/**************************************************************************/
/*  openxr_hand_tracking_extension.cpp                                    */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
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/* Permission is hereby granted, free of charge, to any person obtaining  */
/* a copy of this software and associated documentation files (the        */
/* "Software"), to deal in the Software without restriction, including    */
/* without limitation the rights to use, copy, modify, merge, publish,    */
/* distribute, sublicense, and/or sell copies of the Software, and to     */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
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/**************************************************************************/

#include "openxr_hand_tracking_extension.h"

#include "../openxr_api.h"

#include "core/config/project_settings.h"
#include "core/string/print_string.h"
#include "servers/xr_server.h"

#include <openxr/openxr.h>

OpenXRHandTrackingExtension *OpenXRHandTrackingExtension::singleton = nullptr;

OpenXRHandTrackingExtension *OpenXRHandTrackingExtension::get_singleton() {
	return singleton;
}

OpenXRHandTrackingExtension::OpenXRHandTrackingExtension() {
	singleton = this;

	// Make sure this is cleared until we actually request it
	handTrackingSystemProperties.supportsHandTracking = false;
}

OpenXRHandTrackingExtension::~OpenXRHandTrackingExtension() {
	singleton = nullptr;
}

HashMap<String, bool *> OpenXRHandTrackingExtension::get_requested_extensions() {
	HashMap<String, bool *> request_extensions;

	unobstructed_data_source = GLOBAL_GET("xr/openxr/extensions/hand_tracking_unobstructed_data_source");
	controller_data_source = GLOBAL_GET("xr/openxr/extensions/hand_tracking_controller_data_source");

	request_extensions[XR_EXT_HAND_TRACKING_EXTENSION_NAME] = &hand_tracking_ext;
	request_extensions[XR_EXT_HAND_JOINTS_MOTION_RANGE_EXTENSION_NAME] = &hand_motion_range_ext;
	if (unobstructed_data_source || controller_data_source) {
		request_extensions[XR_EXT_HAND_TRACKING_DATA_SOURCE_EXTENSION_NAME] = &hand_tracking_source_ext;
	}

	return request_extensions;
}

void OpenXRHandTrackingExtension::on_instance_created(const XrInstance p_instance) {
	if (hand_tracking_ext) {
		EXT_INIT_XR_FUNC(xrCreateHandTrackerEXT);
		EXT_INIT_XR_FUNC(xrDestroyHandTrackerEXT);
		EXT_INIT_XR_FUNC(xrLocateHandJointsEXT);

		hand_tracking_ext = xrCreateHandTrackerEXT_ptr && xrDestroyHandTrackerEXT_ptr && xrLocateHandJointsEXT_ptr;
	}
}

void OpenXRHandTrackingExtension::on_session_destroyed() {
	cleanup_hand_tracking();
}

void OpenXRHandTrackingExtension::on_instance_destroyed() {
	xrCreateHandTrackerEXT_ptr = nullptr;
	xrDestroyHandTrackerEXT_ptr = nullptr;
	xrLocateHandJointsEXT_ptr = nullptr;
}

void *OpenXRHandTrackingExtension::set_system_properties_and_get_next_pointer(void *p_next_pointer) {
	if (!hand_tracking_ext) {
		// not supported...
		return p_next_pointer;
	}

	handTrackingSystemProperties = {
		XR_TYPE_SYSTEM_HAND_TRACKING_PROPERTIES_EXT, // type
		p_next_pointer, // next
		false, // supportsHandTracking
	};

	return &handTrackingSystemProperties;
}

void OpenXRHandTrackingExtension::on_state_ready() {
	if (!handTrackingSystemProperties.supportsHandTracking) {
		// not supported...
		return;
	}

	// Setup our hands and reset data
	for (int i = 0; i < OPENXR_MAX_TRACKED_HANDS; i++) {
		// we'll do this later
		hand_trackers[i].is_initialized = false;
		hand_trackers[i].hand_tracker = XR_NULL_HANDLE;

		hand_trackers[i].locations.isActive = false;

		for (int j = 0; j < XR_HAND_JOINT_COUNT_EXT; j++) {
			hand_trackers[i].joint_locations[j] = { 0, { { 0.0, 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } }, 0.0 };
			hand_trackers[i].joint_velocities[j] = { 0, { 0.0, 0.0, 0.0 }, { 0.0, 0.0, 0.0 } };
		}
	}
}

void OpenXRHandTrackingExtension::on_process() {
	if (!handTrackingSystemProperties.supportsHandTracking) {
		// not supported...
		return;
	}

