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VR pad hands: sticks move and aim the hands, left stick click switches the sticks to the game, d-pad pulls a held hand

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maxjivi05 committed 2026-10-13 15:23:42 -04:00
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docs/cardboard-vr.md
+9 -5
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@@ -144,11 +144,15 @@ a pose written to the shared file turns SteamVR's view. Started from the drawer
- **Controllers**: the driver adds two Vive-profile hands driven by the session's game pad. It reads
the absolute-state snapshot the app already publishes in fake input ring 0
(`FAKE_EVDEV_MEMFD_PATHS`), so the app needs no new plumbing. They are a gaze pointer: low in front
of each hand, pointing where the head looks. Mapping, right hand: right stick = trackpad, A/R3 =
trackpad click, RT = trigger, RB = grip, Start = menu, guide = system. Left hand: left stick, X/L3,
LT, LB, Select. Both hands activate in SteamVR and their laser shows on the dashboard; guide, Start and
A presses show up in the ring the driver reads.
(`FAKE_EVDEV_MEMFD_PATHS`), so the app needs no new plumbing. They rest low in front of each side and
point where the head looks. Each stick moves its hand sideways (40 cm), up (50 cm) and down (30 cm)
and turns it as if from an elbow 45 cm behind, so pointers and aim follow it too; the hand eases
back when the stick is let go. The d-pad's up and down move both hands in and out; while a hand's
trigger or grip is held they move only that hand (a slingshot or bow pulled back), and it eases back
on release. Clicking the left stick hands the sticks to the game as trackpads (walking, turning,
teleport) and back. Mapping, right hand: A/R3 = trackpad click, RT = trigger, RB = grip, Start = menu, guide =
system. Left hand: X, LT, LB, Select. Both hands activate in SteamVR and their laser shows on the
dashboard; guide, Start and A presses show up in the ring the driver reads.
- **Layers**: only the first layer of each frame is drawn. SteamVR's compositor composites the
dashboard into it, so this has not mattered yet.
- **Timing**: no reprojection. The presenter blits the frame submitted last once `vrcompositor`'s GPU
tools/vr/src/driver_droiddeck.cpp
+47 -10
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@@ -415,18 +415,43 @@ public:
DriverPose_t GetPose() override { return pose_; }
// From the driver's pose thread: the head's orientation and the pad.
void Update(const HmdQuaternion_t &head, const PadState *pad) {
static constexpr float kReachSpeed = 0.6f, kReachMin = -0.2f, kReachMax = 1.0f;
static bool Grabbing(const PadState &pad, bool right) {
return pad.axes[right ? 4 : 5] > kGrabTrigger || (pad.buttons & (right ? PAD_RB : PAD_LB));
}
void Update(const HmdQuaternion_t &head, const PadState *pad, bool sticksMoveHands, float reach) {
if (id_ == k_unTrackedDeviceIndexInvalid) return;
const auto now = std::chrono::steady_clock::now();
const float dt = std::min(std::chrono::duration<float>(now - lastUpdate_).count(), 0.1f);
lastUpdate_ = now;
if (pad && pad->axes[7]) reach_ = std::clamp(reach_ - (pad->axes[7] > 0 ? 1.0f : -1.0f) * kReachSpeed * dt, kReachMin, kReachMax);
const float follow = 1.0f - std::exp(-dt / kHandSmoothing);
const bool grab = pad && Grabbing(*pad, right_);
if (grab && pad->axes[7]) pull_ = std::clamp(pull_ - (pad->axes[7] > 0 ? 1.0f : -1.0f) * kReachSpeed * dt, kReachMin - reach, kReachMax - reach);
else if (!grab) pull_ -= pull_ * follow;
const float stickX = pad ? pad->axes[right_ ? 2 : 0] / 32767.0f : 0.0f, stickY = pad ? -pad->axes[right_ ? 3 : 1] / 32767.0f : 0.0f;
float aimX = 0.0f, aimY = 0.0f;
const float tilt = std::sqrt(stickX * stickX + stickY * stickY);
if (sticksMoveHands && tilt > kStickDeadzone) {
const float scale = std::min((tilt - kStickDeadzone) / (1.0f - kStickDeadzone), 1.0f) / tilt;
aimX = stickX * scale;
aimY = stickY * scale;
}
handX_ += (aimX * kHandRangeX - handX_) * follow;
handY_ += (aimY * (aimY > 0.0f ? kHandRangeUp : kHandRangeDown) - handY_) * follow;
DriverPose_t p = {};
p.qWorldFromDriverRotation.w = 1;
p.qDriverFromHeadRotation.w = 1;
p.qRotation = head;
const double yaw = std::atan2(-handX_, kHandPivot) / 2, pitch = std::atan2(handY_, std::hypot(kHandPivot, handX_)) / 2;
const double cy = std::cos(yaw), sy = std::sin(yaw), cp = std::cos(pitch), sp = std::sin(pitch);
const double lw = cy * cp, lx = cy * sp, ly = sy * cp, lz = -sy * sp;
p.qRotation.w = head.w * lw - head.x * lx - head.y * ly - head.z * lz;
p.qRotation.x = head.w * lx + head.x * lw + head.y * lz - head.z * ly;
p.qRotation.y = head.w * ly - head.x * lz + head.y * lw + head.z * lx;
p.qRotation.z = head.w * lz + head.x * ly - head.y * lx + head.z * lw;
// Low and in front of its side, in head space, then into the room with the head's rotation.
