the XR controller.
*
* @param {Object} event - The event to dispatch.
* @return {WebXRController} A reference to this instance.
*/
dispatchEvent(event) {
if (this._targetRay !== null) {
this._targetRay.dispatchEvent(event);
}
if (this._grip !== null) {
this._grip.dispatchEvent(event);
}
if (this._hand !== null) {
this._hand.dispatchEvent(event);
}
return this;
}
/**
* Connects the controller with the given XR input source.
*
* @param {XRInputSource} inputSource - The input source.
* @return {WebXRController} A reference to this instance.
*/
connect(inputSource) {
if (inputSource && inputSource.hand) {
const hand = this._hand;
if (hand) {
for (const inputjoint of inputSource.hand.values()) {
// Initialize hand with joints when connected
this._getHandJoint(hand, inputjoint);
}
}
}
this.dispatchEvent({
type: 'connected',
data: inputSource
});
return this;
}
/**
* Disconnects the controller from the given XR input source.
*
* @param {XRInputSource} inputSource - The input source.
* @return {WebXRController} A reference to this instance.
*/
disconnect(inputSource) {
this.dispatchEvent({
type: 'disconnected',
data: inputSource
});
if (this._targetRay !== null) {
this._targetRay.visible = false;
}
if (this._grip !== null) {
this._grip.visible = false;
}
if (this._hand !== null) {
this._hand.visible = false;
}
return this;
}
/**
* Updates the controller with the given input source, XR frame and reference space.
* This updates the transformations of the groups that represent the different
* coordinate systems of the controller.
*
* @param {XRInputSource} inputSource - The input source.
* @param {XRFrame} frame - The XR frame.
* @param {XRReferenceSpace} referenceSpace - The reference space.
* @return {WebXRController} A reference to this instance.
*/
update(inputSource, frame, referenceSpace) {
let inputPose = null;
let gripPose = null;
let handPose = null;
const targetRay = this._targetRay;
const grip = this._grip;
const hand = this._hand;
if (inputSource && frame.session.visibilityState !== 'visible-blurred') {
if (hand && inputSource.hand) {
handPose = true;
for (const inputjoint of inputSource.hand.values()) {
// Update the joints groups with the XRJoint poses
const jointPose = frame.getJointPose(inputjoint, referenceSpace);
// The transform of this joint will be updated with the joint pose on each frame
const joint = this._getHandJoint(hand, inputjoint);
if (jointPose !== null) {
joint.matrix.fromArray(jointPose.transform.matrix);
joint.matrix.decompose(joint.position, joint.rotation, joint.scale);
joint.matrixWorldNeedsUpdate = true;
joint.jointRadius = jointPose.radius;
}
joint.visible = jointPose !== null;
}
// Custom events
// Check pinchz
const indexTip = hand.joints['index-finger-tip'];
const thumbTip = hand.joints['thumb-tip'];
const distance = indexTip.position.distanceTo(thumbTip.position);
const distanceToPinch = 0.02;
const threshold = 0.005;
if (hand.inputState.pinching && distance > distanceToPinch + threshold) {
hand.inputState.pinching = false;
this.dispatchEvent({
type: 'pinchend',
handedness: inputSource.handedness,
target: this
});
} else if (!hand.inputState.pinching && distance <= distanceToPinch - threshold) {
hand.inputState.pinching = true;
this.dispatchEvent({
type: 'pinchstart',
handedness: inputSource.handedness,
target: this
});
}
} else {
if (grip !== null && inputSource.gripSpace) {
gripPose = frame.getPose(inputSource.gripSpace, referenceSpace);
if (gripPose !== null) {
grip.matrix.fromArray(gripPose.transform.matrix);
grip.matrix.decompose(grip.position, grip.rotation, grip.scale);
grip.matrixWorldNeedsUpdate = true;
if (gripPose.linearVelocity) {
grip.hasLinearVelocity = true;
grip.linearVelocity.copy(gripPose.linearVelocity);
} else {
grip.hasLinearVelocity = false;
}
if (gripPose.angularVelocity) {
grip.hasAngularVelocity = true;
grip.angularVelocity.copy(gripPose.angularVelocity);
} else {
grip.hasAngularVelocity = false;
}
}
}
}
if (targetRay !== null) {
inputPose = frame.getPose(inputSource.targetRaySpace, referenceSpace);
// Some runtimes (namely Vive Cosmos with Vive OpenXR Runtime) have only grip space and ray space is equal to it
if (inputPose === null && gripPose !== null) {
inputPose = gripPose;
}
if (inputPose !== null) {
targetRay.matrix.fromArray(inputPose.transform.matrix);
targetRay.matrix.decompose(targetRay.position, targetRay.rotation, targetRay.scale);
targetRay.matrixWorldNeedsUpdate = true;
if (inputPose.linearVelocity) {
targetRay.hasLinearVelocity = true;
targetRay.linearVelocity.copy(inputPose.linearVelocity);
} else {
targetRay.hasLinearVelocity = false;
}
if (inputPose.angularVelocity) {
targetRay.hasAngularVelocity = true;
targetRay.angularVelocity.copy(inputPose.angularVelocity);
} else {
targetRay.hasAngularVelocity = false;
}
this.dispatchEvent(_moveEvent);
}
}
}
if (targetRay !== null) {
targetRay.visible = inputPose !== null;
}
if (grip !== null) {
grip.visible = gripPose !== null;
}
if (hand !== null) {
hand.visible = handPose !== null;
}
return this;
}
/**
* Returns a group representing the hand joint for the given input joint.
*
* @private
* @param {Group} hand - The group representing the hand space.
* @param {XRHandJoint} inputjoint - The XR frame.
* @return {Group} A group representing the hand joint for the given input joint.
*/
_getHandJoint(hand, inputjoint) {
if (hand.joints[inputjoint.jointName] === undefined) {
const joint = new Group();
joint.matrixAutoUpdate = false;
joint.visible = false;
hand.joints[inputjoint.jointName] = joint;
hand.add(joint);
}
return hand.joints[inputjoint.jointName];
}
}
export { WebXRController };