private void adjustFingerRootPos(GestureResult hand)
{
for (int i = 0; i < 5; i++)
{
if (IsRobotHand)
{
if (i != 0)
{
continue;
}
}
else
{
if (i == 1 || i == 2)
{
continue;
}
}
int startIndex = i * 4 + 1;
Vector3 vec1 = hand.points[startIndex] - hand.points[0];
Vector3 vec2 = Nodes[startIndex].position - Nodes[0].position;
if (Vector3.Cross(wristXDir, vec1).magnitude > epsilon)
{
Vector3 vec3;
float angle;
calculateModelPos(wristXDir, vec1, MwristXDir, vec2, out angle, out vec3);
Nodes[startIndex].position = Nodes[0].position + vec3.normalized * (Nodes[startIndex].position -
Nodes[0].position).magnitude;
}
}
}
void setRotation(Vector3 vec0, Vector3 vec1, float angle0, Vector3 vec9, int joint,
GestureResult hand)
{
Vector3 vecM0 = Vector3.zero;
Vector3 vecM1 = Vector3.zero;
if (joint == 1 || joint == 5 || joint == 9 || joint == 13 || joint == 17)
{
vecM0 = Nodes[joint].position - Nodes[0].position;
}
else
{
vecM0 = Nodes[joint].position - Nodes[joint - 1].position;
}
vecM1 = Nodes[joint + 1].position - Nodes[joint].position;
calculateModelPos(vec0, vec1, vecM0, vecM1, out angle0, out vec9);
if (joint / 4 > 0)
{
float TempAngle1 = Vector3.Angle(vec9, Nodes[joint - 3].position - Nodes[joint - 4].position);
float TempAngle2 = Vector3.Angle(vec1, hand.points[joint - 3] - hand.points[joint - 4]);
if (Mathf.Abs(TempAngle1 - TempAngle2) > 0.5f)
{
vec9 = Quaternion.AngleAxis(-Mathf.Abs(TempAngle1 - TempAngle2), Vector3.Cross(vec9,
Nodes[joint - 3].position - Nodes[joint - 4].position)) * vec9;
angle0 = SignedAngle(vecM1, vec9);
}
}
Nodes[joint].rotation = Quaternion.AngleAxis(angle0, Vector3.Cross(vecM1, vec9)) * Nodes[joint].rotation;
}
public void ClearState()
{
Status = GestureStatus.NotStarted;
UpdatedInThisFrame = false;
Error = GestureFailure.None;
LeftHand = RightHand = null;
}
void Update()
{
if (Status == GestureStatus.NotStarted || Status == GestureStatus.Error)
{
return;
}
UpdatedInThisFrame = false;
IntPtr ptr;
int index;
var size = GestureInterface.GetGestureResult(out ptr, out index);
if (index < 0)
{
#if VIVEHANDTRACKING_WITH_WAVEVR
WaveVR_Log.Log.e("Aristo", "Gesture detection stopped");
#else
Debug.LogError("Gesture detection stopped");
#endif
Status = GestureStatus.Error;
Error = GestureFailure.Internal;
return;
}
else if (Status == GestureStatus.Starting && index > 0)
{
Status = GestureStatus.Running;
}
if (index <= lastIndex)
{
return;
}
lastIndex = index;
UpdatedInThisFrame = true;
LeftHand = RightHand = null;
if (size <= 0)
{
return;
}
var structSize = Marshal.SizeOf(typeof(GestureResultRaw));
for (var i = 0; i < size; i++)
{
var gesture = (GestureResultRaw)Marshal.PtrToStructure(ptr, typeof(GestureResultRaw));
ptr = new IntPtr(ptr.ToInt64() + structSize);
for (int j = 0; j < 21; j++)
{
gesture.points[j] = transform.TransformPoint(gesture.points[j]);
}
if (gesture.isLeft)
{
LeftHand = new GestureResult(gesture);
}
else
{
RightHand = new GestureResult(gesture);
}
}
}
HandFlag GetFlag(GestureResult hand)
{
var flag = HandFlag.NoHand;
if (hand != null)
{
flag = (HandFlag)(2 << (int)hand.gesture);
}
return(flag);
}
void setAxis(GestureResult hand)
{
wristXDir = (-Vector3.Cross(hand.points[5] - hand.points[0], hand.points[13] - hand.points[0])).normalized;
wristYDir = (Vector3.Cross(wristXDir, (hand.points[13] + hand.points[5]) / 2 - hand.points[0])).normalized;
