mirror of
https://github.com/thejerf/baijiSteamVR.git
synced 2026-10-18 19:01:37 +02:00
556 lines
17 KiB
C++
556 lines
17 KiB
C++
// Copyright 2026 Dolphin Emulator Project
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// SPDX-License-Identifier: GPL-2.0-or-later
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#ifdef ENABLE_VR
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#include "InputCommon/ControllerInterface/OpenXR/OpenXR.h"
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#include <algorithm>
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#include <array>
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#include <chrono>
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#include <memory>
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#include <string>
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#include <string_view>
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#include "Common/MathUtil.h"
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#include "Common/Matrix.h"
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#include "Common/VR/OpenXRInputState.h"
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#include "InputCommon/ControllerInterface/ControllerInterface.h"
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namespace ciface::OpenXR
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{
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namespace
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{
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constexpr std::string_view SOURCE_NAME = "OpenXR";
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enum class Hand
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{
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Left = 0,
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Right = 1,
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};
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Common::Quaternion ToQuaternion(const std::array<float, 4>& quat)
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{
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return {quat[3], quat[0], quat[1], quat[2]};
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}
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Common::Vec3 ToVec3(const std::array<float, 3>& vec)
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{
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return {vec[0], vec[1], vec[2]};
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}
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class OpenXRDevice final : public Core::Device
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{
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public:
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OpenXRDevice()
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{
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AddHandInputs(Hand::Left);
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AddHandInputs(Hand::Right);
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AddOutput(new RumbleOutput(this, RumbleTarget::Both));
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AddOutput(new RumbleOutput(this, RumbleTarget::Left));
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AddOutput(new RumbleOutput(this, RumbleTarget::Right));
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}
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std::string GetName() const override { return "OpenXR Controller"; }
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std::string GetSource() const override { return std::string(SOURCE_NAME); }
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bool IsVirtualDevice() const override { return true; }
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int GetSortPriority() const override { return -10; }
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Core::DeviceRemoval UpdateInput() override
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{
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m_snapshot = Common::VR::OpenXRInputState::GetSnapshot();
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UpdateMotionState(Hand::Left);
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UpdateMotionState(Hand::Right);
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return Core::DeviceRemoval::Keep;
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}
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const Common::VR::OpenXRControllerState& GetControllerState(Hand hand) const
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{
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return m_snapshot.controllers[static_cast<size_t>(hand)];
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}
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struct MotionState
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{
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Common::Vec3 acceleration{};
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Common::Vec3 gyroscope{};
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bool acceleration_valid = false;
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bool gyroscope_valid = false;
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};
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const MotionState& GetMotionState(Hand hand) const
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{
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return m_motion_state[static_cast<size_t>(hand)];
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}
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private:
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enum class RumbleTarget
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{
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Both,
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Left,
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Right,
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};
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class RumbleOutput final : public Core::Device::Output
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{
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public:
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RumbleOutput(OpenXRDevice* device, RumbleTarget target) : m_device(*device), m_target(target) {}
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std::string GetName() const override
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{
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switch (m_target)
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{
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case RumbleTarget::Both:
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return "Motor";
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case RumbleTarget::Left:
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return "Motor Left";
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case RumbleTarget::Right:
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return "Motor Right";
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}
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return "Motor";
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}
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void SetState(ControlState state) override { m_device.SetRumbleState(state, m_target); }
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private:
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OpenXRDevice& m_device;
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RumbleTarget m_target;
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};
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std::string GetHandPrefix(Hand hand) const { return hand == Hand::Left ? "Left" : "Right"; }
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void SetRumbleState(ControlState state, RumbleTarget target)
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{
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const float amplitude = std::clamp(static_cast<float>(state), 0.0f, 1.0f);
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switch (target)
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{
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case RumbleTarget::Both:
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Common::VR::OpenXRInputState::SetRumble(amplitude);
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break;
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case RumbleTarget::Left:
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Common::VR::OpenXRInputState::SetRumbleForHand(0, amplitude);
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break;
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case RumbleTarget::Right:
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Common::VR::OpenXRInputState::SetRumbleForHand(1, amplitude);
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break;
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}
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}
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void AddHandInputs(Hand hand)
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{
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AddInput(new DigitalInput(this, hand, DigitalControl::Primary));
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AddInput(new DigitalInput(this, hand, DigitalControl::Secondary));
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AddInput(new DigitalInput(this, hand, DigitalControl::Menu));
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AddInput(new DigitalInput(this, hand, DigitalControl::Trigger));
