forked from Rowland/EG
432 lines
15 KiB
Python
432 lines
15 KiB
Python
"""
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VR交互系统模块
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提供VR手柄与3D场景的交互功能：
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- 射线投射和碰撞检测
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- 对象选择和高亮
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- 对象抓取和移动
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- UI交互
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- 距离抓取
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"""
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from panda3d.core import (
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Vec3, Vec4, Mat4, Point3, CollisionRay, CollisionTraverser,
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CollisionNode, CollisionHandlerQueue, BitMask32, NodePath,
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CollisionSphere, CollisionTube, RenderState, TransparencyAttrib,
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ColorAttrib
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)
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from direct.showbase.DirectObject import DirectObject
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class VRInteractionManager(DirectObject):
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"""VR交互管理器 - 处理手柄与场景的交互"""
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def __init__(self, vr_manager):
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"""初始化VR交互管理器
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Args:
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vr_manager: VR管理器实例
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"""
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super().__init__()
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self.vr_manager = vr_manager
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self.world = vr_manager.world if hasattr(vr_manager, 'world') else None
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# 碰撞检测系统
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self.collision_traverser = CollisionTraverser()
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self.collision_queue = CollisionHandlerQueue()
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# 射线投射节点
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self.left_ray_node = None
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self.right_ray_node = None
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self.ray_collision_nodes = {}
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# 选择和抓取状态
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self.selected_objects = {} # 控制器 -> 选中对象
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self.grabbed_objects = {} # 控制器 -> 抓取对象
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self.grab_offsets = {} # 控制器 -> 抓取偏移
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# 交互参数
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self.selection_range = 50.0 # 选择距离
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self.grab_threshold = 0.5 # 抓取扳机阈值
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self.selection_color = Vec4(0.9, 0.9, 0.2, 1.0) # 选择高亮颜色
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self.grab_color = Vec4(0.2, 0.9, 0.2, 1.0) # 抓取高亮颜色
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# 高亮状态
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self.highlighted_objects = set()
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self.original_colors = {} # 存储对象原始颜色
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print("✓ VR交互管理器初始化完成")
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def initialize(self):
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"""初始化交互系统"""
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try:
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print("🔧 正在初始化VR交互系统...")
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# 创建射线投射节点
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self._create_ray_casters()
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# 设置碰撞检测
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self._setup_collision_detection()
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print("✅ VR交互系统初始化成功")
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return True
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except Exception as e:
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print(f"❌ VR交互系统初始化失败: {e}")
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import traceback
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traceback.print_exc()
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return False
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def _create_ray_casters(self):
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"""创建射线投射节点"""
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# 为左手控制器创建射线
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if self.vr_manager.left_controller and self.vr_manager.left_controller.anchor_node:
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self.left_ray_node = self._create_controller_ray('left', self.vr_manager.left_controller.anchor_node)
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# 为右手控制器创建射线
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if self.vr_manager.right_controller and self.vr_manager.right_controller.anchor_node:
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self.right_ray_node = self._create_controller_ray('right', self.vr_manager.right_controller.anchor_node)
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def _create_controller_ray(self, controller_name, anchor_node):
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"""为控制器创建射线投射节点"""
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# 创建射线碰撞体
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ray = CollisionRay()
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ray.setOrigin(0, 0, 0) # 从控制器原点开始
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ray.setDirection(0, 1, 0) # 沿Y轴正方向
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# 创建碰撞节点
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ray_collision_node = CollisionNode(f'{controller_name}_ray')
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ray_collision_node.addSolid(ray)
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# 设置碰撞掩码
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ray_collision_node.setFromCollideMask(BitMask32.bit(0)) # 射线掩码
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ray_collision_node.setIntoCollideMask(BitMask32.allOff()) # 不接受碰撞
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# 附加到控制器锚点
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ray_node = anchor_node.attachNewNode(ray_collision_node)
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self.ray_collision_nodes[controller_name] = ray_collision_node
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# 注册到碰撞遍历器
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self.collision_traverser.addCollider(ray_node, self.collision_queue)
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print(f"✓ {controller_name}手控制器射线投射已创建")
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return ray_node
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def _setup_collision_detection(self):
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"""设置碰撞检测系统"""
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if self.world:
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# 使用世界的碰撞系统
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if hasattr(self.world, 'render'):
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# 为所有可交互对象设置碰撞体
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self._setup_scene_collision_objects()
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else:
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print("⚠️ 无法访问世界对象，跳过场景碰撞设置")
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def _setup_scene_collision_objects(self):
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"""为场景对象设置碰撞体"""
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if not self.world or not hasattr(self.world, 'render'):
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return
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try:
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# 遍历场景中的所有节点，为它们添加碰撞体
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for node_path in self.world.render.findAllMatches("**/+GeomNode"):
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self._add_collision_to_object(node_path)
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except Exception as e:
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print(f"⚠️ 设置场景碰撞对象失败: {e}")
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def _add_collision_to_object(self, node_path):
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"""为对象添加碰撞体"""
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try:
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# 获取对象的边界框
