public Pose PoseFromWrist(HandJointId jointid)
{
Pose pose = _posesFromWrist[(int)jointid];
UpdateWristJoint(jointid, ref pose);
return(pose);
}
public override void OnInspectorGUI()
{
DrawPropertiesExcluding(serializedObject);
serializedObject.ApplyModifiedProperties();
HandVisual visual = (HandVisual)target;
InitializeSkeleton(visual);
if (Hand == null)
{
return;
}
if (GUILayout.Button("Auto Map Joints"))
{
AutoMapJoints(visual);
EditorUtility.SetDirty(visual);
EditorSceneManager.MarkSceneDirty(visual.gameObject.scene);
}
EditorGUILayout.LabelField("Joints", EditorStyles.boldLabel);
HandJointId start = HandJointId.HandStart;
HandJointId end = HandJointId.HandEnd;
for (int i = (int)start; i < (int)end; ++i)
{
string jointName = HandJointLabelFromJointId((HandJointId)i);
visual.Joints[i] = (Transform)EditorGUILayout.ObjectField(jointName,
visual.Joints[i], typeof(Transform), true);
}
}
public void InjectAllJointDistanceActiveState(IHand handA, HandJointId jointIdA, IHand handB, HandJointId jointIdB)
{
InjectHandA(handA);
InjectJointIdA(jointIdA);
InjectHandB(handB);
InjectJointIdB(jointIdB);
}
public JointCollection(List <HandJointMap> joints)
{
_jointMaps = joints;
for (int i = 0; i < FingersMetadata.HAND_JOINT_IDS.Length; i++)
{
HandJointId boneId = FingersMetadata.HAND_JOINT_IDS[i];
_jointIndices[i] = joints.FindIndex(bone => bone.id == boneId);
}
}
/// <summary>
/// Get the previous frame's pose
/// </summary>
/// <param name="joint">The joint for which to retrieve data</param>
/// <param name="pose">The previous pose</param>
/// <returns>True if data available</returns>
public bool GetPrevJointPose(HandJointId joint, out Pose pose)
{
UpdateData();
PoseData poseData = _poseDataCache[joint][PrevDataIndex];
pose = poseData.Pose;
return(poseData.IsValid);
}
public HandJointPoseMetaData(HandFinger finger,
HandJointId joint, int bufferLength)
{
Finger = finger;
JointId = joint;
Velocities = new List <Vector3>();
_previousPosition = null;
_lastWritePos = -1;
_bufferLength = bufferLength;
}
private string FbxBoneNameFromHandJointId(HandVisual visual, HandJointId handJointId)
{
if (handJointId >= HandJointId.HandThumbTip && handJointId <= HandJointId.HandPinkyTip)
{
return(_fbxHandSidePrefix[(int)Hand.Handedness] + _fbxHandFingerNames[(int)handJointId - (int)HandJointId.HandThumbTip] + "_finger_tip_marker");
}
else
{
return(_fbxHandBonePrefix + _fbxHandSidePrefix[(int)Hand.Handedness] + _fbxHandBoneNames[(int)handJointId]);
}
}
public bool GetJointPoseFromWrist(HandJointId handJointId, out Pose pose)
{
pose = Pose.identity;
if (!GetJointPosesFromWrist(out ReadOnlyHandJointPoses jointPosesFromWrist))
{
return(false);
}
pose = jointPosesFromWrist[(int)handJointId];
return(true);
}
public bool GetJointPoseLocal(HandJointId handJointId, out Pose pose)
{
pose = Pose.identity;
if (!GetJointPosesLocal(out ReadOnlyHandJointPoses localJointPoses))
{
return(false);
}
pose = localJointPoses[(int)handJointId];
return(true);
}
public bool GetJointPose(HandJointId handJointId, out Pose pose)
{
pose = Pose.identity;
if (!IsTrackedDataValid ||
_jointPosesCache == null ||
!GetRootPose(out Pose rootPose))
{
return(false);
}
CheckJointPosesCacheUpdate();
pose = _jointPosesCache.WorldJointPose(handJointId, rootPose, Scale);
return(true);
}
private bool GetJointPose(HandJointId handJointId, out Pose pose)
{
pose = Pose.identity;
if (!Hand.IsTrackedDataValid)
{
return(false);
}
if (!Hand.GetJointPose(handJointId, out pose))
{
return(false);
}
return(true);
}
private void UpdateWristJoint(HandJointId jointid, ref Pose pose)
{
int jointIndex = (int)jointid;
if ((_dirtyWristJoints & (1 << jointIndex)) != 0)// its dirty
{
if (jointid > HandJointId.HandWristRoot)
{
UpdateWristJoint((HandJointId)_originalJoints[jointIndex].parent, ref pose);
PoseUtils.Multiply(pose, _localPoses[jointIndex], ref _posesFromWrist[jointIndex]);
}
_dirtyWristJoints = _dirtyWristJoints & ~(1 << jointIndex); //set clean
}
pose.CopyFrom(_posesFromWrist[jointIndex]);
}
private HandPose TrackedPose()
{
if (!_handGrabInteractor.Hand.GetJointPosesLocal(out ReadOnlyHandJointPoses localJoints))
{
return(null);
}
HandPose result = new HandPose(_handGrabInteractor.Hand.Handedness);
for (int i = 0; i < FingersMetadata.HAND_JOINT_IDS.Length; ++i)
{
HandJointId jointID = FingersMetadata.HAND_JOINT_IDS[i];
result.JointRotations[i] = localJoints[jointID].rotation;
