public void FixedUpdateClassifierHandState()
{
using (new ProfilerSample("Update Classifier Hand State")) {
var hand = interactionHand.leapHand;
if (interactionHand.isTracked)
{
// Ensure that all scale dependent variables are properly set.
_scaledGrabParams.FINGERTIP_RADIUS = _defaultGrabParams.FINGERTIP_RADIUS
* interactionHand.manager.SimulationScale;
_scaledGrabParams.THUMBTIP_RADIUS = _defaultGrabParams.THUMBTIP_RADIUS
* interactionHand.manager.SimulationScale;
_scaledGrabParams.MAXIMUM_DISTANCE_FROM_HAND = _defaultGrabParams.MAXIMUM_DISTANCE_FROM_HAND
* interactionHand.manager.SimulationScale;
// Ensure layer mask is up-to-date.
_scaledGrabParams.LAYER_MASK = interactionHand.manager.GetInteractionLayerMask();
for (int i = 0; i < hand.Fingers.Count; i++)
{
_fingerTipPositions[i] = hand.Fingers[i].TipPosition.ToVector3();
}
GrabClassifierHeuristics.UpdateAllProbeColliders(_fingerTipPositions, ref _collidingCandidates, ref _numberOfColliders, _scaledGrabParams);
}
}
}
public void UpdateBehaviour(IInteractionBehaviour behaviour, Hand _hand)
{
using (new ProfilerSample("Update Individual Classifier", behaviour.gameObject)) {
GrabClassifierHeuristics.GrabClassifier classifier;
Dictionary <IInteractionBehaviour, GrabClassifierHeuristics.GrabClassifier> classifiers = (_hand.IsLeft ? leftGrabClassifiers : rightGrabClassifiers);
if (!classifiers.TryGetValue(behaviour, out classifier))
{
classifier = new GrabClassifierHeuristics.GrabClassifier(behaviour.gameObject);
classifiers.Add(behaviour, classifier);
}
//Do the actual grab classification logic
fillClassifier(_hand, ref classifier);
GrabClassifierHeuristics.UpdateClassifier(classifier, collidingCandidates, numberOfColliders, scaledGrabParams);
if (classifier.isGrabbing != classifier.prevGrabbing)
{
if (classifier.isGrabbing)
{
if (!_manager.TwoHandedGrasping)
{
_manager.ReleaseObject(behaviour);
}
_manager.GraspWithHand(_hand, behaviour);
}
else if (behaviour.IsBeingGraspedByHand(_hand.Id))
{
_manager.ReleaseHand(_hand.Id);
classifier.coolDownProgress = 0f;
}
}
classifier.prevGrabbing = classifier.isGrabbing;
}
}
public void FixedUpdateClassifierHandState(Transform headTransform = null)
{
using (new ProfilerSample("Update Classifier Hand State"))
{
var hand = interactionHand.leapHand;
if (interactionHand.isTracked)
{
// Ensure that all scale dependent variables are properly set.
_scaledGrabParams.FINGERTIP_RADIUS = _defaultGrabParams.FINGERTIP_RADIUS
* interactionHand.manager.SimulationScale;
_scaledGrabParams.THUMBTIP_RADIUS = _defaultGrabParams.THUMBTIP_RADIUS
* interactionHand.manager.SimulationScale;
_scaledGrabParams.MAXIMUM_DISTANCE_FROM_HAND = _defaultGrabParams.MAXIMUM_DISTANCE_FROM_HAND
* interactionHand.manager.SimulationScale;
// Ensure layer mask is up-to-date.
