/**
* Construct a controller instance given an InteractionBehavior object.
* @since 4.1.4
*/
public static T CreateInstance <T>(InteractionBehaviour obj) where T : IControllerBase
{
T controller = CreateInstance <T>();
controller.Init(obj);
return(controller);
}
/** Initializes the controller based on the object settings. */
protected override void Init(InteractionBehaviour obj)
{
base.Init(obj);
_maxVelocitySqrd = _maxVelocity * _obj.Manager.SimulationScale;
_maxVelocitySqrd *= _maxVelocitySqrd;
}
private void OnValidate()
{
if (intObj == null)
{
intObj = GetComponent <InteractionBehaviour>();
}
}
private void Reset()
{
if (intObj == null)
{
intObj = GetComponent <InteractionBehaviour>();
}
}
protected override void Init(InteractionBehaviour obj)
{
base.Init(obj);
_handIdToPoints = new Dictionary <int, HandPointCollection>();
KabschC.Construct(ref _kabsch);
}
/// <summary>
/// Samples the current velocity and adds it to a rolling average.
/// </summary>
public void OnHold(InteractionBehaviour intObj,
ReadonlyList <InteractionController> controllers)
{
_velocityQueue.Enqueue(new VelocitySample(intObj.rigidbody.position,
intObj.rigidbody.rotation,
Time.fixedTime));
while (true)
{
VelocitySample oldestVelocity = _velocityQueue.Peek();
// Dequeue conservatively if the oldest velocity is more than 4 frames later
// than the start of the window.
if (oldestVelocity.time + (Time.fixedDeltaTime * 4) < Time.fixedTime
- _windowLength
- _windowDelay)
{
_velocityQueue.Dequeue();
}
else
{
break;
}
}
}
public KabschGraspedPose(InteractionBehaviour interactionObj)
{
_intObj = interactionObj;
_kabsch = new KabschSolver();
_points = new List <Vector3>(20); _refPoints = new List <Vector3>(20);
_controllerToPoints = new Dictionary <InteractionController, PosePointCollection>();
}
protected override void Init(InteractionBehaviour obj)
{
base.Init(obj);
_handIdToPoints = new Dictionary <int, HandPointCollection>();
_kabsch = new KabschSolver();
points = new List <Vector3>(20); refPoints = new List <Vector3>(20);
}
/// <summary>
/// Transfers the averaged velocity to the released object.
/// </summary>
public void OnThrow(InteractionBehaviour intObj, InteractionController throwingController)
{
if (_velocityQueue.Count < 2)
{
intObj.rigidbody.velocity = Vector3.zero;
intObj.rigidbody.angularVelocity = Vector3.zero;
return;
}
float windowEnd = Time.fixedTime - _windowDelay;
float windowStart = windowEnd - _windowLength;
// 0 occurs before 1,
// start occurs before end.
VelocitySample start0, start1;
VelocitySample end0, end1;
VelocitySample s0, s1;
s0 = s1 = start0 = start1 = end0 = end1 = _velocityQueue.Dequeue();
while (_velocityQueue.Count != 0)
{
s0 = s1;
s1 = _velocityQueue.Dequeue();
if (s0.time < windowStart && s1.time >= windowStart)
{
start0 = s0;
start1 = s1;
}
if (s0.time < windowEnd && s1.time >= windowEnd)
{
end0 = s0;
end1 = s1;
// We have assigned both start and end and can break out of the loop.
_velocityQueue.Clear();
break;
}
}
VelocitySample start = VelocitySample.Interpolate(start0, start1, windowStart);
VelocitySample end = VelocitySample.Interpolate(end0, end1, windowEnd);
Vector3 interpolatedVelocity = PhysicsUtility.ToLinearVelocity(start.position,
end.position,
_windowLength);
intObj.rigidbody.velocity = interpolatedVelocity;
intObj.rigidbody.angularVelocity = PhysicsUtility.ToAngularVelocity(start.rotation,
end.rotation,
_windowLength);
intObj.rigidbody.velocity *= _velocityMultiplierCurve.Evaluate(intObj.rigidbody.velocity.magnitude);
}
public void MoveTo(Vector3 solvedPosition, Quaternion solvedRotation,
InteractionBehaviour interactionObj, bool justGrasped)
{
//interactionObj.rigidbody.MovePosition(solvedPosition);
//interactionObj.rigidbody.MoveRotation(solvedRotation);
interactionObj.rigidbody.transform.position = solvedPosition;
interactionObj.rigidbody.transform.rotation = solvedRotation;
interactionObj.rigidbody.position = solvedPosition;
interactionObj.rigidbody.rotation = solvedRotation;
}
public ControllerContainer(InteractionBehaviour obj, InteractionMaterial material)
{
_material = material;
_holdingPoseController = new DefinableController <IHoldingPoseController>(_material.CreateHoldingPoseController(obj));
_layerController = new DefinableController <ILayerController>(_material.CreateLayerController(obj));
_moveToController = new DefinableController <IMoveToController>(_material.CreateMoveToController(obj));
_suspensionController = new DefinableController <ISuspensionController>(_material.CreateSuspensionController(obj));
_throwingController = new DefinableController <IThrowingController>(_material.CreateThrowingController(obj));
}
public void MoveTo(Vector3 solvedPosition, Quaternion solvedRotation,
InteractionBehaviour interactionObj, bool justGrasped)
{
interactionObj.rigidbody.MovePosition(solvedPosition);
interactionObj.rigidbody.MoveRotation(solvedRotation);
// Store the target position and rotation to prevent slippage in SwapGrasp
// scenarios.
