395 lines
12 KiB
C#
395 lines
12 KiB
C#
// "Wave SDK
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// © 2020 HTC Corporation. All Rights Reserved.
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//
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// Unless otherwise required by copyright law and practice,
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// upon the execution of HTC SDK license agreement,
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// HTC grants you access to and use of the Wave SDK(s).
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// You shall fully comply with all of HTC’s SDK license agreement terms and
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// conditions signed by you and all SDK and API requirements,
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// specifications, and documentation provided by HTC to You."
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using UnityEditor;
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using UnityEngine;
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using UnityEngine.InputSystem;
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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 edit grab gestures.
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/// </summary>
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[RequireComponent(typeof(HandMeshManager))]
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public class CustomGrabPose : MonoBehaviour
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{
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#if UNITY_EDITOR
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#region Log
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const string LOG_TAG = "Wave.Essence.Hand.Interaction.CustomGrabPose";
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private StringBuilder m_sb = null;
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internal StringBuilder sb
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{
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get
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{
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if (m_sb == null) { m_sb = new StringBuilder(); }
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return m_sb;
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}
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}
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private void DEBUG(StringBuilder msg) { Debug.Log($"{LOG_TAG}, {msg}"); }
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private void WARNING(StringBuilder msg) { Debug.LogWarning($"{LOG_TAG}, {msg}"); }
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private void ERROR(StringBuilder msg) { Debug.LogError($"{LOG_TAG}, {msg}"); }
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int logFrame = 0;
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bool printIntervalLog => logFrame == 0;
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#endregion
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/// <summary>
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/// This structure is designed to record the rotation values of each joint at different bend angles.
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/// </summary>
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private struct JointBendingRotation
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{
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public FingerId fingerId;
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public string jointPath;
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public int bending;
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public Quaternion rotation;
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public JointBendingRotation(FingerId in_FingerId, string in_JointPath, int in_Bending, Quaternion in_Rotation)
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{
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fingerId = in_FingerId;
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jointPath = in_JointPath;
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bending = in_Bending;
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rotation = in_Rotation;
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}
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public JointBendingRotation Identity => new JointBendingRotation(FingerId.Invalid, "", -1, Quaternion.identity);
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}
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[SerializeField]
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private AnimationClip animationClip;
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[SerializeField]
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[Range(1, 30)]
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private int thumbBending = 1;
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[SerializeField]
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[Range(1, 30)]
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private int indexBending = 1;
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[SerializeField]
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[Range(1, 30)]
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private int middleBending = 1;
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[SerializeField]
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[Range(1, 30)]
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private int ringBending = 1;
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[SerializeField]
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[Range(1, 30)]
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private int pinkyBending = 1;
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private HandMeshManager m_HandMesh;
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private Dictionary<FingerId, int> fingersBendingMapping = new Dictionary<FingerId, int>()
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{
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{FingerId.Thumb, 1 },
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{FingerId.Index, 1 },
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{FingerId.Middle, 1 },
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{FingerId.Ring, 1 },
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{FingerId.Pinky, 1 },
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};
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private static readonly Dictionary<string, FingerId> jointsPathMapping = new Dictionary<string, FingerId>()
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{
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{"WaveBone_0", FingerId.Invalid },
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{"WaveBone_1", FingerId.Invalid },
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{"WaveBone_2", FingerId.Thumb },
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{"WaveBone_2/WaveBone_3", FingerId.Thumb },
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{"WaveBone_2/WaveBone_3/WaveBone_4", FingerId.Thumb },
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{"WaveBone_2/WaveBone_3/WaveBone_4/WaveBone_5", FingerId.Thumb },
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{"WaveBone_6", FingerId.Index },
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{"WaveBone_6/WaveBone_7", FingerId.Index },
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{"WaveBone_6/WaveBone_7/WaveBone_8", FingerId.Index },
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{"WaveBone_6/WaveBone_7/WaveBone_8/WaveBone_9", FingerId.Index },
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{"WaveBone_6/WaveBone_7/WaveBone_8/WaveBone_9/WaveBone_10", FingerId.Index },
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{"WaveBone_11", FingerId.Middle },
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{"WaveBone_11/WaveBone_12", FingerId.Middle },
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{"WaveBone_11/WaveBone_12/WaveBone_13", FingerId.Middle },
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{"WaveBone_11/WaveBone_12/WaveBone_13/WaveBone_14", FingerId.Middle },
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{"WaveBone_11/WaveBone_12/WaveBone_13/WaveBone_14/WaveBone_15", FingerId.Middle },
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{"WaveBone_16", FingerId.Ring },
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{"WaveBone_16/WaveBone_17", FingerId.Ring },
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{"WaveBone_16/WaveBone_17/WaveBone_18", FingerId.Ring },
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{"WaveBone_16/WaveBone_17/WaveBone_18/WaveBone_19", FingerId.Ring },
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{"WaveBone_16/WaveBone_17/WaveBone_18/WaveBone_19/WaveBone_20", FingerId.Ring },
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{"WaveBone_21", FingerId.Pinky },
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{"WaveBone_21/WaveBone_22", FingerId.Pinky },
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{"WaveBone_21/WaveBone_22/WaveBone_23", FingerId.Pinky },
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{"WaveBone_21/WaveBone_22/WaveBone_23/WaveBone_24", FingerId.Pinky },
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{"WaveBone_21/WaveBone_22/WaveBone_23/WaveBone_24/WaveBone_25", FingerId.Pinky },
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};
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private List<JointBendingRotation> jointsBending = new List<JointBendingRotation>();
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private readonly float k_GrabDistance = 0.1f;
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private HandGrabInteractable candidate = null;
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private Pose wristPose = Pose.identity;
