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Assets/SteamVR/Scripts/SteamVR_Controller.cs
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235
Assets/SteamVR/Scripts/SteamVR_Controller.cs
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//======= Copyright (c) Valve Corporation, All rights reserved. ===============
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//
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// Purpose: Wrapper for working with SteamVR controller input
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//
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// Example usage:
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//
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// var deviceIndex = SteamVR_Controller.GetDeviceIndex(SteamVR_Controller.DeviceRelation.Leftmost);
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// if (deviceIndex != -1 && SteamVR_Controller.Input(deviceIndex).GetPressDown(SteamVR_Controller.ButtonMask.Trigger))
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// SteamVR_Controller.Input(deviceIndex).TriggerHapticPulse(1000);
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//
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//=============================================================================
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using UnityEngine;
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using Valve.VR;
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public class SteamVR_Controller
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{
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public class ButtonMask
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{
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public const ulong System = (1ul << (int)EVRButtonId.k_EButton_System); // reserved
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public const ulong ApplicationMenu = (1ul << (int)EVRButtonId.k_EButton_ApplicationMenu);
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public const ulong Grip = (1ul << (int)EVRButtonId.k_EButton_Grip);
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public const ulong Axis0 = (1ul << (int)EVRButtonId.k_EButton_Axis0);
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public const ulong Axis1 = (1ul << (int)EVRButtonId.k_EButton_Axis1);
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public const ulong Axis2 = (1ul << (int)EVRButtonId.k_EButton_Axis2);
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public const ulong Axis3 = (1ul << (int)EVRButtonId.k_EButton_Axis3);
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public const ulong Axis4 = (1ul << (int)EVRButtonId.k_EButton_Axis4);
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public const ulong Touchpad = (1ul << (int)EVRButtonId.k_EButton_SteamVR_Touchpad);
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public const ulong Trigger = (1ul << (int)EVRButtonId.k_EButton_SteamVR_Trigger);
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}
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public class Device
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{
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public Device(uint i) { index = i; }
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public uint index { get; private set; }
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public bool valid { get; private set; }
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public bool connected { get { Update(); return pose.bDeviceIsConnected; } }
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public bool hasTracking { get { Update(); return pose.bPoseIsValid; } }
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public bool outOfRange { get { Update(); return pose.eTrackingResult == ETrackingResult.Running_OutOfRange || pose.eTrackingResult == ETrackingResult.Calibrating_OutOfRange; } }
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public bool calibrating { get { Update(); return pose.eTrackingResult == ETrackingResult.Calibrating_InProgress || pose.eTrackingResult == ETrackingResult.Calibrating_OutOfRange; } }
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public bool uninitialized { get { Update(); return pose.eTrackingResult == ETrackingResult.Uninitialized; } }
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// These values are only accurate for the last controller state change (e.g. trigger release), and by definition, will always lag behind
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// the predicted visual poses that drive SteamVR_TrackedObjects since they are sync'd to the input timestamp that caused them to update.
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public SteamVR_Utils.RigidTransform transform { get { Update(); return new SteamVR_Utils.RigidTransform(pose.mDeviceToAbsoluteTracking); } }
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public Vector3 velocity { get { Update(); return new Vector3(pose.vVelocity.v0, pose.vVelocity.v1, -pose.vVelocity.v2); } }
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public Vector3 angularVelocity { get { Update(); return new Vector3(-pose.vAngularVelocity.v0, -pose.vAngularVelocity.v1, pose.vAngularVelocity.v2); } }
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public VRControllerState_t GetState() { Update(); return state; }
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public VRControllerState_t GetPrevState() { Update(); return prevState; }
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public TrackedDevicePose_t GetPose() { Update(); return pose; }
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VRControllerState_t state, prevState;
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TrackedDevicePose_t pose;
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int prevFrameCount = -1;
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public void Update()
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{
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if (Time.frameCount != prevFrameCount)
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{
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prevFrameCount = Time.frameCount;
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prevState = state;
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var system = OpenVR.System;
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if (system != null)
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{
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valid = system.GetControllerStateWithPose(SteamVR_Render.instance.trackingSpace, index, ref state, (uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t)), ref pose);
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UpdateHairTrigger();
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}
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}
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}
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public bool GetPress(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) != 0; }
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public bool GetPressDown(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) != 0 && (prevState.ulButtonPressed & buttonMask) == 0; }
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public bool GetPressUp(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) == 0 && (prevState.ulButtonPressed & buttonMask) != 0; }
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public bool GetPress(EVRButtonId buttonId) { return GetPress(1ul << (int)buttonId); }
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public bool GetPressDown(EVRButtonId buttonId) { return GetPressDown(1ul << (int)buttonId); }
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public bool GetPressUp(EVRButtonId buttonId) { return GetPressUp(1ul << (int)buttonId); }
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public bool GetTouch(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) != 0; }
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public bool GetTouchDown(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) != 0 && (prevState.ulButtonTouched & buttonMask) == 0; }
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public bool GetTouchUp(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) == 0 && (prevState.ulButtonTouched & buttonMask) != 0; }
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public bool GetTouch(EVRButtonId buttonId) { return GetTouch(1ul << (int)buttonId); }
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public bool GetTouchDown(EVRButtonId buttonId) { return GetTouchDown(1ul << (int)buttonId); }
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public bool GetTouchUp(EVRButtonId buttonId) { return GetTouchUp(1ul << (int)buttonId); }
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public Vector2 GetAxis(EVRButtonId buttonId = EVRButtonId.k_EButton_SteamVR_Touchpad)
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{
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Update();
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var axisId = (uint)buttonId - (uint)EVRButtonId.k_EButton_Axis0;
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switch (axisId)
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{
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case 0: return new Vector2(state.rAxis0.x, state.rAxis0.y);
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case 1: return new Vector2(state.rAxis1.x, state.rAxis1.y);
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case 2: return new Vector2(state.rAxis2.x, state.rAxis2.y);