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AddInput(new DigitalInput(this, hand, DigitalControl::Squeeze));
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AddInput(new DigitalInput(this, hand, DigitalControl::Thumbstick));
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AddInput(new AnalogInput(this, hand, AnalogControl::Trigger));
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AddInput(new AnalogInput(this, hand, AnalogControl::Squeeze));
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AddInput(new AnalogInput(this, hand, AnalogControl::SqueezeForce));
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AddInput(new AxisInput(this, hand, AxisControl::ThumbstickX, false));
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AddInput(new AxisInput(this, hand, AxisControl::ThumbstickX, true));
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AddInput(new AxisInput(this, hand, AxisControl::ThumbstickY, false));
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AddInput(new AxisInput(this, hand, AxisControl::ThumbstickY, true));
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AddMotionInputs(hand);
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}
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enum class DigitalControl
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{
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Primary,
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Secondary,
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Menu,
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Trigger,
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Squeeze,
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Thumbstick,
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};
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enum class AnalogControl
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{
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Trigger,
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Squeeze,
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SqueezeForce,
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};
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enum class AxisControl
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{
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ThumbstickX,
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ThumbstickY,
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};
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enum class MotionControl
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{
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AccelUp,
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AccelDown,
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AccelLeft,
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AccelRight,
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AccelForward,
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AccelBackward,
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GyroPitchUp,
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GyroPitchDown,
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GyroRollLeft,
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GyroRollRight,
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GyroYawLeft,
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GyroYawRight,
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};
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class DigitalInput final : public Core::Device::Input
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{
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public:
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DigitalInput(const OpenXRDevice* device, Hand hand, DigitalControl control)
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: m_device(*device), m_hand(hand), m_control(control)
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{
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}
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std::string GetName() const override
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{
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const std::string prefix = m_device.GetHandPrefix(m_hand);
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switch (m_control)
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{
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case DigitalControl::Primary:
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return prefix + (m_hand == Hand::Left ? " Button X" : " Button A");
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case DigitalControl::Secondary:
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return prefix + (m_hand == Hand::Left ? " Button Y" : " Button B");
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case DigitalControl::Menu:
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return prefix + " Button Menu";
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case DigitalControl::Trigger:
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return prefix + " Button Trigger";
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case DigitalControl::Squeeze:
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return prefix + " Button Squeeze";
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case DigitalControl::Thumbstick:
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return prefix + " Button Thumbstick";
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}
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return "";
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}
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ControlState GetState() const override
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{
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const auto& state = m_device.GetControllerState(m_hand);
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if (!state.connected)
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return 0.0;
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switch (m_control)
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{
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case DigitalControl::Primary:
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return state.primary_button ? 1.0 : 0.0;
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case DigitalControl::Secondary:
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return state.secondary_button ? 1.0 : 0.0;
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case DigitalControl::Menu:
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return state.menu_button ? 1.0 : 0.0;
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case DigitalControl::Trigger:
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return state.trigger_button ? 1.0 : 0.0;
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case DigitalControl::Squeeze:
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return state.squeeze_button ? 1.0 : 0.0;
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case DigitalControl::Thumbstick:
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return state.thumbstick_button ? 1.0 : 0.0;
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}
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return 0.0;
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}
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private:
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const OpenXRDevice& m_device;
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const Hand m_hand;
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const DigitalControl m_control;
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};
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class AnalogInput final : public Core::Device::Input
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{
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public:
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AnalogInput(const OpenXRDevice* device, Hand hand, AnalogControl control)
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: m_device(*device), m_hand(hand), m_control(control)
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{
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}
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std::string GetName() const override
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{
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const std::string prefix = m_device.GetHandPrefix(m_hand);
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switch (m_control)
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{
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case AnalogControl::Trigger:
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return prefix + " Trigger";
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case AnalogControl::Squeeze:
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return prefix + " Squeeze";
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case AnalogControl::SqueezeForce:
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return prefix + " Squeeze Force";
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}
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return "";
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}
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ControlState GetState() const override
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{
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const auto& state = m_device.GetControllerState(m_hand);
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if (!state.connected)
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return 0.0;
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switch (m_control)
