void MatchBones(Transform steamVRBone, Transform leapBone, BoneBasis basis,
Quaternion leapOrientation, int depth = 0)
{
if (depth == 0)
{
leapBone.transform.position = steamVRBone.transform.position;
}
else
{
controllerHand.SetTransformWithConstraint(leapBone, steamVRBone.transform.position, GlobalRotationFromBasis(steamVRBone, basis) * leapOrientation);
}
if (steamVRBone.childCount == leapBone.childCount)
{
if (steamVRBone.childCount == 1)
{
MatchBones(steamVRBone.GetChild(0), leapBone.GetChild(0), basis, leapOrientation, depth + 1);
}
}
else
{
Debug.LogError("Mismatch between steamVR and leap child count. Steam Bone:" + steamVRBone + " leap bone: " + leapBone);
Debug.Break();
}
}
void MatchBone(Transform oculusBone, Transform leapBone, BoneBasis basis,
Quaternion leapOrientation)
{
controllerHand.SetTransformWithConstraint(leapBone,
oculusBone.transform.position,
GlobalRotationFromBasis(oculusBone, basis) * leapOrientation);
}
private void DrawBones(Transform parent, BoneBasis basis)
{
DrawBasis(parent, basis);
for (int i = 0; i < parent.childCount; i++)
{
Gizmos.color = Color.white;
Gizmos.DrawLine(parent.transform.position,
parent.GetChild(i).position);
DrawBones(parent.GetChild(i), basis);
}
}
protected override void Awake()
{
base.Awake();
hand = controllerTransform.GetComponentInChildren <OVRHand>();
skeleton = hand.GetComponent <OVRSkeleton>();
GetControllerHashes();
fingerBasis = new BoneBasis()
{
Forward = fingerForward, Up = fingerUp
};
}
protected void DrawBasis(Transform bone, BoneBasis basis)
{
Quaternion rotation = GlobalRotationFromBasis(bone, basis);
Vector3 up, forward, right;
up = rotation * Vector3.up;
forward = rotation * Vector3.forward;
right = rotation * Vector3.right;
Gizmos.color = Color.yellow;
Gizmos.DrawLine(bone.position, bone.position + (up * 0.025f));
Gizmos.color = Color.red;
Gizmos.DrawLine(bone.position, bone.position + (right * 0.025f));
Gizmos.color = Color.blue;
Gizmos.DrawLine(bone.position, bone.position + (forward * 0.025f));
}
private void DrawPalm(Transform bone, BoneBasis basis)
{
DrawBasis(bone, basis);
Quaternion rotation = Quaternion.LookRotation(bone.transform.TransformDirection(basis.Forward),
basis.Up);
Vector3 up, forward, right;
up = rotation * Vector3.up;
forward = rotation * Vector3.forward;
right = rotation * Vector3.right;
Vector3 palmPosition = wrist.TransformPoint(palmOffset);
Gizmos.color = Color.black;
Gizmos.DrawLine(palmPosition, palmPosition + forward * 0.04f);
}
protected Quaternion GlobalRotationFromBasis(Transform bone, BoneBasis basis)
{
return(Quaternion.LookRotation(bone.TransformDirection(basis.Forward),
bone.TransformDirection(basis.Up)));
}
void DoSkeletalTracking()
{
// do any pre-flight checks here
// confidence maybe?
if (true)
{
handAnimator.enabled = true;
BoneBasis basis = new BoneBasis()
{
Forward = fingerForward, Up = fingerUp
};
// do our wrist pose
OVRBone wristBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_WristRoot];
Vector3 wristPos = wristBone.Transform.position;
Quaternion wristboneOrientation = controllerHand.GetLocalBasis();
/*controllerHand.Wrist.SetPositionAndRotation(wristBone.Transform.position,
* GlobalRotationFromBasis(wristBone.Transform, basis) * wristboneOrientation);*/
controllerHand.Wrist.rotation = GlobalRotationFromBasis(wristBone.Transform, basis) * wristboneOrientation;
// do our fingers. Skip metacarpals, Oculus does not provide them.
