protected override void UpdateTracker()
{
previousPosition = Position;
previousOrientation = Orientation;
previousGrabbingStrength = currentGrabbingStrength;
//get the rightmost hand in the frame
if (handController.GetAllGraphicsHands().Length != 0)
{
handModel = handController.GetAllGraphicsHands()[0];
handModel.transform.GetComponentInChildren<SkinnedMeshRenderer>().enabled = visibleHand;
hand = handModel.GetLeapHand();
currentGrabbingStrength = lowPassFilter(hand.GrabStrength, previousGrabbingStrength);
Position = lowPassFilter(handModel.GetPalmPosition(), previousPosition);
Orientation = lowPassFilter(handModel.GetPalmDirection(), previousOrientation);
}
//mask/display the graphical hand on key down
if (Input.GetKeyDown(visibleHandKey))
{
var smr = handModel.transform.GetComponentInChildren<SkinnedMeshRenderer>();
visibleHand = !visibleHand;
}
Translation = Position - previousPosition;
Rotation = previousOrientation - Orientation;
}
private void DrawDebugLines()
{
HandModel hand = GetComponent <HandModel>();
Debug.DrawLine(hand.GetElbowPosition(), hand.GetWristPosition(), Color.red);
Debug.DrawLine(hand.GetWristPosition(), hand.GetPalmPosition(), Color.white);
Debug.DrawLine(hand.GetPalmPosition(),
hand.GetPalmPosition() + hand.GetPalmNormal(), Color.black);
Debug.Log(Vector3.Dot(hand.GetPalmDirection(), hand.GetPalmNormal()));
}
void Update()
{
if (active && isRight)
{
line.SetPosition(0, hand_model.GetPalmPosition());
line.SetPosition(1, (hand_model.GetPalmDirection() * 20f));//+ 2 * hand_model.GetPalmPosition());// * finger.GetTipPosition());
rr.origin = hand_model.GetPalmPosition();
rr.direction = hand_model.GetPalmDirection();
int bitLayer = 1 << 15;
if (Physics.Raycast(hand_model.GetPalmPosition(), hand_model.GetPalmDirection(), out hit, Mathf.Infinity, bitLayer))
{
if (hit.collider.CompareTag("ViewTable"))
{
hit.collider.gameObject.GetComponent <Table>().AltActivation();
}
}
}
}
void ReleaseFireBall(HandModel hand){
if (currentFireBall && IsCastingStarted && !HandRecog.IsHandClenchingNonStrict (hand, clenchingAngle) && hand.GetLeapHand().Confidence > confidenceLevel) {
currentFireBall.Release (hand.GetPalmDirection (), 5.0f);
IsCastingStarted = false;
currentFireBall = null;
spellControl.ReleaseCastingControl ();
}
}
public static bool IsFingerBentWithinAngle(HandModel hand, int fingerIndex, int boneIndex, float minAngle, float maxAngle){
FingerModel finger = hand.fingers [fingerIndex];
Vector3 fingerDir = finger.GetBoneDirection (boneIndex);
Vector3 palmNormal = hand.GetPalmNormal ();
Vector3 palmDir = hand.GetPalmDirection ();
if (fingerIndex == 0) {
float angle = Math3d.SignedVectorAngle (palmDir, fingerDir, palmNormal);
//Debug.Log ("Finger: " + finger.fingerType + ", bone: " + boneIndex + ", angle to palm direction: " + angle);
if (angle >= minAngle && angle <= maxAngle)
return true;
} else if (fingerIndex > 0) {
Vector3 projPlane = Vector3.Cross(palmNormal, palmDir).normalized;
Vector3 projVector = Math3d.ProjectVectorOnPlane(projPlane,fingerDir).normalized;
float angle = Math3d.SignedVectorAngle(palmNormal,projVector,projPlane);
//Debug.Log ("Finger: " + finger.fingerType + ", bone: " + boneIndex + ", angle to palm direction: " + angle);
if (angle >= minAngle && angle <= maxAngle)
return true;
}
return false;
}
public static float AngleBetweenPalmsDirections(HandModel leftHand, HandModel rightHand, Vector3 projectPlane){
Vector3 leftPalmDir = leftHand.GetPalmDirection ();
Vector3 rightPalmDir = rightHand.GetPalmDirection ();
Vector3 leftPalmDirProj = Math3d.ProjectVectorOnPlane (projectPlane, leftPalmDir).normalized;
Vector3 rightPalmDirProj = Math3d.ProjectVectorOnPlane (projectPlane, rightPalmDir).normalized;
float angle = Math3d.SignedVectorAngle (leftPalmDirProj, rightPalmDirProj, projectPlane);
return angle;
}
public static float AngleBetweenFingerAndPalmDirection(HandModel hand, int fingerIndex, int boneIndex){
Vector3 palmVector = hand.GetPalmDirection ();
