//Loops:
private void Update()
{
if (!_isMine)
{
transform.position = Vector3.SmoothDamp(transform.position, _targetPosition, ref _positionVelocity, smoothTime);
transform.rotation = MotionUtilities.SmoothDamp(transform.rotation, _targetRotation, ref _rotationVelocity, smoothTime);
transform.localScale = Vector3.SmoothDamp(transform.localScale, targetScale, ref _scaleVelocity, smoothTime);
}
}
//Coroutines:
private IEnumerator TweenPose()
{
while (Quaternion.Angle(transform.rotation, _targetRotation) > 0)
{
transform.position = Vector3.SmoothDamp(transform.position, _targetPosition, ref _positionalVelocity, _smoothTime);
transform.rotation = MotionUtilities.SmoothDamp(transform.rotation, _targetRotation, ref _rotationalVelocity, _smoothTime);
yield return(null);
}
}
//Loops:
private void LateUpdate()
{
if (!_isMine)
{
transform.localPosition = Vector3.SmoothDamp(transform.localPosition, targetPosition, ref _positionaVelocity, smoothTime);
transform.localRotation = MotionUtilities.SmoothDamp(transform.localRotation, targetRotation, ref _rotationVelocity, smoothTime);
transform.localScale = Vector3.SmoothDamp(transform.localScale, targetScale, ref _scaleVelocity, smoothTime);
}
else
{
//automatically follow motion source if set:
if (motionSource != null)
{
transform.position = motionSource.position;
transform.rotation = motionSource.rotation;
transform.localScale = motionSource.localScale;
}
}
}
//Loops:
private void LateUpdate()
{
//remove any negative durations:
arrivalDuration = Mathf.Max(0, arrivalDuration);
//direction:
_direction = Vector3.Normalize(transform.position - _mainCamera.position);
if (_direction == Vector3.zero)
{
return;
}
//match gravity?
if (matchGravity)
{
_direction = Vector3.ProjectOnPlane(_direction, Vector3.up);
}
//flipped?
if (flippedForward)
{
_direction *= -1;
}
//get rotation:
if (_direction != Vector3.zero)
{
_rotation = Quaternion.LookRotation(_direction);
}
//apply:
if (Application.isPlaying)
{
transform.rotation = MotionUtilities.SmoothDamp(transform.rotation, _rotation, ref _velocity, arrivalDuration);
}
else
{
//time doesn't update smoothly while not playing in the editor so let's just force snapping:
transform.rotation = _rotation;
}
}
//Loops:
private void Update()
{
//lerp us to the world-aligned location:
transform.position = Vector3.SmoothDamp(transform.position, _targetPosition, ref _positionalVelocity, _smoothTime);
transform.rotation = MotionUtilities.SmoothDamp(transform.rotation, _targetRotation, ref _rotationalVelocity, _smoothTime);
}
//Public Methods:
public void Update()
{
if (!_managedHand.Visible)
{
return;
}
//pinch rotation offset mirror:
Vector3 rotationOffset = _pinchAbsoluteRotationOffset;
if (_managedHand.Hand.Type == MLHandTracking.HandType.Left)
{
rotationOffset.y *= -1;
}
//holders:
Vector3 pinchPosition = Vector3.zero;
Quaternion pinchRotation = Quaternion.identity;
//pinch interaction point radius:
if (_managedHand.Skeleton.Thumb.Tip.Visible && _managedHand.Skeleton.Index.Tip.Visible)
{
Pinch.radius = Vector3.Distance(_managedHand.Skeleton.Thumb.Tip.positionFiltered, _managedHand.Skeleton.Index.Tip.positionFiltered);
}
if (_managedHand.Skeleton.Thumb.Tip.Visible) //absolute placement:
{
//are we swapping modes?