wristZDir = ((hand.points[13] + hand.points[5]) / 2 - hand.points[0]).normalized;
MwristXDir = (-Vector3.Cross(Nodes[5].position - Nodes[0].position,
Nodes[13].position - Nodes[0].position)).normalized;
MwristYDir = (Vector3.Cross(MwristXDir,
(Nodes[13].position + Nodes[5].position) / 2 - Nodes[0].position)).normalized;
MwristZDir = ((Nodes[13].position + Nodes[5].position) / 2 - Nodes[0].position).normalized;
}
HandFlag GetFlag(GestureResult hand)
{
var flag = HandFlag.NoHand;
if (hand != null)
{
flag = (HandFlag)(2 << (int)hand.gesture);
if (hand.pinch.isPinching)
{
flag |= HandFlag.Pinch;
}
}
return(flag);
}
void Update()
{
transform.position = Vector3.Lerp(transform.position, m_NewPos, Smoothness);
transform.rotation = Quaternion.Slerp(transform.rotation, m_NewRot, Smoothness);
if (!GestureProvider.UpdatedInThisFrame)
{
return;
}
GestureResult result = IsLeft ? GestureProvider.LeftHand : GestureProvider.RightHand;
if (result == null)
{
Hand.SetActive(false);
return;
}
Hand.SetActive(true);
Vector3 _Wrist = result.points[0];
Vector3 _Index = result.points[5];
Vector3 _Middle = result.points[9];
Vector3 _ring = result.points[13];
Vector3 _zd = (result.points[5] + result.points[13]) / 2;
m_NewPos = _Wrist;
Vector3 _MidDir = _Middle - _Wrist;
Vector3 _ringDir = _ring - _Wrist;
Vector3 _IndexDir = _Index - _Wrist;
Vector3 _zdDir = -_zd - _Wrist;
Vector3 _PalmDir = Vector3.Cross(_IndexDir, _ringDir);
Vector3 _UpDir = Vector3.Cross(_ringDir, _PalmDir);
_MidDir = Quaternion.AngleAxis(7, _PalmDir) * _MidDir;
m_NewRot = Quaternion.LookRotation(_MidDir, _UpDir);
if ((result.points[13] - result.points[5]).magnitude == 0)
{
return;
}
for (int i = 0; i < 5; ++i)
{
SetFingerAngle(result, i);
}
}
private void setFingerPos(GestureResult hand)
{
for (int i = 0; i < 5; i++)
{
int startIndex = i * 4 + 1;
float IdealLength = (hand.points[startIndex] - hand.points[0]).magnitude;
Nodes[startIndex].position = Nodes[0].position + (Nodes[startIndex].position - Nodes[0].position).normalized *
IdealLength;
IdealLength = (hand.points[startIndex + 1] - hand.points[startIndex]).magnitude;
Nodes[startIndex + 1].position = Nodes[startIndex].position + (Nodes[startIndex + 1].position -
Nodes[startIndex].position).normalized * IdealLength;
IdealLength = (hand.points[startIndex + 2] - hand.points[startIndex + 1]).magnitude;
Nodes[startIndex + 2].position = Nodes[startIndex + 1].position + (Nodes[startIndex + 2].position - Nodes[startIndex +
1].position).normalized * IdealLength;
IdealLength = (hand.points[startIndex + 3] - hand.points[startIndex + 2]).magnitude;
Nodes[startIndex + 3].position = Nodes[startIndex + 2].position + (Nodes[startIndex + 3].position - Nodes[startIndex +
2].position).normalized * IdealLength;
}
}
/// fingerIndex is ranged from 0 to 4, i.e. from thumb to pinky
private void SetFingerAngle(GestureResult hand, int fingerIndex)
{
int startIndex = fingerIndex * 4 + 1;
if (fingerIndex == 0)
{
float toPinkyLength = (hand.points[startIndex + 2] - hand.points[17]).magnitude;
float toRingLength = (hand.points[startIndex + 2] - hand.points[13]).magnitude;
float toMiddleLength = (hand.points[startIndex + 2] - hand.points[9]).magnitude;
float toIndexLength = (hand.points[startIndex + 2] - hand.points[5]).magnitude;
