private void PreviewArea()
{
//visualize:
Vector3[] playspacePerimeterOnFloor = new Vector3[_playspaceCorners.Count];
Vector3[] playspacePerimeterOnCeiling = new Vector3[_playspaceCorners.Count];
//populate floor and ceiling corner loops:
for (int i = 0; i < _playspaceCorners.Count; i++)
{
//cache floor and ceiling locations:
Vector3 floor = TransformUtilities.WorldPosition(pcfAnchor.Position, pcfAnchor.Rotation, _playspaceCorners[i]);
Vector3 ceiling = floor + new Vector3(0, Height);
playspacePerimeterOnFloor[i] = floor;
playspacePerimeterOnCeiling[i] = ceiling;
//draw corner supports:
LineRenderer cornerSupportsOutline = Lines.DrawLine($"PlayspaceCornerSupport{i}", Color.green, Color.green, .005f, floor, ceiling);
cornerSupportsOutline.material = perimeterOutlineMaterial;
}
//draw ceiling and floor perimeter:
LineRenderer ceilingOutline = Lines.DrawLine($"PlayspaceCeilingOutline", Color.green, Color.green, .005f, playspacePerimeterOnCeiling);
LineRenderer floorOutline = Lines.DrawLine($"PlayspaceFloorOutline", Color.green, Color.green, .005f, playspacePerimeterOnFloor);
ceilingOutline.material = perimeterOutlineMaterial;
floorOutline.material = perimeterOutlineMaterial;
}
//Loops:
private void Update()
{
//wait for hand input to come online:
if (!HandInput.Ready)
{
return;
}
//shoulder:
float shoulderDistance = shoulderWidth * .5f;
//swap for the left shoulder:
if (handedness == MLHandTracking.HandType.Left)
{
shoulderDistance *= -1;
}
//source locations:
Vector3 flatForward = Vector3.ProjectOnPlane(_mainCamera.forward, Vector3.up);
Vector3 shoulder = TransformUtilities.WorldPosition(_mainCamera.position, Quaternion.LookRotation(flatForward), new Vector2(shoulderDistance, Mathf.Abs(shoulderDistanceBelowHead) * -1));
Vector3 pointerOrigin = Vector3.Lerp(Hand.Skeleton.Thumb.Knuckle.positionFiltered, Hand.Skeleton.Position, .5f);
//direction:
Quaternion orientation = Quaternion.LookRotation(Vector3.Normalize(pointerOrigin - shoulder), Hand.Skeleton.Rotation * Vector3.up);
//application:
transform.position = pointerOrigin;
transform.rotation = orientation;
}
private void FindWalls_GenerateGeometry()
{
//transform matrix:
Vector3 correctedForward = Vector3.ProjectOnPlane(pcfAnchor.Rotation * Vector3.forward, Vector3.up).normalized;
Quaternion correctedRotation = Quaternion.LookRotation(correctedForward);
Matrix4x4 transformMatrix = Matrix4x4.TRS(pcfAnchor.Position, correctedRotation, Vector3.one);
//build wall geometry:
Vector3 verticalOffset = Vector3.up * Height;
List <Vector3> wallVerticies = new List <Vector3>();
List <int> wallTriangles = new List <int>();
for (int i = 0; i < _playspaceCorners.Count - 1; i++)
{
Vector3 pointA = TransformUtilities.WorldPosition(pcfAnchor.Position, pcfAnchor.Rotation, _playspaceCorners[i]);
Vector3 pointB = TransformUtilities.WorldPosition(pcfAnchor.Position, pcfAnchor.Rotation, _playspaceCorners[i + 1]);
//locate verticies (local space):
Vector3 a = transformMatrix.inverse.MultiplyPoint3x4(pointA);
Vector3 b = transformMatrix.inverse.MultiplyPoint3x4(pointB);
Vector3 c = b + verticalOffset;
Vector3 d = a + verticalOffset;
//store verticies (reverse order so normals face inwards):
wallVerticies.Add(d);
wallVerticies.Add(c);
wallVerticies.Add(b);
wallVerticies.Add(a);
//store triangles
wallTriangles.Add(wallVerticies.Count - 4);
wallTriangles.Add(wallVerticies.Count - 3);
wallTriangles.Add(wallVerticies.Count - 2);
wallTriangles.Add(wallVerticies.Count - 2);
wallTriangles.Add(wallVerticies.Count - 1);
wallTriangles.Add(wallVerticies.Count - 4);
}
//get points for polygon construction:
Vector2[] polygonPoints = new Vector2[_playspaceCorners.Count - 1];
Vector3[] floorVerticies = new Vector3[_playspaceCorners.Count - 1];
Vector3[] ceilingVerticies = new Vector3[_playspaceCorners.Count - 1];
for (int i = 0; i < _playspaceCorners.Count - 1; i++)
{
Vector3 point = TransformUtilities.WorldPosition(pcfAnchor.Position, pcfAnchor.Rotation, _playspaceCorners[i]);
Vector3 local = transformMatrix.inverse.MultiplyPoint3x4(point);
polygonPoints[i] = new Vector2(local.x, local.z);
floorVerticies[i] = local;
ceilingVerticies[i] = local + verticalOffset;
}
//triangles:
int[] floorTriangles = new Triangulator(polygonPoints).Triangulate();
BuildGeometry(wallVerticies.ToArray(), wallTriangles.ToArray(), floorVerticies, floorTriangles, ceilingVerticies);
//FindWalls_Analyze();
ChangeState(State.ConfirmArea);
}
/// <summary>
/// Updates peers on the position, scale, and rotation of this transmission object.