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{
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case AnalogControl::Trigger:
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return state.trigger_value;
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case AnalogControl::Squeeze:
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return state.squeeze_value;
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case AnalogControl::SqueezeForce:
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return state.squeeze_force;
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}
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return 0.0;
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}
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private:
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const OpenXRDevice& m_device;
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const Hand m_hand;
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const AnalogControl m_control;
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};
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class AxisInput final : public Core::Device::Input
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{
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public:
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AxisInput(const OpenXRDevice* device, Hand hand, AxisControl axis, bool positive)
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: m_device(*device), m_hand(hand), m_axis(axis), m_positive(positive)
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{
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}
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std::string GetName() const override
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{
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const std::string prefix = m_device.GetHandPrefix(m_hand);
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const char axis_char = m_axis == AxisControl::ThumbstickX ? 'X' : 'Y';
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return prefix + " Thumbstick " + axis_char + (m_positive ? '+' : '-');
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}
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ControlState GetState() const override
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{
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const auto& state = m_device.GetControllerState(m_hand);
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if (!state.connected)
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return 0.0;
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const float value =
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m_axis == AxisControl::ThumbstickX ? state.thumbstick_x : state.thumbstick_y;
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return m_positive ? std::max<float>(0.0f, value) : std::max<float>(0.0f, -value);
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}
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private:
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const OpenXRDevice& m_device;
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const Hand m_hand;
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const AxisControl m_axis;
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const bool m_positive;
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};
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class MotionInput final : public Core::Device::Input
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{
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public:
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MotionInput(const OpenXRDevice* device, Hand hand, MotionControl control)
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: m_device(*device), m_hand(hand), m_control(control)
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{
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}
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std::string GetName() const override
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{
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const std::string prefix = m_device.GetHandPrefix(m_hand);
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switch (m_control)
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{
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case MotionControl::AccelUp:
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return prefix + " Raw Accel Up";
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case MotionControl::AccelDown:
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return prefix + " Raw Accel Down";
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case MotionControl::AccelLeft:
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return prefix + " Raw Accel Left";
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case MotionControl::AccelRight:
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return prefix + " Raw Accel Right";
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case MotionControl::AccelForward:
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return prefix + " Raw Accel Forward";
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case MotionControl::AccelBackward:
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return prefix + " Raw Accel Backward";
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case MotionControl::GyroPitchUp:
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return prefix + " Raw Gyro Pitch Up";
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case MotionControl::GyroPitchDown:
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return prefix + " Raw Gyro Pitch Down";
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case MotionControl::GyroRollLeft:
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return prefix + " Raw Gyro Roll Left";
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case MotionControl::GyroRollRight:
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return prefix + " Raw Gyro Roll Right";
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case MotionControl::GyroYawLeft:
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return prefix + " Raw Gyro Yaw Left";
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case MotionControl::GyroYawRight:
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return prefix + " Raw Gyro Yaw Right";
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}
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return "";
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}
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bool IsDetectable() const override { return false; }
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ControlState GetState() const override
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{
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const auto& motion = m_device.GetMotionState(m_hand);
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constexpr float accel_scale = float(MathUtil::GRAVITY_ACCELERATION);
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constexpr float gyro_scale = float(MathUtil::PI);
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const auto normalize = [](float value, float scale) -> ControlState {
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return std::clamp<ControlState>(value / scale, 0.0, 1.0);
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};
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switch (m_control)
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{
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case MotionControl::AccelUp:
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return motion.acceleration_valid ? normalize(-motion.acceleration.z, accel_scale) : 0.0;
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case MotionControl::AccelDown:
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return motion.acceleration_valid ? normalize(motion.acceleration.z, accel_scale) : 0.0;
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case MotionControl::AccelLeft:
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return motion.acceleration_valid ? normalize(motion.acceleration.x, accel_scale) : 0.0;
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case MotionControl::AccelRight:
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return motion.acceleration_valid ? normalize(-motion.acceleration.x, accel_scale) : 0.0;
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case MotionControl::AccelForward:
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return motion.acceleration_valid ? normalize(-motion.acceleration.y, accel_scale) : 0.0;
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case MotionControl::AccelBackward:
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return motion.acceleration_valid ? normalize(motion.acceleration.y, accel_scale) : 0.0;
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case MotionControl::GyroPitchUp:
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return motion.gyroscope_valid ? normalize(motion.gyroscope.x, gyro_scale) : 0.0;
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case MotionControl::GyroPitchDown:
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return motion.gyroscope_valid ? normalize(-motion.gyroscope.x, gyro_scale) : 0.0;
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case MotionControl::GyroRollLeft:
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return motion.gyroscope_valid ? normalize(-motion.gyroscope.y, gyro_scale) : 0.0;
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case MotionControl::GyroRollRight:
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return motion.gyroscope_valid ? normalize(motion.gyroscope.y, gyro_scale) : 0.0;
