251 lines
7.0 KiB
C#
251 lines
7.0 KiB
C#
// "Wave SDK
|
||
// © 2020 HTC Corporation. All Rights Reserved.
|
||
//
|
||
// Unless otherwise required by copyright law and practice,
|
||
// upon the execution of HTC SDK license agreement,
|
||
// HTC grants you access to and use of the Wave SDK(s).
|
||
// You shall fully comply with all of HTC’s SDK license agreement terms and
|
||
// conditions signed by you and all SDK and API requirements,
|
||
// specifications, and documentation provided by HTC to You."
|
||
|
||
using UnityEngine;
|
||
|
||
namespace VIVE.OpenXR.Toolkits.RealisticHandInteraction
|
||
{
|
||
/// <summary>
|
||
/// This class is designed to generate appropriately sized colliders for each joint.
|
||
/// </summary>
|
||
public class JointCollider : MonoBehaviour
|
||
{
|
||
public enum CollisionState
|
||
{
|
||
Enter = 0,
|
||
Stay = 1,
|
||
Exit = 2,
|
||
}
|
||
|
||
private CapsuleCollider m_Collider = null;
|
||
public Collider Collider => m_Collider;
|
||
|
||
public delegate void OnJointCollision(Collision collision, CollisionState state);
|
||
private OnJointCollision onJointCollision;
|
||
|
||
private const float k_ColliderRadius = 1E-6f;
|
||
private const float k_ColliderHeight = 1E-6f;
|
||
private JointType jointType = JointType.Count;
|
||
|
||
private void OnEnable()
|
||
{
|
||
InitCollider();
|
||
}
|
||
|
||
/// <summary>
|
||
/// Set the joint id and adjust collider size..
|
||
/// </summary>
|
||
/// <param name="id">JointType of joint.</param>
|
||
public void SetJointId(int id)
|
||
{
|
||
InitCollider();
|
||
|
||
jointType = (JointType)id;
|
||
switch (jointType)
|
||
{
|
||
case JointType.Palm:
|
||
m_Collider.center = new Vector3(0f, -0.006f, -0.0025f);
|
||
m_Collider.radius = 0.016f;
|
||
m_Collider.height = 0.075f;
|
||
m_Collider.direction = 0;
|
||
break;
|
||
case JointType.Wrist:
|
||
m_Collider.center = new Vector3(0f, -0.003f, 0f);
|
||
m_Collider.radius = 0.02f;
|
||
m_Collider.height = 0.055f;
|
||
m_Collider.direction = 0;
|
||
break;
|
||
case JointType.Thumb_Joint0:
|
||
m_Collider.center = new Vector3(0f, -0.005f, 0f);
|
||
m_Collider.radius = 0.02f;
|
||
m_Collider.height = 0.05f;
|
||
break;
|
||
case JointType.Thumb_Joint1:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.012f;
|
||
m_Collider.height = 0.040f;
|
||
break;
|
||
case JointType.Thumb_Joint2:
|
||
m_Collider.center = new Vector3(0f, -0.003f, 0f);
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Thumb_Tip:
|
||
m_Collider.center = new Vector3(0f, 0f, -0.005f);
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.025f;
|
||
break;
|
||
case JointType.Index_Joint0:
|
||
m_Collider.center = new Vector3(0f, 0f, 0.02f);
|
||
m_Collider.radius = 0.012f;
|
||
m_Collider.height = 0.1f;
|
||
break;
|
||
case JointType.Index_Joint1:
|
||
m_Collider.center = new Vector3(0f, 0f, 0.01f);
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.04f;
|
||
break;
|
||
case JointType.Index_Joint2:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Index_Joint3:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Index_Tip:
|
||
m_Collider.center = new Vector3(0f, -0.001f, -0.0025f);
|
||
m_Collider.radius = 0.008f;
|
||
m_Collider.height = 0.015f;
|
||
break;
|
||
case JointType.Middle_Joint0:
|
||
m_Collider.center = new Vector3(0f, 0f, 0.02f);
|
||
m_Collider.radius = 0.012f;
|
||
m_Collider.height = 0.1f;
|
||
break;
|
||
case JointType.Middle_Joint1:
|
||
m_Collider.center = new Vector3(0f, 0f, 0.01f);