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bounds = node_path.getBounds()
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if bounds.isEmpty():
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return
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# 计算边界球
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center = bounds.getCenter()
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radius = bounds.getRadius()
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# 创建球形碰撞体
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collision_sphere = CollisionSphere(center, radius)
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# 创建碰撞节点
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collision_node = CollisionNode(f'{node_path.getName()}_collision')
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collision_node.addSolid(collision_sphere)
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# 设置碰撞掩码
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collision_node.setIntoCollideMask(BitMask32.bit(0)) # 接受射线碰撞
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collision_node.setFromCollideMask(BitMask32.allOff()) # 不发射射线
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# 附加碰撞节点
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collision_node_path = node_path.attachNewNode(collision_node)
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# 标记为可交互对象
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node_path.setTag('interactable', 'true')
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node_path.setTag('original_name', node_path.getName())
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except Exception as e:
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print(f"⚠️ 为对象 {node_path.getName()} 添加碰撞体失败: {e}")
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def update(self):
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"""更新交互系统 - 每帧调用"""
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if not self.vr_manager.are_controllers_connected():
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return
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# 执行碰撞检测
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self._perform_collision_detection()
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# 更新选择状态
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self._update_selections()
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# 更新抓取状态
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self._update_grabbing()
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def _perform_collision_detection(self):
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"""执行碰撞检测"""
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if self.world and hasattr(self.world, 'render'):
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self.collision_traverser.traverse(self.world.render)
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def _update_selections(self):
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"""更新对象选择状态"""
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# 清除之前的选择高亮
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self._clear_selection_highlights()
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# 检查每个控制器的选择
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for controller in self.vr_manager.get_connected_controllers():
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if not controller:
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continue
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# 获取最近的碰撞对象
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hit_object = self._get_closest_hit_object(controller.name)
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if hit_object:
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# 高亮选中的对象
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self._highlight_object(hit_object, self.selection_color)
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self.selected_objects[controller.name] = hit_object
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# 显示控制器射线
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controller.show_ray(True)
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controller.set_ray_color([0.9, 0.9, 0.2, 0.8]) # 黄色
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else:
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# 没有选中对象
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if controller.name in self.selected_objects:
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del self.selected_objects[controller.name]
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# 隐藏射线（除非正在抓取）
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if controller.name not in self.grabbed_objects:
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controller.show_ray(False)
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def _get_closest_hit_object(self, controller_name):
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"""获取指定控制器射线最近的碰撞对象"""
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if controller_name not in self.ray_collision_nodes:
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return None
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closest_object = None
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closest_distance = float('inf')
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# 检查碰撞队列中的条目
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for i in range(self.collision_queue.getNumEntries()):
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entry = self.collision_queue.getEntry(i)
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# 检查是否是该控制器的射线
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from_node = entry.getFromNodePath()
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if from_node.node() == self.ray_collision_nodes[controller_name]:
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# 获取碰撞的对象
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hit_node_path = entry.getIntoNodePath()
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# 获取实际的几何对象（父节点）
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geom_object = hit_node_path.getParent()
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if geom_object and geom_object.hasTag('interactable'):
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distance = entry.getSurfacePoint(geom_object).length()
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if distance < closest_distance and distance <= self.selection_range:
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closest_distance = distance
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closest_object = geom_object
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return closest_object
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def _update_grabbing(self):
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"""更新对象抓取状态"""
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for controller in self.vr_manager.get_connected_controllers():
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if not controller:
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continue
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controller_name = controller.name
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# 检查是否按下抓取按钮
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if controller.is_trigger_pressed(threshold=self.grab_threshold):
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# 如果还没有抓取对象
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if controller_name not in self.grabbed_objects:
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# 尝试抓取选中的对象
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if controller_name in self.selected_objects:
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selected_obj = self.selected_objects[controller_name]
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self._start_grab(controller, selected_obj)
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# 如果正在抓取，更新对象位置
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if controller_name in self.grabbed_objects:
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self._update_grabbed_object(controller)
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else:
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# 释放抓取
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if controller_name in self.grabbed_objects:
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self._release_grab(controller)
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def _start_grab(self, controller, obj):
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"""开始抓取对象"""
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controller_name = controller.name
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try:
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# 计算抓取偏移（对象相对于控制器的位置）
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controller_pos = controller.get_world_position()
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object_pos = obj.getPos(self.world.render if self.world else obj.getParent())