	// process our hands
	const XrTime time = OpenXRAPI::get_singleton()->get_predicted_display_time();
	if (time == 0) {
		// we don't have timing info yet, or we're skipping a frame...
		return;
	}

	XrResult result;

	for (int i = 0; i < OPENXR_MAX_TRACKED_HANDS; i++) {
		if (hand_trackers[i].hand_tracker == XR_NULL_HANDLE) {
			void *next_pointer = nullptr;

			// Originally not all XR runtimes supported hand tracking data sourced both from controllers and normal hand tracking.
			// With this extension we can indicate we wish to accept input from either or both sources.
			// This functionality is subject to the abilities of the XR runtime and requires the data source extension.
			// Note: If the data source extension is not available, no guarantees can be made on what the XR runtime supports.
			uint32_t data_source_count = 0;
			XrHandTrackingDataSourceEXT data_sources[2];
			if (unobstructed_data_source) {
				data_sources[data_source_count++] = XR_HAND_TRACKING_DATA_SOURCE_UNOBSTRUCTED_EXT;
			}
			if (controller_data_source) {
				data_sources[data_source_count++] = XR_HAND_TRACKING_DATA_SOURCE_CONTROLLER_EXT;
			}
			XrHandTrackingDataSourceInfoEXT data_source_info = { XR_TYPE_HAND_TRACKING_DATA_SOURCE_INFO_EXT, next_pointer, data_source_count, data_sources };
			if (hand_tracking_source_ext) {
				// If supported include this info
				next_pointer = &data_source_info;
			}

			XrHandTrackerCreateInfoEXT create_info = {
				XR_TYPE_HAND_TRACKER_CREATE_INFO_EXT, // type
				next_pointer, // next
				i == 0 ? XR_HAND_LEFT_EXT : XR_HAND_RIGHT_EXT, // hand
				XR_HAND_JOINT_SET_DEFAULT_EXT, // handJointSet
			};

			result = xrCreateHandTrackerEXT(OpenXRAPI::get_singleton()->get_session(), &create_info, &hand_trackers[i].hand_tracker);
			if (XR_FAILED(result)) {
				// not successful? then we do nothing.
				print_line("OpenXR: Failed to obtain hand tracking information [", OpenXRAPI::get_singleton()->get_error_string(result), "]");
				hand_trackers[i].is_initialized = false;
			} else {
				next_pointer = nullptr;

				hand_trackers[i].velocities.type = XR_TYPE_HAND_JOINT_VELOCITIES_EXT;
				hand_trackers[i].velocities.next = next_pointer;
				hand_trackers[i].velocities.jointCount = XR_HAND_JOINT_COUNT_EXT;
				hand_trackers[i].velocities.jointVelocities = hand_trackers[i].joint_velocities;
				next_pointer = &hand_trackers[i].velocities;

				if (hand_tracking_source_ext) {
					hand_trackers[i].data_source.type = XR_TYPE_HAND_TRACKING_DATA_SOURCE_STATE_EXT;
					hand_trackers[i].data_source.next = next_pointer;
					hand_trackers[i].data_source.isActive = false;
					hand_trackers[i].data_source.dataSource = XrHandTrackingDataSourceEXT(0);
					next_pointer = &hand_trackers[i].data_source;
				}

				// Needed for vendor hand tracking extensions implemented from GDExtension.
				for (OpenXRExtensionWrapper *wrapper : OpenXRAPI::get_singleton()->get_registered_extension_wrappers()) {
					void *np = wrapper->set_hand_joint_locations_and_get_next_pointer(i, next_pointer);
					if (np != nullptr) {
						next_pointer = np;
					}
				}

				hand_trackers[i].locations.type = XR_TYPE_HAND_JOINT_LOCATIONS_EXT;
				hand_trackers[i].locations.next = next_pointer;
				hand_trackers[i].locations.isActive = false;
				hand_trackers[i].locations.jointCount = XR_HAND_JOINT_COUNT_EXT;
				hand_trackers[i].locations.jointLocations = hand_trackers[i].joint_locations;

				Ref<XRHandTracker> godot_tracker;
				godot_tracker.instantiate();
				godot_tracker->set_tracker_hand(i == 0 ? XRPositionalTracker::TRACKER_HAND_LEFT : XRPositionalTracker::TRACKER_HAND_RIGHT);
				godot_tracker->set_tracker_name(i == 0 ? "/user/hand_tracker/left" : "/user/hand_tracker/right");
				XRServer::get_singleton()->add_tracker(godot_tracker);
				hand_trackers[i].godot_tracker = godot_tracker;

				hand_trackers[i].is_initialized = true;
			}
		}

		if (hand_trackers[i].is_initialized) {
			Ref<XRHandTracker> godot_tracker = hand_trackers[i].godot_tracker;
			void *next_pointer = nullptr;

