GLTF parsing (#139)

* inital gltf parse (really broken)

* use memcpy directly

* fix off-by-one error, working

* fix out of range error, change file name

* potential bugfix for lerp

* fix lerp

* Overhauled Bones.cpp to add GLTF caching (#140)

* Overhauled Bones.cpp to add GLTF caching

* Just call three methods as per @danwillm

* Removed pointless cast

* left hand transforms

* Update include/DeviceConfiguration.h

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update include/DeviceProvider.h

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update include/DriverLog.h

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update include/Util/Windows.h

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update src/Communication/BTSerialCommunicationManager.cpp

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update src/Communication/SerialCommunicationManager.cpp

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update src/DeviceProvider.cpp

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update src/Util/Windows.cpp

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update src/Util/Windows.cpp

Co-authored-by: noob247365 <noob247365@gmail.com>

* Update src/Util/Windows.cpp

Co-authored-by: noob247365 <noob247365@gmail.com>

* Gltf node index (#143)

* bone index->node index?

* remove num_bones from class members

* redo configuration

* bugfix node

* comments

Co-authored-by: noob247365 <noob247365@gmail.com>

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "libraries/openvr"]
 	path = libraries/openvr
-	url = https://github.com/ValveSoftware/openvr.git
+	url = https://github.com/ValveSoftware/openvr.git
+[submodule "libraries/tinygltf"]
+	path = libraries/tinygltf
+	url = https://github.com/syoyo/tinygltf.git

CMakeLists.txt

@@ -6,6 +6,7 @@ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
 # Deps
 set(OPENVR_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/libraries/openvr/headers")
+set(TINYGLTF_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/libraries/tinygltf")
 
 set(SIZEOF_VOIDP ${CMAKE_SIZEOF_VOID_P})
 
@@ -35,7 +36,7 @@ file(GLOB_RECURSE SOURCES "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
 
 add_library("${OPENGLOVE_PROJECT}" SHARED "${HEADERS}" "${SOURCES}")
 
-target_include_directories("${OPENGLOVE_PROJECT}" PUBLIC "${OPENVR_INCLUDE_DIR}")
+target_include_directories("${OPENGLOVE_PROJECT}" PUBLIC "${OPENVR_INCLUDE_DIR}" "${TINYGLTF_INCLUDE_DIR}")
 
 target_include_directories("${OPENGLOVE_PROJECT}" PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include/")
 target_link_libraries("${OPENGLOVE_PROJECT}" PUBLIC "${OPENVR_LIB}" setupapi wsock32 ws2_32 bthprops)

include/Bones.h

@@ -1,56 +1,83 @@
 #pragma once
-#include <openvr_driver.h>
+
 #include <array>
+#include <memory>
 
-const int NUM_BONES = 31;
-extern vr::VRBoneTransform_t rightOpenPose[NUM_BONES];
-extern vr::VRBoneTransform_t rightFistPose[NUM_BONES];
+#include "openvr_driver.h"
+
+enum class HandSkeletonBone : vr::BoneIndex_t {
+  eBone_Root = 0,
+  eBone_Wrist,
+  eBone_Thumb0,
+  eBone_Thumb1,
+  eBone_Thumb2,
+  eBone_Thumb3,
+  eBone_IndexFinger0,
+  eBone_IndexFinger1,
+  eBone_IndexFinger2,
+  eBone_IndexFinger3,
+  eBone_IndexFinger4,
+  eBone_MiddleFinger0,
+  eBone_MiddleFinger1,
+  eBone_MiddleFinger2,
+  eBone_MiddleFinger3,
+  eBone_MiddleFinger4,
+  eBone_RingFinger0,
+  eBone_RingFinger1,
+  eBone_RingFinger2,
+  eBone_RingFinger3,
+  eBone_RingFinger4,
+  eBone_PinkyFinger0,
+  eBone_PinkyFinger1,
+  eBone_PinkyFinger2,
+  eBone_PinkyFinger3,
+  eBone_PinkyFinger4,
+  eBone_Aux_Thumb,
+  eBone_Aux_IndexFinger,
+  eBone_Aux_MiddleFinger,
+  eBone_Aux_RingFinger,
+  eBone_Aux_PinkyFinger,
+  eBone_Count
+};
 
