version 2.5.1

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Resources/Prefabs/VIVEXRHandGrabberLeft.prefab

@@ -699,6 +699,7 @@ GameObject:
   serializedVersion: 6
   m_Component:
   - component: {fileID: 4806409459047702211}
+  - component: {fileID: 5568897672767345397}
   - component: {fileID: 1039589470112983849}
   - component: {fileID: 1039589470112983840}
   - component: {fileID: 1039589470112983852}
@@ -725,6 +726,19 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &5568897672767345397
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4806409459047702212}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 52790aba0e3d55f4fb27aded6c698d8b, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Handedness: 1
 --- !u!114 &1039589470112983849
 MonoBehaviour:
   m_ObjectHideFlags: 0

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Resources/Prefabs/VIVEXRHandGrabberRight.prefab

@@ -858,6 +858,7 @@ GameObject:
   serializedVersion: 6
   m_Component:
   - component: {fileID: 7152668487518777764}
+  - component: {fileID: 7057365311429264906}
   - component: {fileID: 3431167848623168894}
   - component: {fileID: 3431167848623168881}
   - component: {fileID: 3431167848623168882}
@@ -884,6 +885,19 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &7057365311429264906
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 7152668487518777765}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 52790aba0e3d55f4fb27aded6c698d8b, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_Handedness: 0
 --- !u!114 &3431167848623168894
 MonoBehaviour:
   m_ObjectHideFlags: 0

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Scripts/Grab/CustomGrabPose.cs

@@ -8,12 +8,13 @@
 // conditions signed by you and all SDK and API requirements,
 // specifications, and documentation provided by HTC to You."
 
-using System.Collections.Generic;
-using System.Text;
 using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
 using UnityEditor;
 using UnityEngine;
-using System.Linq;
+using UnityEngine.InputSystem;
 
 namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 {
@@ -129,6 +130,7 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		private HandGrabInteractable candidate = null;
 		private Pose wristPose = Pose.identity;
 		private Quaternion[] fingerJointRotation = new Quaternion[jointsPathMapping.Count];
+		private bool isNewInputSystem = false;
 
 		#region MonoBehaviours
 
@@ -156,6 +158,7 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 				sb.Append("However, you still can record  grab pose if you use direct preview mode.");
 				WARNING(sb);
 			}
+			isNewInputSystem = Keyboard.current != null;
 		}
 
 		private void OnDisable()
@@ -199,7 +202,7 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 				}
 			}
 
-			if (Input.GetKeyDown(KeyCode.Return) || Input.GetKeyDown(KeyCode.KeypadEnter))
+			if (IsEnterPressed())
 			{
 				FindNearInteractable();
 				SavePoseWithCandidate();
@@ -326,6 +329,19 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 			return updated;
 		}
 
+		private bool IsEnterPressed()
+		{
+			if (isNewInputSystem)
+			{
+				return (Keyboard.current.enterKey?.wasPressedThisFrame ?? false) ||
+					   (Keyboard.current.numpadEnterKey?.wasPressedThisFrame ?? false);
+			}
+			else
+			{
+				return Input.GetKeyDown(KeyCode.Return) || Input.GetKeyDown(KeyCode.KeypadEnter);
+			}
+		}
+
 		/// <summary>
 		/// Finds the nearest interactable object to the hand.
 		/// </summary>

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Scripts/Grab/HandGrabInteractable.cs

@@ -8,7 +8,6 @@
 // conditions signed by you and all SDK and API requirements,
 // specifications, and documentation provided by HTC to You."
 
-using System;
 using System.Collections.Generic;
 using System.Text;
 using UnityEngine;
@@ -87,8 +86,8 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 
 		[SerializeField]
 		private IOneHandContraintMovement m_OneHandContraintMovement;
-        public IOneHandContraintMovement oneHandContraintMovement { get { return m_OneHandContraintMovement; } set { m_OneHandContraintMovement = value; } }
-        public bool isContraint => m_OneHandContraintMovement != null;
+		public IOneHandContraintMovement oneHandContraintMovement { get { return m_OneHandContraintMovement; } set { m_OneHandContraintMovement = value; } }
+		public bool isContraint => m_OneHandContraintMovement != null;
 