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case 3: return new Vector2(state.rAxis3.x, state.rAxis3.y);
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case 4: return new Vector2(state.rAxis4.x, state.rAxis4.y);
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}
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return Vector2.zero;
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}
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public void TriggerHapticPulse(ushort durationMicroSec = 500, EVRButtonId buttonId = EVRButtonId.k_EButton_SteamVR_Touchpad)
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{
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var system = OpenVR.System;
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if (system != null)
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{
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var axisId = (uint)buttonId - (uint)EVRButtonId.k_EButton_Axis0;
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system.TriggerHapticPulse(index, axisId, (char)durationMicroSec);
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}
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}
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public float hairTriggerDelta = 0.1f; // amount trigger must be pulled or released to change state
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float hairTriggerLimit;
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bool hairTriggerState, hairTriggerPrevState;
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void UpdateHairTrigger()
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{
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hairTriggerPrevState = hairTriggerState;
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var value = state.rAxis1.x; // trigger
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if (hairTriggerState)
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{
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if (value < hairTriggerLimit - hairTriggerDelta || value <= 0.0f)
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hairTriggerState = false;
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}
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else
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{
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if (value > hairTriggerLimit + hairTriggerDelta || value >= 1.0f)
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hairTriggerState = true;
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}
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hairTriggerLimit = hairTriggerState ? Mathf.Max(hairTriggerLimit, value) : Mathf.Min(hairTriggerLimit, value);
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}
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public bool GetHairTrigger() { Update(); return hairTriggerState; }
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public bool GetHairTriggerDown() { Update(); return hairTriggerState && !hairTriggerPrevState; }
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public bool GetHairTriggerUp() { Update(); return !hairTriggerState && hairTriggerPrevState; }
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}
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private static Device[] devices;
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public static Device Input(int deviceIndex)
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{
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if (devices == null)
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{
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devices = new Device[OpenVR.k_unMaxTrackedDeviceCount];
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for (uint i = 0; i < devices.Length; i++)
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devices[i] = new Device(i);
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}
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return devices[deviceIndex];
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}
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public static void Update()
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{
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for (int i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
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Input(i).Update();
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}
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// This helper can be used in a variety of ways. Beware that indices may change
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// as new devices are dynamically added or removed, controllers are physically
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// swapped between hands, arms crossed, etc.
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public enum DeviceRelation
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{
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First,
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// radially
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Leftmost,
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Rightmost,
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// distance - also see vr.hmd.GetSortedTrackedDeviceIndicesOfClass
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FarthestLeft,
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FarthestRight,
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}
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public static int GetDeviceIndex(DeviceRelation relation,
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ETrackedDeviceClass deviceClass = ETrackedDeviceClass.Controller,
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int relativeTo = (int)OpenVR.k_unTrackedDeviceIndex_Hmd) // use -1 for absolute tracking space
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{
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var result = -1;
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var invXform = ((uint)relativeTo < OpenVR.k_unMaxTrackedDeviceCount) ?
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Input(relativeTo).transform.GetInverse() : SteamVR_Utils.RigidTransform.identity;
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var system = OpenVR.System;
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if (system == null)
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return result;
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var best = -float.MaxValue;
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for (int i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
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{
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if (i == relativeTo || system.GetTrackedDeviceClass((uint)i) != deviceClass)
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continue;
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var device = Input(i);
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if (!device.connected)
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continue;
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if (relation == DeviceRelation.First)
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return i;
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float score;
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var pos = invXform * device.transform.pos;
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if (relation == DeviceRelation.FarthestRight)
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{
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score = pos.x;
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}
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else if (relation == DeviceRelation.FarthestLeft)
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{
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score = -pos.x;
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}
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else
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{
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var dir = new Vector3(pos.x, 0.0f, pos.z).normalized;
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var dot = Vector3.Dot(dir, Vector3.forward);
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var cross = Vector3.Cross(dir, Vector3.forward);
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if (relation == DeviceRelation.Leftmost)
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{
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score = (cross.y > 0.0f) ? 2.0f - dot : dot;
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}
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else
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{
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score = (cross.y < 0.0f) ? 2.0f - dot : dot;
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}
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}
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if (score > best)
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{
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result = i;
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best = score;
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}
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}
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return result;
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}
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}
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