if (_pinchIsRelative)
{
_pinchIsRelative = false;
_pinchTransitioning = true;
_pinchTransitionStartTime = Time.realtimeSinceStartup;
}
pinchPosition = _managedHand.Skeleton.Thumb.Tip.positionFiltered;
pinchRotation = TransformUtilities.RotateQuaternion(_managedHand.Skeleton.Rotation, rotationOffset);
//gather offset distance:
if (_managedHand.Skeleton.Index.Knuckle.Visible && _managedHand.Skeleton.Thumb.Knuckle.Visible)
{
Vector3 mcpMidpoint = Vector3.Lerp(_managedHand.Skeleton.Index.Knuckle.positionFiltered, _managedHand.Skeleton.Thumb.Knuckle.positionFiltered, .5f);
_pinchRelativePositionDistance = Vector3.Distance(mcpMidpoint, pinchPosition);
}
}
else //relative placement:
{
//are we swapping modes?
if (!_pinchIsRelative)
{
_pinchIsRelative = true;
_pinchTransitioning = true;
_pinchTransitionStartTime = Time.realtimeSinceStartup;
}
//place between available mcps:
if (_managedHand.Skeleton.Index.Knuckle.Visible && _managedHand.Skeleton.Thumb.Knuckle.Visible)
{
pinchPosition = Vector3.Lerp(_managedHand.Skeleton.Index.Knuckle.positionFiltered, _managedHand.Skeleton.Thumb.Knuckle.positionFiltered, .5f);
//rotate:
pinchRotation = TransformUtilities.RotateQuaternion(_managedHand.Skeleton.Rotation, _pinchRelativeRotationOffset);
//move out along rotation forward:
pinchPosition += pinchRotation * Vector3.forward * _pinchRelativePositionDistance;
}
else
{
//just use previous:
pinchPosition = Pinch.position;
pinchRotation = Pinch.rotation;
}
}
//sticky release reduction:
if (_collapsed)
{
if (_managedHand.Skeleton.Thumb.Tip.Visible && _managedHand.Skeleton.Index.Tip.Visible)
{
//if starting to release, start using a point between the thumb and index tips:
if (Vector3.Distance(_managedHand.Skeleton.Thumb.Tip.positionFiltered, _managedHand.Skeleton.Index.Tip.positionFiltered) > _dynamicReleaseDistance)
{
pinchPosition = Vector3.Lerp(_managedHand.Skeleton.Thumb.Tip.positionFiltered, _managedHand.Skeleton.Index.Tip.positionFiltered, .3f);
}
}
}
//apply pinch pose - to avoid jumps when relative placement is used we smooth until close enough:
if (_pinchTransitioning)
{
//position:
Pinch.position = Vector3.SmoothDamp(Pinch.position, pinchPosition, ref _pinchArrivalPositionVelocity, _pinchTransitionTime);
float positionDelta = Vector3.Distance(Pinch.position, pinchPosition);
//rotation:
Pinch.rotation = MotionUtilities.SmoothDamp(Pinch.rotation, pinchRotation, ref _pinchArrivalRotationVelocity, _pinchTransitionTime);
float rotationDelta = Quaternion.Angle(Pinch.rotation, pinchRotation);
//close enough to hand off?
if (positionDelta < .001f && rotationDelta < 5)
{
_pinchTransitioning = false;
}
//taking too long?
