private void UpdateMainCamTracking()
{
if (VIUSettings.simulatorAutoTrackMainCamera)
{
if (!m_autoTrackMainCam)
{
m_autoTrackMainCam = true;
m_mainCamStartPose = new RigidPose(Camera.main.transform, true);
}
if (Camera.main != null)
{
var hmd = VRModule.GetDeviceState(VRModule.HMD_DEVICE_INDEX);
if (hmd.isConnected)
{
RigidPose.SetPose(Camera.main.transform, hmd.pose);
}
}
}
else
{
if (m_autoTrackMainCam)
{
m_autoTrackMainCam = false;
if (Camera.main != null)
{
RigidPose.SetPose(Camera.main.transform, m_mainCamStartPose);
}
}
}
}
private static void UpdateDeviceJoints(IVRModuleDeviceStateRW state, Vector3[] rawJoints, bool isLeft)
{
var hmdPose = VRModule.GetDeviceState(VRModule.HMD_DEVICE_INDEX).pose;
GestureInterface.SetCameraTransform(hmdPose.pos, hmdPose.rot);
var roomSpaceWrist2index = rawJoints[5] - rawJoints[0];
var roomSpaceWrist2middle = rawJoints[9] - rawJoints[0];
var roomSpaceWrist2pinky = rawJoints[17] - rawJoints[0];
var roomSpaceWristUp = isLeft ? Vector3.Cross(roomSpaceWrist2pinky, roomSpaceWrist2index) : Vector3.Cross(roomSpaceWrist2index, roomSpaceWrist2pinky);
var roomSpaceWristPose = new RigidPose(rawJoints[0], Quaternion.LookRotation(roomSpaceWrist2middle, roomSpaceWristUp));
state.pose = roomSpaceWristPose;
state.handJoints[HandJointName.Wrist] = new JointPose(roomSpaceWristPose);
state.handJoints[HandJointName.Palm] = new JointPose(new RigidPose((rawJoints[0] + rawJoints[9]) * 0.5f, roomSpaceWristPose.rot));
var camSpaceFingerRight = roomSpaceWristPose.rot * Vector3.right;
Quaternion roomSpaceRot;
roomSpaceRot = CalculateJointRot(rawJoints, 1, 2, roomSpaceWristPose.rot * (isLeft ? new Vector3(0.1f, -5.67f, -0.1f) : new Vector3(0.1f, 5.67f, 0.1f)));
state.handJoints[HandJointName.ThumbMetacarpal] = new JointPose(new RigidPose(rawJoints[1], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 2, 3, roomSpaceWristPose.rot * (isLeft ? new Vector3(0.1f, -5.67f, -0.1f) : new Vector3(0.1f, 5.67f, 0.1f)));
state.handJoints[HandJointName.ThumbProximal] = new JointPose(new RigidPose(rawJoints[2], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 3, 4, roomSpaceWristPose.rot * (isLeft ? new Vector3(1.72f, -5.67f, -3.55f) : new Vector3(1.72f, 5.67f, 3.55f)));
state.handJoints[HandJointName.ThumbDistal] = new JointPose(new RigidPose(rawJoints[3], roomSpaceRot));
state.handJoints[HandJointName.ThumbTip] = new JointPose(new RigidPose(rawJoints[4], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 5, 6, camSpaceFingerRight);
state.handJoints[HandJointName.IndexProximal] = new JointPose(new RigidPose(rawJoints[5], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 6, 7, camSpaceFingerRight);
state.handJoints[HandJointName.IndexIntermediate] = new JointPose(new RigidPose(rawJoints[6], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 7, 8, camSpaceFingerRight);
state.handJoints[HandJointName.IndexDistal] = new JointPose(new RigidPose(rawJoints[7], roomSpaceRot));
state.handJoints[HandJointName.IndexTip] = new JointPose(new RigidPose(rawJoints[8], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 9, 10, camSpaceFingerRight);
state.handJoints[HandJointName.MiddleProximal] = new JointPose(new RigidPose(rawJoints[9], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 10, 11, camSpaceFingerRight);
state.handJoints[HandJointName.MiddleIntermediate] = new JointPose(new RigidPose(rawJoints[10], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 11, 12, camSpaceFingerRight);
state.handJoints[HandJointName.MiddleDistal] = new JointPose(new RigidPose(rawJoints[11], roomSpaceRot));
state.handJoints[HandJointName.MiddleTip] = new JointPose(new RigidPose(rawJoints[12], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 13, 14, camSpaceFingerRight);
state.handJoints[HandJointName.RingProximal] = new JointPose(new RigidPose(rawJoints[13], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 14, 15, camSpaceFingerRight);
state.handJoints[HandJointName.RingIntermediate] = new JointPose(new RigidPose(rawJoints[14], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 15, 16, camSpaceFingerRight);
state.handJoints[HandJointName.RingDistal] = new JointPose(new RigidPose(rawJoints[15], roomSpaceRot));
state.handJoints[HandJointName.RingTip] = new JointPose(new RigidPose(rawJoints[16], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 17, 18, camSpaceFingerRight);
state.handJoints[HandJointName.PinkyProximal] = new JointPose(new RigidPose(rawJoints[17], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 18, 19, camSpaceFingerRight);
state.handJoints[HandJointName.PinkyIntermediate] = new JointPose(new RigidPose(rawJoints[18], roomSpaceRot));
roomSpaceRot = CalculateJointRot(rawJoints, 19, 20, camSpaceFingerRight);
state.handJoints[HandJointName.PinkyDistal] = new JointPose(new RigidPose(rawJoints[19], roomSpaceRot));
state.handJoints[HandJointName.PinkyTip] = new JointPose(new RigidPose(rawJoints[20], roomSpaceRot));
}
protected override void OnUpdateDeviceConnectionAndPoses()
{
lock (this)
{
if (!isStarted && retryCount > 0 && startDetectionTask.IsDone)
{
// try start engine detection
LiteCoroutine.StartCoroutine(ref startDetectionCoroutine, startDetectionTask.RestartTask(StartDetectionCoroutine()));
}
if (!isStarted)
{
return;
}
}
var hmdPose = VRModule.GetDeviceState(VRModule.HMD_DEVICE_INDEX).pose;
GestureInterface.SetCameraTransform(hmdPose.pos, hmdPose.rot);
// fetch raw data from engine
IntPtr resultPtr;
int resultFrame;
var resultSize = GestureInterface.GetGestureResult(out resultPtr, out resultFrame);
if (resultFrame < 0)
{
Debug.Log(LOG_PREFIX + "Detection stopped");
isStarted = false;
return;
}
else if (resultFrame <= lastResultFrame)
{
// skip frame
return;
}
lastResultFrame = resultFrame;
leftResult.isConnected = false;
rightResult.isConnected = false;
for (int i = 0, imax = resultSize; i < imax; ++i)
{
var result = (GestureResult)Marshal.PtrToStructure(resultPtr, typeof(GestureResult));
if (result.isLeft)
{
leftResult = new HandResultData()
{
isConnected = true,
rawData = result,
};
}
else
{
rightResult = new HandResultData()
{
isConnected = true,
rawData = result,
};
}
#if NET_4_6
resultPtr = IntPtr.Add(resultPtr, sizeofGestureResult);
#else
resultPtr = new IntPtr(resultPtr.ToInt64() + sizeofGestureResult);
#endif
}
UpdateDeviceConnectionAndPoses(ref leftResult, ref leftDeviceIndex, true);
UpdateDeviceConnectionAndPoses(ref rightResult, ref rightDeviceIndex, false);
}