_scaledGrabParams.LAYER_MASK = interactionHand.manager.GetInteractionLayerMask();
/*if (headTransform != null) {
* //SERIOUS HACKS: Have the collider for the grab classifier stretch along the camera's projective axis
* //This will make it easier for users to grab far away objects (while being uncertain of their depth)
* for (int i = 0; i < hand.Fingers.Count; i++) {
* Vector3 fingerTipPosition = hand.Fingers[i].TipPosition.ToVector3();
* Vector3 stretchDirection = (fingerTipPosition - headTransform.position) * 0.1f;
* _fingerTipPositions[i] = fingerTipPosition + stretchDirection;
* _fingerKnucklePositions[i] = fingerTipPosition - stretchDirection;
* }
* } else {*/
for (int i = 0; i < hand.Fingers.Count; i++)
{
_fingerTipPositions[i] = hand.Fingers[i].TipPosition.ToVector3();
_fingerKnucklePositions[i] = hand.Fingers[i].Bone(Bone.BoneType.TYPE_METACARPAL).NextJoint.ToVector3();
}
// }
GrabClassifierHeuristics.UpdateAllProbeColliders(_fingerTipPositions, _fingerKnucklePositions, ref _collidingCandidates, ref _numberOfColliders, _scaledGrabParams);
}
}
}
/// <summary>
/// Returns true if the behaviour reflects the state-change (grasped or released) as specified by
/// the graspMode.
/// </summary>
private bool updateBehaviour(IInteractionBehaviour behaviour, Hand hand, GraspUpdateMode graspMode, bool ignoreTemporal = false)
{
using (new ProfilerSample("Update Individual Grab Classifier", behaviour.gameObject))
{
// Ensure a classifier exists for this Interaction Behaviour.
GrabClassifierHeuristics.GrabClassifier classifier;
if (!_classifiers.TryGetValue(behaviour, out classifier))
{
classifier = new GrabClassifierHeuristics.GrabClassifier(behaviour.gameObject);
_classifiers.Add(behaviour, classifier);
}
// Do the actual grab classification logic.
FillClassifier(behaviour, hand, ref classifier);
GrabClassifierHeuristics.UpdateClassifier(classifier, _scaledGrabParams,
ref _collidingCandidates,
ref _numberOfColliders,
ignoreTemporal);
// Determine whether there was a state change.
bool didStateChange = false;
if (!classifier.prevThisControllerGrabbing && classifier.isThisControllerGrabbing &&
graspMode == GraspUpdateMode.BeginGrasp)
{
didStateChange = true;
classifier.prevThisControllerGrabbing = classifier.isThisControllerGrabbing;
}
else if (classifier.prevThisControllerGrabbing && !classifier.isThisControllerGrabbing &&
interactionHand.graspedObject == behaviour && graspMode == GraspUpdateMode.ReleaseGrasp)
{
didStateChange = true;
classifier.coolDownProgress = 0f;
classifier.prevThisControllerGrabbing = classifier.isThisControllerGrabbing;
}
return(didStateChange);
}
}
//Classifier bookkeeping
public void UpdateHeuristicClassifier(Hand hand)
{
if (hand != null)
{
//Ensure that all scale dependent variables are properly set
scaledGrabParams.FINGERTIP_RADIUS = defaultGrabParams.FINGERTIP_RADIUS * _manager.SimulationScale;
scaledGrabParams.THUMBTIP_RADIUS = defaultGrabParams.THUMBTIP_RADIUS * _manager.SimulationScale;
scaledGrabParams.MAXIMUM_DISTANCE_FROM_HAND = defaultGrabParams.MAXIMUM_DISTANCE_FROM_HAND * _manager.SimulationScale;
//Ensure that the temporally variant variables are updated
//scaledGrabParams.LAYER_MASK = 1<<_manager.InteractionLayer;
for (int i = 0; i < hand.Fingers.Count; i++)
{
fingerTipPositions[i] = hand.Fingers[i].TipPosition.ToVector3();
}
using (new ProfilerSample("Update All Grab Classifiers", _manager)) {
GrabClassifierHeuristics.UpdateAllProbeColliders(fingerTipPositions, ref collidingCandidates, ref numberOfColliders, scaledGrabParams);
//First check if already holding an object and only process that one
var graspedBehaviours = _manager.GraspedObjects;
for (int i = 0; i < graspedBehaviours.Count; i++)
{
if (graspedBehaviours[i].IsBeingGraspedByHand(hand.Id))
{
UpdateBehaviour(graspedBehaviours[i], hand);
return;
}
}
//If not, process all objects
var activeBehaviours = _manager._activityManager.ActiveBehaviours;
for (int i = 0; i < activeBehaviours.Count; i++)
{
UpdateBehaviour(activeBehaviours[i], hand);
}
}
}
}