 #pragma warning disable
 		[SerializeField]
@@ -183,8 +182,9 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		{
 			if (!isGrabbable || isGrabbed) { return 0; }
 			Vector3 closestPoint = GetClosestPoint(grabberPos);
-			float distacne = Vector3.Distance(grabberPos, closestPoint);
-			return distacne > grabDistance ? 0 : 1 - (distacne / grabDistance);
+			float distanceSqr = (grabberPos - closestPoint).sqrMagnitude;
+			float grabDistSqr = grabDistance * grabDistance;
+			return distanceSqr > grabDistSqr ? 0 : 1 - (distanceSqr / grabDistSqr);
 		}
 
 		/// <summary>
@@ -263,35 +263,41 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		private Vector3 GetClosestPoint(Vector3 sourcePos)
 		{
 			Vector3 closestPoint = Vector3.zero;
-			float shortDistance = float.MaxValue;
+			float shortDistanceSqr = float.MaxValue;
 			for (int i = 0; i < allColliders.Count; i++)
 			{
 				Collider collider = allColliders[i];
 				Vector3 closePoint = collider.ClosestPointOnBounds(sourcePos);
-				float distance = Vector3.Distance(sourcePos, closePoint);
+				float distanceSqr = (sourcePos - closePoint).sqrMagnitude;
+				if (distanceSqr < 0.001f)
+				{
+					return closePoint;
+				}
+
 				if (collider.bounds.Contains(closePoint))
 				{
 					Vector3 direction = closePoint - sourcePos;
 					direction.Normalize();
-					int hitCount = Physics.RaycastNonAlloc(sourcePos, direction, hitResults, distance);
+					int hitCount = Physics.RaycastNonAlloc(sourcePos, direction, hitResults, Mathf.Sqrt(distanceSqr));
+
 					for (int j = 0; j < hitCount; j++)
 					{
 						RaycastHit hit = hitResults[j];
 						if (hit.collider == collider)
 						{
-							float hitDistance = Vector3.Distance(sourcePos, hit.point);
-							if (distance > hitDistance)
+							float hitDistanceSqr = (sourcePos - hit.point).sqrMagnitude;
+							if (distanceSqr > hitDistanceSqr)
 							{
-								distance = hitDistance;
+								distanceSqr = hitDistanceSqr;
 								closePoint = hit.point;
 							}
 						}
 					}
 				}
 
-				if (shortDistance > distance)
+				if (shortDistanceSqr > distanceSqr)
 				{
-					shortDistance = distance;
+					shortDistanceSqr = distanceSqr;
 					closestPoint = closePoint;
 				}
 			}
@@ -361,9 +367,12 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		/// <param name="index">The index of the indicator to show.</param>
 		private void ShowIndicatorByIndex(int index)
 		{
-			foreach (var grabPose in m_GrabPoses)
+			for (int i = 0; i < m_GrabPoses.Count; i++)
 			{
-				grabPose.indicator.SetActive(false);
+				if (index != i)
+				{
+					m_GrabPoses[i].indicator.SetActive(false);
+				}
 			}
 			if (index >= 0 && index < m_GrabPoses.Count &&
 				m_GrabPoses[index].indicator.enableIndicator)
@@ -379,9 +388,9 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		/// <param name="isLeft">Whether the hand side is left.</param>
 		private void ShowAllIndicator(bool isLeft)
 		{
-			foreach (var grabPose in m_GrabPoses)
+			for (int i = 0; i < m_GrabPoses.Count; i++)
 			{
-				grabPose.indicator.SetActive(false);
+				m_GrabPoses[i].indicator.SetActive(false);
 			}
 			foreach (var grabPose in m_GrabPoses)
 			{

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Scripts/Grab/HandGrabInteractor.cs

@@ -8,7 +8,6 @@
 // conditions signed by you and all SDK and API requirements,
 // specifications, and documentation provided by HTC to You."
 