/// </summary>
public void Synchronize()
{
if (_isMine)
{
//update relative:
localPosition = TransformUtilities.LocalPosition(Transmission.Instance.sharedOrigin.position, Transmission.Instance.sharedOrigin.rotation, transform.position);
rotationOffset = TransformUtilities.GetRotationOffset(Transmission.Instance.sharedOrigin.rotation, transform.rotation);
//send out the change to this transform:
Transmission.Send(new TransformSyncMessage(this));
}
}
private void HandleTransformSync(TransformSyncMessage transformSyncMessage)
{
//is this a pose message for us?
if (transformSyncMessage.ig != guid)
{
return;
}
//unpack:
Vector3 receivedLocalPosition = new Vector3((float)transformSyncMessage.px, (float)transformSyncMessage.py, (float)transformSyncMessage.pz);
Quaternion receivedRotationOffset = new Quaternion((float)transformSyncMessage.rx, (float)transformSyncMessage.ry, (float)transformSyncMessage.rz, (float)transformSyncMessage.rw);
_targetPosition = TransformUtilities.WorldPosition(Transmission.Instance.sharedOrigin.position, Transmission.Instance.sharedOrigin.rotation, receivedLocalPosition);
_targetRotation = TransformUtilities.ApplyRotationOffset(Transmission.Instance.sharedOrigin.rotation, receivedRotationOffset);
targetScale = new Vector3((float)transformSyncMessage.sx, (float)transformSyncMessage.sy, (float)transformSyncMessage.sz);
}
//Init:
private void Awake()
{
//sets:
localPosition = TransformUtilities.LocalPosition(Transmission.Instance.sharedOrigin.position, Transmission.Instance.sharedOrigin.rotation, transform.position);
rotationOffset = TransformUtilities.GetRotationOffset(Transmission.Instance.sharedOrigin.rotation, transform.rotation);
targetScale = transform.localScale;
//catalog:
_all.Add(guid, this);
//hooks:
Transmission.Instance.OnPeerFound.AddListener(HandlePeerFound);
Transmission.Instance.OnTransformSync.AddListener(HandleTransformSync);
Transmission.Instance.OnOwnershipGained.AddListener(HandleOwnershipGained);
Transmission.Instance.OnOwnershipTransferDenied.AddListener(HandleOwnershipTransferDenied);
StartCoroutine("ShareTransformStatus");
}
public void Update(ManagedHand managedHand, Vector3 keyPointLocation, params Vector3[] decayPoints)
{
if (!managedHand.Visible)
{
//lost:
if (Visible)
{
FireLostEvent();
_progress.locationHistory.Clear();
}
return;
}
//visibility status:
bool currentVisibility = true;
//too close to next joint in chain means visibility failed:
if (Vector3.Distance(keyPointLocation, _mainCamera.transform.position) < _minHeadDistance)
{
currentVisibility = false;
}
else
{
for (int i = 0; i < decayPoints.Length; i++)
{
if (Vector3.Distance(keyPointLocation, decayPoints[i]) < _lostKeyPointDistance)
{
currentVisibility = false;
break;
}
}
}
positionRaw = keyPointLocation;
//lost visibility:
if (!currentVisibility && Visible)
{
FireLostEvent();
_progress.locationHistory.Clear();
return;
}
//history cache:
_progress.locationHistory.Add(keyPointLocation);
//only need 3 in our history:
if (_progress.locationHistory.Count > 3)
{
_progress.locationHistory.RemoveAt(0);
}
//we have enough history:
if (_progress.locationHistory.Count == 3)
{
//movement intent stats:
Vector3 vectorA = _progress.locationHistory[_progress.locationHistory.Count - 2] - _progress.locationHistory[_progress.locationHistory.Count - 3];
Vector3 vectorB = _progress.locationHistory[_progress.locationHistory.Count - 1] - _progress.locationHistory[_progress.locationHistory.Count - 2];
float delta = Vector3.Distance(_progress.locationHistory[_progress.locationHistory.Count - 3], _progress.locationHistory[_progress.locationHistory.Count - 1]);
float angle = Vector3.Angle(vectorA, vectorB);
Stability = 1 - Mathf.Clamp01(delta / _maxDistance);
//moving in a constant direction?
if (angle < 90)
{
_progress.target = _progress.locationHistory[_progress.locationHistory.Count - 1];
}
//snap or smooth:
if (Stability == 0)
{
positionFiltered = _progress.target;
}
else
{
positionFiltered = Vector3.SmoothDamp(positionFiltered, _progress.target, ref _progress.velocity, _smoothTime * Stability);
}
}
else
{
positionFiltered = keyPointLocation;
}
//inside the camera plane - flatten against the plane?