if (toPinkyLength < 0.028f || toRingLength < 0.028f || toMiddleLength < 0.028f || toIndexLength < 0.028f)
{
return;
}
}
Vector3 root = hand.points[startIndex];
Vector3 joint1 = hand.points[startIndex + 1];
Vector3 joint2 = hand.points[startIndex + 2];
Vector3 top = hand.points[startIndex + 3];
Vector3 vec0 = root - hand.points[0];
Vector3 vec1 = joint1 - root;
Vector3 vec2 = joint2 - joint1;
Vector3 vec3 = top - joint2;
Nodes[startIndex].localRotation = initialRootJointQuatertion[fingerIndex];
Nodes[startIndex + 1].localRotation = initialSecondJoinQuatertion[fingerIndex];
Nodes[startIndex + 2].localRotation = initialThirdJointQuatertion[fingerIndex];
setRotation(vec0, vec1, 0.0f, Vector3.zero, startIndex, hand);
setRotation(vec1, vec2, 0.0f, Vector3.zero, startIndex + 1, hand);
float angle = Mathf.Clamp(Vector3.Angle(vec2, vec3), 0, 180);
Nodes[startIndex + 2].localEulerAngles = new Vector3(initialThirdJointQuatertion[fingerIndex].eulerAngles.x,
initialThirdJointQuatertion[fingerIndex].eulerAngles.y, -angle);
ConfirmIsCoplanar(fingerIndex);
}
/// fingerIndex is ranged from 0 to 4, i.e. from thumb to pinky
private void SetFingerAngle(GestureResult hand, int fingerIndex)
{
int startIndex = fingerIndex * 4 + 1;
Vector3 root = hand.points[startIndex];
Vector3 joint1 = hand.points[startIndex + 1];
Vector3 joint2 = hand.points[startIndex + 2];
Vector3 top = hand.points[startIndex + 3];
Vector3 vec0 = root - hand.points[0];
Vector3 vec1 = joint1 - root;
Vector3 vec2 = joint2 - joint1;
Vector3 vec3 = top - joint2;
Nodes[startIndex].localRotation = initialRootJointQuatertion[fingerIndex];
Nodes[startIndex + 1].localRotation = initialSecondJoinQuatertion[fingerIndex];
Nodes[startIndex + 2].localRotation = initialThirdJointQuatertion[fingerIndex];
setRotation(vec0, vec1, startIndex);
setRotation(vec1, vec2, startIndex + 1);
float angle = Mathf.Clamp(Vector3.Angle(vec2, vec3), 0, 180);
if (fingerIndex == 0)
{
Nodes[startIndex + 2].localEulerAngles = new Vector3(initialThirdJointQuatertion[fingerIndex].eulerAngles.x,
initialThirdJointQuatertion[fingerIndex].eulerAngles.y, -angle);
}
else if (fingerIndex > 2 && !IsLeft)
{
Nodes[startIndex + 1].localEulerAngles = new Vector3(initialSecondJoinQuatertion[fingerIndex].eulerAngles.x,
initialSecondJoinQuatertion[fingerIndex].eulerAngles.y, Nodes[startIndex + 1].localEulerAngles.z);
Nodes[startIndex + 2].localEulerAngles = new Vector3(initialThirdJointQuatertion[fingerIndex].eulerAngles.x,
initialThirdJointQuatertion[fingerIndex].eulerAngles.y, -angle);
}
else
{
setRotation(vec2, vec3, startIndex + 2);
}
}
void Update()
{
if (!GestureProvider.UpdatedInThisFrame)
{
return;
}
GestureResult result = IsLeft ? GestureProvider.LeftHand : GestureProvider.RightHand;
if (result == null)
{
Hand.SetActive(false);
return;
}
Hand.SetActive(true);
transform.position = result.points[0];
transform.rotation = result.rotation * Quaternion.Euler(initialRotation);
Vector3 indexDir = result.points[5] - result.points[0];
Vector3 midDir = result.points[9] - result.points[0];
Vector3 palmDir = IsLeft ? Vector3.Cross(indexDir, midDir) : Vector3.Cross(midDir, indexDir);
Vector3 thumbAxis = result.points[17] - result.points[1];
int nodeIndex = 1;
int vecIndex = 0;
for (int i = 0; i < 5; ++i, nodeIndex += 4, vecIndex += 3)
{
Vector3 root = result.points[nodeIndex];
Vector3 joint1 = result.points[nodeIndex + 1];
