protected override float getRawValue()
{
float raw = 1.0f - _infoCalculator._discardCloseFingertipCurl;
DebugGraph.Log("Release Pose Raw", raw);
return(raw);
}
public static void ShowWindow()
{
DebugGraphWindow window = GetWindow <DebugGraphWindow>("Debug Graph");
DebugGraph.SetWindow(window);
window.previousWindowSize = new Vector2(window.position.width, window.position.height);
}
public static float getGrabHeuristic(Hand hand, GameObject obj)
{
float grabProbability = 0.0f;
//If palm is facing away from the object, no chance of grabbing
Vector3 palmNormal = handController.transform.TransformDirection(hand.PalmNormal.ToUnity());
Vector3 palmPos = handController.transform.TransformPoint(hand.PalmPosition.ToUnityScaled());
if (Vector3.Dot(palmNormal, obj.transform.position - palmPos) < 0)
{
return(0);
}
float proximityFactor = 0.0f;
foreach (Finger finger in hand.Fingers)
{
Vector3 point = handController.transform.TransformPoint(finger.JointPosition(Leap.Finger.FingerJoint.JOINT_TIP).ToUnityScaled());
Vector3 pointOn = ColliderUtil.closestPointOnSurfaces(obj, point);
float distance = Vector3.Distance(point, pointOn);
if (ColliderUtil.isInsideColliders(obj, point))
{
distance = 0.0f;
}
//if any finger is <releaseRadius> meters away, negative infinity, no way that hand is close enough
float thresh = Mathf.Clamp01(1.0f - distance / 0.15f);
proximityFactor += 2.0f - 1.0f / thresh;
}
proximityFactor /= hand.Fingers.Count;
//Debug.Log(proximityFactor);
grabProbability += proximityFactor;
//The more the hand is opening, the more grabbable
grabProbability += getHandClosingSpeed(hand) * 10.0f;
//If the hand is mostly open, the probability of a grab goes down
grabProbability -= Mathf.Pow(1.0f - getHandClosedPercent(hand), 4.0f);
if (hand.PalmVelocity.ToUnityScaled().sqrMagnitude > 0.09f)
{
grabProbability = 0.7f;
}
grabProbability = 0.7f + (grabProbability - 0.7f) / (hand.PalmVelocity.ToUnityScaled().sqrMagnitude * 3.0f + 1);
grabProbability = 0.7f + (grabProbability - 0.7f) / (getHandRotationAmount(hand) * 1 + 1.0f);
if (grabProbability > 0 && grabProbability < 10.0f)
{
DebugGraph.Log("Grabbing", grabProbability, grabProbability > 0.7f ? Color.green : Color.red);
}
return(grabProbability);
}
private void SquiggleTest(float step = 0.1f)
{
for (float t = 0; t <= 1f; t += step)
{
var lerp = (t - (t > 0.5 ? 1 : 0)); //Parabola
lerp = 4 * lerp * lerp;
DebugGraph.Log("Scale Function", lerp, Color.red, t);
DebugGraph.Log("Scale Complete", GetScale(t), Color.blue);
}
}
protected override IGraphConsole LoadGraph()
{
foreach (IGraphConsole console in DebugGraph.GetGraphEnumerator())
{
if (console.Name == GraphName)
{
return(console);
}
}
return(null);
}
public bool tryReleaseObject()
{
if (GrabbingInfo.shouldRelease(InteractionController.grabbingInfoSettings, _leapHand, _grabbedObject))
{
_lastTimeReleased = Time.time;
_isGrabbingObject = false;
disconnectAllBasisPoints();
disconnectAllFingerPoints();
DebugGraph.Write("Released");
return(true);
}
return(false);
}
protected override IGraphConsole LoadGraph()
{
IEnumerator <IGraphConsole> graphs = DebugGraph.GetGraphEnumerator();
while (graphs.MoveNext())
{
if (graphs.Current.Name == GraphName)
{
return(graphs.Current);
}
}
return(null);
}
public void UpdateOutgoing(bool host = false)