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case MotionControl::GyroYawLeft:
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return motion.gyroscope_valid ? normalize(motion.gyroscope.z, gyro_scale) : 0.0;
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case MotionControl::GyroYawRight:
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return motion.gyroscope_valid ? normalize(-motion.gyroscope.z, gyro_scale) : 0.0;
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}
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return 0.0;
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}
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private:
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const OpenXRDevice& m_device;
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const Hand m_hand;
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const MotionControl m_control;
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};
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void AddMotionInputs(Hand hand)
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{
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AddInput(new MotionInput(this, hand, MotionControl::AccelUp));
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AddInput(new MotionInput(this, hand, MotionControl::AccelDown));
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AddInput(new MotionInput(this, hand, MotionControl::AccelLeft));
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AddInput(new MotionInput(this, hand, MotionControl::AccelRight));
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AddInput(new MotionInput(this, hand, MotionControl::AccelForward));
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AddInput(new MotionInput(this, hand, MotionControl::AccelBackward));
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AddInput(new MotionInput(this, hand, MotionControl::GyroPitchUp));
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AddInput(new MotionInput(this, hand, MotionControl::GyroPitchDown));
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AddInput(new MotionInput(this, hand, MotionControl::GyroRollLeft));
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AddInput(new MotionInput(this, hand, MotionControl::GyroRollRight));
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AddInput(new MotionInput(this, hand, MotionControl::GyroYawLeft));
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AddInput(new MotionInput(this, hand, MotionControl::GyroYawRight));
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}
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struct VelocityHistory
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{
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bool has_sample = false;
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Common::Vec3 previous_velocity{};
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std::chrono::steady_clock::time_point previous_time{};
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};
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void UpdateMotionState(Hand hand)
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{
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const size_t hand_index = static_cast<size_t>(hand);
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auto& motion = m_motion_state[hand_index];
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motion = {};
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const auto& controller = GetControllerState(hand);
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const bool has_grip_pose = controller.grip_pose.valid;
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const bool has_aim_pose = controller.aim_pose.valid;
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if (!controller.connected || (!has_grip_pose && !has_aim_pose))
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{
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m_velocity_history[hand_index].has_sample = false;
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return;
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}
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const Common::Quaternion reference_orientation =
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(has_grip_pose ? ToQuaternion(controller.grip_pose.orientation) :
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ToQuaternion(controller.aim_pose.orientation))
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.Normalized();
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const Common::Matrix33 world_to_local =
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Common::Matrix33::FromQuaternion(reference_orientation).Transposed();
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Common::Vec3 relative_acceleration{};
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auto& velocity_history = m_velocity_history[hand_index];
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if (controller.grip_velocity.linear_valid)
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{
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const Common::Vec3 current_velocity = ToVec3(controller.grip_velocity.linear);
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const auto now = std::chrono::steady_clock::now();
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if (velocity_history.has_sample)
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{
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const float dt = std::chrono::duration_cast<std::chrono::duration<float>>(
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now - velocity_history.previous_time)
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.count();
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if (dt > 0.001f)
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{
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const Common::Vec3 world_acceleration =
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(current_velocity - velocity_history.previous_velocity) / dt;
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relative_acceleration = world_to_local * world_acceleration;
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}
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}
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velocity_history.has_sample = true;
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velocity_history.previous_velocity = current_velocity;
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velocity_history.previous_time = now;
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}
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else
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{
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velocity_history.has_sample = false;
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}
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const auto get_matrix = [&world_to_local](int row, int col) {
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return world_to_local.data[row * 3 + col];
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};
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float gx = -get_matrix(0, 1);
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float gz = get_matrix(1, 1);
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float gy = get_matrix(2, 1);
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gx -= relative_acceleration.x / float(MathUtil::GRAVITY_ACCELERATION);
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gz += relative_acceleration.y / float(MathUtil::GRAVITY_ACCELERATION);
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gy += relative_acceleration.z / float(MathUtil::GRAVITY_ACCELERATION);
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motion.acceleration = Common::Vec3(gx, gy, gz) * float(MathUtil::GRAVITY_ACCELERATION);
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motion.acceleration_valid = true;
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if (controller.grip_velocity.angular_valid)
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{
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const Common::Vec3 world_angular_velocity = ToVec3(controller.grip_velocity.angular);
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const Common::Vec3 local_angular_velocity = world_to_local * world_angular_velocity;
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motion.gyroscope = Common::Vec3(local_angular_velocity.x, local_angular_velocity.z,
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local_angular_velocity.y);
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motion.gyroscope_valid = true;
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}
|
|
}
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|
|
|
Common::VR::OpenXRInputSnapshot m_snapshot{};
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|
std::array<MotionState, 2> m_motion_state{};
|
|
std::array<VelocityHistory, 2> m_velocity_history{};
|
|
};
|
|
|
|
class InputBackend final : public ciface::InputBackend
|
|
{
|
|
public:
|
|
using ciface::InputBackend::InputBackend;
|
|
|
|
void PopulateDevices() override
|
|
{
|
|
GetControllerInterface().RemoveDevice(
|
|
[](const auto* dev) { return dev->GetSource() == std::string(SOURCE_NAME); });
|
|
|
|
GetControllerInterface().AddDevice(std::make_shared<OpenXRDevice>());
|
|
}
|
|
};
|
|
} // namespace
|
|
|
|
std::unique_ptr<ciface::InputBackend> CreateInputBackend(ControllerInterface* controller_interface)
|
|
{
|
|
return std::make_unique<InputBackend>(controller_interface);
|
|
}
|
|
} // namespace ciface::OpenXR
|
|
|
|
#endif // ENABLE_VR
|