Add finger collisions and pickup collisions to collision hands

VERSIONS.md

@@ -9,6 +9,8 @@
 - Add visibility_changed notifications to Viewport2Din3D hosted scenes
 - Invisible Viewport2Din3D now disable physics and viewport updates
 - Add SnapPath
+- Improvements to collision hands so collision shapes of picked up objects
+  are added and we no longer have hands collide with dropped objects
 
 # 4.3.3
 - Fix Viewport2Din3D property forwarding

addons/godot-xr-tools/functions/function_pickup.gd

@@ -30,6 +30,10 @@ const DEFAULT_RANGE_MASK := 0b0000_0000_0000_0000_0000_0000_0000_0100
 # Constant for worst-case grab distance
 const MAX_GRAB_DISTANCE2: float = 1000000.0
 
+# Class for storing copied collision data
+class CopiedCollision extends RefCounted:
+	var collision_shape : CollisionShape3D
+	var org_transform : Transform3D
 
 ## Pickup enabled property
 @export var enabled : bool = true
@@ -81,11 +85,14 @@ var _grab_area : Area3D
 var _grab_collision : CollisionShape3D
 var _ranged_area : Area3D
 var _ranged_collision : CollisionShape3D
-
+var _active_copied_collisions : Array[CopiedCollision]
 
 ## Controller
 @onready var _controller := XRHelpers.get_xr_controller(self)
 
+## Collision hand (if applicable)
+@onready var _collision_hand : XRToolsCollisionHand = XRToolsCollisionHand.find_ancestor(self)
+
 ## Grip threshold (from configuration)
 @onready var _grip_threshold : float = XRTools.get_grip_threshold()
 
@@ -172,6 +179,7 @@ func _process(delta):
 		# Average velocity of this pickup
 		_velocity_averager.add_transform(delta, global_transform)
 
+	_update_copied_collisions()
 	_update_closest_object()
 
 
@@ -371,6 +379,9 @@ func drop_object() -> void:
 	if not is_instance_valid(picked_up_object):
 		return
 
+	# Remove any copied collision objects
+	_remove_copied_collisions()
+
 	# let go of this object
 	picked_up_object.let_go(
 		self,
@@ -406,10 +417,56 @@ func _pick_up_object(target: Node3D) -> void:
 
 	# If object picked up then emit signal
 	if is_instance_valid(picked_up_object):
+		_copy_collisions()
+
 		picked_up_object.request_highlight(self, false)
 		emit_signal("has_picked_up", picked_up_object)
 
 
+# Copy collision shapes on the held object to our collision hand (if applicable).
+# If we're two handing an object, both collision hands will get copies.
+func _copy_collisions():
+	if not is_instance_valid(_collision_hand):
+		return
+
+	if not is_instance_valid(picked_up_object) or not picked_up_object is RigidBody3D:
+		return
+
+	for child in picked_up_object.get_children():
+		if child is CollisionShape3D and not child.disabled:
+
+			var copied_collision : CopiedCollision = CopiedCollision.new()
+			copied_collision.collision_shape = CollisionShape3D.new()
+			copied_collision.collision_shape.shape = child.shape
+			copied_collision.org_transform = child.transform
+
+			_collision_hand.add_child(copied_collision.collision_shape, false, Node.INTERNAL_MODE_BACK)
+			copied_collision.collision_shape.global_transform = picked_up_object.global_transform * \
+				copied_collision.org_transform
+
+			_active_copied_collisions.push_back(copied_collision)
+
+
+# Adjust positions of our collisions to match actual location of object
+func _update_copied_collisions():
+	if is_instance_valid(_collision_hand) and is_instance_valid(picked_up_object):
+		for copied_collision : CopiedCollision in _active_copied_collisions:
+			if is_instance_valid(copied_collision.collision_shape):
+				copied_collision.collision_shape.global_transform = picked_up_object.global_transform * \
+					copied_collision.org_transform
+
+
+# Remove copied collision shapes
+func _remove_copied_collisions():
+	if is_instance_valid(_collision_hand):
+		for copied_collision : CopiedCollision in _active_copied_collisions:
+			if is_instance_valid(copied_collision.collision_shape):
+				_collision_hand.remove_child(copied_collision.collision_shape)
+				copied_collision.collision_shape.queue_free()
+
+	_active_copied_collisions.clear()
+
+
 func _on_button_pressed(p_button) -> void:
 	if p_button == action_button_action and is_instance_valid(picked_up_object):
 		if picked_up_object.has_method("action"):