-using System;
 using System.Collections.Generic;
 using System.Text;
 using UnityEngine;
@@ -79,6 +78,13 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		private Pose wristPose = Pose.identity;
 		private Vector3[] fingerTipPosition = new Vector3[(int)FingerId.Count];
 
+		private const int kMaxCacheSize = 100;
+		private int lastBufferCount = 0;
+		private Collider[] colliderBuffer = new Collider[50];
+		private HandGrabInteractable[] grabbableBuffer = new HandGrabInteractable[50];
+		private LinkedList<Collider> lruList = new LinkedList<Collider>();
+		private Dictionary<Collider, LinkedListNode<Collider>> unusedColliders = new Dictionary<Collider, LinkedListNode<Collider>>();
+
 		#region MonoBehaviour
 		private void Awake()
 		{
@@ -159,7 +165,6 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		/// </summary>
 		private void FindCandidate()
 		{
-			currentCandidate = null;
 			float distanceScore = float.MinValue;
 			if (GetClosestGrabbable(m_GrabDistance, out HandGrabInteractable grabbable, out float score) && score > distanceScore)
 			{
@@ -189,28 +194,47 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 			grabbable = null;
 			maxScore = 0f;
 
-			Collider[] nearColliders = Physics.OverlapSphere(wristPose.position, 0.5f);
-			List<HandGrabInteractable> nearHandGrabInteractables = new List<HandGrabInteractable>();
-			for (int i = 0; i < nearColliders.Length; i++)
+			for (int i = 0; i < lastBufferCount; i++)
 			{
-				HandGrabInteractable interactable = nearColliders[i].GetComponentInParent<HandGrabInteractable>();
-				if (interactable && !nearHandGrabInteractables.Contains(interactable))
-				{
-					nearHandGrabInteractables.Add(interactable);
-					continue;
-				}
-				interactable = nearColliders[i].GetComponentInChildren<HandGrabInteractable>();
-				if (interactable && !nearHandGrabInteractables.Contains(interactable))
-				{
-					nearHandGrabInteractables.Add(interactable);
-					continue;
-				}
+				HandGrabInteractable interactable = grabbableBuffer[i];
+				interactable.ShowIndicator(false, this);
 			}
 
-			for (int i = 0; i < nearHandGrabInteractables.Count; i++)
+			int colliderCount = Physics.OverlapSphereNonAlloc(wristPose.position, grabDistance * 5, colliderBuffer);
+			int interactableCount = 0;
+			for (int i = 0; i < colliderCount; i++)
 			{
-				HandGrabInteractable interactable = nearHandGrabInteractables[i];
-				interactable.ShowIndicator(false, this);
+				Collider collider = colliderBuffer[i];
+				if (unusedColliders.TryGetValue(collider, out _)) { continue; }
+
+				HandGrabInteractable interactable = collider.GetComponentInParent<HandGrabInteractable>()
+													?? collider.GetComponentInChildren<HandGrabInteractable>();
+				if (interactable != null)
+				{
+					bool isUnique = true;
+					for (int j = 0; j < interactableCount; j++)
+					{
+						if (grabbableBuffer[j] == interactable)
+						{
+							isUnique = false;
+							break;
+						}
+					}
+					if (isUnique)
+					{
+						grabbableBuffer[interactableCount++] = interactable;
+					}
+				}
+				else
+				{
+					AddUnusedColliders(collider);
+				}
+			}
+			lastBufferCount = interactableCount;
+
+			for (int i = 0; i < interactableCount; i++)
+			{
+				HandGrabInteractable interactable = grabbableBuffer[i];
 				for (int j = 0; j < fingerTipPosition.Length; j++)
 				{
 					float distanceScore = interactable.CalculateDistanceScore(fingerTipPosition[j], grabDistance);
@@ -279,5 +303,18 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 			}
 			m_Grabbable.UpdatePositionAndRotation(wristPose);
 		}
+
+		private void AddUnusedColliders(Collider collider)
+		{
+			if (lruList.Count >= kMaxCacheSize)
+			{
+				var oldest = lruList.First;
+				unusedColliders.Remove(oldest.Value);
+				lruList.RemoveFirst();
+			}
+
+			var node = lruList.AddLast(collider);
+			unusedColliders[collider] = node;
+		}
 	}
 }

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Scripts/HandColliderController.cs