+const short NUM_BONES = (short)HandSkeletonBone::eBone_Count;
+
+extern vr::VRBoneTransform_t rightOpenPose[NUM_BONES];
 extern vr::VRBoneTransform_t leftOpenPose[NUM_BONES];
-extern vr::VRBoneTransform_t leftFistPose[NUM_BONES];
-
-enum HandSkeletonBone : vr::BoneIndex_t {
-	eBone_Root = 0,
-	eBone_Wrist,
-	eBone_Thumb0,
-	eBone_Thumb1,
-	eBone_Thumb2,
-	eBone_Thumb3,
-	eBone_IndexFinger0,
-	eBone_IndexFinger1,
-	eBone_IndexFinger2,
-	eBone_IndexFinger3,
-	eBone_IndexFinger4,
-	eBone_MiddleFinger0,
-	eBone_MiddleFinger1,
-	eBone_MiddleFinger2,
-	eBone_MiddleFinger3,
-	eBone_MiddleFinger4,
-	eBone_RingFinger0,
-	eBone_RingFinger1,
-	eBone_RingFinger2,
-	eBone_RingFinger3,
-	eBone_RingFinger4,
-	eBone_PinkyFinger0,
-	eBone_PinkyFinger1,
-	eBone_PinkyFinger2,
-	eBone_PinkyFinger3,
-	eBone_PinkyFinger4,
-	eBone_Aux_Thumb,
-	eBone_Aux_IndexFinger,
-	eBone_Aux_MiddleFinger,
-	eBone_Aux_RingFinger,
-	eBone_Aux_PinkyFinger,
-	eBone_Count
+
+struct Transform_t {
+  Transform_t();
+  std::array<float, 4> rotation;
+  std::array<float, 3> translation;
 };
 
-void ComputeHand(vr::VRBoneTransform_t* skeleton, const std::array<float, 5>& flexion, bool isRightHand);
-void ComputeBoneFlexion(vr::VRBoneTransform_t* bone_transform, float transform, int index, const bool isRightHand);
+struct AnimationData_t {
+  AnimationData_t();
+  Transform_t startTransform;
+  float startTime;
+  Transform_t endTransform;
+  float endTime;
+};
+
+class IModelManager {
+ public:
+  virtual bool Load() = 0;
+
+  virtual AnimationData_t GetAnimationDataByBoneIndex(const HandSkeletonBone& boneIndex, float f) const = 0;
+  virtual Transform_t GetTransformByBoneIndex(const HandSkeletonBone& boneIndex) const = 0;
+};
+
+class BoneAnimator {
+ public:
+  BoneAnimator(const std::string& fileName);
+  void ComputeSkeletonTransforms(vr::VRBoneTransform_t* skeleton, const std::array<float, 5>& flexion, const bool rightHand);
+  void TransformLeftBone(vr::VRBoneTransform_t& bone, const HandSkeletonBone& boneIndex);
+
+ private:
+  vr::VRBoneTransform_t GetTransformForBone(const HandSkeletonBone& boneIndex, const float f, const bool rightHand);
 
-vr::HmdQuaternionf_t CalculateOrientation(const float transform, const int boneIndex, const vr::VRBoneTransform_t* openPose, const vr::VRBoneTransform_t* fistPose);
-vr::HmdVector4_t CalculatePosition(const float transform, const int boneIndex, const vr::VRBoneTransform_t* openPose, const vr::VRBoneTransform_t* fistPose);
-int FingerFromBone(vr::BoneIndex_t bone);
-/**
-*Linear interpolation between a and b.
-**/
-float Lerp(const float a, const float b, const float f);
+  std::string m_fileName;
+  std::unique_ptr<IModelManager> m_modelManager;
+  bool m_loaded;
+  std::vector<float> m_keyframes;
+};

include/Communication/BTSerialCommunicationManager.h

@@ -16,8 +16,6 @@
 #include "DeviceConfiguration.h"
 #include "DriverLog.h"
 
