/** Updates this hand model. */
public override void UpdateHand()
{
#if UNITY_EDITOR
if (!EditorApplication.isPlaying)
{
return;
}
#endif
float deadzone = DEAD_ZONE_FRACTION * _hand.Fingers[1].Bone((Bone.BoneType) 1).Width;
for (int fingerIndex = 0; fingerIndex < N_FINGERS; fingerIndex++)
{
for (int jointIndex = 0; jointIndex < N_ACTIVE_BONES; jointIndex++)
{
Bone bone = _hand.Fingers[fingerIndex].Bone((Bone.BoneType)(jointIndex + 1));
int boneArrayIndex = fingerIndex * N_ACTIVE_BONES + jointIndex;
InteractionBrushBone brushBone = _brushBones[boneArrayIndex];
Rigidbody body = brushBone.capsuleBody;
// This hack works best when we set a fixed rotation for bones. Otherwise
// most friction is lost as the bones roll on contact.
body.MoveRotation(bone.Rotation.ToQuaternion());
if (brushBone.updateTriggering() == false)
{
// Calculate how far off the mark the brushes are.
float targetingError = (brushBone.lastTarget - body.position).magnitude / bone.Width;
float massScale = Mathf.Clamp(1.0f - (targetingError * 2.0f), 0.1f, 1.0f);
body.mass = _perBoneMass * massScale;
if (targetingError >= DISLOCATION_FRACTION)
{
brushBone.startTriggering();
}
}
// Add a deadzone to avoid vibration.
Vector3 delta = bone.Center.ToVector3() - body.position;
float deltaLen = delta.magnitude;
if (deltaLen <= deadzone)
{
body.velocity = Vector3.zero;
brushBone.lastTarget = body.position;
}
else
{
delta *= (deltaLen - deadzone) / deltaLen;
body.velocity = delta / Time.fixedDeltaTime;
brushBone.lastTarget = body.position + delta;
}
}
}
}
private void UpdateBone(Bone bone, int boneArrayIndex, float deadzone)
{
InteractionBrushBone brushBone = _brushBones[boneArrayIndex];
Rigidbody body = brushBone.body;
// This hack works best when we set a fixed rotation for bones. Otherwise
// most friction is lost as the bones roll on contact.
body.MoveRotation(bone.Rotation.ToQuaternion());
// Calculate how far off the mark the brushes are.
float targetingError = Vector3.Distance(brushBone.lastTarget, body.position) / bone.Width;
float massScale = Mathf.Clamp(1.0f - (targetingError * 2.0f), 0.1f, 1.0f) * Mathf.Clamp(_hand.PalmVelocity.Magnitude * 10f, 1f, 10f);
body.mass = _perBoneMass * massScale * brushBone.massOfLastTouchedObject;
//If these conditions are met, stop using brush hands to contact objects and switch to "Soft Contact"
if (!_softContactEnabled && targetingError >= DISLOCATION_FRACTION && _hand.PalmVelocity.Magnitude < 1.5f && boneArrayIndex != N_ACTIVE_BONES * N_FINGERS)
{
enableSoftContact();
return;
}
// Add a deadzone to avoid vibration.
Vector3 delta = bone.Center.ToVector3() - body.position;
float deltaLen = delta.magnitude;
if (deltaLen <= deadzone)
{
body.velocity = Vector3.zero;
brushBone.lastTarget = body.position;
}
else
{
delta *= (deltaLen - deadzone) / deltaLen;
brushBone.lastTarget = body.position + delta;
delta /= Time.fixedDeltaTime;
body.velocity = (delta / delta.magnitude) * Mathf.Clamp(delta.magnitude, 0f, 6f);
}
}
private InteractionBrushBone BeginBone(Bone bone, GameObject brushGameObject, int boneArrayIndex, Collider collider_)
{
brushGameObject.layer = gameObject.layer;
brushGameObject.transform.localScale = Vector3.one;
InteractionBrushBone brushBone = brushGameObject.GetComponent <InteractionBrushBone>();
brushBone.col = collider_;
if (_manager != null)
{
brushBone.manager = _manager;
}
_brushBones[boneArrayIndex] = brushBone;
Transform capsuleTransform = brushGameObject.transform;
capsuleTransform.SetParent(_handParent.transform, false);
Rigidbody body = brushGameObject.GetComponent <Rigidbody>();
body.freezeRotation = true;
brushBone.body = body;
body.useGravity = false;
body.collisionDetectionMode = _collisionDetection;
if (collider_ is BoxCollider)
{
body.collisionDetectionMode = CollisionDetectionMode.ContinuousDynamic;
}
body.mass = _perBoneMass;
body.position = bone != null?bone.Center.ToVector3() : _hand.PalmPosition.ToVector3();
body.rotation = bone != null?bone.Rotation.ToQuaternion() : _hand.Rotation.ToQuaternion();
brushBone.lastTarget = bone != null?bone.Center.ToVector3() : _hand.PalmPosition.ToVector3();
return(brushBone);
}
/** Start using this hand model to represent a tracked hand. */
public override void BeginHand()
{
base.BeginHand();
if (handBegun)
{
for (int i = _brushBones.Length; i-- != 0;)
{
_brushBones[i].gameObject.SetActive(true);
_brushBones[i].transform.position = _hand.PalmPosition.ToVector3();
}
_handParent.SetActive(true);
enableSoftContact();
return;
}
#if UNITY_EDITOR
if (!EditorApplication.isPlaying)
{
return;
}
// We also require a material for friction to be able to work.
if (_material == null || _material.bounciness != 0.0f || _material.bounceCombine != PhysicMaterialCombine.Minimum)
{
Debug.LogError("An InteractionBrushHand must have a material with 0 bounciness and a bounceCombine of Minimum. Name: " + gameObject.name);
}
checkContactState();
#endif
_handParent = new GameObject(gameObject.name);
if (_manager != null)
{
_handParent.transform.parent = _manager.transform;
} // Prevent hand from moving when you turn your head.