@@ -11,7 +11,6 @@
 using System.Collections;
 using System.Collections.Generic;
 using System.Linq;
-using System.Text;
 using UnityEngine;
 
 namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
@@ -85,7 +84,11 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		private Quaternion lastRotation;
 		private bool isInit = false;
 		private bool isTracked = true;
-		private List<Vector3> collisionDirections = new List<Vector3>();
+		private const int k_MaxCollisionCount = 100;
+		private readonly ContactPoint[] contactPointsBuffer = new ContactPoint[k_MaxCollisionCount];
+		private readonly Vector3[] collisionsDirection = new Vector3[k_MaxCollisionCount];
+		private readonly object collisionLock = new object();
+		private int currentCollisionCount = 0;
 		private bool isGrabbing = false;
 
 		#region MonoBehaviour
@@ -163,7 +166,11 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 
 			if (isGrabbing)
 			{
+#if UNITY_6000_0_OR_NEWER
+				rootJointRigidbody.linearVelocity = Vector3.zero;
+#else
 				rootJointRigidbody.velocity = Vector3.zero;
+#endif
 				rootJointRigidbody.angularVelocity = Vector3.zero;
 				rootJoint.localPosition = lastRootPos;
 				rootJoint.localRotation = lastRotation;
@@ -175,7 +182,7 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 			}
 		}
 
-		#endregion
+#endregion
 
 		private IEnumerator WaitForInit()
 		{
@@ -232,33 +239,41 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 			Vector3 vel = (lastRootPos - rootJoint.position) / Time.deltaTime;
 			if (IsValidVelocity(vel))
 			{
-				if (collisionDirections.Count > 0)
+				lock (collisionLock)
 				{
-					float minAngle = float.MaxValue;
-					Vector3 closestDirection = Vector3.zero;
-					foreach (Vector3 direction in collisionDirections.ToList())
+					if (currentCollisionCount > 0)
 					{
-						float angle = Mathf.Abs(Vector3.Angle(direction, vel));
-						if (angle < minAngle)
-						{
-							minAngle = angle;
-							closestDirection = direction;
-						}
-					}
-					collisionDirections.Clear();
+						float minAngle = float.MaxValue;
+						Vector3 closestDirection = Vector3.zero;
 
-					Vector3 adjustedDirection = closestDirection;
-					if (Vector3.Dot(vel, closestDirection) > 0)
-					{
-						adjustedDirection *= -1f;
-					}
-					vel = Vector3.ProjectOnPlane(vel, adjustedDirection);
-					if (vel.magnitude > 1)
-					{
-						vel.Normalize();
+						for (int i = 0; i < currentCollisionCount; i++)
+						{
+							Vector3 direction = collisionsDirection[i];
+							float angle = Mathf.Abs(Vector3.Angle(direction, vel));
+							if (angle < minAngle)
+							{
+								minAngle = angle;
+								closestDirection = direction;
+							}
+						}
+						Vector3 adjustedDirection = closestDirection;
+						if (Vector3.Dot(vel, closestDirection) > 0)
+						{
+							adjustedDirection *= -1f;
+						}
+						vel = Vector3.ProjectOnPlane(vel, adjustedDirection);
+						if (vel.magnitude > 1)
+						{
+							vel.Normalize();
+						}
+						currentCollisionCount = 0;
 					}
 				}
+#if UNITY_6000_0_OR_NEWER
+				rootJointRigidbody.linearVelocity = vel;
+#else
 				rootJointRigidbody.velocity = vel;
+#endif
 			}
 		}
 
@@ -287,7 +302,7 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 				&& !float.IsInfinity(vector.x) && !float.IsInfinity(vector.y) && !float.IsInfinity(vector.z);
 		}
 
-		#region Event CallBack
+#region Event CallBack
 
 		/// <summary>
 		/// When tracking state changing, reset the pose and enable/disable collider.
@@ -299,7 +314,11 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 			{
 				lastRootPos = Vector3.zero;
 				lastRotation = Quaternion.identity;
+#if UNITY_6000_0_OR_NEWER
+				rootJointRigidbody.linearVelocity = Vector3.zero;
+#else
 				rootJointRigidbody.velocity = Vector3.zero;
+#endif
 				rootJointRigidbody.angularVelocity = Vector3.zero;
 			}
 			foreach (JointCollider jointCollider in jointsCollider)
@@ -355,17 +374,21 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 				case JointCollider.CollisionState.Stay:
 					if (collision.contactCount > 0 && (collision.rigidbody == null || collision.rigidbody.isKinematic))
 					{
-						ContactPoint[] contactPoints = new ContactPoint[collision.contactCount];
-						collision.GetContacts(contactPoints);
-						foreach (ContactPoint contactPoint in contactPoints)
+						lock (collisionLock)
 						{
-							collisionDirections.Add(contactPoint.normal * -1f);
+							currentCollisionCount = Mathf.Min(contactPointsBuffer.Length, collision.contactCount);
+							collision.GetContacts(contactPointsBuffer);
+
+							for (int i = 0; i < currentCollisionCount; i++)
+							{
+								collisionsDirection[i] = contactPointsBuffer[i].normal * -1f;
+							}
 						}
 					}
 					break;
 			}
 		}
 
