282 lines
9.5 KiB
Python
282 lines
9.5 KiB
Python
"""
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VR手柄管理模块
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基于panda3d-openvr参考实现，提供完整的VR手柄追踪和交互功能：
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- 手柄位置和姿态追踪
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- 按钮和触摸板输入处理
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- 手柄可视化和射线显示
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- 震动反馈支持
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"""
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from panda3d.core import (
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NodePath, PandaNode, Vec3, Mat4, LVector3, LMatrix4,
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GeomNode, LineSegs, CardMaker, Texture, RenderState,
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TransparencyAttrib, ColorAttrib, Vec4
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)
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from direct.actor.Actor import Actor
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from direct.showbase.DirectObject import DirectObject
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try:
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import openvr
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OPENVR_AVAILABLE = True
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except ImportError:
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OPENVR_AVAILABLE = False
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# 导入可视化器
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from .vr_visualization import VRControllerVisualizer
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class VRController(DirectObject):
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"""VR手柄基类 - 管理单个手柄的追踪和交互"""
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def __init__(self, vr_manager, name, hand_path, device_index=None):
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"""初始化VR手柄
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Args:
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vr_manager: VR管理器实例
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name: 手柄名称 ('left' 或 'right')
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hand_path: OpenVR手部路径 ('/user/hand/left' 或 '/user/hand/right')
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device_index: OpenVR设备索引（可选）
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"""
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super().__init__()
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self.vr_manager = vr_manager
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self.name = name
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self.hand_path = hand_path
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self.device_index = device_index
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# 手柄状态
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self.is_connected = False
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self.is_pose_valid = False
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self.pose = Mat4.identMat()
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self.velocity = Vec3(0, 0, 0)
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self.angular_velocity = Vec3(0, 0, 0)
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# 按钮状态
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self.button_states = {}
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self.previous_button_states = {}
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self.trigger_value = 0.0
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self.grip_value = 0.0
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self.touchpad_pos = Vec3(0, 0, 0)
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self.touchpad_touched = False
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# 3D节点和可视化
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self.anchor_node = None
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self.visualizer = None
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self.ray_length = 10.0
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# 初始化
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self._create_anchor()
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self._create_visualizer()
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print(f"✓ {name}手柄控制器初始化完成")
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def _create_anchor(self):
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"""创建手柄锚点节点"""
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if self.vr_manager.tracking_space:
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self.anchor_node = self.vr_manager.tracking_space.attachNewNode(f'{self.name}-controller')
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self.anchor_node.hide() # 初始隐藏，直到获得有效姿态
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def _create_visualizer(self):
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"""创建手柄可视化器"""
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if self.anchor_node and hasattr(self.vr_manager, 'world'):
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self.visualizer = VRControllerVisualizer(self, self.vr_manager.world.render)
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elif self.anchor_node:
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# 如果没有世界对象，使用基础渲染节点
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from panda3d.core import NodePath
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render = NodePath('render')
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self.visualizer = VRControllerVisualizer(self, render)
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def set_device_index(self, device_index):
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"""设置OpenVR设备索引"""
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self.device_index = device_index
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self.is_connected = True
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print(f"📱 {self.name}手柄连接 (设备索引: {device_index})")
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def update_pose(self, pose_data):
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"""更新手柄姿态
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Args:
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pose_data: OpenVR TrackedDevicePose_t数据
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"""
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if not pose_data.bPoseIsValid:
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self.is_pose_valid = False
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if self.anchor_node:
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self.anchor_node.hide()
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return
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self.is_pose_valid = True
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# 转换OpenVR矩阵到Panda3D
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if hasattr(self.vr_manager, 'convert_mat') and hasattr(self.vr_manager, 'coord_mat_inv') and hasattr(self.vr_manager, 'coord_mat'):
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modelview = self.vr_manager.convert_mat(pose_data.mDeviceToAbsoluteTracking)
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self.pose = self.vr_manager.coord_mat_inv * modelview * self.vr_manager.coord_mat
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else:
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# 直接使用矩阵数据
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m = pose_data.mDeviceToAbsoluteTracking.m
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self.pose = LMatrix4(
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m[0][0], m[1][0], m[2][0], m[3][0],
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m[0][1], m[1][1], m[2][1], m[3][1],
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m[0][2], m[1][2], m[2][2], m[3][2],
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m[0][3], m[1][3], m[2][3], m[3][3]
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)
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# 更新锚点变换
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if self.anchor_node:
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self.anchor_node.setMat(self.pose)
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self.anchor_node.show()
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# 更新可视化
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if self.visualizer:
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self.visualizer.update()
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# 更新速度信息
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vel = pose_data.vVelocity
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self.velocity = Vec3(vel[0], vel[1], vel[2])
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ang_vel = pose_data.vAngularVelocity
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self.angular_velocity = Vec3(ang_vel[0], ang_vel[1], ang_vel[2])
