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Enable locomotion to handle arbitrary rotations of the view space (#49)
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* Enable locomotion to handle arbitrary rotations of the view space

Previously it assumed that "up" was always the Y axis

* Eliminate jitter

---------

Co-authored-by: Oliver Scherer <[email protected]>
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@oli-obk
oli-obk and oli-obk authored Dec 10, 2023
1 parent 786fb4f commit 7947dd0
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Showing 2 changed files with 201 additions and 21 deletions.
188 changes: 188 additions & 0 deletions examples/globe.rs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,188 @@
use bevy::diagnostic::LogDiagnosticsPlugin;
use bevy::prelude::*;
use bevy::transform::components::Transform;
use bevy_oxr::resources::XrViews;
use bevy_oxr::xr_input::hands::common::{HandInputDebugRenderer, OpenXrHandInput};
use bevy_oxr::xr_input::interactions::{
InteractionEvent, XRDirectInteractor, XRInteractorState, XRRayInteractor, XRSocketInteractor,
};
use bevy_oxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig};
use bevy_oxr::xr_input::trackers::{
AimPose, OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker,
OpenXRTrackingRoot,
};
use bevy_oxr::xr_input::Vec3Conv;
use bevy_oxr::DefaultXrPlugins;
use wgpu::{Extent3d, TextureDimension, TextureFormat};

fn main() {
color_eyre::install().unwrap();

App::new()
.add_plugins(DefaultXrPlugins)
.add_plugins(LogDiagnosticsPlugin::default())
.add_systems(Startup, setup)
.add_systems(Update, (proto_locomotion, pull_to_ground).chain())
.insert_resource(PrototypeLocomotionConfig::default())
.add_systems(Startup, spawn_controllers_example)
.add_plugins(OpenXrHandInput)
.add_plugins(HandInputDebugRenderer)
.add_event::<InteractionEvent>()
.run();
}

#[derive(Component)]
struct Globe {
radius: f32,
}

/// Creates a colorful test pattern
fn uv_debug_texture() -> Image {
const TEXTURE_SIZE: usize = 8;

let mut palette: [u8; 32] = [
255, 102, 159, 255, 255, 159, 102, 255, 236, 255, 102, 255, 121, 255, 102, 255, 102, 255,
198, 255, 102, 198, 255, 255, 121, 102, 255, 255, 236, 102, 255, 255,
];

let mut texture_data = [0; TEXTURE_SIZE * TEXTURE_SIZE * 4];
for y in 0..TEXTURE_SIZE {
let offset = TEXTURE_SIZE * y * 4;
texture_data[offset..(offset + TEXTURE_SIZE * 4)].copy_from_slice(&palette);
palette.rotate_right(4);
}

Image::new_fill(
Extent3d {
width: TEXTURE_SIZE as u32,
height: TEXTURE_SIZE as u32,
depth_or_array_layers: 1,
},
TextureDimension::D2,
&texture_data,
TextureFormat::Rgba8UnormSrgb,
)
}

/// set up a simple 3D scene
fn setup(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
mut images: ResMut<Assets<Image>>,
) {
// plane
let radius = 5.0;
commands.spawn((
PbrBundle {
mesh: meshes.add(
shape::UVSphere {
radius,
sectors: 10,
stacks: 10,
}
.try_into()
.unwrap(),
),
material: materials.add(StandardMaterial {
base_color_texture: Some(images.add(uv_debug_texture())),
..default()
}),
transform: Transform::from_xyz(0.0, -radius, 0.0),
..default()
},
Globe { radius },
));
// cube
commands.spawn(PbrBundle {
mesh: meshes.add(Mesh::from(shape::Cube { size: 0.1 })),
material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
transform: Transform::from_xyz(0.0, 0.5, 0.0),
..default()
});
// socket
commands.spawn((
SpatialBundle {
transform: Transform::from_xyz(0.0, 0.5, 1.0),
..default()
},
XRInteractorState::Selecting,
XRSocketInteractor,
));

// light
commands.spawn(PointLightBundle {
point_light: PointLight {
intensity: 1500.0,
shadows_enabled: true,
..default()
},
transform: Transform::from_xyz(4.0, 8.0, 4.0),
..default()
});
// camera
commands.spawn((Camera3dBundle {
transform: Transform::from_xyz(0.25, 1.25, 0.0).looking_at(
Vec3 {
x: -0.548,
y: -0.161,
z: -0.137,
},
Vec3::Y,
),
..default()
},));
}

fn spawn_controllers_example(mut commands: Commands) {
//left hand
commands.spawn((
OpenXRLeftController,
OpenXRController,
OpenXRTracker,
SpatialBundle::default(),
XRRayInteractor,
AimPose(Transform::default()),
XRInteractorState::default(),
));
//right hand
commands.spawn((
OpenXRRightController,
OpenXRController,
OpenXRTracker,
SpatialBundle::default(),
XRDirectInteractor,
XRInteractorState::default(),
));
}

fn pull_to_ground(
time: Res<Time>,
mut tracking_root_query: Query<&mut Transform, (With<OpenXRTrackingRoot>, Without<Globe>)>,
globe: Query<(&Transform, &Globe), Without<OpenXRTrackingRoot>>,
views: ResMut<XrViews>,
) {
let mut root = tracking_root_query.single_mut();
let (globe_pos, globe) = globe.single();

