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Fix XR Body crouching and climbing #89103

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merged 2 commits into from
Mar 6, 2024
Merged

Fix XR Body crouching and climbing #89103

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8fcf385
Allow the hips joint to be positioned even if the bone update mode is…
Malcolmnixon Mar 3, 2024
d2db147
Allow the hips joint to be positioned even if the bone update mode is…
Malcolmnixon Mar 4, 2024
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4 changes: 3 additions & 1 deletion doc/classes/XRBodyModifier3D.xml
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Original file line number Diff line number Diff line change
@@ -1,10 +1,12 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="XRBodyModifier3D" inherits="Node3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<class name="XRBodyModifier3D" inherits="Node3D" experimental="" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A node for driving body meshes from [XRBodyTracker] data.
</brief_description>
<description>
This node uses body tracking data from a [XRBodyTracker] to animate the skeleton of a body mesh.
This node positions itself at the [constant XRBodyTracker.JOINT_ROOT] position and scales itself to [member XRServer.world_scale]. Adding the body model as a child of this node will result in the model being positioned and scaled correctly for XR experiences.
The body tracking position-data is scaled by [member Skeleton3D.motion_scale] when applied to the skeleton, which can be used to adjust the tracked body to match the scale of the body model.
</description>
<tutorials>
<link title="XR documentation index">$DOCS_URL/tutorials/xr/index.html</link>
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2 changes: 1 addition & 1 deletion doc/classes/XRBodyTracker.xml
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="XRBodyTracker" inherits="RefCounted" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<class name="XRBodyTracker" inherits="RefCounted" experimental="" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A tracked body in XR.
</brief_description>
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2 changes: 1 addition & 1 deletion doc/classes/XRFaceModifier3D.xml
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@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="XRFaceModifier3D" inherits="Node3D" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<class name="XRFaceModifier3D" inherits="Node3D" experimental="" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A node for driving standard face meshes from [XRFaceTracker] weights.
</brief_description>
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2 changes: 1 addition & 1 deletion doc/classes/XRFaceTracker.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8" ?>
<class name="XRFaceTracker" inherits="RefCounted" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<class name="XRFaceTracker" inherits="RefCounted" experimental="" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
A tracked face.
</brief_description>
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21 changes: 14 additions & 7 deletions scene/3d/xr_body_modifier_3d.cpp
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Expand Up @@ -311,18 +311,22 @@ void XRBodyModifier3D::_update_skeleton() {
return;
}

// Read the relevant tracking data.
// Get the world and skeleton scale.
const float ws = xr_server->get_world_scale();
const float ss = skeleton->get_motion_scale();

// Read the relevant tracking data. This applies the skeleton motion scale to
// the joint transforms, allowing the tracking data to be scaled to the skeleton.
bool has_valid_data[XRBodyTracker::JOINT_MAX];
Transform3D transforms[XRBodyTracker::JOINT_MAX];
Transform3D inv_transforms[XRBodyTracker::JOINT_MAX];
const float ws = xr_server->get_world_scale();
for (int joint = 0; joint < XRBodyTracker::JOINT_MAX; joint++) {
BitField<XRBodyTracker::JointFlags> flags = tracker->get_joint_flags(static_cast<XRBodyTracker::Joint>(joint));
has_valid_data[joint] = flags.has_flag(XRBodyTracker::JOINT_FLAG_ORIENTATION_VALID) && flags.has_flag(XRBodyTracker::JOINT_FLAG_POSITION_VALID);

if (has_valid_data[joint]) {
transforms[joint] = tracker->get_joint_transform(static_cast<XRBodyTracker::Joint>(joint));
transforms[joint].origin *= ws;
transforms[joint].origin *= ss;
inv_transforms[joint] = transforms[joint].inverse();
}
}
Expand Down Expand Up @@ -353,17 +357,20 @@ void XRBodyModifier3D::_update_skeleton() {
const int parent_joint = joints[joint].parent_joint;
const Transform3D relative_transform = inv_transforms[parent_joint] * transforms[joint];

// Update the bone position if enabled by update mode.
if (bone_update == BONE_UPDATE_FULL) {
// Update the bone position if enabled by update mode, or if the joint is the hips, to allow
// for climbing or crouching.
if (bone_update == BONE_UPDATE_FULL || joint == XRBodyTracker::JOINT_HIPS) {
skeleton->set_bone_pose_position(joints[joint].bone, relative_transform.origin);
}

// Always update the bone rotation.
skeleton->set_bone_pose_rotation(joints[joint].bone, Quaternion(relative_transform.basis));
}

// Transform to the skeleton pose.
set_transform(transforms[XRBodyTracker::JOINT_ROOT]);
// Transform to the tracking data root pose. This also applies the XR world-scale to allow
// scaling the avatars mesh and skeleton appropriately (if they are child nodes).
set_transform(
transforms[XRBodyTracker::JOINT_ROOT] * ws);

// If tracking-state determines visibility then show the node.
if (show_when_tracked) {
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