-		#endregion
+#endregion
 	}
 }

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Scripts/HandInteractionUtils.cs

@@ -635,6 +635,8 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 				}
 			},
 		};
+		// palm, wrist, thumb, index, middle, ring, pinky
+		private static readonly int[] fingerGroup = { 1, 1, 4, 5, 5, 5, 5 };
 
 		public bool valid = false;
 		public bool isTracked = false;
@@ -771,14 +773,16 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 			group = 0;
 			index = jointId;
 
-			// palm, wrist, thumb, index, middle, ring, pinky
-			int[] fingerGroup = { 1, 1, 4, 5, 5, 5, 5 };
-			while (index > fingerGroup[group])
+			for (int i = 0; i < fingerGroup.Length; i++)
 			{
-				index -= fingerGroup[group];
-				group += 1;
+				if (index <= fingerGroup[i])
+				{
+					group = i;
+					index -= 1; // Adjust to 0-based index
+					return;
+				}
+				index -= fingerGroup[i];
 			}
-			index -= 1;
 		}
 	}
 
@@ -848,32 +852,29 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		/// <param name="isLeft">True if the hand is left; otherwise, false.</param>
 		private static void GetFingerData(FingerId id, ref FingerData finger, bool isLeft)
 		{
-			JointType[] jointTypes = { };
-			switch (id)
-			{
-				case FingerId.Thumb: jointTypes = s_ThumbJoints; break;
-				case FingerId.Index: jointTypes = s_IndexJoints; break;
-				case FingerId.Middle: jointTypes = s_MiddleJoints; break;
-				case FingerId.Ring: jointTypes = s_RingJoints; break;
-				case FingerId.Pinky: jointTypes = s_PinkyJoints; break;
-				default: return;
-			}
+			JointType[] jointTypes = GetJointTypes(id);
+			if (jointTypes == null) return;
+
+			float deltaTime = Time.deltaTime;
+			Vector3 parentVel = Vector3.zero;
+
 			for (int i = 0; i < jointTypes.Length; i++)
 			{
-				Vector3 parentVel = i == 0 ? Vector3.zero : finger.joints[i - 1].velocity;
-				JointData lastJoint = finger.joints[i];
-				GetJointData(jointTypes[i], ref finger.joints[i], isLeft);
+				ref JointData joint = ref finger.joints[i];
+				Vector3 lastPosition = joint.position;
+
+				DataWrapper.GetJointPose(jointTypes[i], ref joint.position, ref joint.rotation, isLeft);
+				joint.velocity = (joint.position - lastPosition) / deltaTime;
 
 				//As the velocity of child node should not be lower than the parent node.
 				//Add the current parent node's velocity multiplied by time to the last position of child node, obtaining the new simulated position.
-				if (parentVel.magnitude > finger.joints[i].velocity.magnitude)
+				if (parentVel.magnitude > joint.velocity.magnitude)
 				{
-					lastJoint.position += parentVel * Time.deltaTime;
-					finger.joints[i] = lastJoint;
+					joint.position += parentVel * deltaTime;
 				}
+				parentVel = joint.velocity;
 			}
 
-			// Since the thumb does not have joint3, it is replaced by joint2.
 			if (id == FingerId.Thumb)
 			{
 				finger.joints[(int)JointId.Tip] = finger.joint3;
@@ -885,6 +886,19 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 			}
 		}
 