}
return(result);
}
/// <summary>
/// Get the delta rotation between the previous pose and current pose
/// </summary>
/// <param name="joint">The joint for which to retrieve data</param>
/// <param name="delta">The rotation delta between poses in world space</param>
/// <returns>True if data available</returns>
public bool GetRotationDelta(HandJointId joint, out Quaternion delta)
{
UpdateData();
PoseData prevPose = _poseDataCache[joint][PrevDataIndex];
PoseData curPose = _poseDataCache[joint][CurDataIndex];
if (!prevPose.IsValid || !curPose.IsValid)
{
delta = Quaternion.identity;
return(false);
}
delta = curPose.Pose.rotation * Quaternion.Inverse(prevPose.Pose.rotation);
return(true);
}
/// <summary>
/// Get the delta position between the previous pose and current pose
/// </summary>
/// <param name="joint">The joint for which to retrieve data</param>
/// <param name="delta">The position delta between poses in world space</param>
/// <returns>True if data available</returns>
public bool GetPositionDelta(HandJointId joint, out Vector3 delta)
{
UpdateData();
PoseData prevPose = _poseDataCache[joint][PrevDataIndex];
PoseData curPose = _poseDataCache[joint][CurDataIndex];
if (!prevPose.IsValid || !curPose.IsValid)
{
delta = Vector3.zero;
return(false);
}
delta = curPose.Pose.position - prevPose.Pose.position;
return(true);
}
public Pose WorldJointPose(HandJointId jointid, Pose rootPose, float handScale)
{
int jointIndex = (int)jointid;
if ((_dirtyWorldJoints & (1 << jointIndex)) != 0) //its dirty
{
Pose wristPose = Pose.identity;
UpdateWristJoint(jointid, ref wristPose);
PoseUtils.Multiply(_localPoses[0], wristPose, ref _worldPoses[jointIndex]);
_worldPoses[jointIndex].position *= handScale;
_worldPoses[jointIndex].Postmultiply(rootPose);
_dirtyWorldJoints = _dirtyWorldJoints & ~(1 << jointIndex); //set clean
}
return(_worldPoses[jointIndex]);
}
public JointFilter(HandJointId jointId)
{
_jointId = jointId;
_filter = OneEuroFilter.CreateQuaternion();
}
public void InjectJointIdB(HandJointId jointIdB)
{
_jointIdB = jointIdB;
}
public FingerPinchData(HandFinger fingerId)
{
_finger = fingerId;
_tipId = HandJointUtils.GetHandFingerTip(fingerId);
}
public Pose LocalJointPose(HandJointId jointid)
{
return(_localPoses[(int)jointid]);
}
public Transform GetTransformByHandJointId(HandJointId handJointId)
{
return(_jointTransforms[(int)handJointId]);
}
public static int HandJointIdToIndex(HandJointId id)
{
return((int)id - (int)HandJointId.HandThumb0);
}
// force aliased enum values to the more appropriate value
private static string HandJointLabelFromJointId(HandJointId handJointId)
{
switch (handJointId)
{
case HandJointId.HandWristRoot:
return("HandWristRoot");
case HandJointId.HandForearmStub:
return("HandForearmStub");
case HandJointId.HandThumb0:
return("HandThumb0");
case HandJointId.HandThumb1:
return("HandThumb1");
case HandJointId.HandThumb2:
return("HandThumb2");
case HandJointId.HandThumb3:
return("HandThumb3");
case HandJointId.HandIndex1:
return("HandIndex1");
case HandJointId.HandIndex2:
return("HandIndex2");
case HandJointId.HandIndex3:
return("HandIndex3");
case HandJointId.HandMiddle1:
return("HandMiddle1");
case HandJointId.HandMiddle2:
return("HandMiddle2");
case HandJointId.HandMiddle3:
return("HandMiddle3");
case HandJointId.HandRing1:
return("HandRing1");
case HandJointId.HandRing2:
return("HandRing2");
case HandJointId.HandRing3:
return("HandRing3");
case HandJointId.HandPinky0:
return("HandPinky0");
case HandJointId.HandPinky1:
return("HandPinky1");
case HandJointId.HandPinky2:
return("HandPinky2");
case HandJointId.HandPinky3:
return("HandPinky3");
case HandJointId.HandThumbTip:
return("HandThumbTip");
case HandJointId.HandIndexTip:
return("HandIndexTip");
case HandJointId.HandMiddleTip:
return("HandMiddleTip");
case HandJointId.HandRingTip:
return("HandRingTip");
case HandJointId.HandPinkyTip:
return("HandPinkyTip");
default:
return("HandUnknown");
}
}
public void InjectJointIdA(HandJointId jointIdA)
{
_jointIdA = jointIdA;
}
public void InjectJointToTest(HandJointId jointToTest)
{
_jointToTest = jointToTest;
}
public void InjectAllColliderContainsHandJointActiveState(IHand hand, Collider[] entryColliders,
Collider[] exitColliders, HandJointId jointToTest)
{
InjectHand(hand);
InjectEntryColliders(entryColliders);
InjectExitColliders(exitColliders);
InjectJointToTest(jointToTest);
}