Vector3 palmNormal = hand.GetPalmNormal ();
Vector3 crossVect = Vector3.Cross (palmVector, palmNormal).normalized;
//Debug.Log (crossVect.normalized);
float angle = AngleBetweenFingerAndVector (hand, fingerIndex, boneIndex, palmVector, crossVect);
return angle;
// if (fingerIndex == 0) {
//
// if (hand.GetLeapHand ().IsRight) {
// return angle;
// } else {
// return -angle;
// }
//
// } else {
//
// return -angle;
// }
//
}
public static float AngleBetweenFingerTipsVertical(HandModel hand, int fingerIndexOne, int fingerIndexTwo){
Vector3 palmVector = hand.GetPalmDirection ();
Vector3 palmNormal = hand.GetPalmNormal ();
Vector3 crossVect = Vector3.Cross (palmVector, palmNormal).normalized;
return AngleBetweenFingerTips (hand, fingerIndexOne, fingerIndexTwo, crossVect);
}
// Update is called once per frame
void Update()
{
hand = transform.GetComponent <HandModel> ();
//Somente deve funcionar na mão escolhida, direita ou esquerda
if (maoCerta)
{
for (int i = 0; i < 2; i++)
{
dedos [i] = hand.fingers [i + 1].GetBoneCenter(3);
distancias [i] = (dedos [i] - hand.GetPalmPosition()).magnitude; //distâncias dos dedos à palma da mão
}
//Verifica se a mão está fechada e próxima da base ou se o usuário quer ter que alcançar a seringa para pega-la
if (pegando())
{
if ((hand.GetPalmPosition() - baseSeringaPosition).magnitude < distBaseSeringa || !GetComponentInParent <escolherMao> ().alcançarSeringa)
{
pegou = true;
}
}
//"Prende" a seringa à palma da mão, utilizando sua posição e rotação + ajustes
if (pegou)
{
seringa.transform.position = hand.GetPalmPosition() + hand.GetPalmNormal() * distSeringa.x + Vector3.Cross(hand.GetPalmDirection(), hand.GetPalmNormal()).normalized *distSeringa.y + hand.GetPalmDirection() * distSeringa.z;
seringa.transform.rotation = hand.GetPalmRotation() * rotSeringa;
GetComponentInParent <escolherMao> ().Congelar();
}
//Solta a seringa de volta a base
else
{
seringa.transform.position = baseSeringaPosition;
seringa.transform.rotation = baseSeringaRotation;
}
//Verifica se a mão está aberta e próxima da base da seringa ou se o usuário quer soltar a seringa a qualquer momento
if (soltando())
{
if ((hand.GetPalmPosition() - baseSeringaPosition).magnitude < distBaseSeringa || !GetComponentInParent <escolherMao> ().alcançarSeringa)
{
pegou = false;
}
}
}
}
public override void UpdateHand()
{
//skip the update if there's any unset parameters (i.e. we're not initialised properly yet)
if (targetHand == null || hand_ == null || hand_.Direction == null)
{
return;
}
Vector3 offs = targetHand.GetPalmDirection() * offset;
for (int f = 0; f < fingers.Length; ++f)
{
if (fingers[f] != null)
{
((fingers[f]) as RigidIKFinger).offset_ = offs;
fingers[f].UpdateFinger();
}
}
if (palm != null)
{
Rigidbody palmBody = palm.GetComponent <Rigidbody>();
if (palmBody)
{
palmBody.MovePosition(GetPalmCenter() + offs);
palmBody.MoveRotation(GetPalmRotation());
}
else
{
palm.position = GetPalmCenter() + offs;
palm.rotation = GetPalmRotation();
}
}
if (forearm != null)
{
// Set arm dimensions.
CapsuleCollider capsule = forearm.GetComponent <CapsuleCollider>();
if (capsule != null)
{
// Initialization
capsule.direction = 2;
forearm.localScale = new Vector3(1f, 1f, 1f);
// Update
capsule.radius = GetArmWidth() / 2f;
capsule.height = GetArmLength() + GetArmWidth();
}
Rigidbody forearmBody = forearm.GetComponent <Rigidbody>();
if (forearmBody)
{
forearmBody.MovePosition(GetArmCenter());
forearmBody.MoveRotation(GetArmRotation());
}
else
{
forearm.position = GetArmCenter();
forearm.rotation = GetArmRotation();
}
}
}
protected GraspState GetNewGraspState()
{
HandModel handModel = this.GetComponent <HandModel>();
Hand leapHand = handModel.GetLeapHand();
/*
* Vector leapThumbTip = leapHand.Fingers[0].TipPosition;
* float closestDistance = Mathf.Infinity;
*
* // Check thumb tip distance to joints on all other fingers.
* // If it's close enough, we are in a grasp position.
