version 2.3.0
This commit is contained in:
Sean Lu(呂祥榮)
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using System;
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using UnityEngine;
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namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
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{
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/// <summary>
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/// This class is designed to manage the positions of various joint nodes in the hand model.
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/// </summary>
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public class HandMeshManager : MonoBehaviour
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{
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const string LOG_TAG = "VIVE.OpenXR.Toolkits.RealisticHandInteraction.HandMeshManager";
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private void DEBUG(string msg) { Debug.Log($"{LOG_TAG}, {msg}"); }
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private void WARNING(string msg) { Debug.LogWarning($"{LOG_TAG}, {msg}"); }
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private void ERROR(string msg) { Debug.LogError($"{LOG_TAG}, {msg}"); }
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private enum RootType
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{
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Palm = JointType.Palm,
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Wrist = JointType.Wrist,
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}
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[SerializeField]
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private Handedness m_Handedness;
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public bool IsLeft { get { return m_Handedness == Handedness.Left; } }
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[SerializeField]
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private HandGrabInteractor m_HandGrabber;
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public HandGrabInteractor HandGrabber { get { return m_HandGrabber; } }
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[SerializeField]
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private RootType m_RootJointType;
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public JointType RootJointType { get { return (JointType)m_RootJointType; } }
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[SerializeField]
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private Transform m_HandRootJoint;
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public Transform HandRootJoint { get { return m_HandRootJoint; } }
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[SerializeField]
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private Transform[] m_HandJoints = new Transform[(int)JointType.Count];
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public Transform[] HandJoints { get { return m_HandJoints; } }
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private const int k_JointCount = 26;
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private const int k_JointChildCount = 6;
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private void OnEnable()
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{
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if (m_HandGrabber == null)
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{
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WARNING("Not to set HandGrabInteractor so it won't stop when colliding with Immovable objects.");
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}
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}
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private void Update()
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{
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HandData hand = CachedHand.Get(IsLeft);
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if (!hand.isTracked)
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{
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return;
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}
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var parentTransform = m_HandRootJoint.parent;
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int rootId = m_RootJointType == RootType.Palm ? 0 : 1;
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Pose jointPose = GetJointPose(hand, rootId);
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m_HandJoints[rootId].rotation = parentTransform.rotation * jointPose.rotation;
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m_HandJoints[rootId].localPosition = jointPose.position;
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m_HandJoints[rootId].localRotation = jointPose.rotation;
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for (int i = 0; i < m_HandJoints.Length; i++)
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{
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if (m_HandJoints[i] == null || i == rootId) { continue; }
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jointPose = GetJointPose(hand, i);
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m_HandJoints[i].rotation = parentTransform.rotation * jointPose.rotation;
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if (m_HandGrabber != null && m_HandGrabber.isGrabbing &&
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m_HandGrabber.GetGrabPoseJointRotation(i, out Quaternion localStaticRot))
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{
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Quaternion currentRotation = m_HandJoints[i].rotation;
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Quaternion maxRotation = m_HandJoints[i].parent.rotation * localStaticRot;
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if (m_HandGrabber.IsRequiredJoint((JointType)i) ||
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OverFlex(currentRotation, maxRotation) >= 0 ||
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FlexAngle(currentRotation, maxRotation) >= 100)
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{
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m_HandJoints[i].rotation = maxRotation;
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}
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}
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}
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}
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/// <summary>
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/// Calculate whether the current rotation exceeds the maximum rotation.
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/// If the product is greater than 0, it exceeds.
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/// </summary>
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/// <param name="currentRot">Current rotation</param>
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/// <param name="maxRot">Maximum rotation</param>
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/// <returns>The return value represents the dot product between the cross product of two rotations and the -x axis direction of the current rotation.</returns>
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private float OverFlex(Quaternion currentRot, Quaternion maxRot)
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{
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Vector3 currFwd = currentRot * Vector3.forward;
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Vector3 maxFwd = maxRot * Vector3.forward;
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return Vector3.Dot(currentRot * Vector3.left, Vector3.Cross(currFwd, maxFwd));
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}
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/// <summary>
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/// Calculate the angle between the y-axis directions of two rotations.
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/// </summary>
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/// <param name="currentRot">Current rotation</param>
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/// <param name="maxRot">Maximum rotation</param>
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/// <returns>The return value represents the angle between the up directions of the two rotation</returns>
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private float FlexAngle(Quaternion currentRot, Quaternion maxRot)
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{
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Vector3 currFwd = currentRot * Vector3.up;
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Vector3 maxFwd = maxRot * Vector3.up;
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return Mathf.Acos(Vector3.Dot(currFwd, maxFwd) / (currFwd.magnitude * maxFwd.magnitude)) * Mathf.Rad2Deg;
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}
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/// <summary>
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/// Get the pose of the joint based on the joint ID.