			XrHandJointsMotionRangeInfoEXT motion_range_info = { XR_TYPE_HAND_JOINTS_MOTION_RANGE_INFO_EXT, next_pointer, hand_trackers[i].motion_range };
			if (hand_motion_range_ext) {
				next_pointer = &motion_range_info;
			}

			XrHandJointsLocateInfoEXT locateInfo = {
				XR_TYPE_HAND_JOINTS_LOCATE_INFO_EXT, // type
				next_pointer, // next
				OpenXRAPI::get_singleton()->get_play_space(), // baseSpace
				time, // time
			};

			result = xrLocateHandJointsEXT(hand_trackers[i].hand_tracker, &locateInfo, &hand_trackers[i].locations);
			if (XR_FAILED(result)) {
				// not successful? then we do nothing.
				print_line("OpenXR: Failed to get tracking for hand", i, "[", OpenXRAPI::get_singleton()->get_error_string(result), "]");
				godot_tracker->set_hand_tracking_source(XRHandTracker::HAND_TRACKING_SOURCE_UNKNOWN);
				godot_tracker->set_has_tracking_data(false);
				godot_tracker->invalidate_pose("default");
				continue;
			}

			// For some reason an inactive controller isn't coming back as inactive but has coordinates either as NAN or very large
			const XrPosef &palm = hand_trackers[i].joint_locations[XR_HAND_JOINT_PALM_EXT].pose;
			if (!hand_trackers[i].locations.isActive || isnan(palm.position.x) || palm.position.x < -1000000.00 || palm.position.x > 1000000.00) {
				hand_trackers[i].locations.isActive = false; // workaround, make sure its inactive
			}

			if (hand_trackers[i].locations.isActive) {
				// SKELETON_RIG_HUMANOID bone adjustment. This rotation performs:
				// OpenXR Z+ -> Godot Humanoid Y-  (Back along the bone)
				// OpenXR Y+ -> Godot Humanoid Z- (Out the back of the hand)
				const Quaternion bone_adjustment(0.0, -Math_SQRT12, Math_SQRT12, 0.0);

				for (int joint = 0; joint < XR_HAND_JOINT_COUNT_EXT; joint++) {
					const XrHandJointLocationEXT &location = hand_trackers[i].joint_locations[joint];
					const XrHandJointVelocityEXT &velocity = hand_trackers[i].joint_velocities[joint];
					const XrPosef &pose = location.pose;

					Transform3D transform;
					Vector3 linear_velocity;
					Vector3 angular_velocity;
					BitField<XRHandTracker::HandJointFlags> flags;

					if (location.locationFlags & XR_SPACE_LOCATION_ORIENTATION_VALID_BIT) {
						if (pose.orientation.x != 0 || pose.orientation.y != 0 || pose.orientation.z != 0 || pose.orientation.w != 0) {
							flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_ORIENTATION_VALID);
							transform.basis = Basis(Quaternion(pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w) * bone_adjustment);
						}
					}
					if (location.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) {
						flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_POSITION_VALID);
						transform.origin = Vector3(pose.position.x, pose.position.y, pose.position.z);
					}
					if (location.locationFlags & XR_SPACE_LOCATION_ORIENTATION_TRACKED_BIT) {
						flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_ORIENTATION_TRACKED);
					}
					if (location.locationFlags & XR_SPACE_LOCATION_POSITION_TRACKED_BIT) {
						flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_POSITION_TRACKED);
					}
					if (location.locationFlags & XR_SPACE_VELOCITY_LINEAR_VALID_BIT) {
						flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_LINEAR_VELOCITY_VALID);
						linear_velocity = Vector3(velocity.linearVelocity.x, velocity.linearVelocity.y, velocity.linearVelocity.z);
						godot_tracker->set_hand_joint_linear_velocity((XRHandTracker::HandJoint)joint, linear_velocity);
					}
					if (location.locationFlags & XR_SPACE_VELOCITY_ANGULAR_VALID_BIT) {
						flags.set_flag(XRHandTracker::HAND_JOINT_FLAG_ANGULAR_VELOCITY_VALID);
						angular_velocity = Vector3(velocity.angularVelocity.x, velocity.angularVelocity.y, velocity.angularVelocity.z);
						godot_tracker->set_hand_joint_angular_velocity((XRHandTracker::HandJoint)joint, angular_velocity);
					}

