public abstract Transform GetBoneUnsafe(Hand hand, BoneId Id);
public override bool TryGetBone(Hand hand, BoneId Id, out Transform bone)
{
var bones = Hand.left == hand ? _bonesLeft : _bonesRight;
return(bones.TryGetValue(Id, out bone));
}
public abstract bool TryGetBone(Hand hand, BoneId Id, out Transform bone);
public virtual bool IsFingerHighConfidence(BoneId bone)
{
return(true);
}
private void Initialize()
{
var skeleton = new OVRPlugin.Skeleton();
if (OVRPlugin.GetSkeleton((OVRPlugin.SkeletonType)_skeletonType, out skeleton))
{
if (!_bonesGO)
{
_bonesGO = new GameObject("Bones");
_bonesGO.transform.SetParent(transform, false);
_bonesGO.transform.localPosition = Vector3.zero;
_bonesGO.transform.localRotation = Quaternion.identity;
}
if (!_bindPosesGO)
{
_bindPosesGO = new GameObject("BindPoses");
_bindPosesGO.transform.SetParent(transform, false);
_bindPosesGO.transform.localPosition = Vector3.zero;
_bindPosesGO.transform.localRotation = Quaternion.identity;
}
if (_enablePhysicsCapsules)
{
if (!_capsulesGO)
{
_capsulesGO = new GameObject("Capsules");
_capsulesGO.transform.SetParent(transform, false);
_capsulesGO.transform.localPosition = Vector3.zero;
_capsulesGO.transform.localRotation = Quaternion.identity;
}
}
_bones = new List <OVRBone>(new OVRBone[skeleton.NumBones]);
Bones = _bones.AsReadOnly();
_bindPoses = new List <OVRBone>(new OVRBone[skeleton.NumBones]);
BindPoses = _bindPoses.AsReadOnly();
// pre-populate bones list before attempting to apply bone hierarchy
for (int i = 0; i < skeleton.NumBones; ++i)
{
BoneId id = (OVRSkeleton.BoneId)skeleton.Bones[i].Id;
short parentIdx = skeleton.Bones[i].ParentBoneIndex;
Vector3 pos = skeleton.Bones[i].Pose.Position.FromFlippedZVector3f();
Quaternion rot = skeleton.Bones[i].Pose.Orientation.FromFlippedZQuatf();
var boneGO = new GameObject(id.ToString());
boneGO.transform.localPosition = pos;
boneGO.transform.localRotation = rot;
_bones[i] = new OVRBone(id, parentIdx, boneGO.transform);
var bindPoseGO = new GameObject(id.ToString());
bindPoseGO.transform.localPosition = pos;
bindPoseGO.transform.localRotation = rot;
_bindPoses[i] = new OVRBone(id, parentIdx, bindPoseGO.transform);
}
for (int i = 0; i < skeleton.NumBones; ++i)
{
if (((OVRPlugin.BoneId)skeleton.Bones[i].ParentBoneIndex) == OVRPlugin.BoneId.Invalid)
{
_bones[i].Transform.SetParent(_bonesGO.transform, false);
_bindPoses[i].Transform.SetParent(_bindPosesGO.transform, false);
}
else
{
_bones[i].Transform.SetParent(_bones[_bones[i].ParentBoneIndex].Transform, false);
_bindPoses[i].Transform.SetParent(_bindPoses[_bones[i].ParentBoneIndex].Transform, false);
}
}
if (_enablePhysicsCapsules)
{
_capsules = new List <OVRBoneCapsule>(new OVRBoneCapsule[skeleton.NumBoneCapsules]);
Capsules = _capsules.AsReadOnly();
for (int i = 0; i < skeleton.NumBoneCapsules; ++i)
{
var capsule = skeleton.BoneCapsules[i];
Transform bone = Bones[capsule.BoneIndex].Transform;
var capsuleRigidBodyGO = new GameObject((_bones[capsule.BoneIndex].Id).ToString() + "_CapsuleRigidBody");
capsuleRigidBodyGO.transform.SetParent(_capsulesGO.transform, false);
capsuleRigidBodyGO.transform.localPosition = bone.position;
capsuleRigidBodyGO.transform.localRotation = bone.rotation;
var capsuleRigidBody = capsuleRigidBodyGO.AddComponent <Rigidbody>();
capsuleRigidBody.mass = 1.0f;
capsuleRigidBody.isKinematic = true;
capsuleRigidBody.useGravity = false;
#if UNITY_2018_3_OR_NEWER
capsuleRigidBody.collisionDetectionMode = CollisionDetectionMode.ContinuousSpeculative;
#else
capsuleRigidBody.collisionDetectionMode = CollisionDetectionMode.Continuous;
#endif
var capsuleColliderGO = new GameObject((_bones[capsule.BoneIndex].Id).ToString() + "_CapsuleCollider");
capsuleColliderGO.transform.SetParent(capsuleRigidBodyGO.transform, false);
var capsuleCollider = capsuleColliderGO.AddComponent <CapsuleCollider>();
var p0 = capsule.Points[0].FromFlippedZVector3f();
var p1 = capsule.Points[1].FromFlippedZVector3f();
var delta = p1 - p0;
var mag = delta.magnitude;
var rot = Quaternion.FromToRotation(capsuleRigidBodyGO.transform.localRotation * Vector3.right, delta);
capsuleCollider.radius = capsule.Radius;
capsuleCollider.height = mag + capsule.Radius * 2.0f;
capsuleCollider.isTrigger = false;
capsuleCollider.direction = 0;
capsuleColliderGO.transform.localPosition = p0;
capsuleColliderGO.transform.localRotation = rot;
capsuleCollider.center = Vector3.right * mag * 0.5f;
capsuleColliderGO.layer = gameObject.layer;
_capsules[i] = new OVRBoneCapsule(capsule.BoneIndex, capsuleRigidBody, capsuleCollider);
}
}
_isInitialized = true;
}
}
