private void trianglerPose()
{
if (palmPositionPosePoints.Count <= 2)
{
return;
}
debugField = "";
List <PosePoint> copylist = new List <PosePoint>(palmPositionPosePoints.ToArray());
//最近点選ぶ ＞ KeyPoint
PosePoint keyP = getMaxPosePoint(copylist, x => (x.position - palmPos).magnitude);
copylist.Remove(keyP);
debugField += "key:" + keyP.position.ToString() + "\n";
//最もベクターが反対の点とのKeyMag距離点の中和ポーズの設定
Vector3 PalmToKeyVect;
while (copylist.Count > 0)
{
PalmToKeyVect = keyP.position - palmPos;
PosePoint Apoint = getMinPosePoint(copylist, x => Vector3.Dot(PalmToKeyVect, (x.position - palmPos)));
copylist.Remove(Apoint);
keyP = PosePoint.MixPointNearst(keyP, palmPos, Apoint, true);
debugField += "koo:" + (keyP.position - palmPos).magnitude.ToString() + "%" + Apoint.position.ToString() + "\n";
}
debugField += "pos:" + palmPos.ToString() + "\n";
keyP.Pose.SetPosing(model);
targetertester.transform.position = keyP.position / 1000;
}
public static PosePoint MixPoint(PosePoint A, PosePoint B, float weightA)
{
PosePoint result = new PosePoint();
result.position = B.position + (A.position - B.position) * weightA;
result.Pose = B.Pose + (A.Pose - B.Pose) * weightA;
return(result);
}
private void Nicoiti(Vector3 point)
{
if (palmPositionPosePoints.Count == 0)
{
return;
}
PosePoint ans = PosePoint.RecallNearst(palmPositionPosePoints, 0, palmPositionPosePoints.Count - 1, point);
ans.Pose.SetPosing(model);
}
private PosePoint RecallNearst(int A, int B)
{
if (A == B)
{
return(palmPositionPosePoints[A]);
}
else
{
PosePoint PoseA = RecallNearst(A, Mathf.CeilToInt((A + B) / 2));
PosePoint PoseB = RecallNearst(Mathf.CeilToInt((A + B) / 2) + 1, B);
return(PosePoint.MixPointNearst(PoseA, palmPos, PoseB, true));
}
}
public static PosePoint MixPointSameLong(PosePoint Key, Vector3 longSample, PosePoint slideSample)
{
if ((Key.position - slideSample.position).sqrMagnitude == 0)
{
return(Key);
}
float longWeight = (Key.position - longSample).sqrMagnitude / (Key.position - slideSample.position).sqrMagnitude;
if (float.IsInfinity(longWeight))
{
longWeight = 1f;
}
return(MixPoint(slideSample, Key, longWeight));
}
public static PosePoint RecallNearst(List <PosePoint> list, int A, int B, Vector3 point)
{
if (A == B)
{
return(list[A]);
}
else
{
PosePoint PoseA = RecallNearst(list, A, Mathf.CeilToInt((A + B) / 2), point);
PosePoint PoseB = RecallNearst(list, Mathf.CeilToInt((A + B) / 2) + 1, B, point);
return(PosePoint.MixPointNearst(PoseA, point, PoseB, true));
}
}
private void Nicoiti()
{
if (palmPositionPosePoints.Count == 0)
{
return;
}
debugField = "";
PosePoint ans = RecallNearst(0, palmPositionPosePoints.Count - 1);
debugField += "lng:" + (ans.position - palmPos).magnitude.ToString() + "\n";
debugField += "ans:" + ans.position.ToString() + "\n";
debugField += "pal:" + palmPos.ToString() + "\n";
ans.Pose.SetPosing(model);
targetertester.transform.position = ans.position / 1000;
}
private PosePoint getMinPosePoint(List <PosePoint> listdata, ramd calc)
{
float levels = float.MaxValue;
PosePoint r = null;
foreach (var e in listdata)
{
float calcResult = calc(e);
if (calcResult < levels)
{
r = e;
levels = calcResult;
}
}
return(r);
}
public static PosePoint MixPointNearst(PosePoint Key, Vector3 target, PosePoint slideSample, bool overFloor)
{
if ((Key.position - slideSample.position).magnitude == 0)
{
return(Key);
}
Vector3 keyToTarget = target - Key.position;
Vector3 keyToSlide = slideSample.position - Key.position;
float dot = Vector3.Dot(keyToSlide.normalized, keyToTarget.normalized) * keyToTarget.magnitude / keyToSlide.magnitude;
if (!overFloor)
{
dot = Mathf.Min(1f, Mathf.Max(0f, dot));
}
return(MixPoint(Key, slideSample, (1f - dot)));
}