/// <summary>
/// Set the joint rotation or position (optional) based on the MRTK joint position
/// </summary>
/// <param name="sensorJoint">Joint type</param>
/// <param name="movePosition">Set the position</param>
/// <returns></returns>
bool SetJoint(TrackedHandJoint sensorJoint, bool movePosition = false)
{
TrackedHandJoint prev = sensorJoint - 1;
if ((sensorJoint == TrackedHandJoint.IndexMetacarpal) || (sensorJoint == TrackedHandJoint.MiddleMetacarpal) || (sensorJoint == TrackedHandJoint.PinkyMetacarpal) || (sensorJoint == TrackedHandJoint.RingMetacarpal) || (sensorJoint == TrackedHandJoint.ThumbMetacarpalJoint))
{
prev = TrackedHandJoint.Wrist;
}
if (_mixedRealityHand.TryGetJoint(sensorJoint, out MixedRealityPose pose) &&
defaultRotationData.ContainsKey(sensorJoint) && (_mixedRealityHand.TryGetJoint(prev, out MixedRealityPose poseParent) || sensorJoint == TrackedHandJoint.Wrist))
{
int index = (int)sensorJoint;
if (index >= 0 && index < jointObjects.Length)
{
GameObject objectJoint = jointObjects[index];
Vector3 rot = Vector3.zero;
//no parent for the wrist
if (poseParent != null)
{
rot = (Quaternion.Inverse(poseParent.Rotation * Quaternion.Euler(axisRot)) * pose.Rotation * Quaternion.Euler(axisRot)).eulerAngles;
}
if (movePosition && sensorJoint == TrackedHandJoint.Wrist)
{
//process the wrist as world for stability. note its default is its world as true if no parents
objectJoint.transform.position = pose.Position;
objectJoint.transform.rotation = pose.Rotation * Quaternion.Euler(defaultRotationData[sensorJoint].defaultValue);
}
else
{
//these thumb joints are rotated
if (sensorJoint == TrackedHandJoint.ThumbProximalJoint || sensorJoint == TrackedHandJoint.ThumbDistalJoint)
{
objectJoint.transform.localRotation = Quaternion.Euler(rot.x, -rot.z, -rot.y) * Quaternion.Euler(defaultRotationData[sensorJoint].defaultValue);
}
else
{
//this tracks the other joints but the wrist
objectJoint.transform.localRotation = Quaternion.Euler(rot) * Quaternion.Euler(defaultRotationData[sensorJoint].defaultValue);
}
}
DefaultAngleData data = defaultRotationData[sensorJoint];
int rIdx = (int)sensorJoint * 4;
_rotArrayShorts[rIdx + 0] = FloatToShort(objectJoint.transform.localRotation.x);
_rotArrayShorts[rIdx + 1] = FloatToShort(objectJoint.transform.localRotation.y);
_rotArrayShorts[rIdx + 2] = FloatToShort(objectJoint.transform.localRotation.z);
_rotArrayShorts[rIdx + 3] = FloatToShort(objectJoint.transform.localRotation.w);
if (movePosition && sensorJoint != TrackedHandJoint.Wrist)
{
objectJoint.transform.position = pose.Position;
}
return(true);
}
}
return(false);
}
public void OnSourceDetected(SourceStateEventData eventData)
{
IMixedRealityHand hand = eventData.Controller as IMixedRealityHand;
if (hand != null)
{
if (hand.TryGetJoint(TrackedHandJoint.Wrist, out MixedRealityPose pose))
{
Vector3 positionOfWrist = pose.Position;
}
}
}
/// <summary>
/// Try to find the first matching hand controller and return the pose of the requested joint for that hand.