InsideClipPlane = TransformUtilities.InsideClipPlane(positionFiltered);
if (InsideClipPlane)
{
positionFiltered = TransformUtilities.LocationOnClipPlane(positionFiltered);
}
//gained visibility:
if (currentVisibility && !Visible)
{
//we must also break distance for point proximity:
for (int i = 0; i < decayPoints.Length; i++)
{
if (Vector3.Distance(keyPointLocation, decayPoints[i]) < _foundKeyPointDistance)
{
currentVisibility = false;
break;
}
}
//still good?
if (currentVisibility)
{
FireFoundEvent();
}
}
}
//Public Methods:
public void Update()
{
if (!_managedHand.Visible)
{
return;
}
//pinch rotation offset mirror:
Vector3 rotationOffset = _pinchAbsoluteRotationOffset;
if (_managedHand.Hand.Type == MLHandTracking.HandType.Left)
{
rotationOffset.y *= -1;
}
//holders:
Vector3 pinchPosition = Vector3.zero;
Quaternion pinchRotation = Quaternion.identity;
//pinch interaction point radius:
if (_managedHand.Skeleton.Thumb.Tip.Visible && _managedHand.Skeleton.Index.Tip.Visible)
{
Pinch.radius = Vector3.Distance(_managedHand.Skeleton.Thumb.Tip.positionFiltered, _managedHand.Skeleton.Index.Tip.positionFiltered);
}
if (_managedHand.Skeleton.Thumb.Tip.Visible) //absolute placement:
{
//are we swapping modes?
if (_pinchIsRelative)
{
_pinchIsRelative = false;
_pinchTransitioning = true;
_pinchTransitionStartTime = Time.realtimeSinceStartup;
}
pinchPosition = _managedHand.Skeleton.Thumb.Tip.positionFiltered;
pinchRotation = TransformUtilities.RotateQuaternion(_managedHand.Skeleton.Rotation, rotationOffset);
//gather offset distance:
if (_managedHand.Skeleton.Index.Knuckle.Visible && _managedHand.Skeleton.Thumb.Knuckle.Visible)
{
Vector3 mcpMidpoint = Vector3.Lerp(_managedHand.Skeleton.Index.Knuckle.positionFiltered, _managedHand.Skeleton.Thumb.Knuckle.positionFiltered, .5f);
_pinchRelativePositionDistance = Vector3.Distance(mcpMidpoint, pinchPosition);
}
}
else //relative placement:
{
//are we swapping modes?
if (!_pinchIsRelative)
{
_pinchIsRelative = true;
_pinchTransitioning = true;
_pinchTransitionStartTime = Time.realtimeSinceStartup;
}
//place between available mcps:
if (_managedHand.Skeleton.Index.Knuckle.Visible && _managedHand.Skeleton.Thumb.Knuckle.Visible)
{
pinchPosition = Vector3.Lerp(_managedHand.Skeleton.Index.Knuckle.positionFiltered, _managedHand.Skeleton.Thumb.Knuckle.positionFiltered, .5f);
//rotate:
pinchRotation = TransformUtilities.RotateQuaternion(_managedHand.Skeleton.Rotation, _pinchRelativeRotationOffset);
//move out along rotation forward:
pinchPosition += pinchRotation * Vector3.forward * _pinchRelativePositionDistance;
}
else
{
//just use previous:
pinchPosition = Pinch.position;
pinchRotation = Pinch.rotation;
}
}
//sticky release reduction:
if (_collapsed)
{
if (_managedHand.Skeleton.Thumb.Tip.Visible && _managedHand.Skeleton.Index.Tip.Visible)
{
//if starting to release, start using a point between the thumb and index tips:
if (Vector3.Distance(_managedHand.Skeleton.Thumb.Tip.positionFiltered, _managedHand.Skeleton.Index.Tip.positionFiltered) > _dynamicReleaseDistance)
{
pinchPosition = Vector3.Lerp(_managedHand.Skeleton.Thumb.Tip.positionFiltered, _managedHand.Skeleton.Index.Tip.positionFiltered, .3f);
}
}
}
//apply pinch pose - to avoid jumps when relative placement is used we smooth until close enough:
if (_pinchTransitioning)
{
//position:
Pinch.position = Vector3.SmoothDamp(Pinch.position, pinchPosition, ref _pinchArrivalPositionVelocity, _pinchTransitionTime);
float positionDelta = Vector3.Distance(Pinch.position, pinchPosition);
//rotation:
Pinch.rotation = MotionUtilities.SmoothDamp(Pinch.rotation, pinchRotation, ref _pinchArrivalRotationVelocity, _pinchTransitionTime);
float rotationDelta = Quaternion.Angle(Pinch.rotation, pinchRotation);
//close enough to hand off?