* for (int i = 1; i < HandModel.NUM_FINGERS; i++) {
* Finger finger = leapHand.Fingers[i];
*
* for (int j = 0; j < FingerModel.NUM_BONES; j++) {
* Vector leapJointPosition = finger.Bone((Bone.BoneType)j).NextJoint;
*
* float distanceToThumbTip = leapJointPosition.DistanceTo(leapThumbTip);
* closestDistance = Mathf.Min(closestDistance, distanceToThumbTip);
* }
*
* //float distanceToThumbTip = leapHand.Fingers[i].TipPosition.DistanceTo(leapThumbTip);
* //closestDistance = Mathf.Min(closestDistance, distanceToThumbTip);
* }
*/
// check destruction
if (this.CurrentGraspState == GraspState.GRASPED && this.ActiveObject != null)
{
// get finger centroid (except thumb)
Vector3 centroid = leapHand.Fingers[1].TipPosition.ToUnityScaled() * .25f + leapHand.Fingers[2].TipPosition.ToUnityScaled() * .25f + leapHand.Fingers[3].TipPosition.ToUnityScaled() * .25f + leapHand.Fingers[4].TipPosition.ToUnityScaled() * .25f;
float distance = Vector3.Distance(leapHand.PalmPosition.ToUnityScaled(), centroid);
if (distance <= GraspController.MIN_FINGER_TO_PALM_DISTANCE)
{
/*ContainerController containerController = GameObject.FindGameObjectWithTag("Container").GetComponent<ContainerController>();
* containerController.initiateDestructionByGrabbing(this.ActiveObject.gameObject);
*/
return(GraspState.RELEASED);
}
}
// power grasp conditions:
// - grabstrength > .5 -> difficult for rotated hands otherwise
if (leapHand.GrabStrength > .35f)
{
return(GraspState.GRASPED);
}
// Scale trigger distance by thumb proximal bone length.
float proximalLength = leapHand.Fingers[0].Bone(Bone.BoneType.TYPE_PROXIMAL).Length;
if (this.CurrentGraspState == GraspState.GRASPED && this.ActiveObject != null)
{
//return GraspState.GRASPED;
// check if fingers point away from palm
Vector3 axis = handModel.GetPalmDirection();
int stretchedFingers = 0;
for (int i = 1; i < 5; i++)
{
Vector3 fingerAxis = handModel.fingers[i].GetRay().direction;
float angle = Vector3.Angle(axis, fingerAxis);
//UnityEngine.Debug.Log(i + ": " + angle);
if (angle > 0 && angle < 40)
{
stretchedFingers++;
}
}
/*this.invalidCounter++;
* if (this.invalidCounter >= GraspController.MAX_SUCCESSIVE_GRAB_FLUCTUATIONS)
* {
* return GraspState.RELEASED;
* }*/
if (stretchedFingers >= 3)
{
return(GraspState.RELEASED);
}
else
{
return(GraspState.GRASPED);
}
}
return(GraspState.RELEASED);
}
protected GraspState GetNewGraspState()
{
HandModel handModel = this.GetComponent <HandModel>();
Hand leapHand = handModel.GetLeapHand();
// check destruction
if (this.CurrentGraspState == GraspState.GRASPED && this.ActiveObject != null)
{
// TODO: implement some kind of check for the overall grip aperture, if it falls
// below a certain threshold, the object should be destroyed and the returned
// state should be 'RELEASED'. Please stick to the initiateDestructionByGrabbing
// method from the ContainerController. To search within the scene you can
// use for instance the FindGameObjectWithTag method.
Vector3 centroid = leapHand.Fingers[1].TipPosition.ToUnityScaled() * .25f + leapHand.Fingers[2].TipPosition.ToUnityScaled() * .25f + leapHand.Fingers[3].TipPosition.ToUnityScaled() * .25f + leapHand.Fingers[4].TipPosition.ToUnityScaled() * .25f;
float distance = Vector3.Distance(leapHand.PalmPosition.ToUnityScaled(), centroid);
if (distance <= GraspController.MIN_FINGER_TO_PALM_DISTANCE)
{
ContainerController containerController = GameObject.FindGameObjectWithTag("Container").GetComponent <ContainerController>();
containerController.initiateDestructionByGrabbing(this.ActiveObject.gameObject);
return(GraspState.RELEASED);
}
}
// power grasp conditions:
// - grabstrength > .5 -> difficult for rotated hands otherwise
if (leapHand.GrabStrength > .35f)
{
return(GraspState.GRASPED);
}
// Scale trigger distance by thumb proximal bone length.
float proximalLength = leapHand.Fingers[0].Bone(Bone.BoneType.TYPE_PROXIMAL).Length;
if (this.CurrentGraspState == GraspState.GRASPED && this.ActiveObject != null)
{
//return GraspState.GRASPED;
// check if fingers point away from palm
Vector3 axis = handModel.GetPalmDirection();
int stretchedFingers = 0;
for (int i = 1; i < 5; i++)
{
Vector3 fingerAxis = handModel.fingers[i].GetRay().direction;
float angle = Vector3.Angle(axis, fingerAxis);
//UnityEngine.Debug.Log(i + ": " + angle);
if (angle > 0 && angle < 40)
{
stretchedFingers++;
}
}
if (stretchedFingers >= 3)
{
return(GraspState.RELEASED);
}
else
{
return(GraspState.GRASPED);
}
}
return(GraspState.RELEASED);
}
void ReleaseBolts(HandModel leftHand, HandModel rightHand){
if (currentThunderBolt ) {
currentThunderBolt.Release ((leftHand.GetPalmDirection () + rightHand.GetPalmDirection ()).normalized, 5.0f);
IsCastingStarted = false;
spellControl.ReleaseCastingControl ();
currentThunderBolt = null;
}
}