// Get player position (position of playground + position within playground)
let v = views.lock().unwrap();
let Some(view) = v.get(0) else { return };
let mut hmd_translation = view.pose.position.to_vec3();
hmd_translation.y = 0.0;
let local = root.translation;
let offset = root.rotation.mul_vec3(hmd_translation);
let global = offset + local;

let adjustment_rate = (time.delta_seconds() * 10.0).min(1.0);

// Lower player onto sphere
let up = (global - globe_pos.translation).normalize();
let diff = up * globe.radius + globe_pos.translation - offset - root.translation;
root.translation += diff * adjustment_rate;

// Rotate player to be upright on sphere
let angle_diff = Quat::from_rotation_arc(root.up(), up);
let point = root.translation + offset;
root.rotate_around(point, Quat::IDENTITY.slerp(angle_diff, adjustment_rate));
}
34 changes: 13 additions & 21 deletions src/xr_input/prototype_locomotion.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -88,37 +88,27 @@ pub fn proto_locomotion(
Ok(mut position) => {
//get the stick input and do some maths
let stick = controller.thumbstick(Hand::Left);
let input = Vec3::new(stick.x, 0.0, -stick.y);

let mut reference_quat = Quat::IDENTITY;
let input = stick.x * position.0.right() + stick.y * position.0.forward();
let reference_quat;
match config.locomotion_type {
LocomotionType::Head => {
let v = views.lock().unwrap();
let views = v.get(0);
match views {
Some(view) => {
reference_quat = view
.pose
.orientation
.to_quat()
.mul_quat(position.0.rotation);
reference_quat = view.pose.orientation.to_quat();
}
None => return,
}
}
LocomotionType::Hand => {
let grip = controller.grip_space(Hand::Left);
reference_quat = grip
.0
.pose
.orientation
.to_quat()
.mul_quat(position.0.rotation);
reference_quat = grip.0.pose.orientation.to_quat();
}
}
//TODO: do this correctly as just removing the y from the resultant vec3 isnt correct, but works well enough for now
let mut locomotion_vec = reference_quat.mul_vec3(input);
locomotion_vec.y = 0.0;
let (yaw, _pitch, _roll) = reference_quat.to_euler(EulerRot::YXZ);
let reference_quat = Quat::from_axis_angle(position.0.up(), yaw);
let locomotion_vec = reference_quat.mul_vec3(input);
position.0.translation +=
locomotion_vec * config.locomotion_speed * time.delta_seconds();

Expand All @@ -132,7 +122,8 @@ pub fn proto_locomotion(
if rot_input.abs() <= config.rotation_stick_deadzone {
return;
}
let smoth_rot = Quat::from_rotation_y(
let smoth_rot = Quat::from_axis_angle(
position.0.up(),
rot_input * config.smooth_rotation_speed * time.delta_seconds(),
);
//apply rotation
Expand All @@ -144,7 +135,7 @@ pub fn proto_locomotion(
hmd_translation.y = 0.0;
let local = position.0.translation;
let global = position.0.rotation.mul_vec3(hmd_translation) + local;
gizmos.circle(global, Vec3::Y, 0.1, Color::GREEN);
gizmos.circle(global, position.0.up(), 0.1, Color::GREEN);
position.0.rotate_around(global, smoth_rot);
}
None => return,
Expand All @@ -165,7 +156,8 @@ pub fn proto_locomotion(
true => 1.0,
false => -1.0,
};
let smoth_rot = Quat::from_rotation_y(config.snap_angle * dir);
let smoth_rot =
Quat::from_axis_angle(position.0.up(), config.snap_angle * dir);
//apply rotation
let v = views.lock().unwrap();
let views = v.get(0);
Expand All @@ -175,7 +167,7 @@ pub fn proto_locomotion(
hmd_translation.y = 0.0;
let local = position.0.translation;
let global = position.0.rotation.mul_vec3(hmd_translation) + local;
gizmos.circle(global, Vec3::Y, 0.1, Color::GREEN);
gizmos.circle(global, position.0.up(), 0.1, Color::GREEN);
position.0.rotate_around(global, smoth_rot);
}
None => return,
Expand Down

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