SteamVR_Controller.cs

//======= Copyright (c) Valve Corporation, All rights reserved. ===============
//
// Purpose: Wrapper for working with SteamVR controller input
//
// Example usage:
//
//  var deviceIndex = SteamVR_Controller.GetDeviceIndex(SteamVR_Controller.DeviceRelation.Leftmost);
//  if (deviceIndex != -1 && SteamVR_Controller.Input(deviceIndex).GetPressDown(SteamVR_Controller.ButtonMask.Trigger))
//      SteamVR_Controller.Input(deviceIndex).TriggerHapticPulse(1000);
//
//=============================================================================

using UnityEngine;
using Valve.VR;

public class SteamVR_Controller
{
    public class ButtonMask
    {
        public const ulong System           = (1ul << (int)EVRButtonId.k_EButton_System); // reserved
        public const ulong ApplicationMenu  = (1ul << (int)EVRButtonId.k_EButton_ApplicationMenu);
        public const ulong Grip             = (1ul << (int)EVRButtonId.k_EButton_Grip);
        public const ulong Axis0            = (1ul << (int)EVRButtonId.k_EButton_Axis0);
        public const ulong Axis1            = (1ul << (int)EVRButtonId.k_EButton_Axis1);
        public const ulong Axis2            = (1ul << (int)EVRButtonId.k_EButton_Axis2);
        public const ulong Axis3            = (1ul << (int)EVRButtonId.k_EButton_Axis3);
        public const ulong Axis4            = (1ul << (int)EVRButtonId.k_EButton_Axis4);
        public const ulong Touchpad         = (1ul << (int)EVRButtonId.k_EButton_SteamVR_Touchpad);
        public const ulong Trigger          = (1ul << (int)EVRButtonId.k_EButton_SteamVR_Trigger);
    }

    public class Device
    {
        public Device(uint i) { index = i; }
        public uint index { get; private set; }

        public bool valid { get; private set; }
        public bool connected { get { Update(); return pose.bDeviceIsConnected; } }
        public bool hasTracking { get { Update(); return pose.bPoseIsValid; } }

        public bool outOfRange { get { Update(); return pose.eTrackingResult == ETrackingResult.Running_OutOfRange || pose.eTrackingResult == ETrackingResult.Calibrating_OutOfRange; } }
        public bool calibrating { get { Update(); return pose.eTrackingResult == ETrackingResult.Calibrating_InProgress || pose.eTrackingResult == ETrackingResult.Calibrating_OutOfRange; } }
        public bool uninitialized { get { Update(); return pose.eTrackingResult == ETrackingResult.Uninitialized; } }

        // These values are only accurate for the last controller state change (e.g. trigger release), and by definition, will always lag behind
        // the predicted visual poses that drive SteamVR_TrackedObjects since they are sync'd to the input timestamp that caused them to update.
        public SteamVR_Utils.RigidTransform transform { get { Update(); return new SteamVR_Utils.RigidTransform(pose.mDeviceToAbsoluteTracking); } }
        public Vector3 velocity { get { Update(); return new Vector3(pose.vVelocity.v0, pose.vVelocity.v1, -pose.vVelocity.v2); } }
        public Vector3 angularVelocity { get { Update(); return new Vector3(-pose.vAngularVelocity.v0, -pose.vAngularVelocity.v1, pose.vAngularVelocity.v2); } }

        public VRControllerState_t GetState() { Update(); return state; }
        public VRControllerState_t GetPrevState() { Update(); return prevState; }
        public TrackedDevicePose_t GetPose() { Update(); return pose; }

        VRControllerState_t state, prevState;
        TrackedDevicePose_t pose;
        int prevFrameCount = -1;
        public void Update()
        {
            if (Time.frameCount != prevFrameCount)
            {
                prevFrameCount = Time.frameCount;
                prevState = state;

                var system = OpenVR.System;
                if (system != null)
                {
                    valid = system.GetControllerStateWithPose(SteamVR_Render.instance.trackingSpace, index, ref state, (uint)System.Runtime.InteropServices.Marshal.SizeOf(typeof(VRControllerState_t)), ref pose);
                    UpdateHairTrigger();
                }
            }
        }

        public bool GetPress(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) != 0; }
        public bool GetPressDown(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) != 0 && (prevState.ulButtonPressed & buttonMask) == 0; }
        public bool GetPressUp(ulong buttonMask) { Update(); return (state.ulButtonPressed & buttonMask) == 0 && (prevState.ulButtonPressed & buttonMask) != 0; }

        public bool GetPress(EVRButtonId buttonId) { return GetPress(1ul << (int)buttonId); }
        public bool GetPressDown(EVRButtonId buttonId) { return GetPressDown(1ul << (int)buttonId); }
        public bool GetPressUp(EVRButtonId buttonId) { return GetPressUp(1ul << (int)buttonId); }

        public bool GetTouch(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) != 0; }
        public bool GetTouchDown(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) != 0 && (prevState.ulButtonTouched & buttonMask) == 0; }
        public bool GetTouchUp(ulong buttonMask) { Update(); return (state.ulButtonTouched & buttonMask) == 0 && (prevState.ulButtonTouched & buttonMask) != 0; }