+		private static JointType[] GetJointTypes(FingerId id)
+		{
+			return id switch
+			{
+				FingerId.Thumb => s_ThumbJoints,
+				FingerId.Index => s_IndexJoints,
+				FingerId.Middle => s_MiddleJoints,
+				FingerId.Ring => s_RingJoints,
+				FingerId.Pinky => s_PinkyJoints,
+				_ => null
+			};
+		}
+
 		/// <summary>
 		/// Update the data for the left or right hand.
 		/// </summary>
@@ -1067,16 +1081,16 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 				Vector3 thumbTip = thumbData.tip.position;
 				Vector3 thumbJoint2 = thumbData.joint2.position;
 				Vector3 thumbJoint1 = thumbData.joint1.position;
-				Vector3[] fingerPos = { fingerData.tip.position,
-										fingerData.joint3.position,
-										fingerData.joint2.position};
 
 				float distance = float.PositiveInfinity;
-				for (int i = 0; i < fingerPos.Length; i++)
-				{
-					distance = Mathf.Min(distance, CalculateShortestDistance(fingerPos[i], thumbTip, thumbJoint2));
-					distance = Mathf.Min(distance, CalculateShortestDistance(fingerPos[i], thumbJoint2, thumbJoint1));
-				}
+				distance = Mathf.Min(distance, CalculateShortestDistance(fingerData.tip.position, thumbTip, thumbJoint2));
+				distance = Mathf.Min(distance, CalculateShortestDistance(fingerData.tip.position, thumbJoint2, thumbJoint1));
+
+				distance = Mathf.Min(distance, CalculateShortestDistance(fingerData.joint3.position, thumbTip, thumbJoint2));
+				distance = Mathf.Min(distance, CalculateShortestDistance(fingerData.joint3.position, thumbJoint2, thumbJoint1));
+
+				distance = Mathf.Min(distance, CalculateShortestDistance(fingerData.joint2.position, thumbTip, thumbJoint2));
+				distance = Mathf.Min(distance, CalculateShortestDistance(fingerData.joint2.position, thumbJoint2, thumbJoint1));
 				return distance;
 			}
 
@@ -1732,9 +1746,16 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		/// <param name="enable">True to enable the indicator, false to deactivate it.</param>
 		public void SetActive(bool enable)
 		{
-			if (target != null)
+			if (target)
 			{
-				target.SetActive(enable);
+				if (enable)
+				{
+					target.transform.localScale = Vector3.one;
+				}
+				else
+				{
+					target.transform.localScale = Vector3.zero;
+				}
 			}
 		}
 

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Scripts/HandPose/MeshHandPose.cs

@@ -7,7 +7,7 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 	{
 		[SerializeField]
 		private HandMeshManager m_HandMesh;
-		
+
 		private bool keepUpdate = false;
 
 		protected override void OnEnable()
@@ -18,11 +18,7 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		protected override void OnDisable()
 		{
 			base.OnDisable();
-			if (keepUpdate)
-			{
-				keepUpdate = false;
-				StopCoroutine(UpdatePose());
-			}
+			keepUpdate = false;
 		}
 
 		public void SetHandMeshRenderer(HandMeshManager handMeshRenderer)
@@ -44,39 +40,32 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		{
 			yield return new WaitUntil(() => m_Initialized);
 			base.OnEnable();
-			if (!keepUpdate)
-			{
-				keepUpdate = true;
-				StartCoroutine(UpdatePose());
-			}
+			keepUpdate = true;
 		}
 