-static const char* c_btserialCommunicationSettingsSection = "communication_btserial";
-
 class BTSerialCommunicationManager : public ICommunicationManager {
  public:
   BTSerialCommunicationManager(const VRBTSerialConfiguration_t& configuration, std::unique_ptr<IEncodingManager> encodingManager);

include/Communication/SerialCommunicationManager.h

@@ -11,8 +11,6 @@
 #include "CommunicationManager.h"
 #include "DeviceConfiguration.h"
 
-static const char* c_serialCommunicationSettingsSection = "communication_serial";
-
 class SerialCommunicationManager : public ICommunicationManager {
  public:
   SerialCommunicationManager(const VRSerialConfiguration_t& configuration, std::unique_ptr<IEncodingManager> encodingManager)

include/DeviceConfiguration.h

@@ -1,12 +1,17 @@
 #pragma once
 
+#include "openvr_driver.h"
+
 #include "Communication/CommunicationManager.h"
 #include "DeviceDriver/DeviceDriver.h"
 #include "Encode/EncodingManager.h"
-#include "openvr_driver.h"
 
-static const char* c_driverSettingsSection = "driver_openglove";
-static const char* c_poseSettingsSection = "pose_settings";
+extern const char* c_poseSettingsSection;
+extern const char* c_driverSettingsSection;
+extern const char* c_serialCommunicationSettingsSection;
+extern const char* c_btserialCommunicationSettingsSection;
+extern const char* c_knuckleDeviceSettingsSection;
+extern const char* c_lucidGloveDeviceSettingsSection;
 
 enum class VRCommunicationProtocol {
 	SERIAL = 0,

include/DeviceDriver/KnuckleDriver.h

@@ -1,6 +1,6 @@
 #pragma once
-#pragma once
-#include <openvr_driver.h>
+
+#include "openvr_driver.h"
 
 #include <functional>
 #include <memory>
@@ -13,11 +13,9 @@
 #include "Encode/LegacyEncodingManager.h"
 #include "ForceFeedback.h"
 
-static const char* c_knuckleDeviceSettingsSection = "device_knuckles";
-
 class KnuckleDeviceDriver : public IDeviceDriver {
  public:
-  KnuckleDeviceDriver(VRDeviceConfiguration_t configuration, std::unique_ptr<ICommunicationManager> communicationManager, std::string serialNumber);
+  KnuckleDeviceDriver(VRDeviceConfiguration_t configuration, std::unique_ptr<ICommunicationManager> communicationManager, std::string serialNumber, std::shared_ptr<BoneAnimator> boneAnimator);
 
   vr::EVRInitError Activate(uint32_t unObjectId);
   void Deactivate();
@@ -51,4 +49,5 @@ class KnuckleDeviceDriver : public IDeviceDriver {
 
   std::unique_ptr<ControllerPose> m_controllerPose;
   std::unique_ptr<FFBListener> m_ffbProvider;
+  std::shared_ptr<BoneAnimator> m_boneAnimator;
 };

include/DeviceDriver/LucidGloveDriver.h

@@ -1,60 +1,50 @@
 #pragma once
-#include <openvr_driver.h>
+#include "openvr_driver.h"
+
 #include <functional>
 #include <memory>
 
-#include "Communication/CommunicationManager.h"
-#include "Encode/LegacyEncodingManager.h"
-#include "DeviceDriver/DeviceDriver.h"
-
 #include "Bones.h"
-
+#include "Communication/CommunicationManager.h"
 #include "ControllerPose.h"
 #include "DeviceConfiguration.h"
+#include "DeviceDriver/DeviceDriver.h"
+#include "Encode/LegacyEncodingManager.h"
 