if (positionDelta < .001f && rotationDelta < 5)
{
_pinchTransitioning = false;
}
//taking too long?
if (Time.realtimeSinceStartup - _pinchTransitionStartTime > _pinchTransitionMaxDuration)
{
_pinchTransitioning = false;
}
}
else
{
Pinch.position = pinchPosition;
Pinch.rotation = pinchRotation;
}
//grasp interaction point:
Bounds graspBounds = CalculateGraspBounds
(
_managedHand.Skeleton.Thumb.Knuckle,
_managedHand.Skeleton.Thumb.Joint,
_managedHand.Skeleton.Thumb.Tip,
_managedHand.Skeleton.Index.Knuckle,
_managedHand.Skeleton.Index.Joint,
_managedHand.Skeleton.Index.Tip,
_managedHand.Skeleton.Middle.Knuckle,
_managedHand.Skeleton.Middle.Joint,
_managedHand.Skeleton.Middle.Tip
);
Grasp.position = _managedHand.Skeleton.Position;
//when points are being initially found they can be wildly off and this could cause a massively large volume:
Grasp.radius = Mathf.Min(graspBounds.size.magnitude, _maxGraspRadius);
Grasp.rotation = _managedHand.Skeleton.Rotation;
//intent updated:
if (_currentInteractionState != null)
{
_currentInteractionState.FireUpdate();
}
//keypose change proposed:
if (_managedHand.Hand.KeyPose != VerifiedGesture && _managedHand.Hand.KeyPose != _proposedKeyPose)
{
//queue a new proposed change to keypose:
_proposedKeyPose = _managedHand.Hand.KeyPose;
_keyPoseChangedTime = Time.realtimeSinceStartup;
}
//keypose change acceptance:
if (_managedHand.Hand.KeyPose != VerifiedGesture && Time.realtimeSinceStartup - _keyPoseChangedTime > _keyPoseStabailityDuration)
{
//reset:
Point.active = false;
Pinch.active = false;
Grasp.active = false;
if (_collapsed)
{
//intent end:
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.C || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.OpenHand || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.L || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Finger)
{
if (_managedHand.Skeleton.Thumb.Tip.Visible && _managedHand.Skeleton.Index.Tip.Visible)
{
//dynamic release:
if (Vector3.Distance(_managedHand.Skeleton.Thumb.Tip.positionFiltered, _managedHand.Skeleton.Index.Tip.positionFiltered) > _dynamicReleaseDistance)
{
//end intent:
_collapsed = false;
_currentInteractionState.FireEnd();
_currentInteractionState = null;
//accept keypose change:
VerifiedGesture = _managedHand.Hand.KeyPose;
_proposedKeyPose = _managedHand.Hand.KeyPose;
OnVerifiedGestureChanged?.Invoke(_managedHand, VerifiedGesture);
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Finger || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.L)
{
Intent = IntentPose.Pointing;
OnIntentChanged?.Invoke(_managedHand, Intent);
}
else if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.C || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.OpenHand || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Thumb)
{
Intent = IntentPose.Relaxed;
OnIntentChanged?.Invoke(_managedHand, Intent);
}
}
}
}
}
else
{
//intent begin:
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Pinch || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Ok || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Fist)
{
_collapsed = true;
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Pinch || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Ok)
{
Intent = IntentPose.Pinching;
Pinch.active = true;
_currentInteractionState = Pinch.Touch;
_currentInteractionState.FireBegin();
OnIntentChanged?.Invoke(_managedHand, Intent);
}
else if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Fist)
{
Intent = IntentPose.Grasping;
Grasp.active = true;
_currentInteractionState = Grasp.Touch;
_currentInteractionState.FireBegin();
OnIntentChanged?.Invoke(_managedHand, Intent);
}
}
if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Finger || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.L)
{
Intent = IntentPose.Pointing;
Point.active = true;
OnIntentChanged?.Invoke(_managedHand, Intent);
}
else if (_managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.C || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.OpenHand || _managedHand.Hand.KeyPose == MLHandTracking.HandKeyPose.Thumb)
{