-		private IEnumerator UpdatePose()
+		private void Update()
 		{
-			while (keepUpdate)
+			if (!keepUpdate) { return; }
+			HandPose handPose = HandPoseProvider.GetHandPose(m_HandMesh.isLeft ? HandPoseType.HAND_LEFT : HandPoseType.HAND_RIGHT);
+			m_IsTracked = handPose.IsTracked();
+			if (!m_IsTracked) { return; }
+
+			for (int i = 0; i < poseCount; i++)
 			{
-				yield return new WaitForFixedUpdate();
-
-				HandPose handPose = HandPoseProvider.GetHandPose(m_HandMesh.isLeft ? HandPoseType.HAND_LEFT : HandPoseType.HAND_RIGHT);
-				m_IsTracked = handPose.IsTracked();
-
-				for (int i = 0; i < poseCount; i++)
+				if (m_HandMesh.GetJointPositionAndRotation((JointType)i, out Vector3 position, out Quaternion rotation) &&
+					m_HandMesh.GetJointPositionAndRotation((JointType)i, out Vector3 localPosition, out Quaternion localRotation, local: true))
 				{
-					if (m_HandMesh.GetJointPositionAndRotation((JointType)i, out Vector3 position, out Quaternion rotation) &&
-						m_HandMesh.GetJointPositionAndRotation((JointType)i, out Vector3 localPosition, out Quaternion localRotation, local: true))
-					{
-						m_Position[i] = position;
-						m_Rotation[i] = rotation;
-						m_LocalPosition[i] = localPosition;
-						m_LocalRotation[i] = localRotation;
-					}
-					else
-					{
-						m_Position[i] = Vector3.zero;
-						m_Rotation[i] = Quaternion.identity;
-						m_LocalPosition[i] = Vector3.zero;
-						m_LocalRotation[i] = Quaternion.identity;
-					}
+					m_Position[i] = position;
+					m_Rotation[i] = rotation;
+					m_LocalPosition[i] = localPosition;
+					m_LocalRotation[i] = localRotation;
+				}
+				else
+				{
+					m_Position[i] = Vector3.zero;
+					m_Rotation[i] = Quaternion.identity;
+					m_LocalPosition[i] = Vector3.zero;
+					m_LocalRotation[i] = Quaternion.identity;
 				}
 			}
 		}

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Scripts/HandPose/RealHandPose.cs

@@ -18,11 +18,7 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		protected override void OnDisable()
 		{
 			base.OnDisable();
-			if (keepUpdate)
-			{
-				keepUpdate = false;
-				StopCoroutine(UpdatePose());
-			}
+			keepUpdate = false;
 		}
 
 		public override void SetType(HandPoseType poseType)
@@ -43,41 +39,33 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		{
 			yield return new WaitUntil(() => m_Initialized);
 			base.OnEnable();
-			if (!keepUpdate)
-			{
-				keepUpdate = true;
-				StartCoroutine(UpdatePose());
-			}
+			keepUpdate = true;
 		}
 
-		private IEnumerator UpdatePose()
+		private void Update()
 		{
+			if (!keepUpdate) { return; }
+			HandData handData = CachedHand.Get(isLeft);
+			m_IsTracked = handData.isTracked;
+			if (!m_IsTracked) { return; }
+
 			Vector3 position = Vector3.zero;
 			Quaternion rotation = Quaternion.identity;
-			while (keepUpdate)
+			for (int i = 0; i < poseCount; i++)
 			{
-				yield return new WaitForEndOfFrame();
-
-				HandData handData = CachedHand.Get(isLeft);
-				m_IsTracked = handData.isTracked;
-				if (!m_IsTracked) { continue; }
-
-				for (int i = 0; i < poseCount; i++)
+				if (handData.GetJointPosition((JointType)i, ref position) && handData.GetJointRotation((JointType)i, ref rotation))
 				{
-					if (handData.GetJointPosition((JointType)i, ref position) && handData.GetJointRotation((JointType)i, ref rotation))
-					{
-						m_Position[i] = transform.position + transform.rotation * position;
-						m_Rotation[i] = transform.rotation * rotation;
-						m_LocalPosition[i] = position;
-						m_LocalRotation[i] = rotation;
-					}
-					else
-					{
-						m_Position[i] = Vector3.zero;
-						m_Rotation[i] = Quaternion.identity;
-						m_LocalPosition[i] = Vector3.zero;
-						m_LocalRotation[i] = Quaternion.identity;
-					}
+					m_Position[i] = transform.position + transform.rotation * position;
+					m_Rotation[i] = transform.rotation * rotation;
+					m_LocalPosition[i] = position;
+					m_LocalRotation[i] = rotation;
+				}
+				else
+				{
+					m_Position[i] = Vector3.zero;
+					m_Rotation[i] = Quaternion.identity;
+					m_LocalPosition[i] = Vector3.zero;
+					m_LocalRotation[i] = Quaternion.identity;
 				}
 			}
 		}

com.htc.upm.vive.openxr/Runtime/Toolkits/RealisticHandInteraction(experimental)/Scripts/PhysicsInteractable.cs