addons/godot-xr-tools/hands/collision_hand.gd

@@ -31,7 +31,7 @@ const DEFAULT_LAYER := 0b0000_0000_0000_0010_0000_0000_0000_0000
 # - 3:pickable-objects
 # - 4:wall-walking
 # - 5:grappling-target
-const DEFAULT_MASK := 0b0000_0000_0000_0000_1111_1111_1111_1111
+const DEFAULT_MASK := 0b0000_0000_0000_0101_0000_0000_0001_1111
 
 # How much displacement is required for the hand to start orienting to a surface
 const ORIENT_DISPLACEMENT := 0.05
@@ -44,6 +44,30 @@ const TELEPORT_DISTANCE := 1.0
 @export var mode : CollisionHandMode = CollisionHandMode.COLLIDE
 
 
+## Links to skeleton that adds finger digits
+@export var hand_skeleton : Skeleton3D:
+	set(value):
+		if hand_skeleton == value:
+			return
+
+		if hand_skeleton:
+			if hand_skeleton.has_signal("skeleton_updated"):
+				# Godot 4.3+
+				hand_skeleton.skeleton_updated.disconnect(_on_skeleton_updated)
+			else:
+				hand_skeleton.pose_updated.disconnect(_on_skeleton_updated)
+			for digit in _digit_collision_shapes:
+				var shape : CollisionShape3D = _digit_collision_shapes[digit]
+				remove_child(shape)
+				shape.queue_free()
+			_digit_collision_shapes.clear()
+
+		hand_skeleton = value
+		if hand_skeleton and is_inside_tree():
+			_update_hand_skeleton()
+
+		notify_property_list_changed()
+
 # Controller to target (if no target overrides)
 var _controller : XRController3D
 
@@ -53,6 +77,10 @@ var _target_overrides := []
 # Current target (controller or override)
 var _target : Node3D
 
+# Skeleton collisions
+var _palm_collision_shape : CollisionShape3D
+var _digit_collision_shapes : Dictionary
+
 
 ## Target-override class
 class TargetOverride:
@@ -73,8 +101,43 @@ func is_xr_class(name : String) -> bool:
 	return name == "XRToolsCollisionHand"
 
 
+# Return warnings related to this node
+func _get_configuration_warnings() -> PackedStringArray:
+	var warnings := PackedStringArray()
+
+	# Check palm node
+	if not _palm_collision_shape:
+		warnings.push_back("Collision hand scenes are deprecated, use collision node script directly.")
+
+	# Check if skeleton is a child
+	if hand_skeleton and not is_ancestor_of(hand_skeleton):
+		warnings.push_back("The hand skeleton node should be within the tree of this node.")
+
+	# Return warnings
+	return warnings
+
+
 # Called when the node enters the scene tree for the first time.
 func _ready():
+	var palm_collision : CollisionShape3D = get_node_or_null("CollisionShape3D")
+	if not palm_collision:
+		# We create our object even in editor to supress our warning.
+		# This allows us to just add an XRToolsCollisionHand node without
+		# using our scene.
+		_palm_collision_shape = CollisionShape3D.new()
+		_palm_collision_shape.name = "Palm"
+		_palm_collision_shape.shape = \
+			preload("res://addons/godot-xr-tools/hands/scenes/collision/hand_palm.shape")
+		_palm_collision_shape.transform.origin = Vector3(0.0, -0.05, 0.11)
+		add_child(_palm_collision_shape, false, Node.INTERNAL_MODE_BACK)
+	elif not Engine.is_editor_hint():
+		# Use our existing collision shape node but only in runtime.
+		# In editor we can check this to provide a deprecation warning.
+		palm_collision.name = "Palm"
+		_palm_collision_shape = palm_collision
+
+	_update_hand_skeleton()
+
 	# Do not initialise if in the editor
 	if Engine.is_editor_hint():
 		return
@@ -83,6 +146,7 @@ func _ready():
 	# and boost the physics priority above any grab-drivers or hands.
 	top_level = true
 	process_physics_priority = -90
+	sync_to_physics = false
 
