public static Vector3 ClampedToRect(this Vector3 worldPosition, Pose rectCenterPose,
float rectWidth, float rectHeight)
{
bool unused;
return(worldPosition.ClampedToRect(rectCenterPose, rectWidth, rectHeight, out unused));
}
private void moveTarget(Pose oldPose, Pose newPose)
{
if (moveTransform == null)
{
return;
}
// Translate on all three axes.
var translation = newPose.position - oldPose.position;
// Rotate only around world up.
var rotation = Quaternion.AngleAxis(
maxAbs( // Take the max of two in case angle is degenerate for one.
Vector3.SignedAngle(
oldPose.rotation * Vector3.forward,
newPose.rotation * Vector3.forward,
Vector3.up
),
Vector3.SignedAngle(
oldPose.rotation * Vector3.up,
newPose.rotation * Vector3.up,
Vector3.up
)
) * rotationMult,
Vector3.up
);
var origPose = moveTransform.ToPose();
var movedPose = origPose + new Pose(translation, rotation);
moveTransform.position = movedPose.position;
moveTransform.rotation = movedPose.rotation;
}
public void MoveSelfToPanel()
{
var panelPose = new Pose(panelTransform.position, panelTransform.rotation);
this.transform.SetWorldPose(panelPose);
panelTransform.SetWorldPose(panelPose);
}
public void MoveSelfToBall()
{
var ballPose = new Pose(ballTransform.position, ballTransform.rotation);
this.transform.SetWorldPose(ballPose);
ballTransform.SetWorldPose(ballPose);
}
public void MoveTo(Transform t)
{
Pose followingPose = t.ToWorldPose();
this.transform.SetWorldPose(followingPose);
t.SetWorldPose(followingPose);
}
public static Vector3 ClampedToPlane(this Vector3 worldPosition, Pose planePose)
{
var localSpacePoint = worldPosition.From(planePose).position;
var localSpaceOnPlane = new Vector3(localSpacePoint.x,
localSpacePoint.y, 0f);
return((planePose * localSpaceOnPlane).position);
}
public static Pose Integrated(this Pose thisPose, Movement movement, float deltaTime)
{
thisPose.position = movement.velocity * deltaTime + thisPose.position;
if (movement.angularVelocity.sqrMagnitude > 0.00001f)
{
var angVelMag = movement.angularVelocity.magnitude;
thisPose.rotation = Quaternion.AngleAxis(angVelMag * deltaTime,
movement.angularVelocity / angVelMag)
* thisPose.rotation;
}
return(thisPose);
}
public static Vector3 ClampedToRect(this Vector3 worldPosition, Pose rectCenterPose,
float rectWidth, float rectHeight,
out bool isProjectionWithinRect)
{
var localSpacePoint = worldPosition.From(rectCenterPose).position;
var localSpaceOnPlane = new Vector3(Mathf.Clamp(localSpacePoint.x, -rectWidth, rectWidth),
Mathf.Clamp(localSpacePoint.y, -rectHeight, rectHeight), 0f);
isProjectionWithinRect = Mathf.Abs(localSpacePoint.x) <= rectWidth;
isProjectionWithinRect &= Mathf.Abs(localSpacePoint.y) <= rectHeight;
return((rectCenterPose * localSpaceOnPlane).position);
}
public static Vector3 ClampedToRect(this Vector3 worldPosition, Pose rectCenterPose,
float rectWidth, float rectHeight,
out float sqrDistToRect,
out bool isProjectionInRect)
{
var localSpacePoint = worldPosition.From(rectCenterPose).position;
isProjectionInRect = Mathf.Abs(localSpacePoint.x) <= rectWidth / 2f;
isProjectionInRect &= Mathf.Abs(localSpacePoint.y) <= rectHeight / 2f;
var localSpaceOnPlane = new Vector3(Mathf.Clamp(localSpacePoint.x, -rectWidth / 2f, rectWidth / 2f),
Mathf.Clamp(localSpacePoint.y, -rectHeight / 2f, rectHeight / 2f), 0f);
var positionOnRect = (rectCenterPose * localSpaceOnPlane).position;
sqrDistToRect = (positionOnRect - worldPosition).sqrMagnitude;
return(positionOnRect);
}
public static void DrawPose(this RuntimeGizmoDrawer drawer,
Pose pose, float radius = 0.10f,
bool drawCube = false)
{
drawer.PushMatrix();
drawer.matrix = Matrix4x4.TRS(pose.position, pose.rotation, Vector3.one);
var origColor = drawer.color;
//drawer.DrawWireSphere(Vector3.zero, radius);
if (drawCube)
{
drawer.DrawCube(Vector3.zero, Vector3.one * radius * 0.3f);
}
drawer.DrawPosition(Vector3.zero, radius * 2);
drawer.color = origColor;
drawer.PopMatrix();
}
/// <summary>
/// Calls body.MovePosition() and body.MoveRotation() using the argument Pose.
