""" VR手柄管理模块 基于panda3d-openvr参考实现，提供完整的VR手柄追踪和交互功能： - 手柄位置和姿态追踪 - 按钮和触摸板输入处理 - 手柄可视化和射线显示 - 震动反馈支持 """ from panda3d.core import ( NodePath, PandaNode, Vec3, Mat4, LVector3, LMatrix4, GeomNode, LineSegs, CardMaker, Texture, RenderState, TransparencyAttrib, ColorAttrib, Vec4 ) from direct.actor.Actor import Actor from direct.showbase.DirectObject import DirectObject try: import openvr OPENVR_AVAILABLE = True except ImportError: OPENVR_AVAILABLE = False # 导入可视化器 from .vr_visualization import VRControllerVisualizer class VRController(DirectObject): """VR手柄基类 - 管理单个手柄的追踪和交互""" def __init__(self, vr_manager, name, hand_path, device_index=None): """初始化VR手柄 Args: vr_manager: VR管理器实例 name: 手柄名称 ('left' 或 'right') hand_path: OpenVR手部路径 ('/user/hand/left' 或 '/user/hand/right') device_index: OpenVR设备索引（可选） """ super().__init__() self.vr_manager = vr_manager self.name = name self.hand_path = hand_path self.device_index = device_index # 手柄状态 self.is_connected = False self.is_pose_valid = False self.pose = Mat4.identMat() self.velocity = Vec3(0, 0, 0) self.angular_velocity = Vec3(0, 0, 0) # 按钮状态 self.button_states = {} self.previous_button_states = {} self.trigger_value = 0.0 self.grip_value = 0.0 self.touchpad_pos = Vec3(0, 0, 0) self.touchpad_touched = False # 摇杆状态 - 用于传送和转向交互 self.joystick_pos = Vec3(0, 0, 0) # 摇杆位置 (x, y, 0) self.joystick_touched = False # 摇杆是否被触摸 self.joystick_pressed = False # 摇杆是否被按下 self.previous_joystick_pos = Vec3(0, 0, 0) # 上一帧摇杆位置 # 3D节点和可视化 self.anchor_node = None self.visualizer = None self.ray_length = 10.0 # 初始化 self._create_anchor() self._create_visualizer() print(f"✓ {name}手柄控制器初始化完成") def _create_anchor(self): """创建手柄锚点节点""" if self.vr_manager.tracking_space: self.anchor_node = self.vr_manager.tracking_space.attachNewNode(f'{self.name}-controller') self.anchor_node.hide() # 初始隐藏，直到获得有效姿态 def _create_visualizer(self): """创建手柄可视化器""" if self.anchor_node and hasattr(self.vr_manager, 'world'): self.visualizer = VRControllerVisualizer(self, self.vr_manager.world.render) elif self.anchor_node: # 如果没有世界对象，使用基础渲染节点 from panda3d.core import NodePath render = NodePath('render') self.visualizer = VRControllerVisualizer(self, render) def set_device_index(self, device_index): """设置OpenVR设备索引""" self.device_index = device_index self.is_connected = True print(f"📱 {self.name}手柄连接 (设备索引: {device_index})") def update_pose(self, pose_data): """更新手柄姿态 Args: pose_data: OpenVR TrackedDevicePose_t数据 """ if not pose_data.bPoseIsValid: self.is_pose_valid = False if self.anchor_node: self.anchor_node.hide() return self.is_pose_valid = True # 转换OpenVR矩阵到Panda3D if hasattr(self.vr_manager, 'convert_mat') and hasattr(self.vr_manager, 'coord_mat_inv') and hasattr(self.vr_manager, 'coord_mat'): modelview = self.vr_manager.convert_mat(pose_data.mDeviceToAbsoluteTracking) self.pose = self.vr_manager.coord_mat_inv * modelview * self.vr_manager.coord_mat else: # 直接使用矩阵数据 m = pose_data.mDeviceToAbsoluteTracking.m self.pose = LMatrix4( m[0][0], m[1][0], m[2][0], m[3][0], m[0][1], m[1][1], m[2][1], m[3][1], m[0][2], m[1][2], m[2][2], m[3][2], m[0][3], m[1][3], m[2][3], m[3][3] ) # 更新锚点变换 if self.anchor_node: self.anchor_node.setMat(self.pose) self.anchor_node.show() # 更新可视化 if self.visualizer: self.visualizer.update() # 更新速度信息 vel = pose_data.vVelocity self.velocity = Vec3(vel[0], vel[1], vel[2]) ang_vel = pose_data.vAngularVelocity self.angular_velocity = Vec3(ang_vel[0], ang_vel[1], ang_vel[2]) def update_input_state(self, vr_system): """更新输入状态 Args: vr_system: OpenVR系统实例 """ if not self.is_connected or not OPENVR_AVAILABLE or not vr_system: return # 保存上一帧的按钮状态和摇杆位置 self.previous_button_states = self.button_states.copy() self.previous_joystick_pos = Vec3(self.joystick_pos) # 获取控制器状态 try: result, state = vr_system.getControllerState(self.device_index) if result: # 更新按钮状态 - 使用正确的OpenVR属性名 for i in range(openvr.k_EButton_Max): button_mask = 1 << i # OpenVR Python绑定中使用ulButtonPressed而不是rButtonPressed self.button_states[i] = (state.ulButtonPressed & button_mask) != 0 # 更新轴状态（扳机、握把、触摸板、摇杆） # 兼容不同版本的OpenVR Python绑定 axis_data = None if hasattr(state, 'rAxis'): axis_data = state.rAxis # 旧版本使用rAxis elif hasattr(state, 'vAxis'): axis_data = state.vAxis # 新版本使用vAxis if axis_data is not None and len(axis_data) > 0: # 调试输出 - 显示所有轴数据（仅当有变化时） self._debug_axis_data(axis_data) # 扳机轴通常在axis[1].x if len(axis_data) > 1: self.trigger_value = axis_data[1].x # 触摸板/摇杆轴通常在axis[0] if len(axis_data) > 0: self.touchpad_pos = Vec3(axis_data[0].x, axis_data[0].y, 0) # 摇杆和触摸板通常使用同一个轴，但可以区分设备类型 self.joystick_pos = Vec3(axis_data[0].x, axis_data[0].y, 0) # 额外检查其他轴（某些控制器可能将摇杆分配到不同轴） if len(axis_data) > 2: # 有些控制器可能在axis[2]有摇杆数据 axis2_magnitude = abs(axis_data[2].x) + abs(axis_data[2].y) if axis2_magnitude > 0.1: # 如果有显著输入，使用这个轴作为摇杆 self.joystick_pos = Vec3(axis_data[2].x, axis_data[2].y, 0) # 检查axis[3]和axis[4]（Quest控制器可能使用这些轴） for axis_idx in range(3, min(len(axis_data), 5)): axis_magnitude = abs(axis_data[axis_idx].x) + abs(axis_data[axis_idx].y) if axis_magnitude > 0.1: # 如果有显著输入 # 覆盖之前的摇杆数据，使用最有活动的轴 self.joystick_pos = Vec3(axis_data[axis_idx].x, axis_data[axis_idx].y, 0) # 调试输出 if not hasattr(self, '_last_axis_notify'): self._last_axis_notify = {} if self._last_axis_notify.get(axis_idx, 0) == 0: print(f"🎮 {self.name}手检测到axis[{axis_idx}]活动: ({axis_data[axis_idx].x:.3f}, {axis_data[axis_idx].y:.3f})") self._last_axis_notify[axis_idx] = 60 # 60帧后再次提醒 else: self._last_axis_notify[axis_idx] -= 1 # 触摸板和摇杆触摸状态 self.touchpad_touched = (state.ulButtonTouched & (1 << openvr.k_EButton_SteamVR_Touchpad)) != 0 # 摇杆触摸状态（检查多个可能的按钮） joystick_touch_mask = 0 if hasattr(openvr, 'k_EButton_Joystick'): joystick_touch_mask |= (1 << openvr.k_EButton_Joystick) if hasattr(openvr, 'k_EButton_Thumbstick'): joystick_touch_mask |= (1 << openvr.k_EButton_Thumbstick) self.joystick_touched = (state.ulButtonTouched & joystick_touch_mask) != 0 or self.touchpad_touched # 摇杆按下状态 joystick_press_mask = 0 if hasattr(openvr, 'k_EButton_Joystick'): joystick_press_mask |= (1 << openvr.k_EButton_Joystick) if hasattr(openvr, 'k_EButton_Thumbstick'): joystick_press_mask |= (1 << openvr.k_EButton_Thumbstick) self.joystick_pressed = (state.ulButtonPressed & joystick_press_mask) != 0 except Exception as e: # 减少错误输出频率 if not hasattr(self, '_last_input_error_frame'): self._last_input_error_frame = 0 # 获取当前帧数（通过VR管理器） current_frame = getattr(self.vr_manager, 'frame_count', 0) # 每5秒最多输出一次错误（300帧@60fps） if current_frame - self._last_input_error_frame > 300: print(f"⚠️ 更新{self.name}手柄输入状态失败: {e}") self._last_input_error_frame = current_frame def is_button_pressed(self, button_id): """检查按钮是否被按下""" return self.button_states.get(button_id, False) def is_button_just_pressed(self, button_id): """检查按钮是否刚刚被按下（上升沿）""" current = self.button_states.get(button_id, False) previous = self.previous_button_states.get(button_id, False) return current and not previous def is_button_just_released(self, button_id): """检查按钮是否刚刚被释放（下降沿）""" current = self.button_states.get(button_id, False) previous = self.previous_button_states.get(button_id, False) return not current and previous def is_trigger_pressed(self, threshold=0.1): """检查扳机是否被按下""" return self.trigger_value > threshold