#if UNITY_EDITOR
_handParent.AddComponent <RuntimeColliderGizmos>();
#endif
_brushBones = new InteractionBrushBone[N_FINGERS * N_ACTIVE_BONES + 1];
for (int fingerIndex = 0; fingerIndex < N_FINGERS; fingerIndex++)
{
for (int jointIndex = 0; jointIndex < N_ACTIVE_BONES; jointIndex++)
{
Bone bone = _hand.Fingers[fingerIndex].Bone((Bone.BoneType)(jointIndex) + 1); // +1 to skip first bone.
int boneArrayIndex = fingerIndex * N_ACTIVE_BONES + jointIndex;
GameObject brushGameObject = new GameObject(gameObject.name, typeof(CapsuleCollider), typeof(Rigidbody), typeof(InteractionBrushBone));
brushGameObject.transform.position = bone.Center.ToVector3();
brushGameObject.transform.rotation = bone.Rotation.ToQuaternion();
CapsuleCollider capsule = brushGameObject.GetComponent <CapsuleCollider>();
capsule.direction = 2;
capsule.radius = bone.Width * 0.5f;
capsule.height = bone.Length + bone.Width;
capsule.material = _material;
InteractionBrushBone brushBone = BeginBone(bone, brushGameObject, boneArrayIndex, capsule);
brushBone.lastTarget = bone.Center.ToVector3();
}
}
// Palm is attached to the third metacarpal and derived from it.
{
Bone bone = _hand.Fingers[(int)Finger.FingerType.TYPE_MIDDLE].Bone(Bone.BoneType.TYPE_METACARPAL);
int boneArrayIndex = N_FINGERS * N_ACTIVE_BONES;
GameObject brushGameObject = new GameObject(gameObject.name, typeof(BoxCollider), typeof(Rigidbody), typeof(InteractionBrushBone));
brushGameObject.transform.position = _hand.PalmPosition.ToVector3();
brushGameObject.transform.rotation = _hand.Rotation.ToQuaternion();
BoxCollider box = brushGameObject.GetComponent <BoxCollider>();
box.center = new Vector3(_hand.IsLeft ? -0.005f : 0.005f, bone.Width * -0.1f, -0.015f);
box.size = new Vector3(bone.Length, bone.Width, bone.Length);
box.material = _material;
BeginBone(null, brushGameObject, boneArrayIndex, box);
}
//Add joints between each of the hand's rigidbodies to ensure they do not separate
addHandJoints();
handBegun = true;
}
/** Start using this hand model to represent a tracked hand. */
public override void BeginHand()
{
base.BeginHand();
#if UNITY_EDITOR
if (!EditorApplication.isPlaying)
{
return;
}
// We also require a material for friction to be able to work.
if (_material == null || _material.bounciness != 0.0f || _material.bounceCombine != PhysicMaterialCombine.Minimum)
{
Debug.LogError("An InteractionBrushHand must have a material with 0 bounciness and a bounceCombine of Minimum. Name: " + gameObject.name);
}
checkContactState();
#endif
_handParent = new GameObject(gameObject.name);
_handParent.transform.parent = null; // Prevent hand from moving when you turn your head.
_brushBones = new InteractionBrushBone[N_FINGERS * N_ACTIVE_BONES];
for (int fingerIndex = 0; fingerIndex < N_FINGERS; fingerIndex++)
{
for (int jointIndex = 0; jointIndex < N_ACTIVE_BONES; jointIndex++)
{
Bone bone = _hand.Fingers[fingerIndex].Bone((Bone.BoneType)(jointIndex + 1)); // +1 to skip first bone.
int boneArrayIndex = fingerIndex * N_ACTIVE_BONES + jointIndex;
GameObject brushGameObject = new GameObject(gameObject.name, typeof(CapsuleCollider), typeof(Rigidbody), typeof(InteractionBrushBone));
brushGameObject.layer = gameObject.layer;
brushGameObject.transform.localScale = Vector3.one;
InteractionBrushBone brushBone = brushGameObject.GetComponent <InteractionBrushBone>();
brushBone.manager = _manager;
_brushBones[boneArrayIndex] = brushBone;
Transform capsuleTransform = brushGameObject.transform;
capsuleTransform.SetParent(_handParent.transform, false);
CapsuleCollider capsule = brushGameObject.GetComponent <CapsuleCollider>();
capsule.direction = 2;
capsule.radius = bone.Width * 0.5f;
capsule.height = bone.Length + bone.Width;
capsule.material = _material;
brushBone.capsuleCollider = capsule;
Rigidbody body = brushGameObject.GetComponent <Rigidbody>();
brushBone.capsuleBody = body;
body.position = bone.Center.ToVector3();
body.rotation = bone.Rotation.ToQuaternion();
body.freezeRotation = true;
body.useGravity = false;
body.mass = _perBoneMass;
body.collisionDetectionMode = _collisionDetection;
brushBone.lastTarget = bone.Center.ToVector3();
}
}
}