 	# Populate nodes
 	_controller = XRTools.find_xr_ancestor(self, "*", "XRController3D")
@@ -135,6 +199,14 @@ static func find_instance(node : Node) -> XRToolsCollisionHand:
 		"*",
 		"XRToolsCollisionHand") as XRToolsCollisionHand
 
+## This function searches an [XRToolsCollisionHand] that is an ancestor
+## of the given node.
+static func find_ancestor(node : Node) -> XRToolsCollisionHand:
+	return XRTools.find_xr_ancestor(
+		node,
+		"*",
+		"XRToolsCollisionHand") as XRToolsCollisionHand
+
 
 ## This function searches from the specified node for the left controller
 ## [XRToolsCollisionHand] assuming the node is a sibling of the [XROrigin3D].
@@ -229,3 +301,57 @@ func _update_target() -> void:
 	# Use first target override if specified
 	if _target_overrides.size():
 		_target = _target_overrides[0].target
+
+
+# If a skeleton is set, update.
+func _update_hand_skeleton():
+	if hand_skeleton:
+		if hand_skeleton.has_signal("skeleton_updated"):
+			# Godot 4.3+
+			hand_skeleton.skeleton_updated.connect(_on_skeleton_updated)
+		else:
+			hand_skeleton.pose_updated.connect(_on_skeleton_updated)
+
+		# Run atleast once to init
+		_on_skeleton_updated()
+
+
+# Update our finger digits when our skeleton updates
+func _on_skeleton_updated():
+	if not hand_skeleton:
+		return
+
+	var bone_count = hand_skeleton.get_bone_count()
+	for i in bone_count:
+		var collision_node : CollisionShape3D
+		var offset : Transform3D
+		offset.origin = Vector3(0.0, 0.015, 0.0) # move to side of joint
+
+		var bone_name = hand_skeleton.get_bone_name(i)
+		if bone_name == "Palm_L":
+			offset.origin = Vector3(-0.02, 0.025, 0.0) # move to side of joint
+			collision_node = _palm_collision_shape
+		elif bone_name == "Palm_R":
+			offset.origin = Vector3(0.02, 0.025, 0.0) # move to side of joint
+			collision_node = _palm_collision_shape
+		elif bone_name.contains("Proximal") or bone_name.contains("Intermediate") or \
+			bone_name.contains("Distal"):
+			if _digit_collision_shapes.has(bone_name):
+				collision_node = _digit_collision_shapes[bone_name]
+			else:
+				collision_node = CollisionShape3D.new()
+				collision_node.name = bone_name
+				collision_node.shape = \
+					preload("res://addons/godot-xr-tools/hands/scenes/collision/hand_digit.shape")
+				add_child(collision_node, false, Node.INTERNAL_MODE_BACK)
+				_digit_collision_shapes[bone_name] = collision_node
+
+		if collision_node:
+			# TODO it would require a far more complex approach,
+			# but being able to check if our collision shapes can move to their new locations
+			# would be interesting.
+
+			collision_node.transform = global_transform.inverse() \
+				* hand_skeleton.global_transform \
+				* hand_skeleton.get_bone_global_pose(i) \
+				* offset

addons/godot-xr-tools/hands/scenes/collision/collision_hand.tscn

@@ -0,0 +1,9 @@
+[gd_scene load_steps=2 format=3 uid="uid://yrg5yt0yvc1q"]
+
+[ext_resource type="Script" path="res://addons/godot-xr-tools/hands/collision_hand.gd" id="1_vdcct"]
+
+[node name="XRToolsCollisionHand" type="AnimatableBody3D"]
+collision_layer = 131072
+collision_mask = 327711
+sync_to_physics = false
+script = ExtResource("1_vdcct")

addons/godot-xr-tools/hands/scenes/collision/collision_hand_left.tscn

@@ -1,9 +1,7 @@
 [gd_scene load_steps=3 format=3 uid="uid://bkv43ec6chcf3"]
 