interactionObj.latestScheduledGraspPose = new Pose(solvedPosition, solvedRotation);
}
private void refreshInteractionBehaviour()
{
interactionBehaviour = GetComponent <InteractionBehaviour>();
_interactionBehaviourIsNull = interactionBehaviour == null;
detachWhenGrasped = !_interactionBehaviourIsNull;
if (_interactionBehaviourIsNull)
{
useTrajectory = false;
}
}
/**
* Construct a controller instance given an InteractionBehavior object and another instance
* to use as a template.
* @since 4.1.4
*/
public static T CreateInstance <T>(InteractionBehaviour obj, T template) where T : IControllerBase
{
if (template == null)
{
return(null);
}
T controller = Instantiate(template);
controller.Init(obj);
return(controller);
}
void Start()
{
_intObj = GetComponent <InteractionBehaviour>();
Renderer renderer = GetComponent <Renderer>();
if (renderer == null)
{
renderer = GetComponentInChildren <Renderer>();
}
if (renderer != null)
{
_material = renderer.material;
}
}
public void MoveTo(Vector3 solvedPosition, Quaternion solvedRotation,
InteractionBehaviour intObj, bool justGrasped)
{
Vector3 solvedCenterOfMass = solvedRotation * intObj.rigidbody.centerOfMass + solvedPosition;
Vector3 currCenterOfMass = intObj.rigidbody.rotation * intObj.rigidbody.centerOfMass + intObj.rigidbody.position;
Vector3 targetVelocity = PhysicsUtility.ToLinearVelocity(currCenterOfMass, solvedCenterOfMass, Time.fixedDeltaTime);
Vector3 targetAngularVelocity = PhysicsUtility.ToAngularVelocity(intObj.rigidbody.rotation, solvedRotation, Time.fixedDeltaTime);
// Clamp targetVelocity by _maxVelocity.
float maxScaledVelocity = _maxVelocity * intObj.manager.SimulationScale;
float targetSpeedSqrd = targetVelocity.sqrMagnitude;
if (targetSpeedSqrd > maxScaledVelocity * maxScaledVelocity)
{
float targetPercent = maxScaledVelocity / Mathf.Sqrt(targetSpeedSqrd);
targetVelocity *= targetPercent;
targetAngularVelocity *= targetPercent;
}
float followStrength = 1F;
if (!justGrasped)
{
float remainingDistanceLastFrame = Vector3.Distance(_lastSolvedCoMPosition, currCenterOfMass);
followStrength = _strengthByDistance.Evaluate(remainingDistanceLastFrame / intObj.manager.SimulationScale);
}
Vector3 lerpedVelocity = Vector3.Lerp(intObj.rigidbody.velocity, targetVelocity, followStrength);
Vector3 lerpedAngularVelocity = Vector3.Lerp(intObj.rigidbody.angularVelocity, targetAngularVelocity, followStrength);
intObj.rigidbody.velocity = lerpedVelocity;
intObj.rigidbody.angularVelocity = lerpedAngularVelocity;
_lastSolvedCoMPosition = solvedCenterOfMass;
// Store the target position and rotation to prevent slippage in SwapGrasp
// scenarios.
