xr_body_tracker.h

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/*  xr_body_tracker.h                                                     */
/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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#pragma once

#include "servers/xr/xr_positional_tracker.h"

class XRBodyTracker : public XRPositionalTracker {
	GDCLASS(XRBodyTracker, XRPositionalTracker);
	_THREAD_SAFE_CLASS_

public:
	enum BodyFlags {
		BODY_FLAG_UPPER_BODY_SUPPORTED = 1,
		BODY_FLAG_LOWER_BODY_SUPPORTED = 2,
		BODY_FLAG_HANDS_SUPPORTED = 4,
	};

	enum Joint {
		JOINT_ROOT,

		// Upper Body Joints
		JOINT_HIPS,
		JOINT_SPINE,
		JOINT_CHEST,
		JOINT_UPPER_CHEST,
		JOINT_NECK,
		JOINT_HEAD,
		JOINT_HEAD_TIP,
		JOINT_LEFT_SHOULDER,
		JOINT_LEFT_UPPER_ARM,
		JOINT_LEFT_LOWER_ARM,
		JOINT_RIGHT_SHOULDER,
		JOINT_RIGHT_UPPER_ARM,
		JOINT_RIGHT_LOWER_ARM,

		// Lower Body Joints
		JOINT_LEFT_UPPER_LEG,
		JOINT_LEFT_LOWER_LEG,
		JOINT_LEFT_FOOT,
		JOINT_LEFT_TOES,
		JOINT_RIGHT_UPPER_LEG,
		JOINT_RIGHT_LOWER_LEG,
		JOINT_RIGHT_FOOT,
		JOINT_RIGHT_TOES,

		// Left Hand Joints
		JOINT_LEFT_HAND,
		JOINT_LEFT_PALM,
		JOINT_LEFT_WRIST,
		JOINT_LEFT_THUMB_METACARPAL,
		JOINT_LEFT_THUMB_PHALANX_PROXIMAL,
		JOINT_LEFT_THUMB_PHALANX_DISTAL,
		JOINT_LEFT_THUMB_TIP,
		JOINT_LEFT_INDEX_FINGER_METACARPAL,
		JOINT_LEFT_INDEX_FINGER_PHALANX_PROXIMAL,
		JOINT_LEFT_INDEX_FINGER_PHALANX_INTERMEDIATE,
		JOINT_LEFT_INDEX_FINGER_PHALANX_DISTAL,
		JOINT_LEFT_INDEX_FINGER_TIP,
		JOINT_LEFT_MIDDLE_FINGER_METACARPAL,
		JOINT_LEFT_MIDDLE_FINGER_PHALANX_PROXIMAL,
		JOINT_LEFT_MIDDLE_FINGER_PHALANX_INTERMEDIATE,
		JOINT_LEFT_MIDDLE_FINGER_PHALANX_DISTAL,
		JOINT_LEFT_MIDDLE_FINGER_TIP,
		JOINT_LEFT_RING_FINGER_METACARPAL,
		JOINT_LEFT_RING_FINGER_PHALANX_PROXIMAL,
		JOINT_LEFT_RING_FINGER_PHALANX_INTERMEDIATE,
		JOINT_LEFT_RING_FINGER_PHALANX_DISTAL,
		JOINT_LEFT_RING_FINGER_TIP,
		JOINT_LEFT_PINKY_FINGER_METACARPAL,
		JOINT_LEFT_PINKY_FINGER_PHALANX_PROXIMAL,
		JOINT_LEFT_PINKY_FINGER_PHALANX_INTERMEDIATE,
		JOINT_LEFT_PINKY_FINGER_PHALANX_DISTAL,
		JOINT_LEFT_PINKY_FINGER_TIP,