Intent = IntentPose.Relaxed;
OnIntentChanged?.Invoke(_managedHand, Intent);
}
//accept keypose change:
VerifiedGesture = _managedHand.Hand.KeyPose;
_proposedKeyPose = _managedHand.Hand.KeyPose;
OnVerifiedGestureChanged?.Invoke(_managedHand, VerifiedGesture);
}
}
UpdateCurrentInteractionPoint();
UpdatePalmEvents();
}
//Public Methods:
public void Update()
{
//update keypoints and fingers:
WristCenter.Update(_managedHand, _managedHand.Hand.Wrist.Center.Position, _managedHand.Hand.Center);
HandCenter.Update(_managedHand, _managedHand.Hand.Center);
_thumbMCP.Update(_managedHand, _managedHand.Hand.Thumb.MCP.Position, _managedHand.Hand.Index.MCP.Position, _managedHand.Hand.Center);
_thumbPIP.Update(_managedHand, _managedHand.Hand.Thumb.IP.Position, _managedHand.Hand.Thumb.MCP.Position, _managedHand.Hand.Center);
_thumbTip.Update(_managedHand, _managedHand.Hand.Thumb.Tip.Position, _managedHand.Hand.Thumb.IP.Position, _managedHand.Hand.Middle.Tip.Position, _managedHand.Hand.Thumb.MCP.Position, _managedHand.Hand.Center);
Thumb.Update();
_indexMCP.Update(_managedHand, _managedHand.Hand.Index.MCP.Position, _managedHand.Hand.Center);
_indexPIP.Update(_managedHand, _managedHand.Hand.Index.PIP.Position, _managedHand.Hand.Index.MCP.Position, _managedHand.Hand.Center);
_indexTip.Update(_managedHand, _managedHand.Hand.Index.Tip.Position, _managedHand.Hand.Index.PIP.Position, _managedHand.Hand.Index.MCP.Position, _managedHand.Hand.Center, _managedHand.Hand.Thumb.IP.Position, _managedHand.Hand.Middle.Tip.Position);
Index.Update();
_middleMCP.Update(_managedHand, _managedHand.Hand.Middle.MCP.Position, _managedHand.Hand.Center);
_middlePIP.Update(_managedHand, _managedHand.Hand.Middle.PIP.Position, _managedHand.Hand.Middle.MCP.Position, _managedHand.Hand.Center);
_middleTip.Update(_managedHand, _managedHand.Hand.Middle.Tip.Position, _managedHand.Hand.Middle.PIP.Position, _managedHand.Hand.Middle.MCP.Position, _managedHand.Hand.Ring.Tip.Position, _managedHand.Hand.Center);
Middle.Update();
_ringMCP.Update(_managedHand, _managedHand.Hand.Ring.MCP.Position, _managedHand.Hand.Center);
_ringTip.Update(_managedHand, _managedHand.Hand.Ring.Tip.Position, _managedHand.Hand.Ring.MCP.Position, _managedHand.Hand.Pinky.Tip.Position, _managedHand.Hand.Middle.Tip.Position, _managedHand.Hand.Center);
Ring.Update();
_pinkyMCP.Update(_managedHand, _managedHand.Hand.Pinky.MCP.Position, _managedHand.Hand.Center);
_pinkyTip.Update(_managedHand, _managedHand.Hand.Pinky.Tip.Position, _managedHand.Hand.Pinky.MCP.Position, _managedHand.Hand.Ring.Tip.Position, _managedHand.Hand.Center);
Pinky.Update();
//we need a hand to continue:
if (!_managedHand.Visible)
{
return;
}
//correct distances:
float thumbMcpToWristDistance = Vector3.Distance(_thumbMCP.positionFiltered, WristCenter.positionFiltered) * .5f;
//fix the distance between the wrist and thumbMcp as it incorrectly expands as the hand gets further from the camera:
float distancePercentage = Mathf.Clamp01(Vector3.Distance(_mainCamera.transform.position, WristCenter.positionFiltered) / .5f);
distancePercentage = 1 - Percentage(distancePercentage, .90f, 1) * .4f;
thumbMcpToWristDistance *= distancePercentage;
Vector3 wristToPalmDirection = Vector3.Normalize(Vector3.Normalize(HandCenter.positionFiltered - WristCenter.positionFiltered));
Vector3 center = WristCenter.positionFiltered + (wristToPalmDirection * thumbMcpToWristDistance);
Vector3 camToWristDirection = Vector3.Normalize(WristCenter.positionFiltered - _mainCamera.transform.position);
//rays needed for planarity discovery for in/out palm facing direction:
Vector3 camToWrist = new Ray(WristCenter.positionFiltered, camToWristDirection).GetPoint(1);
Vector3 camToThumbMcp = new Ray(_thumbMCP.positionFiltered, Vector3.Normalize(_thumbMCP.positionFiltered - _mainCamera.transform.position)).GetPoint(1);
Vector3 camToPalm = new Ray(center, Vector3.Normalize(center - _mainCamera.transform.position)).GetPoint(1);
//discover palm facing direction to camera:
Plane palmFacingPlane = new Plane(camToWrist, camToPalm, camToThumbMcp);