 [ext_resource type="Script" path="res://addons/godot-xr-tools/hands/collision_hand.gd" id="1_t5acd"]
-
-[sub_resource type="BoxShape3D" id="BoxShape3D_bv7in"]
-size = Vector3(0.045, 0.075, 0.1)
+[ext_resource type="Shape3D" uid="uid://uc7owi5j7ib0" path="res://addons/godot-xr-tools/hands/scenes/collision/hand_palm.shape" id="2_5wm8j"]
 
 [node name="CollisionHandLeft" type="AnimatableBody3D"]
 collision_layer = 131072
@@ -13,4 +11,4 @@ script = ExtResource("1_t5acd")
 
 [node name="CollisionShape3D" type="CollisionShape3D" parent="."]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.03, -0.05, 0.11)
-shape = SubResource("BoxShape3D_bv7in")
+shape = ExtResource("2_5wm8j")

addons/godot-xr-tools/hands/scenes/collision/collision_hand_right.tscn

@@ -1,9 +1,7 @@
 [gd_scene load_steps=3 format=3 uid="uid://c3uoohvnshach"]
 
 [ext_resource type="Script" path="res://addons/godot-xr-tools/hands/collision_hand.gd" id="1_so3hf"]
-
-[sub_resource type="BoxShape3D" id="BoxShape3D_fc2ij"]
-size = Vector3(0.045, 0.075, 0.1)
+[ext_resource type="Shape3D" uid="uid://uc7owi5j7ib0" path="res://addons/godot-xr-tools/hands/scenes/collision/hand_palm.shape" id="2_vvxfo"]
 
 [node name="CollisionHandRight" type="AnimatableBody3D"]
 collision_layer = 131072
@@ -13,4 +11,4 @@ script = ExtResource("1_so3hf")
 
 [node name="CollisionShape3D" type="CollisionShape3D" parent="."]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.03, -0.05, 0.11)
-shape = SubResource("BoxShape3D_fc2ij")
+shape = ExtResource("2_vvxfo")

addons/godot-xr-tools/hands/textures/african_baseColor.png.import

@@ -3,25 +3,27 @@
 importer="texture"
 type="CompressedTexture2D"
 uid="uid://cs7m7m0k2506g"
-path="res://.godot/imported/african_baseColor.png-c1a63b2c85973a5f7673482d994697e9.ctex"
+path.s3tc="res://.godot/imported/african_baseColor.png-c1a63b2c85973a5f7673482d994697e9.s3tc.ctex"
+path.etc2="res://.godot/imported/african_baseColor.png-c1a63b2c85973a5f7673482d994697e9.etc2.ctex"
 metadata={
-"vram_texture": false
+"imported_formats": ["s3tc_bptc", "etc2_astc"],
+"vram_texture": true
 }
 
 [deps]
 
 source_file="res://addons/godot-xr-tools/hands/textures/african_baseColor.png"
-dest_files=["res://.godot/imported/african_baseColor.png-c1a63b2c85973a5f7673482d994697e9.ctex"]
+dest_files=["res://.godot/imported/african_baseColor.png-c1a63b2c85973a5f7673482d994697e9.s3tc.ctex", "res://.godot/imported/african_baseColor.png-c1a63b2c85973a5f7673482d994697e9.etc2.ctex"]
 
 [params]
 
-compress/mode=0
+compress/mode=2
 compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
 compress/normal_map=0
 compress/channel_pack=0
-mipmaps/generate=false
+mipmaps/generate=true
 mipmaps/limit=-1
 roughness/mode=0
 roughness/src_normal=""
@@ -31,4 +33,4 @@ process/normal_map_invert_y=false
 process/hdr_as_srgb=false
 process/hdr_clamp_exposure=false
 process/size_limit=0
-detect_3d/compress_to=1
+detect_3d/compress_to=0