// we could possibly compute the missing bone rotation, if needed.
// do the index bones
OVRBone indexProximalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Index1];
OVRBone indexMedialBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Index2];
OVRBone indexDistalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Index3];
Transform indexProximal = controllerHand.IndexMetacarpal.GetChild(0);
Transform indexMedial = indexProximal.GetChild(0);
Transform indexDistal = indexMedial.GetChild(0);
MatchBone(indexProximalBone.Transform, indexProximal, basis, wristboneOrientation);
MatchBone(indexMedialBone.Transform, indexMedial, basis, wristboneOrientation);
MatchBone(indexDistalBone.Transform, indexDistal, basis, wristboneOrientation);
// do the middle bones
OVRBone middleProximalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Middle1];
OVRBone middleMedialBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Middle2];
OVRBone middleDistalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Middle3];
Transform middleProximal = controllerHand.MiddleMetacarpal.GetChild(0);
Transform middleMedial = middleProximal.GetChild(0);
Transform middleDistal = middleMedial.GetChild(0);
MatchBone(middleProximalBone.Transform, middleProximal, basis, wristboneOrientation);
MatchBone(middleMedialBone.Transform, middleMedial, basis, wristboneOrientation);
MatchBone(middleDistalBone.Transform, middleDistal, basis, wristboneOrientation);
// do the ring bones
OVRBone ringProximalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Ring1];
OVRBone ringMedialBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Ring2];
OVRBone ringDistalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Ring3];
Transform ringProximal = controllerHand.RingMetacarpal.GetChild(0);
Transform ringMedial = ringProximal.GetChild(0);
Transform ringDistal = ringMedial.GetChild(0);
MatchBone(ringProximalBone.Transform, ringProximal, basis, wristboneOrientation);
MatchBone(ringMedialBone.Transform, ringMedial, basis, wristboneOrientation);
MatchBone(ringDistalBone.Transform, ringDistal, basis, wristboneOrientation);
// do the pinky bones
OVRBone pinkyMetacarpalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Pinky0];
OVRBone pinkyProximalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Pinky1];
OVRBone pinkyMedialBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Pinky2];
OVRBone pinkyDistalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Pinky2];
Transform pinkyMetacarpal = controllerHand.PinkyMetacarpal;
Transform pinkyPromial = pinkyMetacarpal.GetChild(0);
Transform pinkyMedial = pinkyPromial.GetChild(0);
Transform pinkyDistal = pinkyMedial.GetChild(0);
MatchBone(pinkyMetacarpalBone.Transform, pinkyMetacarpal, basis, wristboneOrientation);
MatchBone(pinkyProximalBone.Transform, pinkyPromial, basis, wristboneOrientation);
MatchBone(pinkyMedialBone.Transform, pinkyMedial, basis, wristboneOrientation);
MatchBone(pinkyDistalBone.Transform, pinkyDistal, basis, wristboneOrientation);
// do the thumb bones
OVRBone thumbRootBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Thumb0];
OVRBone thumbMetacarpalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Thumb1];
OVRBone thumbProximalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Thumb2];
OVRBone thumbDistalBone = skeleton.Bones[(int)OVRSkeleton.BoneId.Hand_Thumb3];
Transform thumbMetacarpal = controllerHand.ThumbMetacarpal; // naming gets weird here, sorry.
Transform thumbProximal = thumbMetacarpal.GetChild(0);
Transform thumbDistal = thumbProximal.GetChild(0);
MatchBone(thumbMetacarpalBone.Transform, thumbMetacarpal, basis, wristboneOrientation);
MatchBone(thumbProximalBone.Transform, thumbProximal, basis, wristboneOrientation);
MatchBone(thumbDistalBone.Transform, thumbDistal, basis, wristboneOrientation);
}
}