if (_managedHand.Hand.HandType == MLHandType.Left)
{
palmFacingPlane.Flip();
}
float palmForwardFacing = Mathf.Sign(Vector3.Dot(palmFacingPlane.normal, _mainCamera.transform.forward));
//use thumb/palm/wrist alignment to determine amount of roll in the hand:
Vector3 toThumbMcp = Vector3.Normalize(_thumbMCP.positionFiltered - center);
Vector3 toPalm = Vector3.Normalize(center - WristCenter.positionFiltered);
float handRollAmount = (1 - Vector3.Dot(toThumbMcp, toPalm)) * palmForwardFacing;
//where between the wrist and thumbMcp should we slide inwards to get the palm in the center:
Vector3 toPalmOrigin = Vector3.Lerp(WristCenter.positionFiltered, _thumbMCP.positionFiltered, .35f);
//get a direction from the camera to toPalmOrigin as psuedo up for use in quaternion construction:
Vector3 toCam = Vector3.Normalize(_mainCamera.transform.position - toPalmOrigin);
//construct a quaternion that helps get angles needed between the wrist and thumbMCP to point towards the palm center:
Vector3 wristToThumbMcp = Vector3.Normalize(_thumbMCP.positionFiltered - WristCenter.positionFiltered);
Quaternion towardsCamUpReference = Quaternion.identity;
if (wristToThumbMcp != Vector3.zero && toCam != Vector3.zero)
{
towardsCamUpReference = Quaternion.LookRotation(wristToThumbMcp, toCam);
}
//rotate the inwards vector depending on hand roll to know where to push the palm back:
float inwardsVectorRotation = 90;
if (_managedHand.Hand.HandType == MLHandType.Left)
{
inwardsVectorRotation = -90;
}
towardsCamUpReference = Quaternion.AngleAxis(handRollAmount * inwardsVectorRotation, towardsCamUpReference * Vector3.forward) * towardsCamUpReference;
Vector3 inwardsVector = towardsCamUpReference * Vector3.up;
//slide palm location along inwards vector to get it into proper physical location in the center of the hand:
center = toPalmOrigin - inwardsVector * thumbMcpToWristDistance;
Vector3 deadCenter = center;
//as the hand flattens back out balance corrected location with originally provided location for better forward origin:
center = Vector3.Lerp(center, HandCenter.positionFiltered, Mathf.Abs(handRollAmount));
//get a forward using the corrected palm location:
Vector3 forward = Vector3.Normalize(center - WristCenter.positionFiltered);
//switch back to physical center of hand - this reduces surface-to-surface movement of the center between back and palm:
center = deadCenter;
//get an initial hand up:
Plane handPlane = new Plane(WristCenter.positionFiltered, _thumbMCP.positionFiltered, center);
if (_managedHand.Hand.HandType == MLHandType.Left)
{
handPlane.Flip();
}
Vector3 up = handPlane.normal;
//find out how much the back of the hand is facing the camera so we have a safe set of features for a stronger forward:
Vector3 centerToCam = Vector3.Normalize(_mainCamera.transform.position - WristCenter.positionFiltered);
float facingDot = Vector3.Dot(centerToCam, up);
if (facingDot > .5f)
{
float handBackFacingCamAmount = Percentage(facingDot, .5f, 1);
//steer forward for more accuracy based on the visibility of the back of the hand:
if (_middleMCP.Visible)
{
Vector3 toMiddleMcp = Vector3.Normalize(_middleMCP.positionFiltered - center);
forward = Vector3.Lerp(forward, toMiddleMcp, handBackFacingCamAmount);
}
else if (_indexMCP.Visible)
{
Vector3 inIndexMcp = Vector3.Normalize(_indexMCP.positionFiltered - center);
forward = Vector3.Lerp(forward, inIndexMcp, handBackFacingCamAmount);
}
}
//make sure palm distance from wrist is consistant while also leveraging steered forward:
center = WristCenter.positionFiltered + (forward * thumbMcpToWristDistance);
//an initial rotation of the hand:
Quaternion orientation = Quaternion.identity;
if (forward != Vector3.zero && up != Vector3.zero)
{
orientation = Quaternion.LookRotation(forward, up);
}
//as the hand rolls counter-clockwise the thumbMcp loses accuracy so we need to interpolate to the back of the hand's features:
if (_indexMCP.Visible && _middleMCP.Visible)
{
Vector3 knucklesVector = Vector3.Normalize(_middleMCP.positionFiltered - _indexMCP.positionFiltered);
float knucklesDot = Vector3.Dot(knucklesVector, Vector3.up);