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.04f;
|
||
break;
|
||
case JointType.Middle_Joint2:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Middle_Joint3:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Middle_Tip:
|
||
m_Collider.center = new Vector3(0f, -0.002f, -0.0025f);
|
||
m_Collider.radius = 0.008f;
|
||
m_Collider.height = 0.015f;
|
||
break;
|
||
case JointType.Ring_Joint0:
|
||
m_Collider.center = new Vector3(0f, 0f, 0.02f);
|
||
m_Collider.radius = 0.012f;
|
||
m_Collider.height = 0.1f;
|
||
break;
|
||
case JointType.Ring_Joint1:
|
||
m_Collider.center = new Vector3(0f, 0f, 0.01f);
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.04f;
|
||
break;
|
||
case JointType.Ring_Joint2:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Ring_Joint3:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Ring_Tip:
|
||
m_Collider.center = new Vector3(0f, -0.002f, -0.0025f);
|
||
m_Collider.radius = 0.008f;
|
||
m_Collider.height = 0.015f;
|
||
break;
|
||
case JointType.Pinky_Joint0:
|
||
m_Collider.center = new Vector3(0f, 0f, 0.02f);
|
||
m_Collider.radius = 0.012f;
|
||
m_Collider.height = 0.1f;
|
||
break;
|
||
case JointType.Pinky_Joint1:
|
||
m_Collider.center = new Vector3(0f, 0f, 0.01f);
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.04f;
|
||
break;
|
||
case JointType.Pinky_Joint2:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Pinky_Joint3:
|
||
m_Collider.center = Vector3.zero;
|
||
m_Collider.radius = 0.01f;
|
||
m_Collider.height = 0.01f;
|
||
break;
|
||
case JointType.Pinky_Tip:
|
||
m_Collider.center = new Vector3(0f, -0.002f, -0.0025f);
|
||
m_Collider.radius = 0.006f;
|
||
m_Collider.height = 0.015f;
|
||
break;
|
||
}
|
||
}
|
||
|
||
public Rigidbody InitRigidbody(float mass)
|
||
{
|
||
Rigidbody rigidbody = gameObject.AddComponent<Rigidbody>();
|
||
rigidbody.mass = mass;
|
||
rigidbody.useGravity = false;
|
||
rigidbody.interpolation = RigidbodyInterpolation.Interpolate;
|
||
rigidbody.collisionDetectionMode = CollisionDetectionMode.Continuous;
|
||
rigidbody.solverIterations = 100;
|
||
rigidbody.solverVelocityIterations = 15;
|
||
return rigidbody;
|
||
}
|
||
|
||
private void InitCollider()
|
||
{
|
||
if (m_Collider == null)
|
||
{
|
||
m_Collider = gameObject.AddComponent<CapsuleCollider>();
|
||
m_Collider.radius = k_ColliderRadius;
|
||
m_Collider.height = k_ColliderHeight;
|
||
m_Collider.direction = 2;
|
||
}
|
||
}
|
||
|
||
private void OnCollisionEnter(Collision collision)
|
||
{
|
||
if (!IsJointCollider(collision.collider))
|
||
{
|
||
onJointCollision?.Invoke(collision, CollisionState.Enter);
|
||
}
|
||
}
|
||
|
||
private void OnCollisionStay(Collision collision)
|
||
{
|
||
if (!IsJointCollider(collision.collider))
|
||
{
|
||
onJointCollision?.Invoke(collision, CollisionState.Stay);
|
||
}
|
||
}
|
||
|
||
private void OnCollisionExit(Collision collision)
|
||
{
|
||
if (!IsJointCollider(collision.collider))
|
||
{
|
||
onJointCollision?.Invoke(collision, CollisionState.Exit);
|
||
}
|
||
}
|
||
|
||
private bool IsJointCollider(Collider collider)
|
||
{
|
||
JointCollider jointCollider = collider.GetComponent<JointCollider>();
|
||
return jointCollider != null;
|
||
}
|
||
|
||
public void AddJointCollisionListener(OnJointCollision handler)
|
||
{
|
||
onJointCollision += handler;
|
||
}
|
||
|
||
public void RemoveJointCollisionListener(OnJointCollision handler)
|
||
{
|
||
onJointCollision -= handler;
|
||
}
|
||
}
|
||
} |