{
_log.Debug($"UpdateOutgoing() - Frame: {Time.frameCount} Seq: {_seq}\n");
// flow control
if (_transmissionRecords.Count >= 32)
{
_log.Debug("Skipped sending outgoing data. Max in un-ACKed transmissions reached");
return;
}
// fill in our reusable packet struct with the data for this sequence
_header.Seq = _seq;
_header.AckFlag = _remoteSeqAckFlag;
_log.Debug($"Generated Packet Seq: {_header.Seq}");
_log.Debug($"RemoteAckFlag: {_remoteSeqAckFlag}");
// Create a transmission record for the packet
PacketTransmissionRecord record = new PacketTransmissionRecord
{
Seq = _header.Seq,
AckFlag = _remoteSeqAckFlag
};
// Write the packet header to the stream
_header.Serialize(_netWriter);
// let each stream manager write until the packet is full
foreach (IPacketStreamWriter streamWriter in _streamWriters)
{
streamWriter.WriteToPacketStream(_netWriter);
}
// create output events
_transmissionRecords.Enqueue(record);
_packetSender.Send(_netWriter.Data, 0, _netWriter.Length);
_log.Debug($"Sent Bytes: {_netWriter.Length}");
#if SQUIGGLE
DebugGraph.Log("Sent Bytes", _netWriter.Length, Color.green);
#endif
_netWriter.Reset();
// Only increment our seq on successful send
// IE if waiting for acks then seq doesn't increase
_seq++;
}
public bool tryGrabObject()
{
foreach (GameObject closeObject in _closeObjects)
{
InteractionObject interactionObject = InteractionObject.getInteractionObject(closeObject);
if (GrabbingInfo.shouldGrab(InteractionController.grabbingInfoSettings, _leapHand, interactionObject))
{
_isGrabbingObject = true;
_grabbedObject = interactionObject;
_cachedRigidbody = _grabbedObject.rigidbody;
connectAllFingerPoints(_grabbedObject, InteractionPointConnectMethod.SURFACE);
connectBasisPoints(_grabbedObject);
DebugGraph.Write("Grabbed");
return(true);
}
}
return(false);
}
public void ensureUpdated(Hand newHand, bool isCurrentlyGrabbing)
{
if (newHand == _hand)
{
return;
}
_isCurrentlyGrabbing = isCurrentlyGrabbing;
deltaTime = Time.fixedDeltaTime;
_hand = newHand;
calculatePalmDistanceToSurface();
calculateFingerCurl();
calculateFingertipDistance();
float grabMax = 0.0f, releaseMax = 0.0f;
float grabSum = 0.0f, releaseSum = 0.0f;
foreach (IValueCalculator vc in _valueCalculators)
{
vc.updateValue();
float value = vc.getValue();
if (value > 0)
{
grabSum += value;
if (value > grabMax)
{
grabMax = value;
}
}
else
{
releaseSum += -value;
if (-value > releaseMax)
{
releaseMax = -value;
}
}
if (vc.getValueType() == ValueType.GRAB)
{
DebugGraph.Log(vc.ToString(), value, value >= 0.0f ? Color.green : Color.red);
}
else
{
DebugGraph.Log(vc.ToString(), -value, -value >= 0.0f ? Color.red : Color.green);
}
}
float grabWeighted = grabMax * grabSum / (grabSum + releaseSum);
float releaseWeighted = releaseMax * releaseSum / (grabSum + releaseSum);
_grabValue = Mathf.Clamp01(grabWeighted - releaseWeighted);
Color logColor = Color.blue;
if (_grabValue > _settings.releaseGrabThreshold.y)
{
logColor = Color.green;
}
if (_grabValue < _settings.releaseGrabThreshold.x)
{
logColor = Color.red;
}
DebugGraph.Log("GrabValue", _grabValue, logColor);
_lastUpdatedFrameId = _hand.Frame.Id;
}
protected override float getRawValue()
{
DebugGraph.Log("Palm To Surface Distance", _infoCalculator._palmToSurfaceDistance);