if (knucklesDot > .5f)
{
float counterClockwiseRoll = Percentage(Vector3.Dot(knucklesVector, Vector3.up), .35f, .7f);
center = Vector3.Lerp(center, HandCenter.positionFiltered, counterClockwiseRoll);
forward = Vector3.Lerp(forward, Vector3.Normalize(_middleMCP.positionFiltered - HandCenter.positionFiltered), counterClockwiseRoll);
Plane backHandPlane = new Plane(HandCenter.positionFiltered, _indexMCP.positionFiltered, _middleMCP.positionFiltered);
if (_managedHand.Hand.HandType == MLHandType.Left)
{
backHandPlane.Flip();
}
up = Vector3.Lerp(up, backHandPlane.normal, counterClockwiseRoll);
orientation = Quaternion.LookRotation(forward, up);
}
}
//as the wrist tilts away from the camera (with the thumb down) at extreme angles the hand center will move toward the thumb:
float handTiltAwayAmount = 1 - Percentage(Vector3.Distance(HandCenter.positionFiltered, WristCenter.positionFiltered), .025f, .04f);
Vector3 handTiltAwayCorrectionPoint = WristCenter.positionFiltered + camToWristDirection * thumbMcpToWristDistance;
center = Vector3.Lerp(center, handTiltAwayCorrectionPoint, handTiltAwayAmount);
forward = Vector3.Lerp(forward, Vector3.Normalize(handTiltAwayCorrectionPoint - WristCenter.positionFiltered), handTiltAwayAmount);
Plane wristPlane = new Plane(WristCenter.positionFiltered, _thumbMCP.positionFiltered, center);
if (_managedHand.Hand.HandType == MLHandType.Left)
{
wristPlane.Flip();
}
up = Vector3.Lerp(up, wristPlane.normal, handTiltAwayAmount);
if (forward != Vector3.zero && up != Vector3.zero)
{
orientation = Quaternion.LookRotation(forward, up);
}
//steering for if thumb/index are not available from self-occlusion to help rotate the hand better outwards better:
float forwardUpAmount = Vector3.Dot(forward, Vector3.up);
if (forwardUpAmount > .7f && _indexMCP.Visible && _ringMCP.Visible)
{
float angle = 0;
if (_managedHand.Hand.HandType == MLHandType.Right)
{
Vector3 knucklesVector = Vector3.Normalize(_ringMCP.positionFiltered - _indexMCP.positionFiltered);
angle = Vector3.Angle(knucklesVector, orientation * Vector3.right);
angle *= -1;
}
else
{
Vector3 knucklesVector = Vector3.Normalize(_indexMCP.positionFiltered - _ringMCP.positionFiltered);
angle = Vector3.Angle(knucklesVector, orientation * Vector3.right);
}
Quaternion selfOcclusionSteering = Quaternion.AngleAxis(angle, forward);
orientation = selfOcclusionSteering * orientation;
}
else
{
//when palm is facing down we need to rotate some to compensate for an offset:
float rollCorrection = Mathf.Clamp01(Vector3.Dot(orientation * Vector3.up, Vector3.up));
float rollCorrectionAmount = -30;
if (_managedHand.Hand.HandType == MLHandType.Left)
{
rollCorrectionAmount = 30;
}
orientation = Quaternion.AngleAxis(rollCorrectionAmount * rollCorrection, forward) * orientation;
}
//inside the camera plane:
InsideClipPlane = TransformUtilities.InsideClipPlane(center);
//set pose:
Position = center;
Rotation = orientation;
}
private void FindWalls_LocateBoundry()
{
//remove initial guides:
RemovePlottedBounds();
//sort by angles from a base vector to find clockwise order:
Vector3 baseVector = Vector3.Normalize(_virtualWalls[0].plane.Center - _plottedBounds.center);
SortedDictionary <float, int> sortedDirection = new SortedDictionary <float, int>();
for (int i = 0; i < _virtualWalls.Count; i++)
{
Vector3 toNext = Vector3.Normalize(_virtualWalls[i].plane.Center - _plottedBounds.center);
float angle = Vector3.SignedAngle(baseVector, toNext, Vector3.up) + 180;
if (sortedDirection.ContainsKey(angle))
{
//we have a bad set of locations so it is best to just everything:
Create();
break;
}
else
{
sortedDirection.Add(angle, i);
}
}
int[] clockwiseOrder = sortedDirection.Values.ToArray <int>();
//find and connect 'betweens' which end up being final walls of playspace
List <bool> physicalStatus = new List <bool>();
_playspaceCorners = new List <Vector3>();
for (int i = 0; i < clockwiseOrder.Length; i++)
{
//parts:
int next = (i + 1) % clockwiseOrder.Length;