					godot_tracker->set_hand_joint_flags((XRHandTracker::HandJoint)joint, flags);
					godot_tracker->set_hand_joint_transform((XRHandTracker::HandJoint)joint, transform);
					godot_tracker->set_hand_joint_radius((XRHandTracker::HandJoint)joint, location.radius);

					if (joint == XR_HAND_JOINT_PALM_EXT) {
						if (location.locationFlags & XR_SPACE_LOCATION_POSITION_VALID_BIT) {
							XrHandTrackingDataSourceStateEXT &data_source = hand_trackers[i].data_source;

							XRHandTracker::HandTrackingSource source = XRHandTracker::HAND_TRACKING_SOURCE_UNKNOWN;
							if (hand_tracking_source_ext) {
								if (!data_source.isActive) {
									source = XRHandTracker::HAND_TRACKING_SOURCE_NOT_TRACKED;
								} else if (data_source.dataSource == XR_HAND_TRACKING_DATA_SOURCE_UNOBSTRUCTED_EXT) {
									source = XRHandTracker::HAND_TRACKING_SOURCE_UNOBSTRUCTED;
								} else if (data_source.dataSource == XR_HAND_TRACKING_DATA_SOURCE_CONTROLLER_EXT) {
									source = XRHandTracker::HAND_TRACKING_SOURCE_CONTROLLER;
								} else {
									// Data source shouldn't be active, if new data sources are added to OpenXR we need to enable them.
									WARN_PRINT_ONCE("Unknown active data source found!");
									source = XRHandTracker::HAND_TRACKING_SOURCE_UNKNOWN;
								}
							}
							godot_tracker->set_hand_tracking_source(source);
							godot_tracker->set_has_tracking_data(true);
							godot_tracker->set_pose("default", transform, linear_velocity, angular_velocity);
						} else {
							godot_tracker->set_hand_tracking_source(hand_tracking_source_ext ? XRHandTracker::HAND_TRACKING_SOURCE_NOT_TRACKED : XRHandTracker::HAND_TRACKING_SOURCE_UNKNOWN);
							godot_tracker->set_has_tracking_data(false);
							godot_tracker->invalidate_pose("default");
						}
					}
				}
			} else {
				godot_tracker->set_hand_tracking_source(hand_tracking_source_ext ? XRHandTracker::HAND_TRACKING_SOURCE_NOT_TRACKED : XRHandTracker::HAND_TRACKING_SOURCE_UNKNOWN);
				godot_tracker->set_has_tracking_data(false);
				godot_tracker->invalidate_pose("default");
			}
		}
	}
}

void OpenXRHandTrackingExtension::on_state_stopping() {
	// cleanup
	cleanup_hand_tracking();
}

void OpenXRHandTrackingExtension::cleanup_hand_tracking() {
	XRServer *xr_server = XRServer::get_singleton();
	ERR_FAIL_NULL(xr_server);

	for (int i = 0; i < OPENXR_MAX_TRACKED_HANDS; i++) {
		if (hand_trackers[i].hand_tracker != XR_NULL_HANDLE) {
			xrDestroyHandTrackerEXT(hand_trackers[i].hand_tracker);

			hand_trackers[i].is_initialized = false;
			hand_trackers[i].hand_tracker = XR_NULL_HANDLE;

			XRServer::get_singleton()->remove_tracker(hand_trackers[i].godot_tracker);
		}
	}
}

bool OpenXRHandTrackingExtension::get_active() {
	return handTrackingSystemProperties.supportsHandTracking;
}

const OpenXRHandTrackingExtension::HandTracker *OpenXRHandTrackingExtension::get_hand_tracker(HandTrackedHands p_hand) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, nullptr);

	return &hand_trackers[p_hand];
}

XrHandJointsMotionRangeEXT OpenXRHandTrackingExtension::get_motion_range(HandTrackedHands p_hand) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, XR_HAND_JOINTS_MOTION_RANGE_MAX_ENUM_EXT);

	return hand_trackers[p_hand].motion_range;
}

OpenXRHandTrackingExtension::HandTrackedSource OpenXRHandTrackingExtension::get_hand_tracking_source(HandTrackedHands p_hand) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, OPENXR_SOURCE_UNKNOWN);