intObj.latestScheduledGraspPose = new Pose(solvedPosition, solvedRotation);
}
void Start()
{
interactionBehaviour = GetComponent <Leap.Unity.Interaction.InteractionBehaviour>();
// 悬停事件
interactionBehaviour.OnHoverBegin = () => {
Debug.Log("刚开始悬停...");
};
interactionBehaviour.OnHoverStay = () => {
//Debug.Log("悬停保持中...");
};
interactionBehaviour.OnHoverEnd = () => {
Debug.Log("悬停结束");
};
// 抓取事件
interactionBehaviour.OnGraspBegin = () => {
Debug.Log("抓取开始...");
};
interactionBehaviour.OnGraspStay = () => {
// Debug.Log("抓取保持...");
};
interactionBehaviour.OnGraspEnd = () => {
Debug.Log("抓取结束...");
};
// 触击事件
interactionBehaviour.OnContactBegin = () => {
Debug.Log("开始触击..");
};
interactionBehaviour.OnContactStay = () => {
// Debug.Log("保持触击..");
};
interactionBehaviour.OnContactEnd = () => {
Debug.Log("触击结束");
};
}
public void MoveTo(Vector3 solvedPosition, Quaternion solvedRotation,
InteractionBehaviour intObj, bool justGrasped)
{
Vector3 targetVelocity = PhysicsUtility.ToLinearVelocity(intObj.rigidbody.position, solvedPosition, Time.fixedDeltaTime);
Vector3 targetAngularVelocity = PhysicsUtility.ToAngularVelocity(intObj.rigidbody.rotation, solvedRotation, Time.fixedDeltaTime);
// Clamp by _maxVelocity.
float maxScaledVelocity = _maxVelocity * intObj.manager.SimulationScale;
float targetSpeedSqrd = targetVelocity.sqrMagnitude;
if (targetSpeedSqrd > maxScaledVelocity * maxScaledVelocity)
{
float targetPercent = maxScaledVelocity / Mathf.Sqrt(targetSpeedSqrd);
targetVelocity *= targetPercent;
targetAngularVelocity *= targetPercent;
}
_useLastSolvedPosition = !justGrasped;
float followStrength = 1F;
if (_useLastSolvedPosition)
{
float remainingDistanceLastFrame = Vector3.Distance(_lastSolvedPosition, intObj.rigidbody.position);
followStrength = _strengthByDistance.Evaluate(remainingDistanceLastFrame / intObj.manager.SimulationScale);
}
Vector3 lerpedVelocity = Vector3.Lerp(intObj.rigidbody.velocity, targetVelocity, followStrength);
Vector3 lerpedAngularVelocity = Vector3.Lerp(intObj.rigidbody.angularVelocity, targetAngularVelocity, followStrength);
Vector3 centerOfMassOffset = intObj.rigidbody.rotation * intObj.rigidbody.centerOfMass;
intObj.rigidbody.velocity = lerpedVelocity + Vector3.Cross(lerpedAngularVelocity, centerOfMassOffset);
intObj.rigidbody.angularVelocity = lerpedAngularVelocity;
_lastSolvedPosition = solvedPosition;
}
protected override void Init(InteractionBehaviour obj)
{
base.Init(obj);
_renderers = obj.GetComponentsInChildren <Renderer>();
}
/**
* Constructs an instance of the material's LayerController implementation
* for an instance of an InteractionBehavior.
* @since 4.1.4
*/
public ILayerController CreateLayerController(InteractionBehaviour obj)
{
return(IControllerBase.CreateInstance(obj, _layerController));
}
/**
* Constructs an instance of the material's ThrowingController implementation
* for an instance of an InteractionBehavior.
* @since 4.1.4
*/
public IThrowingController CreateThrowingController(InteractionBehaviour obj)
{
return(IControllerBase.CreateInstance(obj, _throwingController));
}
/**
* Constructs an instance of the material's SuspensionController implementation
* for an instance of an InteractionBehavior.
* @since 4.1.4
*/
public ISuspensionController CreateSuspensionController(InteractionBehaviour obj)
{
return(IControllerBase.CreateInstance(obj, _suspensionController));
}
/**
* Constructs an instance of the material's MoveToController implementation
* for an instance of an InteractionBehavior.
* @since 4.1.4
*/
public IMoveToController CreateMoveToController(InteractionBehaviour obj)
{
return(IControllerBase.CreateInstance(obj, _moveToController));
}
/**
* Constructs an instance of the material's HoldingPoseController implementation
* for an instance of an InteractionBehavior.
* @since 4.1.4
*/
public IHoldingPoseController CreateHoldingPoseController(InteractionBehaviour obj)
{
return(IControllerBase.CreateInstance(obj, _holdingPoseController));
}
protected override void Init(InteractionBehaviour obj) {
base.Init(obj);
_renderers = obj.GetComponentsInChildren<Renderer>();
}
/** Initializes the controller based on the object settings. */
protected override void Init(InteractionBehaviour obj) {
base.Init(obj);
_maxVelocitySqrd = _maxVelocity * _obj.Manager.SimulationScale;
_maxVelocitySqrd *= _maxVelocitySqrd;
}
/**
* Initialize the controller given an InteractionBehavior object.
* @since 4.1.4
*/
protected virtual void Init(InteractionBehaviour obj)
{
_obj = obj;
}
protected override void Init(InteractionBehaviour obj) {
base.Init(obj);
_handIdToPoints = new Dictionary<int, HandPointCollection>();
KabschC.Construct(ref _kabsch);
}