Vector3 vec1 = (joint1 - root).normalized * modelFingerVec[vecIndex].magnitude;
Vector3 joint2 = result.points[nodeIndex + 2];
Vector3 vec2 = (joint2 - joint1).normalized * modelFingerVec[vecIndex + 1].magnitude;
Vector3 top = result.points[nodeIndex + 3];
Vector3 vec3 = (top - joint2).normalized * modelFingerVec[vecIndex + 2].magnitude;
Vector3 fingerNormal;
if (i == 0)
{
fingerNormal = CalculateFingerNormal(vec1, vec2, thumbAxis, IsLeft ? palmDir : -palmDir);
}
else
{
fingerNormal = CalculateFingerNormal(vec1, vec2, palmDir, Vector3.Cross(indexDir, palmDir));
}
SetNodeRotation(nodeIndex, modelFingerVec[vecIndex], vec1, fingerNormal);
SetNodeRotation(nodeIndex + 1, modelFingerVec[vecIndex + 1], vec2, fingerNormal);
SetNodeRotation(nodeIndex + 2, modelFingerVec[vecIndex + 2], vec3, fingerNormal);
}
if (showConficenceAsAlpha)
{
var color = Hand.GetComponent <Renderer>().material.color;
color.a = result.confidence > minAlpha ? result.confidence : minAlpha;
Hand.GetComponent <Renderer>().material.color = color;
}
if (colliderType == HandColliderType.Trigger)
{
UpdateTigger();
}
else if (colliderType == HandColliderType.Collider)
{
UpdateCollider();
}
}
void Update()
{
if (Input.GetKeyDown(KeyCode.N))
{
currentInstruction++;
isPlaying = false; Play = true;
logger.AddKeyLogs("Next");
if (this.IsLeft)
{
next.Play();
}
}
else if (Input.GetKeyDown(KeyCode.P))
{
currentInstruction--;
isPlaying = false; Play = true;
logger.AddKeyLogs("Previous");
if (this.IsLeft)
{
previous.Play();
}
}
else if (Input.GetKeyDown(KeyCode.R))
{
isPlaying = false; Play = true;
logger.AddKeyLogs("Repeat");
}
if (_currentRecording != null)
{
GestureResult frame = IsLeft ? GestureProvider.LeftHand : GestureProvider.RightHand;
if (frame != null)
{
_currentRecording.Handframes.Add(new HandFrame(frame.isLeft, frame.points, frame.gesture, frame.position, frame.rotation));
_currentRecording.frameTimes.Add(Time.time - _beginTime);
}
if (Input.GetKeyDown(_endRecording))
{
EndRecording();
}
}
else
{
if (Input.GetKeyDown(_startRecording))
{
StartRecording();
}
}
if (!GestureProvider.UpdatedInThisFrame && !Play)
{
return;
}
GestureResult result = null;
if (Play)
{
if (!isPlaying)
{
_playBackBeginTime = Time.time;
playbackFrame = 0;
isPlaying = true;
//playbackFrame = GetSeekFrame();
}
if (playbackFrame >= HandRecordings[currentInstruction].frameTimes.Count)
{
isPlaying = false;
Play = false;
if (this.IsLeft)
{
completed.Play();
}
return;
}
if (isPlaying && (Time.time - _playBackBeginTime) < HandRecordings[currentInstruction].frameTimes[playbackFrame])
{
return;
}
else
{
result = HandRecordings[currentInstruction].GRFrames[playbackFrame];
playbackFrame++;
}
/* if (HandRecordings[currentInstruction].frameTimes[playbackFrame] >= HandRecordings[currentInstruction].finishAtSeconds)//Limit playback to certain seconds
* {
* Hand.SetActive(false);
* return;
* }*/
}
else
{
result = IsLeft ? GestureProvider.LeftHand : GestureProvider.RightHand;
}
if (result == null)
{
Hand.SetActive(false);
return;
}
if (DisableLiveHands && !Play)
{
return;
}
Hand.SetActive(true);
for (int i = 0; i < 5; i++)
{
int startIndex = i * 4 + 1;
float squareLengthRoot = (result.points[startIndex] - result.points[0]).sqrMagnitude;
float squareLengthFirst = (result.points[startIndex + 1] - result.points[startIndex]).sqrMagnitude;