	if (hand_tracking_source_ext) {
		if (!hand_trackers[p_hand].data_source.isActive) {
			return OPENXR_SOURCE_NOT_TRACKED;
		} else if (hand_trackers[p_hand].data_source.dataSource == XR_HAND_TRACKING_DATA_SOURCE_UNOBSTRUCTED_EXT) {
			return OPENXR_SOURCE_UNOBSTRUCTED;
		} else if (hand_trackers[p_hand].data_source.dataSource == XR_HAND_TRACKING_DATA_SOURCE_CONTROLLER_EXT) {
			return OPENXR_SOURCE_CONTROLLER;
		} else {
			// Data source shouldn't be active, if new data sources are added to OpenXR we need to enable them.
			WARN_PRINT_ONCE("Unknown active data source found!");
			return OPENXR_SOURCE_UNKNOWN;
		}
	}

	return OPENXR_SOURCE_UNKNOWN;
}

void OpenXRHandTrackingExtension::set_motion_range(HandTrackedHands p_hand, XrHandJointsMotionRangeEXT p_motion_range) {
	ERR_FAIL_UNSIGNED_INDEX(p_hand, OPENXR_MAX_TRACKED_HANDS);
	hand_trackers[p_hand].motion_range = p_motion_range;
}

XrSpaceLocationFlags OpenXRHandTrackingExtension::get_hand_joint_location_flags(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, XrSpaceLocationFlags(0));
	ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, XrSpaceLocationFlags(0));

	if (!hand_trackers[p_hand].is_initialized) {
		return XrSpaceLocationFlags(0);
	}

	const XrHandJointLocationEXT &location = hand_trackers[p_hand].joint_locations[p_joint];
	return location.locationFlags;
}

Quaternion OpenXRHandTrackingExtension::get_hand_joint_rotation(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Quaternion());
	ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Quaternion());

	if (!hand_trackers[p_hand].is_initialized) {
		return Quaternion();
	}

	const XrHandJointLocationEXT &location = hand_trackers[p_hand].joint_locations[p_joint];
	return Quaternion(location.pose.orientation.x, location.pose.orientation.y, location.pose.orientation.z, location.pose.orientation.w);
}

Vector3 OpenXRHandTrackingExtension::get_hand_joint_position(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
	ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());

	if (!hand_trackers[p_hand].is_initialized) {
		return Vector3();
	}

	const XrHandJointLocationEXT &location = hand_trackers[p_hand].joint_locations[p_joint];
	return Vector3(location.pose.position.x, location.pose.position.y, location.pose.position.z);
}

float OpenXRHandTrackingExtension::get_hand_joint_radius(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, 0.0);
	ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, 0.0);

	if (!hand_trackers[p_hand].is_initialized) {
		return 0.0;
	}

	return hand_trackers[p_hand].joint_locations[p_joint].radius;
}

XrSpaceVelocityFlags OpenXRHandTrackingExtension::get_hand_joint_velocity_flags(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, XrSpaceVelocityFlags(0));
	ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, XrSpaceVelocityFlags(0));

	if (!hand_trackers[p_hand].is_initialized) {
		return XrSpaceVelocityFlags(0);
	}

	const XrHandJointVelocityEXT &velocity = hand_trackers[p_hand].joint_velocities[p_joint];
	return velocity.velocityFlags;
}

Vector3 OpenXRHandTrackingExtension::get_hand_joint_linear_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
	ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());

	if (!hand_trackers[p_hand].is_initialized) {
		return Vector3();
	}

	const XrHandJointVelocityEXT &velocity = hand_trackers[p_hand].joint_velocities[p_joint];
	return Vector3(velocity.linearVelocity.x, velocity.linearVelocity.y, velocity.linearVelocity.z);
}

Vector3 OpenXRHandTrackingExtension::get_hand_joint_angular_velocity(HandTrackedHands p_hand, XrHandJointEXT p_joint) const {
	ERR_FAIL_UNSIGNED_INDEX_V(p_hand, OPENXR_MAX_TRACKED_HANDS, Vector3());
	ERR_FAIL_UNSIGNED_INDEX_V(p_joint, XR_HAND_JOINT_COUNT_EXT, Vector3());

	if (!hand_trackers[p_hand].is_initialized) {
		return Vector3();
	}

	const XrHandJointVelocityEXT &velocity = hand_trackers[p_hand].joint_velocities[p_joint];
	return Vector3(velocity.angularVelocity.x, velocity.angularVelocity.y, velocity.angularVelocity.z);
}
