public static float getGrabHeuristic(Hand hand, GameObject obj)
{
float grabProbability = 0.0f;
//If palm is facing away from the object, no chance of grabbing
Vector3 palmNormal = handController.transform.TransformDirection(hand.PalmNormal.ToUnity());
Vector3 palmPos = handController.transform.TransformPoint(hand.PalmPosition.ToUnityScaled());
if (Vector3.Dot(palmNormal, obj.transform.position - palmPos) < 0)
{
return(0);
}
float proximityFactor = 0.0f;
foreach (Finger finger in hand.Fingers)
{
Vector3 point = handController.transform.TransformPoint(finger.JointPosition(Leap.Finger.FingerJoint.JOINT_TIP).ToUnityScaled());
Vector3 pointOn = ColliderUtil.closestPointOnSurfaces(obj, point);
float distance = Vector3.Distance(point, pointOn);
if (ColliderUtil.isInsideColliders(obj, point))
{
distance = 0.0f;
}
//if any finger is <releaseRadius> meters away, negative infinity, no way that hand is close enough
float thresh = Mathf.Clamp01(1.0f - distance / 0.15f);
proximityFactor += 2.0f - 1.0f / thresh;
}
proximityFactor /= hand.Fingers.Count;
//Debug.Log(proximityFactor);
grabProbability += proximityFactor;
//The more the hand is opening, the more grabbable
grabProbability += getHandClosingSpeed(hand) * 10.0f;
//If the hand is mostly open, the probability of a grab goes down
grabProbability -= Mathf.Pow(1.0f - getHandClosedPercent(hand), 4.0f);
if (hand.PalmVelocity.ToUnityScaled().sqrMagnitude > 0.09f)
{
grabProbability = 0.7f;
}
grabProbability = 0.7f + (grabProbability - 0.7f) / (hand.PalmVelocity.ToUnityScaled().sqrMagnitude * 3.0f + 1);
grabProbability = 0.7f + (grabProbability - 0.7f) / (getHandRotationAmount(hand) * 1 + 1.0f);
if (grabProbability > 0 && grabProbability < 10.0f)
{
DebugGraph.Log("Grabbing", grabProbability, grabProbability > 0.7f ? Color.green : Color.red);
}
return(grabProbability);
}
public void Update()
{
if (Input.GetKeyUp(KeyCode.C))
{
Debug.Log("test:" + ColliderUtil.CollidePoint(testPosition, mask));
}
if (Input.GetKeyUp(KeyCode.T))
{
Debug.Log("test:" + (Physics2D.OverlapBox(testCenter, testSize, 0, mask)));
}
}
private void LoadGltfFile(string file)
{
ResetForm(true);
gltf = Interface.LoadModel(file);
colliderManager = new ColliderManager();
for (int i = 0; i < gltf.Nodes.Length; i++)
{
var node = gltf.Nodes[i];
var name = GetNodeName(node, i);
nodeListBox.Items.Add(name);
var collider = ColliderUtil.GetNodeCollider(gltf, i);
if (collider != null)
{
colliderManager.AddCollider(i, collider);
}
}
}