if (Time.realtimeSinceStartup - _pinchTransitionStartTime > _pinchTransitionMaxDuration)
{
_pinchTransitioning = false;
}
}
else
{
Pinch.position = pinchPosition;
Pinch.rotation = pinchRotation;
}
//grasp interaction point:
Bounds graspBounds = CalculateGraspBounds
(
_managedHand.Skeleton.Thumb.Knuckle,
_managedHand.Skeleton.Thumb.Joint,
_managedHand.Skeleton.Thumb.Tip,
_managedHand.Skeleton.Index.Knuckle,
_managedHand.Skeleton.Index.Joint,
_managedHand.Skeleton.Index.Tip,
_managedHand.Skeleton.Middle.Knuckle,
_managedHand.Skeleton.Middle.Joint,
_managedHand.Skeleton.Middle.Tip
);
Grasp.position = _managedHand.Skeleton.Position;
//when points are being initially found they can be wildly off and this could cause a massively large volume:
Grasp.radius = Mathf.Min(graspBounds.size.magnitude, _maxGraspRadius);
Grasp.rotation = _managedHand.Skeleton.Rotation;
//intent updated:
if (_currentInteractionState != null)
{
_currentInteractionState.FireUpdate();
}
//keypose change proposed:
if (_managedHand.Hand.KeyPose != VerifiedGesture && _managedHand.Hand.KeyPose != _proposedKeyPose)
{
//queue a new proposed change to keypose:
_proposedKeyPose = _managedHand.Hand.KeyPose;
_keyPoseChangedTime = Time.realtimeSinceStartup;
}
//keypose change acceptance:
if (_managedHand.Hand.KeyPose != VerifiedGesture && Time.realtimeSinceStartup - _keyPoseChangedTime > _keyPoseStabailityDuration)
{
//reset:
Point.active = false;
Pinch.active = false;
Grasp.active = false;
if (_collapsed)
{
//intent end:
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.C || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.OpenHand || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.L || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Finger)
{
if (_managedHand.Skeleton.Thumb.Tip.Visible && _managedHand.Skeleton.Index.Tip.Visible)
{
//dynamic release:
if (Vector3.Distance(_managedHand.Skeleton.Thumb.Tip.positionFiltered, _managedHand.Skeleton.Index.Tip.positionFiltered) > _dynamicReleaseDistance)
{
//end intent:
_collapsed = false;
_currentInteractionState.FireEnd();
_currentInteractionState = null;
//accept keypose change:
VerifiedGesture = _managedHand.Hand.KeyPose;
_proposedKeyPose = _managedHand.Hand.KeyPose;
OnVerifiedGestureChanged?.Invoke(_managedHand, VerifiedGesture);
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Finger || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.L)
{
Intent = IntentPose.Pointing;
OnIntentChanged?.Invoke(_managedHand, Intent);
}
else if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.C || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.OpenHand || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Thumb)
{
Intent = IntentPose.Relaxed;
OnIntentChanged?.Invoke(_managedHand, Intent);
}
}
}
}
}
else
{
//intent begin:
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Pinch || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Ok || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Fist)
{
_collapsed = true;
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Pinch || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Ok)
{
Intent = IntentPose.Pinching;
Pinch.active = true;
_currentInteractionState = Pinch.Touch;
_currentInteractionState.FireBegin();
OnIntentChanged?.Invoke(_managedHand, Intent);
}
else if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Fist)
{
Intent = IntentPose.Grasping;
Grasp.active = true;
_currentInteractionState = Grasp.Touch;
_currentInteractionState.FireBegin();
OnIntentChanged?.Invoke(_managedHand, Intent);
}
}
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Finger || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.L)
{
Intent = IntentPose.Pointing;
Point.active = true;
OnIntentChanged?.Invoke(_managedHand, Intent);
}
else if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.C || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.OpenHand || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Thumb)
{
Intent = IntentPose.Relaxed;
OnIntentChanged?.Invoke(_managedHand, Intent);
}
//accept keypose change:
VerifiedGesture = _managedHand.Hand.KeyPose;
_proposedKeyPose = _managedHand.Hand.KeyPose;
OnVerifiedGestureChanged?.Invoke(_managedHand, VerifiedGesture);
}
}
UpdateCurrentInteractionPoint();
UpdatePalmEvents();
}
public void GrabUpdate(InteractionPoint interactionPoint)
{
//dragging started?
if (!Dragging)
{
foreach (var item in _initialInteractionPoses)
{
if (Vector3.Distance(item.Key.position, item.Value.position) > _dragThreshold)
{
//halt physics:
if (_rigidBody != null)
{
_rigidBody.velocity = Vector3.zero;
_rigidBody.angularVelocity = Vector3.zero;
_rigidBody.isKinematic = true;
}
//find offset:
Matrix4x4 matrix = Matrix4x4.TRS(item.Key.position, item.Key.rotation, Vector3.one);
Vector3 positionOffset = matrix.inverse.MultiplyPoint3x4(transform.position);
Quaternion rotationOffset = Quaternion.Inverse(item.Key.rotation) * transform.rotation;
_offset = new Pose(positionOffset, rotationOffset);
//resets:
_position = Vector3.zero;
_rotation = Quaternion.identity;
//status:
Dragging = true;
OnDragBegin?.Invoke(item.Key);
break;
}
}
}
//dragging?