private void SetTracked()
{
if (trackedRoot != null && handAnchor != null)
{
trackedRoot.position = handAnchor.position;
trackedRoot.rotation = handAnchor.rotation;
}
if (boneRotationValues.bones != null && boneRotationValues.bones.Length > 0)
{
//string debugTips = "";
List <(BoneId, bool)> fingerTipTests = new List <(BoneId, bool)>(); //Adding this helps reduce the amount of raycasts done on each finger tip by around 3 times, since each finger has 3 or 4 bones
var boneIds = (BoneId[])Enum.GetValues(typeof(BoneId));
for (int i = 0; i < boneIds.Length; i++)
{
var currentBoneId = boneIds[i];
var bonesWithId = boneRotationValues.bones.Where((bone) => bone.id == currentBoneId);
if (bonesWithId.Count() > 0)
{
var currentBone = bones[(int)currentBoneId];
var boneRotValue = bonesWithId.First();
#region Getting the rotation value from given hand bone values
Quaternion localRotation;
if (!boneRotValue.IsOrientation)
{
Vector3 rotationAxis = -Vector3.forward;
if (currentBoneId == BoneId.Hand_Thumb0)
{
rotationAxis = -Vector3.up;
}
float currentAngle = boneRotValue.value * 90;
localRotation = Quaternion.AngleAxis(currentAngle, rotationAxis) * currentBone.startRotation;
}
else
{
localRotation = boneRotValue.localRotation;
}
#endregion
#region Adjusting rotation based on collision (less rotation toward collider if tip colliding)
BoneId currentFingerTip = GetTip(currentBoneId);
if (currentFingerTip != BoneId.Invalid)
{
var fingerTipTransform = bones[(int)currentFingerTip].mesh;
var fingerTipRay = new Ray(fingerTipTransform.position, fingerTipTransform.up * (flipTipRays ? -1 : 1));
//debugTips += currentBoneId + " => " + currentFingerTip + "\n";
(BoneId, bool)fingerTipTest;
var matchingTests = fingerTipTests.Where(currentTest => { return(currentTest.Item1 == currentFingerTip); });
if (matchingTests.Count() <= 0)
{
bool tipCollided = Physics.Raycast(fingerTipRay, tipCollisionDistance);
fingerTipTest = (currentFingerTip, tipCollided);
fingerTipTests.Add(fingerTipTest);
Debug.DrawRay(fingerTipRay.origin, fingerTipRay.direction * tipCollisionDistance, tipCollided ? Color.green : Color.red);
}
else
{
fingerTipTest = matchingTests.First();
}
//Calculate the difference in rotation between the next tracked local rotation and the previous tracked local rotation
Quaternion deltaRotation = currentBone.tracked.localRotation * Quaternion.Inverse(localRotation);
//Convert the difference to an angle on an axis
float angle;
Vector3 axis;
deltaRotation.ToAngleAxis(out angle, out axis);
//Local to world of axis direction
axis = currentBone.tracked.TransformDirection(axis);
//Comparing the axis of the rotation with the forward axis of the current bone (the forward axis
//of the bone is the one it uses to close and open)
bool isClosing = Vector3.Dot(currentBone.tracked.forward, axis) > 0;
//If finger tip is colliding with an object and the finger is closing then set the current joint's
//rotation to be the previous frame's
if (fingerTipTest.Item2 && isClosing)
{
//localRotation = currentBone.tracked.localRotation;
Quaternion meshDelta = currentBone.mesh.localRotation * Quaternion.Inverse(currentBone.startRotation);
float maxAngle = meshDelta.PollAxisAngle(currentBone.tracked.forward, currentBone.tracked.up);
Quaternion preferredAxisRotation = Quaternion.AngleAxis(maxAngle, currentBone.tracked.forward);
Quaternion trackedDelta = currentBone.tracked.localRotation * Quaternion.Inverse(currentBone.startRotation);
float currentAngle = meshDelta.PollAxisAngle(currentBone.tracked.forward, currentBone.tracked.up);
Quaternion currentAxisRotation = Quaternion.AngleAxis(currentAngle, currentBone.tracked.forward);
Quaternion shiftDelta = currentAxisRotation * Quaternion.Inverse(preferredAxisRotation);
localRotation = currentBone.tracked.localRotation * shiftDelta;
}
Debug.DrawRay(currentBone.mesh.position, currentBone.tracked.forward * 0.02f, fingerTipTest.Item2 && isClosing ? Color.red : Color.green);
}
#endregion
currentBone.tracked.localRotation = localRotation;
}
}
//Debug.Log(debugTips);
}
}
/// <summary>
/// Checks whether the given bone id is part of a finger
/// </summary>
/// <param name="currentBoneId">The bone id to be checked</param>
/// <returns>True if the given id is part of a finger, false otherwise</returns>
private static bool IsFingerBone(BoneId currentBoneId)
{
return(currentBoneId != BoneId.Hand_End && currentBoneId != BoneId.Hand_ForearmStub && currentBoneId != BoneId.Hand_MaxSkinnable && currentBoneId != BoneId.Hand_Start && currentBoneId != BoneId.Hand_WristRoot && currentBoneId != BoneId.Invalid && currentBoneId != BoneId.Max);
}