float squareLengthSecond = (result.points[startIndex + 2] - result.points[startIndex + 1]).sqrMagnitude;
float squareLengthThird = (result.points[startIndex + 3] - result.points[startIndex + 2]).sqrMagnitude;
if (squareLengthRoot < epsilon || squareLengthFirst < epsilon || squareLengthSecond < epsilon ||
squareLengthThird < epsilon)
{
return;
}
for (int j = i + 1; j < 5; j++)
{
int nextStartIndex = j * 4 + 1;
if ((result.points[nextStartIndex] - result.points[startIndex]).sqrMagnitude == 0)
{
return;
}
}
}
Vector3 _Wrist = result.points[0];
Vector3 _Index = result.points[5];
Vector3 _Middle = result.points[9];
Vector3 _ring = result.points[13];
transform.position = _Wrist;
Vector3 _MidDir = _Middle - _Wrist;
Vector3 _ringDir = _ring - _Wrist;
Vector3 _IndexDir = _Index - _Wrist;
Vector3 _PalmDir = Vector3.Cross(_IndexDir, _ringDir);
Vector3 _UpDir = Vector3.Cross(_ringDir, _PalmDir);
_MidDir = Quaternion.AngleAxis(4.7f, _PalmDir) * _MidDir;
transform.rotation = Quaternion.LookRotation(_MidDir, _UpDir);
setFingerPos(result);
setAxis(result);
adjustFingerRootPos(result);
for (int i = 0; i < 5; ++i)
{
SetFingerAngle(result, i);
}
for (int i = 0; i < 5; i++)
{
int startIndex = i * 4 + 1;
Nodes[startIndex].position = Nodes[0].position + (Nodes[startIndex].position - Nodes[0].position).normalized *
idealFingerLength[i * 3];
Nodes[startIndex + 1].position = Nodes[startIndex].position + (Nodes[startIndex + 1].position -
Nodes[startIndex].position).normalized * idealFingerLength[i * 3 + 1];
Nodes[startIndex + 2].position = Nodes[startIndex + 1].position + (Nodes[startIndex + 2].position - Nodes[startIndex +
1].position).normalized * idealFingerLength[i * 3 + 2];
}
}
/// fingerIndex is ranged from 0 to 4, i.e. from thumb to pinky
private void SetFingerAngle(GestureResult hand, int fingerIndex)
{
int startIndex = fingerIndex * 4 + 1;
Vector3 root = hand.points[startIndex];
Vector3 joint1 = hand.points[startIndex + 1];
Vector3 joint2 = hand.points[startIndex + 2];
Vector3 top = hand.points[startIndex + 3];
Vector3 vec0 = root - hand.points[0];
Vector3 vec1 = joint1 - root;
Vector3 vec2 = joint2 - joint1;
Vector3 vec3 = top - joint2;
if (vec0.magnitude == 0 || vec1.magnitude == 0 || vec2.magnitude == 0 || vec3.magnitude == 0)
{
return;
}
Nodes[startIndex].localRotation = q1[fingerIndex];
Nodes[startIndex + 1].localRotation = q2[fingerIndex];
Nodes[startIndex + 2].localRotation = q3[fingerIndex];
if ((hand.points[9] - hand.points[0]).magnitude == 0)
{
return;
}
float k = (Nodes[9].position - Nodes[0].position).magnitude / (hand.points[9] - hand.points[0]).magnitude;
float IdealLength = k * (hand.points[startIndex] - hand.points[0]).magnitude;
Nodes[startIndex].position = Nodes[0].position + (Nodes[startIndex].position -
Nodes[0].position).normalized * IdealLength;
Vector3 vec5 = Nodes[startIndex].position - Nodes[0].position;
Vector3 vec9 = Vector3.zero;
setAxis(hand);
float angle0 = 0.0f;
if (fingerIndex == 0 || fingerIndex == 2 || fingerIndex == 4)
{
if (Vector3.Cross(wristXDir, vec0).magnitude != 0.0f)
{
calculateModelPos(wristXDir, vec0, MwristXDir, vec5, out angle0, out vec9);
Nodes[startIndex].position = Nodes[0].position + vec9.normalized * (Nodes[startIndex].position -
Nodes[0].position).magnitude;
}
}
if (Vector3.Cross(vec0, vec1).magnitude != 0)
{