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/// </summary>
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/// <param name="hand">The current result of hand tracking.</param>
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/// <param name="jointId">ID of the specified joint.</param>
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/// <returns>Return the pose of the specified joint.</returns>
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private Pose GetJointPose(HandData hand, int jointId)
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{
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if (m_HandGrabber != null)
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{
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return m_HandGrabber.GetCurrentJointPose(jointId);
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}
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Vector3 jointPosition = Vector3.zero;
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Quaternion jointRotation = Quaternion.identity;
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hand.GetJointPosition((JointType)jointId, ref jointPosition);
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hand.GetJointRotation((JointType)jointId, ref jointRotation);
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return new Pose(jointPosition, jointRotation);
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}
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/// <summary>
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/// Get the transform of the joint.
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/// </summary>
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/// <param name="joint">JointType of the specified joint.</param>
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/// <param name="jointTransform">Output the transform of the joint.</param>
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/// <returns>Return true if successfully get the transform, otherwise false.</returns>
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public bool GetJointTransform(JointType joint, out Transform jointTransform)
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{
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jointTransform = null;
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int id = (int)joint;
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if (id >= 0 && id < m_HandJoints.Length)
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{
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if (m_HandJoints[id] != null)
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{
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jointTransform = m_HandJoints[id];
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return true;
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}
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}
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return false;
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}
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/// <summary>
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/// Set all joints through gesture.
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/// </summary>
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/// <param name="handGrabGesture">The gesture of grabbing.</param>
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/// <returns>Return true if successfully set the gesture, otherwise false.</returns>
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public bool SetJointsFromGrabGesture(HandGrabGesture handGrabGesture)
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{
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if (m_HandGrabber == null) { return false; }
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for (int i = 0; i < m_HandJoints.Length; i++)
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{
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m_HandJoints[i].localRotation = m_HandGrabber.handGrabState.GetDefaultJointRotationInGesture(handGrabGesture, i);
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}
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return true;
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}
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#if UNITY_EDITOR
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public void FindJoints()
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{
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if (m_HandRootJoint != null)
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{
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int fingerJoint = (int)JointType.Thumb_Joint0;
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if (m_HandRootJoint.childCount == k_JointChildCount)
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{
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for (int i = 0; i < m_HandRootJoint.childCount; i++)
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{
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Transform child = m_HandRootJoint.GetChild(i);
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switch (child.childCount)
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{
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case 0:
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if (m_RootJointType == RootType.Palm)
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{
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m_HandJoints[(int)JointType.Palm] = m_HandRootJoint;
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m_HandJoints[(int)JointType.Wrist] = child;
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}
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else
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{
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m_HandJoints[(int)JointType.Palm] = child;
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m_HandJoints[(int)JointType.Wrist] = m_HandRootJoint;
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}
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break;
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case 4:
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case 5:
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for (int j = 0; j < child.childCount; j++)
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{
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m_HandJoints[fingerJoint] = child.GetChild(j);
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fingerJoint++;
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}
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break;
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default:
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fingerJoint = RecursiveFind(fingerJoint, child);
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break;
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}
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}
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}
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else if (m_HandRootJoint.childCount == k_JointCount - 1)
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{
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Transform child = m_HandRootJoint.GetChild(0);
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if (m_RootJointType == RootType.Palm)
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{
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m_HandJoints[(int)JointType.Palm] = m_HandRootJoint;
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m_HandJoints[(int)JointType.Wrist] = child;
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}
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else
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{
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m_HandJoints[(int)JointType.Palm] = child;
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m_HandJoints[(int)JointType.Wrist] = m_HandRootJoint;
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}
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for (int i = 1; i < m_HandRootJoint.childCount; i++)
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{
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m_HandJoints[i + 1] = m_HandRootJoint.GetChild(i);
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}
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}
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}
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}
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private int RecursiveFind(int jointId, Transform transform)
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{
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m_HandJoints[jointId] = transform;
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jointId++;
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if (transform.childCount > 0)
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{
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for (int i = 0; i < transform.childCount; i++)
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{
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jointId = RecursiveFind(jointId, transform.GetChild(i));
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}
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}
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return jointId;
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}
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public void ClearJoints()
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{
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Array.Clear(m_HandJoints, 0, m_HandJoints.Length);
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}
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#endif
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}
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}
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