/// </summary>
public static void MovePose(this Rigidbody body, Pose pose)
{
body.MovePosition(pose.position);
body.MoveRotation(pose.rotation);
}
/// <summary>
/// Sets body.position and body.rotation using the argument Pose.
/// </summary>
public static void SetPose(this Rigidbody body, Pose pose)
{
body.position = pose.position;
body.rotation = pose.rotation;
}
public static Vector3 GetLocalPlanePosition(this Vector3 worldPosition, Pose planePose)
{
var localSpacePoint = worldPosition.From(planePose).position;
return(localSpacePoint);
}
/// <inheritdoc />
public override void Enable()
{
base.Enable();
if (leapControllerOrientation == LeapControllerOrientation.Headset)
{
// If the leap controller is mounted on a headset then add the LeapXRServiceProvider to the scene
// The LeapXRServiceProvider can only be attached to a camera
LeapMotionServiceProvider = CameraCache.Main.gameObject.AddComponent <LeapXRServiceProvider>();
//If northstar driver is installed, we need to get the LeapOffset values from the .vrsettings file
//LeapMotionServiceProvider.GetComponent<LeapXRServiceProvider>().deviceOffsetMode = Leap.Unity.LeapXRServiceProvider.DeviceOffsetMode.Transform;
//private Transform LeapOrigin = GetLeapOffset();
//LeapMotionServiceProvider.GetComponent<LeapXRServiceProvider>().deviceOrigin = LeapOrigin
//private Transform LeapOrigin = 0;
//C:\Program Files (x86)\Steam\steamapps\common\SteamVR\drivers\northstar\resources\settings\default.vrsettings
string path = @"c:\Program Files (x86)\Steam\steamapps\common\SteamVR\drivers\northstar\resources\settings\default.vrsettings";
//path = "";
if (System.IO.File.Exists(path))
{
//Check if we have a valid calibration to read
Debug.Log(path + "exists");
//Create game object to apply sensor offset
GameObject leapProvider = new GameObject("LeapProvider");
//Read in data from calibration file
string headsetsettings = System.IO.File.ReadAllText(path);
Debug.Log(headsetsettings);
//Parse data
Calibration headset = JsonUtility.FromJson <Calibration>(headsetsettings);
Leaptrackerodometryorigin leapoffset = headset.leapTrackerOdometryOrigin;
Debug.Log("headset : --" + headset.leapTrackerOdometryOrigin);
Vector3 leapposition = new Vector3(leapoffset.position_x, leapoffset.position_y, leapoffset.position_z);
Quaternion leaprotation = new Quaternion(leapoffset.rotation_x, leapoffset.rotation_y, leapoffset.rotation_z, leapoffset.rotation_w);
//Apply leap offset
Leap.Unity.Pose pose = new Leap.Unity.Pose(leapposition, leaprotation);
leapProvider.transform.SetLocalPose(pose);
LeapMotionServiceProvider.GetComponent <LeapXRServiceProvider>().deviceOrigin = leapProvider.transform;
LeapMotionServiceProvider.GetComponent <LeapXRServiceProvider>().deviceOffsetMode = Leap.Unity.LeapXRServiceProvider.DeviceOffsetMode.Transform;
Debug.Log("Applied Leap Offset from North Star vrsettings");
}
else
{
Debug.Log(path + " not found, setting default Leap Offset");
LeapMotionServiceProvider = CameraCache.Main.gameObject.AddComponent <LeapXRServiceProvider>();
}
}
if (leapControllerOrientation == LeapControllerOrientation.Desk)
{
// Create a separate gameobject if the leap controller is on the desk
GameObject leapProvider = new GameObject("LeapProvider");
// The LeapServiceProvider does not need to be attached to a camera, but the location of this gameobject is the anchor for the desk hands
LeapMotionServiceProvider = leapProvider.AddComponent <LeapServiceProvider>();
// Follow the transform of the main camera by adding the service provider as a child of the main camera
leapProvider.transform.parent = CameraCache.Main.transform;
// Apply hand position offset, an offset is required to render the hands in view and in front of the camera
LeapMotionServiceProvider.transform.position += leapHandsOffset;
}
// Add the attachment hands to the scene for the purpose of getting the tracking state of each hand and joint positions
GameObject leapAttachmentHandsGameObject = new GameObject("LeapAttachmentHands");
leapAttachmentHands = leapAttachmentHandsGameObject.AddComponent <AttachmentHands>();
// The first hand in attachmentHands.attachmentHands is always left
leftAttachmentHand = leapAttachmentHands.attachmentHands[0];
// The second hand in attachmentHands.attachmentHands is always right
rightAttachmentHand = leapAttachmentHands.attachmentHands[1];
// Enable all attachment point flags in the leap hand. By default, only the wrist and the palm are enabled.
foreach (TrackedHandJoint joint in Enum.GetValues(typeof(TrackedHandJoint)))
{
leapAttachmentHands.attachmentPoints |= LeapMotionArticulatedHand.ConvertMRTKJointToLeapJoint(joint);
}
}
public static void SetWorldPose(this Transform t, Pose worldPose)
{
t.SetPose(worldPose);
}