-static const char* c_lucidGloveDeviceSettingsSection = "device_lucidgloves";
-
-/**
-This class controls the behavior of the controller. This is where you
-tell OpenVR what your controller has (buttons, joystick, trackpad, etc.).
-This is also where you inform OpenVR when the state of your controller
-changes (for example, a button is pressed).
-
-For the methods, take a look at the comment blocks for the ITrackedDeviceServerDriver
-class too. Those comment blocks have some good information.
-
-**/
 class LucidGloveDeviceDriver : public IDeviceDriver {
-public:
-	LucidGloveDeviceDriver(VRDeviceConfiguration_t configuration, std::unique_ptr<ICommunicationManager> communicationManager, std::string serialNumber);
+ public:
+  LucidGloveDeviceDriver(VRDeviceConfiguration_t configuration, std::unique_ptr<ICommunicationManager> communicationManager, std::string serialNumber,
+                         std::shared_ptr<BoneAnimator> boneAnimator);
+
+  vr::EVRInitError Activate(uint32_t unObjectId);
+  void Deactivate();
 
-	vr::EVRInitError Activate(uint32_t unObjectId);
-	void Deactivate();
+  void EnterStandby();
+  void* GetComponent(const char* pchComponentNameAndVersion);
+  void DebugRequest(const char* pchRequest, char* pchResponseBuffer, uint32_t unResponseBufferSize);
+  vr::DriverPose_t GetPose();
+  void RunFrame();
 
-	void EnterStandby();
-	void* GetComponent(const char* pchComponentNameAndVersion);
-	void DebugRequest(const char* pchRequest, char* pchResponseBuffer, uint32_t unResponseBufferSize);
-	vr::DriverPose_t GetPose();
-	void RunFrame();
+  std::string GetSerialNumber();
 
-	std::string GetSerialNumber();
+  bool IsActive();
 
-	bool IsActive();
-private:	
-	void StartDevice();
-	bool IsRightHand() const;
+ private:
+  void StartDevice();
+  bool IsRightHand() const;
 
-	bool m_hasActivated;
-	uint32_t m_driverId;
+  bool m_hasActivated;
+  uint32_t m_driverId;
 
-	vr::VRInputComponentHandle_t m_skeletalComponentHandle{};
-	vr::VRInputComponentHandle_t m_inputComponentHandles[15]{};
+  vr::VRInputComponentHandle_t m_skeletalComponentHandle{};
+  vr::VRInputComponentHandle_t m_inputComponentHandles[15]{};
 
-	vr::VRBoneTransform_t m_handTransforms[NUM_BONES];
+  vr::VRBoneTransform_t m_handTransforms[NUM_BONES];
 
-	VRDeviceConfiguration_t m_configuration;
-	std::unique_ptr<ICommunicationManager> m_communicationManager;
-	std::string m_serialNumber;
+  VRDeviceConfiguration_t m_configuration;
+  std::unique_ptr<ICommunicationManager> m_communicationManager;
+  std::string m_serialNumber;
 
-	std::unique_ptr<ControllerPose> m_controllerPose;
+  std::unique_ptr<ControllerPose> m_controllerPose;
+  std::shared_ptr<BoneAnimator> m_boneAnimator;
 };

include/DeviceProvider.h

@@ -3,10 +3,11 @@
 #undef _WINSOCKAPI_
 #define _WINSOCKAPI_
 
-#include <openvr_driver.h>
+#include "openvr_driver.h"
 
 #include <memory>
 
+#include "Bones.h"
 #include "Communication/CommunicationManager.h"
 #include "DeviceConfiguration.h"
 #include "DeviceDriver/DeviceDriver.h"
@@ -66,5 +67,5 @@ class DeviceProvider : public vr::IServerTrackedDeviceProvider {
    **/
   VRDeviceConfiguration_t GetDeviceConfiguration(vr::ETrackedControllerRole role);
 
-  std::unique_ptr<IDeviceDriver> InstantiateDeviceDriver(VRDeviceConfiguration_t configuration);
+  std::unique_ptr<IDeviceDriver> InstantiateDeviceDriver(VRDeviceConfiguration_t configuration, std::shared_ptr<BoneAnimator> boneAnimator);
 };

include/DriverLog.h

@@ -6,7 +6,8 @@
 #pragma once
 
 #include <string>
-#include <openvr_driver.h>
+
+#include "openvr_driver.h"
 
 extern void DriverLog(const char* pchFormat, ...);
 

include/Util/Windows.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include <string>
+
+extern std::string GetDriverPath();
+extern std::string GetLastErrorAsString();