const double off[3] = {right_ ? 0.18 : -0.18, -0.35, -0.30 - reach_};
const double off[3] = {(right_ ? 0.18 : -0.18) + handX_, -0.25 + handY_, -0.35 - reach - pull_};
double m[3][3];
const double w = head.w, x = head.x, y = head.y, z = head.z;
m[0][0] = 1 - 2 * (y * y + z * z); m[0][1] = 2 * (x * y - z * w); m[0][2] = 2 * (x * z + y * w);
@@ -441,9 +466,8 @@ public:
if (!pad) return;
auto in = VRDriverInput();
const uint32_t b = pad->buttons;
const float stickX = pad->axes[right_ ? 2 : 0] / 32767.0f, stickY = -pad->axes[right_ ? 3 : 1] / 32767.0f;
const float trig = pad->axes[right_ ? 4 : 5] / 255.0f;
const bool touch = stickX * stickX + stickY * stickY > 0.01f;
const bool touch = !sticksMoveHands && stickX * stickX + stickY * stickY > 0.01f;
in->UpdateBooleanComponent(system_, right_ && (b & PAD_GUIDE), 0);
in->UpdateBooleanComponent(menu_, (b & (right_ ? PAD_START : PAD_SELECT)) != 0, 0);
in->UpdateBooleanComponent(grip_, (b & (right_ ? PAD_RB : PAD_LB)) != 0, 0);
@@ -452,15 +476,16 @@ public:
in->UpdateScalarComponent(padX_, touch ? stickX : 0.0f, 0);
in->UpdateScalarComponent(padY_, touch ? stickY : 0.0f, 0);
in->UpdateBooleanComponent(padTouch_, touch || (b & (right_ ? PAD_A : PAD_X)), 0);
in->UpdateBooleanComponent(padClick_, (b & (right_ ? (PAD_A | PAD_R3) : (PAD_X | PAD_L3))) != 0, 0);
in->UpdateBooleanComponent(padClick_, (b & (right_ ? (PAD_A | PAD_R3) : PAD_X)) != 0, 0);
}
private:
static constexpr float kReachSpeed = 0.6f, kReachMin = -0.2f, kReachMax = 1.0f;
static constexpr int16_t kGrabTrigger = 153;
static constexpr float kStickDeadzone = 0.12f, kHandRangeX = 0.40f, kHandRangeUp = 0.50f, kHandRangeDown = 0.30f, kHandSmoothing = 0.05f, kHandPivot = 0.45f;
bool right_;
uint32_t id_ = k_unTrackedDeviceIndexInvalid;
DriverPose_t pose_ = {};
float reach_ = 0.0f;
float pull_ = 0.0f, handX_ = 0.0f, handY_ = 0.0f;
std::chrono::steady_clock::time_point lastUpdate_ = std::chrono::steady_clock::now();
VRInputComponentHandle_t system_ = 0, menu_ = 0, grip_ = 0, triggerClick_ = 0, trigger_ = 0, padX_ = 0, padY_ = 0,
padClick_ = 0, padTouch_ = 0, haptic_ = 0;
@@ -651,7 +676,16 @@ private:
}
DriverPose_t head = GetPose();
VRServerDriverHost()->TrackedDevicePoseUpdated(id_, head, sizeof(DriverPose_t));
for (CardboardController *hand : hands_) if (hand) hand->Update(head.qRotation, havePad ? &pad : nullptr);
if (havePad && (pad.buttons & PAD_L3) && !(lastPad_.buttons & PAD_L3)) {
sticksMoveHands_ = !sticksMoveHands_;
Log("sticks now move %s", sticksMoveHands_ ? "the hands" : "in the game");
}
const float dt = std::min(std::chrono::duration<float>(now - lastReach_).count(), 0.1f);
lastReach_ = now;
if (havePad && pad.axes[7] && !CardboardController::Grabbing(pad, false) && !CardboardController::Grabbing(pad, true))
reach_ = std::clamp(reach_ - (pad.axes[7] > 0 ? 1.0f : -1.0f) * CardboardController::kReachSpeed * dt,
CardboardController::kReachMin, CardboardController::kReachMax);
for (CardboardController *hand : hands_) if (hand) hand->Update(head.qRotation, havePad ? &pad : nullptr, sticksMoveHands_, reach_);
if (havePad) lastPad_ = pad;
lastSent = now;
}
@@ -673,6 +707,9 @@ private:
PadState lastPad_;
VRInputComponentHandle_t proximity_ = 0;
bool worn_ = true;
bool sticksMoveHands_ = true;
float reach_ = 0.0f;
std::chrono::steady_clock::time_point lastReach_ = std::chrono::steady_clock::now();
CardboardController *hands_[2] = {nullptr, nullptr};
bool virtualDisplay_ = false, directMode_ = false;
VirtualDisplay vd_;