float angle = Vector3.Angle(_virtualWalls[clockwiseOrder[i]].plane.Rotation * Vector3.right, _virtualWalls[clockwiseOrder[next]].plane.Rotation * Vector3.right);
//save physical status:
physicalStatus.Add(_virtualWalls[clockwiseOrder[next]].physical);
//add solved between:
if (angle < 45 || angle > 135)
{
//wall - use mid point:
Vector3 mid = Vector3.Lerp(_virtualWalls[clockwiseOrder[i]].plane.Center, _virtualWalls[clockwiseOrder[next]].plane.Center, .5f);
mid.y = _roomFloorHeight;
_playspaceCorners.Add(TransformUtilities.LocalPosition(pcfAnchor.Position, pcfAnchor.Rotation, mid));
}
else
{
//corner - use intersection by creating inverted lines from each plane:
Vector3 point = Vector2.zero;
if (MathUtilities.RayIntersection(
new Ray(_virtualWalls[clockwiseOrder[i]].plane.Center, _virtualWalls[clockwiseOrder[i]].plane.Rotation * Vector3.right),
new Ray(_virtualWalls[clockwiseOrder[next]].plane.Center, _virtualWalls[clockwiseOrder[next]].plane.Rotation * Vector3.left),
ref point))
{
point.y = _roomFloorHeight;
_playspaceCorners.Add(TransformUtilities.LocalPosition(pcfAnchor.Position, pcfAnchor.Rotation, point));
}
}
}
//close loop:
_playspaceCorners.Add(_playspaceCorners[0]);
//store walls:
List <PlayspaceWall> playspaceWalls = new List <PlayspaceWall>();
for (int i = 0; i < _playspaceCorners.Count - 1; i++)
{
Vector3 pointA = TransformUtilities.WorldPosition(pcfAnchor.Position, pcfAnchor.Rotation, _playspaceCorners[i]);
Vector3 pointB = TransformUtilities.WorldPosition(pcfAnchor.Position, pcfAnchor.Rotation, _playspaceCorners[i + 1]);
Vector3 vector = pointB - pointA;
Vector3 normal = Quaternion.AngleAxis(90, Vector3.up) * vector.normalized;
Vector3 center = Vector3.Lerp(pointA, pointB, .5f);
center.y = _roomVerticalCenter;
float width = vector.magnitude;
PlayspaceWall wall = new PlayspaceWall(center, Quaternion.LookRotation(normal), width, Height, physicalStatus[i]);
playspaceWalls.Add(wall);
}
Walls = playspaceWalls.ToArray();
FindWalls_GenerateGeometry();
}
private void ConfirmPrimaryWall_HandleTriggerDown(byte controllerId, float triggerValue)
{
//we must have a primary wall:
if (PrimaryWall == -1)
{
return;
}
//reset walls:
RightWall = -1;
LeftWall = -1;
RearWall = -1;
//find room center (this may need additional calculation for more accuracy):
Bounds finalBounds = new Bounds(Walls[0].Center, Vector3.zero);
for (int i = 1; i < Walls.Length; i++)
{
finalBounds.Encapsulate(Walls[i].Center);
}
//make center relative to pcf so relocalization keeps this value accurate:
_playspaceCenter = TransformUtilities.LocalPosition(pcfAnchor.Position, pcfAnchor.Rotation, finalBounds.center);
//find additional largest key walls:
SortedDictionary <float, int> rightWalls = new SortedDictionary <float, int>();
SortedDictionary <float, int> rearWalls = new SortedDictionary <float, int>();
SortedDictionary <float, int> leftWalls = new SortedDictionary <float, int>();
for (int i = 0; i < Walls.Length; i++)
{
//skip walls that match the primary:
if (i != PrimaryWall) //skip primary wall and walls on the same plane
{
//get angle relationship:
float angle = Vector3.SignedAngle(Walls[PrimaryWall].Normal, Walls[i].Normal, Vector3.up);
if (angle < 0)
{
angle += 360;
}
//get size:
float wallSize = Walls[i].width * Walls[i].height;
//right:
if (angle >= 225 && angle < 315)
{
leftWalls.Add(wallSize, i);
}
//rear:
if (angle > 135 && angle < 225)
{
rearWalls.Add(wallSize, i);
}
//left:
if (angle >= 45 && angle <= 135)
{
rightWalls.Add(wallSize, i);
}
}
}
//set key walls to largest (might need to verify they are also facing the correct direction as well later):
if (rightWalls.Count != 0)
{
RightWall = rightWalls.ElementAt(rightWalls.Count - 1).Value;
}
if (rearWalls.Count != 0)
{
RearWall = rearWalls.ElementAt(rearWalls.Count - 1).Value;
}
if (leftWalls.Count != 0)
{
LeftWall = leftWalls.ElementAt(leftWalls.Count - 1).Value;
}
//unhook:
MLInput.OnTriggerDown -= ConfirmPrimaryWall_HandleTriggerDown;
//something went wrong with the shape of the room, best to force a rest:
if (PrimaryWall == -1 || LeftWall == -1 || RightWall == -1 || RearWall == -1)
{
Create();
}
else
{
ChangeState(State.Complete);
}
}