setRotation(vec0, vec1, angle0, vec9, startIndex, hand);
if (fingerIndex != 0)
{
Nodes[startIndex].localEulerAngles = new Vector3(0, Nodes[startIndex].localEulerAngles.y,
Nodes[startIndex].localEulerAngles.z);
}
}
else
{
Nodes[startIndex].localRotation = q1[fingerIndex];
}
if (Vector3.Cross(vec1, vec2).magnitude != 0)
{
setRotation(vec1, vec2, angle0, vec9, startIndex + 1, hand);
Nodes[startIndex + 1].localEulerAngles = new Vector3(0, Nodes[startIndex + 1].localEulerAngles.y,
Nodes[startIndex + 1].localEulerAngles.z);
}
else
{
Nodes[startIndex + 1].localRotation = q2[fingerIndex];
}
if (Vector3.Cross(vec2, vec3).magnitude != 0)
{
setRotation(vec2, vec3, angle0, vec9, startIndex + 2, hand);
Nodes[startIndex + 2].localEulerAngles = new Vector3(0, Nodes[startIndex + 2].localEulerAngles.y,
Nodes[startIndex + 2].localEulerAngles.z);
}
else
{
Nodes[startIndex + 2].localRotation = q3[fingerIndex];
}
}
IEnumerator PlaybackFunction()
{
float lastFrameTime = 0f;
for (int x = 0; x < HandRecordings[currentInstruction].frameTimes.Count; x++)
{
GestureResult result = null;
yield return(new WaitForSeconds(HandRecordings[currentInstruction].frameTimes[x] - lastFrameTime));
result = HandRecordings[currentInstruction].GRFrames[x];
lastFrameTime = HandRecordings[currentInstruction].frameTimes[x];
if (result == null)
{
Hand.SetActive(false);
continue;
}
Hand.SetActive(true);
for (int i = 0; i < 5; i++)
{
int startIndex = i * 4 + 1;
float squareLengthRoot = (result.points[startIndex] - result.points[0]).sqrMagnitude;
float squareLengthFirst = (result.points[startIndex + 1] - result.points[startIndex]).sqrMagnitude;
float squareLengthSecond = (result.points[startIndex + 2] - result.points[startIndex + 1]).sqrMagnitude;
float squareLengthThird = (result.points[startIndex + 3] - result.points[startIndex + 2]).sqrMagnitude;
if (squareLengthRoot < epsilon || squareLengthFirst < epsilon || squareLengthSecond < epsilon ||
squareLengthThird < epsilon)
{
continue;
}
for (int j = i + 1; j < 5; j++)
{
int nextStartIndex = j * 4 + 1;
if ((result.points[nextStartIndex] - result.points[startIndex]).sqrMagnitude == 0)
{
continue;
}
}
}
Vector3 _Wrist = result.points[0];
Vector3 _Index = result.points[5];
Vector3 _Middle = result.points[9];
Vector3 _ring = result.points[13];
transform.position = _Wrist;
Vector3 _MidDir = _Middle - _Wrist;
Vector3 _ringDir = _ring - _Wrist;
Vector3 _IndexDir = _Index - _Wrist;
Vector3 _PalmDir = Vector3.Cross(_IndexDir, _ringDir);
Vector3 _UpDir = Vector3.Cross(_ringDir, _PalmDir);
_MidDir = Quaternion.AngleAxis(4.7f, _PalmDir) * _MidDir;
//transform.rotation = Quaternion.LookRotation(_MidDir, _UpDir);
setFingerPos(result);
setAxis(result);
adjustFingerRootPos(result);
for (int i = 0; i < 5; ++i)
{
SetFingerAngle(result, i);
}
for (int i = 0; i < 5; i++)
{
int startIndex = i * 4 + 1;
Nodes[startIndex].position = Nodes[0].position + (Nodes[startIndex].position - Nodes[0].position).normalized *
idealFingerLength[i * 3];
Nodes[startIndex + 1].position = Nodes[startIndex].position + (Nodes[startIndex + 1].position -
Nodes[startIndex].position).normalized * idealFingerLength[i * 3 + 1];
Nodes[startIndex + 2].position = Nodes[startIndex + 1].position + (Nodes[startIndex + 2].position - Nodes[startIndex +
1].position).normalized * idealFingerLength[i * 3 + 2];
}
}
}//Not used!