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private Quaternion[] fingerJointRotation = new Quaternion[jointsPathMapping.Count];
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private bool isNewInputSystem = false;
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#region MonoBehaviours
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private void OnEnable()
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{
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m_HandMesh = transform.GetComponent<HandMeshManager>();
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if (m_HandMesh == null)
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{
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sb.Clear().Append("Failed to find HandMeshRenderer.");
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ERROR(sb);
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}
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if (animationClip != null)
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{
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EditorCurveBinding[] curveBindings = AnimationUtility.GetCurveBindings(animationClip);
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foreach (string propertyName in jointsPathMapping.Keys)
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{
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SetEachFrameRotation(curveBindings, propertyName);
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}
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}
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else
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{
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sb.Clear().Append("Failed to find hand grab animation. The hand model will not change when you change bend angles of finger.");
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sb.Append("However, you still can record grab pose if you use direct preview mode.");
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WARNING(sb);
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}
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isNewInputSystem = Keyboard.current != null;
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}
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private void OnDisable()
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{
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jointsBending.Clear();
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}
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private void Update()
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{
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if (IsFingerBendingUpdated())
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{
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for (int i = 0; i < fingerJointRotation.Length; i++)
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{
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var jointInfo = jointsPathMapping.ElementAt(i);
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string jointPath = jointInfo.Key;
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FingerId fingerId = jointInfo.Value;
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int bending = -1;
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if (fingersBendingMapping.ContainsKey(fingerId))
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{
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bending = fingersBendingMapping[fingerId] - 1;
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}
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if (jointsBending.Count(x => x.fingerId == fingerId && x.jointPath == jointPath && x.bending == bending) > 0)
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{
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JointBendingRotation jointRotation = jointsBending.FirstOrDefault(x => x.fingerId == fingerId && x.jointPath == jointPath && x.bending == bending);
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fingerJointRotation[i] = jointRotation.rotation;
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}
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else
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{
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fingerJointRotation[i] = Quaternion.identity;
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}
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}
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if (m_HandMesh != null)
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{
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for (int i = 0; i < fingerJointRotation.Length; i++)
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{
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JointType joint = (JointType)i;
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m_HandMesh.GetJointPositionAndRotation(joint, out Vector3 jointPosition, out _, local: true);
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m_HandMesh.SetJointPositionAndRotation(joint, jointPosition, fingerJointRotation[i], local: true);
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}
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}
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}
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if (IsEnterPressed())
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{
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FindNearInteractable();
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SavePoseWithCandidate();
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}
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}
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#endregion
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/// <summary>
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/// Reads the rotation of each joint frame by frame and records it.
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/// </summary>
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/// <param name="curveBindings">All the float curve bindings currently stored in the clip.</param>
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/// <param name="jointPath">The path of the joint.</param>
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private void SetEachFrameRotation(EditorCurveBinding[] curveBindings, string jointPath)
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{
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const int propertyCount = 4;
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const int animeCount = 30;
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const float animeFPS = 60.0f;
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List<EditorCurveBinding> matchCurve = new List<EditorCurveBinding>();
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foreach (EditorCurveBinding binding in curveBindings)
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{
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if (binding.path.Equals(jointPath))
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{
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matchCurve.Add(binding);
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}
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if (matchCurve.Count == propertyCount)
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{
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break;
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}
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}
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if (matchCurve.Count == propertyCount)
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{
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for (int i = 0; i < animeCount; i++)
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{
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Quaternion rotation = Quaternion.identity;
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foreach (var curveBinding in matchCurve)
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{
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AnimationCurve curve = AnimationUtility.GetEditorCurve(animationClip, curveBinding);
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switch (curveBinding.propertyName)
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{
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case "m_LocalRotation.x":
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rotation.x = curve.Evaluate(i / animeFPS);
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break;
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case "m_LocalRotation.y":
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rotation.y = curve.Evaluate(i / animeFPS);
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break;
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case "m_LocalRotation.z":
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rotation.z = curve.Evaluate(i / animeFPS);
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break;
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case "m_LocalRotation.w":
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rotation.w = curve.Evaluate(i / animeFPS);
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break;
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}
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}
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jointsBending.Add(new JointBendingRotation(jointsPathMapping[jointPath], jointPath, i, rotation));
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}
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}
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}
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/// <summary>
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/// Checks if the current finger bend angle has changed.