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offset = object_pos - controller_pos
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self.grab_offsets[controller_name] = offset
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# 记录抓取状态
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self.grabbed_objects[controller_name] = obj
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# 改变对象颜色表示抓取状态
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self._highlight_object(obj, self.grab_color)
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# 触发震动反馈
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controller.trigger_haptic_feedback(0.01, 0.8)
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# 显示绿色射线表示抓取
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controller.show_ray(True)
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controller.set_ray_color([0.2, 0.9, 0.2, 0.8])
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print(f"🤏 {controller_name}手开始抓取对象: {obj.getName()}")
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except Exception as e:
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print(f"⚠️ 开始抓取失败: {e}")
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def _update_grabbed_object(self, controller):
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"""更新被抓取对象的位置"""
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controller_name = controller.name
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if controller_name not in self.grabbed_objects:
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return
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try:
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grabbed_obj = self.grabbed_objects[controller_name]
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grab_offset = self.grab_offsets.get(controller_name, Vec3(0, 0, 0))
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# 计算新位置
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controller_pos = controller.get_world_position()
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new_pos = controller_pos + grab_offset
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# 更新对象位置
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grabbed_obj.setPos(self.world.render if self.world else grabbed_obj.getParent(), new_pos)
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# 可选：同步旋转
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if hasattr(controller, 'get_world_rotation'):
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controller_rot = controller.get_world_rotation()
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grabbed_obj.setHpr(self.world.render if self.world else grabbed_obj.getParent(), controller_rot)
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except Exception as e:
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print(f"⚠️ 更新抓取对象失败: {e}")
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def _release_grab(self, controller):
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"""释放抓取的对象"""
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controller_name = controller.name
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if controller_name not in self.grabbed_objects:
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return
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try:
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grabbed_obj = self.grabbed_objects[controller_name]
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# 恢复对象原始颜色
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self._restore_object_color(grabbed_obj)
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# 清理抓取状态
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del self.grabbed_objects[controller_name]
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if controller_name in self.grab_offsets:
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del self.grab_offsets[controller_name]
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# 触发震动反馈
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controller.trigger_haptic_feedback(0.005, 0.4)
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print(f"🫳 {controller_name}手释放对象: {grabbed_obj.getName()}")
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except Exception as e:
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print(f"⚠️ 释放抓取失败: {e}")
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def _highlight_object(self, obj, color):
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"""高亮显示对象"""
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if obj in self.highlighted_objects:
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return
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try:
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# 保存原始颜色
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if obj not in self.original_colors:
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self.original_colors[obj] = obj.getColor()
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# 设置高亮颜色
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obj.setColor(color)
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self.highlighted_objects.add(obj)
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except Exception as e:
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print(f"⚠️ 高亮对象失败: {e}")
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def _restore_object_color(self, obj):
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"""恢复对象原始颜色"""
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if obj not in self.highlighted_objects:
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return
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try:
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# 恢复原始颜色
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if obj in self.original_colors:
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obj.setColor(self.original_colors[obj])
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del self.original_colors[obj]
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self.highlighted_objects.discard(obj)
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except Exception as e:
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print(f"⚠️ 恢复对象颜色失败: {e}")
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def _clear_selection_highlights(self):
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"""清除所有选择高亮"""
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for obj in list(self.highlighted_objects):
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# 只清除非抓取状态的对象
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is_grabbed = any(obj == grabbed_obj for grabbed_obj in self.grabbed_objects.values())
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if not is_grabbed:
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self._restore_object_color(obj)
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def get_selected_object(self, controller_name):
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"""获取指定控制器选中的对象"""
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return self.selected_objects.get(controller_name)
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def get_grabbed_object(self, controller_name):
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"""获取指定控制器抓取的对象"""
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return self.grabbed_objects.get(controller_name)
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def is_grabbing(self, controller_name):
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"""检查指定控制器是否正在抓取对象"""
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return controller_name in self.grabbed_objects
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def force_release_all(self):
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"""强制释放所有抓取的对象"""
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for controller in self.vr_manager.get_connected_controllers():
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if controller and controller.name in self.grabbed_objects:
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self._release_grab(controller)
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def cleanup(self):
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"""清理资源"""
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self.ignoreAll()
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# 释放所有抓取
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self.force_release_all()
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# 清理碰撞系统
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self.collision_traverser.clearColliders()
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self.ray_collision_nodes.clear()
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# 清理高亮状态
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for obj in list(self.highlighted_objects):
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self._restore_object_color(obj)
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print("🧹 VR交互管理器已清理") |