@@ -1,3 +1,4 @@
+using System;
 using System.Collections.Generic;
 using System.Threading.Tasks;
 using UnityEngine;
@@ -9,13 +10,15 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		[SerializeField]
 		private float forceMultiplier = 1.0f;
 
-		private readonly int MIN_POSE_SAMPLES = 2;
-		private readonly int MAX_POSE_SAMPLES = 10;
+		private const int MIN_POSE_SAMPLES = 2;
+		private const int MAX_POSE_SAMPLES = 10;
 		private readonly float MIN_VELOCITY = 0.5f;
 
 		private Rigidbody interactableRigidbody;
-		private List<Pose> movementPoses = new List<Pose>();
-		private List<float> timestamps = new List<float>();
+		private Pose[] movementPoses = new Pose[MAX_POSE_SAMPLES];
+		private float[] timestamps = new float[MAX_POSE_SAMPLES];
+		private int currentPoseIndex = 0;
+		private int poseCount = 0;
 		private bool isBegin = false;
 		private bool isEnd = false;
 		private object lockVel = new object();
@@ -36,7 +39,11 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 
 			if (isEnd)
 			{
+#if UNITY_6000_0_OR_NEWER
+				interactableRigidbody.linearVelocity = Vector3.zero;
+#else
 				interactableRigidbody.velocity = Vector3.zero;
+#endif
 				interactableRigidbody.angularVelocity = Vector3.zero;
 
 				Vector3 velocity = CalculateVelocity();
@@ -46,8 +53,10 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 				}
 				interactableRigidbody = null;
 
-				movementPoses.Clear();
-				timestamps.Clear();
+				Array.Clear(movementPoses, 0, MAX_POSE_SAMPLES);
+				Array.Clear(timestamps, 0, MAX_POSE_SAMPLES);
+				currentPoseIndex = 0;
+				poseCount = 0;
 				isEnd = false;
 			}
 		}
@@ -55,28 +64,29 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 		private void RecordMovement()
 		{
 			float time = Time.time;
-			if (movementPoses.Count == 0 ||
-				timestamps[movementPoses.Count - 1] != time)
-			{
-				movementPoses.Add(new Pose(interactableRigidbody.position, interactableRigidbody.rotation));
-				timestamps.Add(time);
-			}
 
-			if (movementPoses.Count > MAX_POSE_SAMPLES)
+			int lastIndex = (currentPoseIndex + poseCount - 1) % MAX_POSE_SAMPLES;
+			if (poseCount == 0 || timestamps[lastIndex] != time)
 			{
-				movementPoses.RemoveAt(0);
-				timestamps.RemoveAt(0);
+				movementPoses[currentPoseIndex] = new Pose(interactableRigidbody.position, interactableRigidbody.rotation);
+				timestamps[currentPoseIndex] = time;
+
+				if (poseCount < MAX_POSE_SAMPLES)
+				{
+					poseCount++;
+				}
+				currentPoseIndex = (currentPoseIndex + 1) % MAX_POSE_SAMPLES;
 			}
 		}
 
 		private Vector3 CalculateVelocity()
 		{
-			if (movementPoses.Count >= MIN_POSE_SAMPLES)
+			if (poseCount >= MIN_POSE_SAMPLES)
 			{
 				List<Vector3> velocities = new List<Vector3>();
-				for (int i = 0; i < movementPoses.Count - 1; i++)
+				for (int i = 0; i < poseCount - 1; i++)
 				{
-					for (int j = i + 1; j < movementPoses.Count; j++)
+					for (int j = i + 1; j < poseCount; j++)
 					{
 						velocities.Add(GetVelocity(i, j));
 					}
@@ -89,9 +99,9 @@ namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
 
 		private Vector3 GetVelocity(int idx1, int idx2)
 		{
-			if (idx1 < 0 || idx1 >= movementPoses.Count
-				|| idx2 < 0 || idx2 >= movementPoses.Count
-				|| movementPoses.Count < MIN_POSE_SAMPLES)
+			if (idx1 < 0 || idx1 >= poseCount
+				|| idx2 < 0 || idx2 >= poseCount
+				|| poseCount < MIN_POSE_SAMPLES)
 			{
 				return Vector3.zero;
 			}