        public bool GetTouch(EVRButtonId buttonId) { return GetTouch(1ul << (int)buttonId); }
        public bool GetTouchDown(EVRButtonId buttonId) { return GetTouchDown(1ul << (int)buttonId); }
        public bool GetTouchUp(EVRButtonId buttonId) { return GetTouchUp(1ul << (int)buttonId); }

        public Vector2 GetAxis(EVRButtonId buttonId = EVRButtonId.k_EButton_SteamVR_Touchpad)
        {
            Update();
            var axisId = (uint)buttonId - (uint)EVRButtonId.k_EButton_Axis0;
            switch (axisId)
            {
                case 0: return new Vector2(state.rAxis0.x, state.rAxis0.y);
                case 1: return new Vector2(state.rAxis1.x, state.rAxis1.y);
                case 2: return new Vector2(state.rAxis2.x, state.rAxis2.y);
                case 3: return new Vector2(state.rAxis3.x, state.rAxis3.y);
                case 4: return new Vector2(state.rAxis4.x, state.rAxis4.y);
            }
            return Vector2.zero;
        }

        public void TriggerHapticPulse(ushort durationMicroSec = 500, EVRButtonId buttonId = EVRButtonId.k_EButton_SteamVR_Touchpad)
        {
            var system = OpenVR.System;
            if (system != null)
            {
                var axisId = (uint)buttonId - (uint)EVRButtonId.k_EButton_Axis0;
                system.TriggerHapticPulse(index, axisId, (char)durationMicroSec);
            }
        }

        public float hairTriggerDelta = 0.1f; // amount trigger must be pulled or released to change state
        float hairTriggerLimit;
        bool hairTriggerState, hairTriggerPrevState;
        void UpdateHairTrigger()
        {
            hairTriggerPrevState = hairTriggerState;
            var value = state.rAxis1.x; // trigger
            if (hairTriggerState)
            {
                if (value < hairTriggerLimit - hairTriggerDelta || value <= 0.0f)
                    hairTriggerState = false;
            }
            else
            {
                if (value > hairTriggerLimit + hairTriggerDelta || value >= 1.0f)
                    hairTriggerState = true;
            }
            hairTriggerLimit = hairTriggerState ? Mathf.Max(hairTriggerLimit, value) : Mathf.Min(hairTriggerLimit, value);
        }

        public bool GetHairTrigger() { Update(); return hairTriggerState; }
        public bool GetHairTriggerDown() { Update(); return hairTriggerState && !hairTriggerPrevState; }
        public bool GetHairTriggerUp() { Update(); return !hairTriggerState && hairTriggerPrevState; }
    }

    private static Device[] devices;

    public static Device Input(int deviceIndex)
    {
        if (devices == null)
        {
            devices = new Device[OpenVR.k_unMaxTrackedDeviceCount];
            for (uint i = 0; i < devices.Length; i++)
                devices[i] = new Device(i);
        }

        return devices[deviceIndex];
    }

    public static void Update()
    {
        for (int i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
            Input(i).Update();
    }

    // This helper can be used in a variety of ways.  Beware that indices may change
    // as new devices are dynamically added or removed, controllers are physically
    // swapped between hands, arms crossed, etc.
    public enum DeviceRelation
    {
        First,
        // radially
        Leftmost,
        Rightmost,
        // distance - also see vr.hmd.GetSortedTrackedDeviceIndicesOfClass
        FarthestLeft,
        FarthestRight,
    }
    public static int GetDeviceIndex(DeviceRelation relation,
        ETrackedDeviceClass deviceClass = ETrackedDeviceClass.Controller,
        int relativeTo = (int)OpenVR.k_unTrackedDeviceIndex_Hmd) // use -1 for absolute tracking space
    {
        var result = -1;

        var invXform = ((uint)relativeTo < OpenVR.k_unMaxTrackedDeviceCount) ?
            Input(relativeTo).transform.GetInverse() : SteamVR_Utils.RigidTransform.identity;

        var system = OpenVR.System;
        if (system == null)
            return result;

        var best = -float.MaxValue;
        for (int i = 0; i < OpenVR.k_unMaxTrackedDeviceCount; i++)
        {
            if (i == relativeTo || system.GetTrackedDeviceClass((uint)i) != deviceClass)
                continue;

            var device = Input(i);
            if (!device.connected)
                continue;

            if (relation == DeviceRelation.First)
                return i;

            float score;

            var pos = invXform * device.transform.pos;
            if (relation == DeviceRelation.FarthestRight)
            {
                score = pos.x;
            }
            else if (relation == DeviceRelation.FarthestLeft)
            {
                score = -pos.x;
            }
            else
            {
                var dir = new Vector3(pos.x, 0.0f, pos.z).normalized;
                var dot = Vector3.Dot(dir, Vector3.forward);
                var cross = Vector3.Cross(dir, Vector3.forward);
                if (relation == DeviceRelation.Leftmost)
                {
                    score = (cross.y > 0.0f) ? 2.0f - dot : dot;
                }
                else
                {
                    score = (cross.y < 0.0f) ? 2.0f - dot : dot;
                }
            }
            
            if (score > best)
            {
                result = i;
                best = score;
            }
        }

        return result;
    }
}