def is_grip_pressed(self, threshold=0.1): """检查握把是否被按下""" return self.grip_value > threshold def show_ray(self, show=True): """显示或隐藏交互射线""" if self.visualizer: if show: self.visualizer.show_ray() else: self.visualizer.hide_ray() def set_ray_color(self, color): """设置射线颜色""" if self.visualizer and len(color) >= 3: from panda3d.core import Vec4 color_vec = Vec4(color[0], color[1], color[2], color[3] if len(color) > 3 else 1.0) self.visualizer.set_ray_color(color_vec) def trigger_haptic_feedback(self, duration=0.001, strength=1.0): """触发震动反馈 Args: duration: 震动持续时间（秒） strength: 震动强度 (0.0-1.0) """ if not self.is_connected or not OPENVR_AVAILABLE: return try: if hasattr(self.vr_manager, 'vr_system') and self.vr_manager.vr_system: # OpenVR的震动API duration_microseconds = int(duration * 1000000) self.vr_manager.vr_system.triggerHapticPulse( self.device_index, 0, # axis ID (通常为0) int(strength * 3999) # 强度 (0-3999) ) except Exception as e: print(f"⚠️ {self.name}手柄震动反馈失败: {e}") def get_world_position(self): """获取手柄在世界坐标系中的位置""" if self.anchor_node: return self.anchor_node.getPos(self.vr_manager.world.render) return Vec3(0, 0, 0) def get_world_rotation(self): """获取手柄在世界坐标系中的旋转""" if self.anchor_node: return self.anchor_node.getHpr(self.vr_manager.world.render) return Vec3(0, 0, 0) def get_forward_direction(self): """获取手柄指向的方向向量（包含视角转向）""" if self.anchor_node: # 获取相对于世界坐标系的方向，包含tracking_space的旋转 if hasattr(self.vr_manager, 'world') and self.vr_manager.world: # 使用世界变换，包含所有父节点的旋转 world_transform = self.anchor_node.getMat(self.vr_manager.world.render) forward = Vec3(world_transform.getRow3(1)) # Y轴 = 前方 else: # 备选：使用局部变换 forward = Vec3(self.anchor_node.getMat().getRow3(1)) if forward.length() > 0: return forward.normalized() return Vec3(0, 1, 0) def is_joystick_touched(self): """检查摇杆是否被触摸""" return self.joystick_touched def is_joystick_pressed(self): """检查摇杆是否被按下""" return self.joystick_pressed def get_joystick_position(self): """获取摇杆位置 Returns: Vec3: 摇杆位置 (x, y, 0)，范围 [-1, 1] """ return Vec3(self.joystick_pos) def get_joystick_delta(self): """获取摇杆位置变化 Returns: Vec3: 摇杆位置变化向量 """ return self.joystick_pos - self.previous_joystick_pos def is_joystick_moved(self, threshold=0.01): """检查摇杆是否移动 Args: threshold: 移动阈值 Returns: bool: 是否移动 """ delta = self.get_joystick_delta() return delta.length() > threshold def _debug_axis_data(self, axis_data): """调试输出轴数据""" try: # 只在有活动时输出调试信息 has_activity = False active_axes = [] for i, axis in enumerate(axis_data): magnitude = abs(axis.x) + abs(axis.y) if magnitude > 0.01: # 检测到活动 has_activity = True active_axes.append(f"axis[{i}]: ({axis.x:.3f}, {axis.y:.3f})") if has_activity: # 初始化调试计数器 if not hasattr(self, '_debug_axis_counter'): self._debug_axis_counter = 0 self._debug_axis_counter += 1 # 每30帧输出一次详细信息 if self._debug_axis_counter % 30 == 1: print(f"🔍 {self.name}手轴数据调试:") print(f" 总轴数: {len(axis_data)}") print(f" 活跃轴: {', '.join(active_axes)}") # 显示所有轴的当前值（不管是否活跃） all_axes = [] for i, axis in enumerate(axis_data): all_axes.append(f"[{i}]:({axis.x:.3f},{axis.y:.3f})") print(f" 所有轴: {' '.join(all_axes)}") except Exception as e: print(f"⚠️ 轴数据调试失败: {e}") def cleanup(self): """清理资源""" self.ignoreAll() if self.visualizer: self.visualizer.cleanup() if self.anchor_node: self.anchor_node.removeNode() self.is_connected = False print(f"🧹 {self.name}手柄控制器已清理") class LeftController(VRController): """左手控制器""" def __init__(self, vr_manager): super().__init__(vr_manager, 'left', '/user/hand/left') class RightController(VRController): """右手控制器""" def __init__(self, vr_manager): super().__init__(vr_manager, 'right', '/user/hand/right')