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/// </summary>
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/// <returns>True if the bend angle has changed; otherwise, false.</returns>
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private bool IsFingerBendingUpdated()
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{
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bool updated = false;
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if (fingersBendingMapping[FingerId.Thumb] != thumbBending)
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{
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fingersBendingMapping[FingerId.Thumb] = thumbBending;
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updated = true;
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}
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if (fingersBendingMapping[FingerId.Index] != indexBending)
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{
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fingersBendingMapping[FingerId.Index] = indexBending;
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updated = true;
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}
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if (fingersBendingMapping[FingerId.Middle] != middleBending)
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{
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fingersBendingMapping[FingerId.Middle] = middleBending;
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updated = true;
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}
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if (fingersBendingMapping[FingerId.Ring] != ringBending)
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{
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fingersBendingMapping[FingerId.Ring] = ringBending;
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updated = true;
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}
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if (fingersBendingMapping[FingerId.Pinky] != pinkyBending)
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{
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fingersBendingMapping[FingerId.Pinky] = pinkyBending;
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updated = true;
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}
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return updated;
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}
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/// <summary>
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/// Update hand pose from HandMeshRenderer.
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/// </summary>
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/// <returns>Return true if updating hand pose from HandMeshRenderer; otherwise.</returns>
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private bool UpdateHandPose()
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{
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bool updated = false;
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if (m_HandMesh != null)
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{
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for (int i = 0; i < fingerJointRotation.Length; i++)
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{
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if (i == (int)JointType.Wrist)
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{
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m_HandMesh.GetJointPositionAndRotation(JointType.Wrist, out wristPose.position, out wristPose.rotation);
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}
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m_HandMesh.GetJointPositionAndRotation((JointType)i, out _, out fingerJointRotation[i], local: true);
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}
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updated = true;
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}
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if (!updated)
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{
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sb.Clear().Append("Failed to update hand pose.");
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DEBUG(sb);
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}
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return updated;
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}
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private bool IsEnterPressed()
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{
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if (isNewInputSystem)
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{
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return (Keyboard.current.enterKey?.wasPressedThisFrame ?? false) ||
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(Keyboard.current.numpadEnterKey?.wasPressedThisFrame ?? false);
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}
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else
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{
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return Input.GetKeyDown(KeyCode.Return) || Input.GetKeyDown(KeyCode.KeypadEnter);
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}
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}
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/// <summary>
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/// Finds the nearest interactable object to the hand.
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/// </summary>
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public void FindNearInteractable()
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{
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if (!UpdateHandPose()) { return; }
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candidate = null;
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float maxScore = 0;
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foreach (HandGrabInteractable interactable in GrabManager.handGrabbables)
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{
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float distanceScore = interactable.CalculateDistanceScore(wristPose.position, k_GrabDistance);
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if (distanceScore > maxScore)
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{
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maxScore = distanceScore;
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candidate = interactable;
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}
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}
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if (candidate == null)
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{
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sb.Clear().Append("Unable to find a suitable candidate.");
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WARNING(sb);
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}
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}
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/// <summary>
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/// Save the position and rotation offset with the candidate.
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/// </summary>
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public void SavePoseWithCandidate()
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{
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if (!UpdateHandPose() || candidate == null) { return; }
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Quaternion[] clone = new Quaternion[fingerJointRotation.Length];
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Array.Copy(fingerJointRotation, clone, fingerJointRotation.Length);
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GrabPose grabPose = GrabPose.Identity;
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grabPose.Update($"Grab Pose {candidate.grabPoses.Count + 1}", clone, m_HandMesh.isLeft);
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grabPose.grabOffset = new GrabOffset(wristPose.position, wristPose.rotation, candidate.transform.position, candidate.transform.rotation);
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if (!candidate.grabPoses.Contains(grabPose))
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{
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candidate.grabPoses.Add(grabPose);
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}
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GrabbablePoseRecorder.SaveChanges();
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sb.Clear().Append("Save grab pose successfully.");
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DEBUG(sb);
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}
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#endif
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}
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}
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