		// Right Hand Joints
		JOINT_RIGHT_HAND,
		JOINT_RIGHT_PALM,
		JOINT_RIGHT_WRIST,
		JOINT_RIGHT_THUMB_METACARPAL,
		JOINT_RIGHT_THUMB_PHALANX_PROXIMAL,
		JOINT_RIGHT_THUMB_PHALANX_DISTAL,
		JOINT_RIGHT_THUMB_TIP,
		JOINT_RIGHT_INDEX_FINGER_METACARPAL,
		JOINT_RIGHT_INDEX_FINGER_PHALANX_PROXIMAL,
		JOINT_RIGHT_INDEX_FINGER_PHALANX_INTERMEDIATE,
		JOINT_RIGHT_INDEX_FINGER_PHALANX_DISTAL,
		JOINT_RIGHT_INDEX_FINGER_TIP,
		JOINT_RIGHT_MIDDLE_FINGER_METACARPAL,
		JOINT_RIGHT_MIDDLE_FINGER_PHALANX_PROXIMAL,
		JOINT_RIGHT_MIDDLE_FINGER_PHALANX_INTERMEDIATE,
		JOINT_RIGHT_MIDDLE_FINGER_PHALANX_DISTAL,
		JOINT_RIGHT_MIDDLE_FINGER_TIP,
		JOINT_RIGHT_RING_FINGER_METACARPAL,
		JOINT_RIGHT_RING_FINGER_PHALANX_PROXIMAL,
		JOINT_RIGHT_RING_FINGER_PHALANX_INTERMEDIATE,
		JOINT_RIGHT_RING_FINGER_PHALANX_DISTAL,
		JOINT_RIGHT_RING_FINGER_TIP,
		JOINT_RIGHT_PINKY_FINGER_METACARPAL,
		JOINT_RIGHT_PINKY_FINGER_PHALANX_PROXIMAL,
		JOINT_RIGHT_PINKY_FINGER_PHALANX_INTERMEDIATE,
		JOINT_RIGHT_PINKY_FINGER_PHALANX_DISTAL,
		JOINT_RIGHT_PINKY_FINGER_TIP,

		// Extra joints that aren't part of the Godot humanoid skeleton, but are commonly used in some VR avatars.
		JOINT_LOWER_CHEST,
		JOINT_LEFT_SCAPULA,
		JOINT_LEFT_WRIST_TWIST,
		JOINT_RIGHT_SCAPULA,
		JOINT_RIGHT_WRIST_TWIST,
		JOINT_LEFT_FOOT_TWIST,
		JOINT_LEFT_HEEL,
		JOINT_LEFT_MIDDLE_FOOT,
		JOINT_RIGHT_FOOT_TWIST,
		JOINT_RIGHT_HEEL,
		JOINT_RIGHT_MIDDLE_FOOT,

		JOINT_MAX,
	};

	enum JointFlags {
		JOINT_FLAG_ORIENTATION_VALID = 1,
		JOINT_FLAG_ORIENTATION_TRACKED = 2,
		JOINT_FLAG_POSITION_VALID = 4,
		JOINT_FLAG_POSITION_TRACKED = 8,
	};

	void set_tracker_type(XRServer::TrackerType p_type) override;
	void set_tracker_hand(const XRPositionalTracker::TrackerHand p_hand) override;

	void set_has_tracking_data(bool p_has_tracking_data);
	bool get_has_tracking_data() const;

	void set_body_flags(BitField<BodyFlags> p_body_flags);
	BitField<BodyFlags> get_body_flags() const;

	void set_joint_flags(Joint p_joint, BitField<JointFlags> p_flags);
	BitField<JointFlags> get_joint_flags(Joint p_joint) const;

	void set_joint_transform(Joint p_joint, const Transform3D &p_transform);
	Transform3D get_joint_transform(Joint p_joint) const;

	XRBodyTracker();

protected:
	static void _bind_methods();

private:
	bool has_tracking_data = false;
	BitField<BodyFlags> body_flags = {};

	BitField<JointFlags> joint_flags[JOINT_MAX];
	Transform3D joint_transforms[JOINT_MAX];
};

VARIANT_BITFIELD_CAST(XRBodyTracker::BodyFlags)
VARIANT_ENUM_CAST(XRBodyTracker::Joint)
VARIANT_BITFIELD_CAST(XRBodyTracker::JointFlags)