return(_infoCalculator._palmToSurfaceDistance / _settings.maxPalmDistance);
}
void Update()
{
BooleanValue = Mathf.Repeat(Time.time, 1.0f) > 0.5f;
FloatValue = Mathf.PingPong(Time.realtimeSinceStartup, 1.0f);
IntValue = Mathf.FloorToInt(FloatValue * 10.0f);
Vector2Value = GetComponent <Rigidbody2D>().velocity;
Vector3Value = transform.position;
ColorValue = Color.Lerp(DebugGraph.DefaultBlue, new Color(1.0f, 0.75f, 0.25f), Mathf.PingPong(Time.realtimeSinceStartup, 1.0f));
Color32Value = ColorValue;
StringValue = "Hello World! The Current Frame Number Is: " + Time.frameCount;
EnumValue = (ExampleEnum)(Time.frameCount % 3);
float sin = Mathf.Sin(Mathf.Repeat(Time.time, 6.28f));
float cos = Mathf.Cos(Mathf.Repeat(Time.time, 6.28f));
DebugGraph.Log("Color Gradient", ColorValue);
DebugGraph.Write("String", StringValue);
DebugGraph.Log("Vector3", Input.mousePosition);
DebugGraph.Log("Vector4", new Vector4(Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f), Random.Range(0.0f, 1.0f)));
transform.Rotate(Vector3.up, Time.deltaTime * 90.0f);
DebugGraph.Log("Quaternion", transform.rotation);
DebugGraph.Log("Rect", new Rect(0, 0, 100, 100));
DebugGraph.Draw(new Vector2(sin * Time.time, cos * Time.time));
DebugGraph.MultiLog("Related Variables", DebugGraph.DefaultRed, sin, "Sin");
DebugGraph.MultiLog("Related Variables", DebugGraph.DefaultGreen, cos, "Cos");
DebugGraph.Log(FloatValue); //Anonymous Float
//Anonymous Multi Float
DebugGraph.MultiLog(cos * 1.1f);
DebugGraph.MultiLog(cos * 1.2f);
DebugGraph.MultiLog(cos * 1.3f, "C"); //with Value names
DebugGraph.MultiLog(cos * 1.4f, "D");
DebugGraph.MultiLog(cos * 1.5f, "E");
//Anonymous Values in a Loop
for (int i = 0; i < 10; i++)
{
DebugGraph.MultiLog(DebugGraph.GetUniqueColor(i), sin * (1.0f + i * 0.1f), i.ToString());
}
DebugGraph.Log(Mathf.FloorToInt(sin * 10)); //Anonymous Integer
DebugGraph.Log(Mathf.RoundToInt(Mathf.PerlinNoise(Time.time, Time.time) * 1) > 0); //Anonymous Boolean
//Anonymous Multi Enum
DebugGraph.MultiLog(EnumValue);
DebugGraph.MultiLog((ExampleEnum2)(Mathf.PerlinNoise(Time.time, Time.time) * 3));
}
public void UpdateIncoming(bool host = false)
{
if (_dataReceivedEvents.Count == 0)
{
return;
}
_log.Debug($"UPDATE INCOMING - Frame: {Time.frameCount} Seq: {_seq}\n");
DebugGraph.Log("Packets Received", _dataReceivedEvents.Count);
try
{
// Process data received events
_log.Debug($"Received {_dataReceivedEvents.Count} packets");
for (int i = 0; i < _dataReceivedEvents.Count; i++)
{
// Get data reader from evt which contains the binary data for the packet
NetPacketReader reader = _dataReceivedEvents[i].DataReader;
// Deserialize packet (including header)
_header.Deserialize(reader);
_log.Debug($"Received Packet Sequence: {_header.Seq}");
_log.Debug($"Packet AckFlag: {_header.AckFlag}");
_log.Debug($"Local AckedFlag- before: {_remoteSeqAckFlag}");
if (_remoteSeqAckFlag.SeqCount == 0)
{
// No sequences in the flag so just initialize it with this sequence being ACKed
_remoteSeqAckFlag.InitWithAckedSequence(_header.Seq);
}
else if (SequenceHelper.SeqIsAheadButInsideWindow32(_remoteSeqAckFlag.EndSeq, _header.Seq))
{
_log.Debug($"Received sequence {_header.Seq} is ahead of the last sequence in our ack flag: {_remoteSeqAckFlag.EndSeq}");
