feat(objects): add palm

src/objects/input/sk_hand.rs

@@ -7,6 +7,7 @@ use crate::nodes::{
 	spatial::Spatial,
 	Node,
 };
+use crate::objects::{ObjectHandle, SpatialRef};
 use color_eyre::eyre::Result;
 use glam::{Mat4, Quat, Vec3};
 use serde::{Deserialize, Serialize};
@@ -16,6 +17,7 @@ use std::sync::Arc;
 use stereokit_rust::sk::{DisplayMode, MainThreadToken, Sk};
 use stereokit_rust::system::{HandJoint, HandSource, Handed, Input, LinePoint, Lines};
 use stereokit_rust::util::Color128;
+use zbus::Connection;
 
 fn convert_joint(joint: HandJoint) -> Joint {
 	Joint {
@@ -34,13 +36,23 @@ struct HandDatamap {
 
 pub struct SkHand {
 	_node: OwnedNode,
+	palm_spatial: Arc<Spatial>,
+	palm_object: ObjectHandle<SpatialRef>,
 	handed: Handed,
 	input: Arc<InputMethod>,
 	capture: Option<Arc<InputHandler>>,
 	datamap: HandDatamap,
 }
 impl SkHand {
-	pub fn new(handed: Handed) -> Result<Self> {
+	pub fn new(connection: &Connection, handed: Handed) -> Result<Self> {
+		let (palm_spatial, palm_object) = SpatialRef::create(
+			connection,
+			&("/org/stardustxr/Hand/".to_string()
+				+ match handed {
+					Handed::Left => "left",
+					_ => "right",
+				} + "/palm"),
+		);
 		let _node = Node::generate(&INTERNAL_CLIENT, false).add_to_scenegraph_owned()?;
 		Spatial::add_to(&_node.0, None, Mat4::IDENTITY, false);
 		let hand = InputDataType::Hand(Hand {
@@ -53,6 +65,8 @@ impl SkHand {
 		Input::hand_visible(handed, false);
 		Ok(SkHand {
 			_node,
+			palm_spatial,
+			palm_object,
 			handed,
 			input,
 			capture: None,
@@ -93,6 +107,12 @@ impl SkHand {
 				hand.palm.radius =
 					(sk_hand.fingers[2][0].radius + sk_hand.fingers[2][1].radius) * 0.5;
 
+				self.palm_spatial
+					.set_local_transform(Mat4::from_rotation_translation(
+						hand.palm.rotation.into(),
+						hand.palm.position.into(),
+					));
+
 				hand.wrist.position = Vec3::from(sk_hand.wrist.position).into();
 				hand.wrist.rotation = Quat::from(sk_hand.wrist.orientation).into();
 				hand.wrist.radius =

src/objects/mod.rs

@@ -66,21 +66,26 @@ impl ServerObjects {
 			});
 		}
 
+		tokio::task::spawn({
+			let connection = connection.clone();
+			async move {
+				connection
+					.request_name("org.stardustxr.Controllers")
+					.await
+					.unwrap();
+				connection
+					.request_name("org.stardustxr.Hands")
+					.await
+					.unwrap();
+			}
+		});
+
 		let inputs = if sk.get_active_display_mode() == DisplayMode::MixedReality {
-			tokio::task::spawn({
-				let connection = connection.clone();
-				async move {
-					connection
-						.request_name("org.stardustxr.Controllers")
-						.await
-						.unwrap();
-				}
-			});
 			Inputs::XR {
 				controller_left: SkController::new(&connection, Handed::Left).unwrap(),
 				controller_right: SkController::new(&connection, Handed::Right).unwrap(),
-				hand_left: SkHand::new(Handed::Left).unwrap(),
-				hand_right: SkHand::new(Handed::Right).unwrap(),
+				hand_left: SkHand::new(&connection, Handed::Left).unwrap(),
+				hand_right: SkHand::new(&connection, Handed::Right).unwrap(),
 				eye_pointer: Device::has_eye_gaze()
 					.then(EyePointer::new)
 					.transpose()
@@ -130,8 +135,8 @@ impl ServerObjects {
 			// }
 			if Input::key(Key::F8).is_just_inactive() {
 				self.inputs = Inputs::Hands {
-					left: SkHand::new(Handed::Left).unwrap(),
-					right: SkHand::new(Handed::Right).unwrap(),
+					left: SkHand::new(&self.connection, Handed::Left).unwrap(),
+					right: SkHand::new(&self.connection, Handed::Right).unwrap(),
 				};
 			}
 		}