void setRotation(Vector3 vec0, Vector3 vec1, float angle, Vector3 vec2, int joint, GestureResult hand)
{
Vector3 vecM0 = Vector3.zero;
Vector3 vecM1 = Vector3.zero;
if (joint % 4 == 1)
{
vecM0 = Nodes[joint].position - Nodes[0].position;
}
else
{
vecM0 = Nodes[joint].position - Nodes[joint - 1].position;
}
vecM1 = Nodes[joint + 1].position - Nodes[joint].position;
calculateModelPos(vec0, vec1, vecM0, vecM1, out angle, out vec2);
Nodes[joint].rotation = Quaternion.AngleAxis(angle, Vector3.Cross(vecM1, vec2)) * Nodes[joint].rotation;
}
void Update()
{
if (!GestureProvider.UpdatedInThisFrame)
{
return;
}
GestureResult result = IsLeft ? GestureProvider.LeftHand : GestureProvider.RightHand;
if (result == null)
{
Hand.SetActive(false);
return;
}
Hand.SetActive(true);
for (int i = 0; i < 5; i++)
{
int startIndex = i * 4 + 1;
float squareLengthRoot = (result.points[startIndex] - result.points[0]).sqrMagnitude;
float squareLengthFirst = (result.points[startIndex + 1] - result.points[startIndex]).sqrMagnitude;
float squareLengthSecond = (result.points[startIndex + 2] - result.points[startIndex + 1]).sqrMagnitude;
float squareLengthThird = (result.points[startIndex + 3] - result.points[startIndex + 2]).sqrMagnitude;
if (squareLengthRoot < epsilon || squareLengthFirst < epsilon || squareLengthSecond < epsilon ||
squareLengthThird < epsilon)
{
return;
}
for (int j = i + 1; j < 5; j++)
{
int nextStartIndex = j * 4 + 1;
if ((result.points[nextStartIndex] - result.points[startIndex]).sqrMagnitude == 0)
{
return;
}
}
}
Vector3 _Wrist = result.points[0];
Vector3 _Index = result.points[5];
Vector3 _Middle = result.points[9];
Vector3 _ring = result.points[13];
transform.position = _Wrist;
Vector3 _MidDir = _Middle - _Wrist;
Vector3 _ringDir = _ring - _Wrist;
Vector3 _IndexDir = _Index - _Wrist;
Vector3 _PalmDir = Vector3.Cross(_IndexDir, _ringDir);
Vector3 _UpDir = Vector3.Cross(_ringDir, _PalmDir);
_MidDir = Quaternion.AngleAxis(4.7f, _PalmDir) * _MidDir;
transform.rotation = Quaternion.LookRotation(_MidDir, _UpDir);
setFingerPos(result);
setAxis(result);
adjustFingerRootPos(result);
for (int i = 0; i < 5; ++i)
{
SetFingerAngle(result, i);
}
for (int i = 0; i < 5; i++)
{
int startIndex = i * 4 + 1;
Nodes[startIndex].position = Nodes[0].position + (Nodes[startIndex].position - Nodes[0].position).normalized *
idealFingerLength[i * 3];
Nodes[startIndex + 1].position = Nodes[startIndex].position + (Nodes[startIndex + 1].position -
Nodes[startIndex].position).normalized * idealFingerLength[i * 3 + 1];
Nodes[startIndex + 2].position = Nodes[startIndex + 1].position + (Nodes[startIndex + 2].position - Nodes[startIndex +
1].position).normalized * idealFingerLength[i * 3 + 2];
}
if (colliderType == HandColliderType.Trigger)
{
UpdateTigger();
}
else if (colliderType == HandColliderType.Collider)
{
UpdateCollider();
}
}