// The seq is ahead of the range of our flag (ie a new seq) but we want to NACK any that
// sequences that are in between the last sequence we ACKed, and this sequence we are now receiving
// since they must have been dropped (or delivered out of order)
while (_remoteSeqAckFlag.EndSeq != (byte)(_header.Seq - 1))
{
_remoteSeqAckFlag.NackNextSequence();
_log.Debug($"NACKed sequence {_remoteSeqAckFlag.EndSeq}");
}
// Ack this sequence in our flag
_remoteSeqAckFlag.AckNextSequence();
}
else
{
// This packet was delivered out of order
// or is outside the expected window so don't process it further
_log.Debug($"{_header.Seq} - SKIPPED UNEXPECTED");
continue;
}
// Generate notifications based on ACKs received from the remote stream
if (_header.AckFlag.SeqCount > 0)
{
if (_seqLastNotified == -1)
{
_log.Debug("Initializing SeqLastNotified");
// This is the start of us notifying packets.. if any packets were sent but aren't
// included in this ack flag then they must have been dropped
while (_transmissionRecords.Peek().Seq != _header.AckFlag.StartSeq)
{
PacketTransmissionRecord record = _transmissionRecords.Dequeue();
_seqLastNotified = record.Seq;
_transmissionNotifications.Add(false);
_log.Debug($"Seq {record.Seq} was dropped");
}
// Notify based on sequences in flag
GenerateNotificationsFromAckFlagAndUpdateSeqLastNotified(_header.AckFlag);
}
else if (SequenceHelper.SeqIsAheadButInsideWindow32((byte)_seqLastNotified, _header.AckFlag.StartSeq))
{
// NACK all packets up until the start of this ACK flag because they must have been lost or delivered out of order
while (_seqLastNotified != (byte)(_header.AckFlag.StartSeq - 1))
{
_transmissionRecords.Dequeue();
_transmissionNotifications.Add(false);
_seqLastNotified = ++_seqLastNotified <= byte.MaxValue ? _seqLastNotified : 0;
_log.Debug($"Sequence: {_seqLastNotified} was dropped");
}
// Notify based on sequences in flag
GenerateNotificationsFromAckFlagAndUpdateSeqLastNotified(_header.AckFlag);
}
else if (SequenceHelper.SeqIsInsideRangeInclusive(_header.AckFlag.StartSeq, _header.AckFlag.EndSeq, (byte)_seqLastNotified))
{
_log.Debug($"{_seqLastNotified} is inside ack flag range");
// Drop sequences we have already notified
_header.AckFlag.DropStartSequenceUntilItEquals((byte)(_seqLastNotified + 1));
// Notify based on sequences remaining in flag
GenerateNotificationsFromAckFlagAndUpdateSeqLastNotified(_header.AckFlag);
}
}
_log.Debug("Finished generating notifications");
// Give stream to each system to processors in the order they were added
foreach (IPacketStreamReader streamProcessor in _streamProcessors)
{
streamProcessor.ReadPacketStream(reader);
}
}
_log.Debug($"SeqLastNotified - After: {_seqLastNotified}");
_log.Debug($"Generated {_transmissionNotifications.Count} transmission notifications");
_log.Debug($"There are now { _transmissionRecords.Count} remaining transmission records in the queue");
// Give notifications to any stream writers that are interested in whether or not their transmissions made it
foreach (IPacketTransmissionNotificationReceiver notificationReceiver in _notificationReceivers)
{
notificationReceiver.ReceiveNotifications(_transmissionNotifications);
}
}
catch (Exception e)
{
_log.Debug(e.Message);
throw;
}
finally
{
_dataReceivedEvents.Clear();
_transmissionNotifications.Clear();
}
}