/// </summary>
public static bool TryGetJointPose(TrackedHandJoint joint, Handedness handedness, out MixedRealityPose pose)
{
IMixedRealityHand hand = FindHand(handedness);
if (hand != null)
{
return(hand.TryGetJoint(joint, out pose));
}
pose = MixedRealityPose.ZeroIdentity;
return(false);
}
void LateUpdate()
{
IMixedRealityHand hand = GetController(trackedHandedness) as IMixedRealityHand;
if (hand == null || !hand.TryGetJoint(trackedJoint, out MixedRealityPose pose))
{
SetChildrenActive(false);
return;
}
SetChildrenActive(true);
transform.position = pose.Position;
transform.rotation = pose.Rotation;
}
/// <inheritdoc />
public override void LateUpdate()
{
base.LateUpdate();
leftHand = null;
rightHand = null;
foreach (var detectedController in Service.DetectedControllers)
{
var hand = detectedController as IMixedRealityHand;
if (hand != null)
{
if (detectedController.ControllerHandedness == Handedness.Left)
{
if (leftHand == null)
{
leftHand = hand;
}
}
else if (detectedController.ControllerHandedness == Handedness.Right)
{
if (rightHand == null)
{
rightHand = hand;
}
}
}
}
if (leftHand != null)
{
foreach (var fauxJoint in leftHandFauxJoints)
{
if (leftHand.TryGetJoint(fauxJoint.Key, out MixedRealityPose pose))
{
fauxJoint.Value.SetPositionAndRotation(pose.Position, pose.Rotation);
}
}
}
if (rightHand != null)
{
foreach (var fauxJoint in rightHandFauxJoints)
{
if (rightHand.TryGetJoint(fauxJoint.Key, out MixedRealityPose pose))
{
fauxJoint.Value.SetPositionAndRotation(pose.Position, pose.Rotation);
}
}
}
}
void Update()
{
if (hand != null)
{
handsText.GetComponent <TextMeshPro>().text = "Source detected: " + hand.ControllerHandedness + "\n";
handsText.GetComponent <TextMeshPro>().text += "Velocity " + hand.Velocity + "\n";
handsText.GetComponent <TextMeshPro>().text += "is pointing? " + hand.IsInPointingPose + "\n";
if (hand.TryGetJoint(TrackedHandJoint.IndexTip, out MixedRealityPose jointPose))
{
handsText.GetComponent <TextMeshPro>().text += "Got joint " + jointPose.ToString();
}
}
}
/// <summary>
/// Determines if a hand meets the requirements for use with constraining the tracked object and determines if the
/// palm is currently facing the user.
/// </summary>
/// <param name="hand">The hand to check against.</param>
/// <returns>True if this hand should be used from tracking.</returns>
protected override bool IsHandActive(IMixedRealityHand hand)
{
if (!base.IsHandActive(hand))
{
return(false);
}
MixedRealityPose pose;
if (hand.TryGetJoint(TrackedHandJoint.Palm, out pose))
{
return(Vector3.Angle(pose.Up, CameraCache.Main.transform.forward) < facingThreshold);
}
return(true);
}
public bool TryGetSpecificControllerPose(Handedness handedness, TrackedHandJoint handJointToTrack, out Vector3 position, out Quaternion rotation)
{
bool retrieved = false;
position = Vector3.zero;
rotation = Quaternion.identity;
IMixedRealityHand currentHand = detectedHand;
IMixedRealityController currentController = detectedController;
if (handedness == Handedness.Left)
{
currentHand = leftHand;
currentController = leftController;
}
else if (handedness == Handedness.Right)
{
currentHand = rightHand;
currentController = rightController;
}
if (currentHand != null && currentHand.TryGetJoint(handJointToTrack, out handPose))
{
position = handPose.Position;
rotation = handPose.Rotation;
retrieved = true;
}
else if (currentController != null)
{
try
{
position = currentController.InputSource.Pointers[0].Position;
rotation = currentController.InputSource.Pointers[0].Rotation;
retrieved = true;
}
catch (Exception)
{
retrieved = false;
}
}
return(retrieved);
}
public Transform RequestJointTransform(TrackedHandJoint joint, Handedness handedness)
{
IMixedRealityHand hand = null;
Dictionary <TrackedHandJoint, Transform> fauxJoints = null;
if (handedness == Handedness.Left)
{
hand = leftHand;
fauxJoints = leftHandFauxJoints;
}
else if (handedness == Handedness.Right)
{
hand = rightHand;
fauxJoints = rightHandFauxJoints;
}
else
{
return(null);
}
Transform jointTransform = null;
if (fauxJoints != null && !fauxJoints.TryGetValue(joint, out jointTransform))
{
jointTransform = new GameObject().transform;
// Since this service survives scene loading and unloading, the fauxJoints it manages need to as well.
Object.DontDestroyOnLoad(jointTransform.gameObject);
jointTransform.name = string.Format("Joint Tracker: {1} {0}", joint, handedness);
if (hand != null && hand.TryGetJoint(joint, out MixedRealityPose pose))
{
jointTransform.SetPositionAndRotation(pose.Position, pose.Rotation);
}
fauxJoints.Add(joint, jointTransform);
}
return(jointTransform);
}