if (Dragging)
{
//find center of interaction points involved with this drag:
Bounds dragBounds = new Bounds(activeInteractionPoints[0].position, Vector3.zero);
for (int i = 1; i < activeInteractionPoints.Count; i++)
{
dragBounds.Encapsulate(activeInteractionPoints[i].position);
}
//discover drag distance and percentage;
float biManualDistance = dragBounds.size.magnitude;
//holders:
Vector3 dragLocation = Vector3.zero;
Quaternion dragOrientation = Quaternion.identity;
Vector3 forward = Vector3.zero;
float scaleDelta = 0;
//rotation:
if (activeInteractionPoints.Count == 2)
{
//get rotated amount:
forward = activeInteractionPoints[0].position - activeInteractionPoints[1].position;
Vector3 forwardNormalized = forward.normalized;
Vector3 previousForward = _bimanualBaseRotation * Vector3.forward;
Vector3 up = Vector3.Cross(forwardNormalized, previousForward).normalized;
float angle = Vector3.SignedAngle(previousForward, forwardNormalized, up);
//update rotation:
Quaternion rotationDelta = Quaternion.AngleAxis(angle, up);
_bimanualBaseRotation = rotationDelta * _bimanualBaseRotation;
dragOrientation = _bimanualBaseRotation * _offset.rotation;
}
else
{
dragOrientation = activeInteractionPoints[0].rotation * _offset.rotation;
}
//position:
if (activeInteractionPoints.Count == 2)
{
Matrix4x4 matrix = Matrix4x4.TRS(dragBounds.center, _bimanualBaseRotation, Vector3.one);
dragLocation = matrix.MultiplyPoint3x4(_offset.position);
}
else
{
Matrix4x4 matrix = Matrix4x4.TRS(activeInteractionPoints[0].position, activeInteractionPoints[0].rotation, Vector3.one);
dragLocation = matrix.MultiplyPoint3x4(_offset.position);
}
//scale:
if (activeInteractionPoints.Count == 2)
{
scaleDelta = biManualDistance - _scaleInitialDistance;
}
//set smoothing origins:
if (_position == Vector3.zero || _rotation == Quaternion.identity)
{
_position = dragLocation;
_rotation = dragOrientation;
}
//application:
if (draggable)
{
_position = Vector3.SmoothDamp(_position, dragLocation, ref _positionVelocity, positionSmoothTime);
if (_rigidBody != null)
{
_rigidBody.MovePosition(_position);
_averageVelocity.Add(_rigidBody.velocity);
_averageAngularVelocity.Add(_rigidBody.angularVelocity);
}
else
{
transform.position = _position;
}
}
if (rotatable)
{
_rotation = MotionUtilities.SmoothDamp(_rotation, dragOrientation, ref _rotationVelocity, rotationSmoothTime);
if (_rigidBody != null)
{
_rigidBody.MoveRotation(_rotation);
}
else
{
transform.rotation = _rotation;
}
}
if (scalable && activeInteractionPoints.Count == 2)
{
Vector3 proposedScale = _scaleBase + (Vector3.one * scaleDelta);
//constrain scale and do not not assume uniform initial scale:
if (Mathf.Max(proposedScale.x, proposedScale.y, proposedScale.z) <= maxScale &&
Mathf.Min(proposedScale.x, proposedScale.y, proposedScale.z) >= minScale)
{
transform.localScale = _scaleBase + (Vector3.one * scaleDelta);
}
}
//visuals:
if (activeInteractionPoints.Count == 2)
{
Lines.SetVisibility(_handConnectionLine, true);
Lines.DrawLine(_handConnectionLine, Color.cyan, Color.cyan, .0005f, activeInteractionPoints[0].position, activeInteractionPoints[1].position);
}
//status:
OnDragUpdate?.Invoke(activeInteractionPoints.ToArray(), _position, _rotation, scaleDelta);
}
}