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def update_input_state(self, vr_system):
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"""更新输入状态
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Args:
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vr_system: OpenVR系统实例
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"""
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if not self.is_connected or not OPENVR_AVAILABLE or not vr_system:
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return
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# 保存上一帧的按钮状态
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self.previous_button_states = self.button_states.copy()
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# 获取控制器状态
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try:
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result, state = vr_system.getControllerState(self.device_index)
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if result:
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# 更新按钮状态
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for i in range(openvr.k_EButton_Max):
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button_mask = 1 << i
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self.button_states[i] = (state.rButtonPressed & button_mask) != 0
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# 更新轴状态（扳机、握把、触摸板）
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if len(state.rAxis) > 0:
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# 扳机轴通常在axis[1].x
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if len(state.rAxis) > 1:
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self.trigger_value = state.rAxis[1].x
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# 触摸板轴通常在axis[0]
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if len(state.rAxis) > 0:
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self.touchpad_pos = Vec3(state.rAxis[0].x, state.rAxis[0].y, 0)
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# 触摸板触摸状态
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self.touchpad_touched = (state.rButtonTouched & (1 << openvr.k_EButton_SteamVR_Touchpad)) != 0
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except Exception as e:
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print(f"⚠️ 更新{self.name}手柄输入状态失败: {e}")
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def is_button_pressed(self, button_id):
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"""检查按钮是否被按下"""
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return self.button_states.get(button_id, False)
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def is_button_just_pressed(self, button_id):
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"""检查按钮是否刚刚被按下（上升沿）"""
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current = self.button_states.get(button_id, False)
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previous = self.previous_button_states.get(button_id, False)
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return current and not previous
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def is_button_just_released(self, button_id):
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"""检查按钮是否刚刚被释放（下降沿）"""
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current = self.button_states.get(button_id, False)
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previous = self.previous_button_states.get(button_id, False)
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return not current and previous
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def is_trigger_pressed(self, threshold=0.1):
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"""检查扳机是否被按下"""
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return self.trigger_value > threshold
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def is_grip_pressed(self, threshold=0.1):
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"""检查握把是否被按下"""
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return self.grip_value > threshold
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def show_ray(self, show=True):
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"""显示或隐藏交互射线"""
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if self.visualizer:
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if show:
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self.visualizer.show_ray()
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else:
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self.visualizer.hide_ray()
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def set_ray_color(self, color):
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"""设置射线颜色"""
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if self.visualizer and len(color) >= 3:
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from panda3d.core import Vec4
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color_vec = Vec4(color[0], color[1], color[2], color[3] if len(color) > 3 else 1.0)
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self.visualizer.set_ray_color(color_vec)
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def trigger_haptic_feedback(self, duration=0.001, strength=1.0):
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"""触发震动反馈
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Args:
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duration: 震动持续时间（秒）
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strength: 震动强度 (0.0-1.0)
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"""
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if not self.is_connected or not OPENVR_AVAILABLE:
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return
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try:
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if hasattr(self.vr_manager, 'vr_system') and self.vr_manager.vr_system:
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# OpenVR的震动API
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duration_microseconds = int(duration * 1000000)
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self.vr_manager.vr_system.triggerHapticPulse(
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self.device_index,
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0, # axis ID (通常为0)
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int(strength * 3999) # 强度 (0-3999)
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)
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except Exception as e:
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print(f"⚠️ {self.name}手柄震动反馈失败: {e}")
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def get_world_position(self):
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"""获取手柄在世界坐标系中的位置"""
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if self.anchor_node:
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return self.anchor_node.getPos(self.vr_manager.world.render)
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return Vec3(0, 0, 0)
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def get_world_rotation(self):
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"""获取手柄在世界坐标系中的旋转"""
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if self.anchor_node:
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return self.anchor_node.getHpr(self.vr_manager.world.render)
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return Vec3(0, 0, 0)
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def get_forward_direction(self):
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"""获取手柄指向的方向向量"""
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if self.anchor_node:
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# Y轴正方向为前方
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return self.anchor_node.getMat().getRow3(1).getXyz().normalized()
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return Vec3(0, 1, 0)
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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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if self.visualizer:
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self.visualizer.cleanup()
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if self.anchor_node:
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self.anchor_node.removeNode()
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self.is_connected = False
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print(f"🧹 {self.name}手柄控制器已清理")
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class LeftController(VRController):
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"""左手控制器"""
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def __init__(self, vr_manager):
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super().__init__(vr_manager, 'left', '/user/hand/left')
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class RightController(VRController):
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"""右手控制器"""
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def __init__(self, vr_manager):
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super().__init__(vr_manager, 'right', '/user/hand/right') |