/// <summary>
/// Gets the position of where grasp happens
/// For sixdof it's just the pointer origin
/// for hand it's the average of index and thumb.
/// </summary>
public bool TryGetNearGraspPoint(out Vector3 result)
{
// For now, assume that anything that is a sphere pointer is a hand
// TODO: have a way to determine if this is a fully articulated hand and return
// ray origin if it's a sixdof
if (Controller != null && Controller is IMixedRealityHand)
{
HandJointUtils.TryGetJointPose(TrackedHandJoint.IndexTip, Controller.ControllerHandedness, out MixedRealityPose index);
HandJointUtils.TryGetJointPose(TrackedHandJoint.ThumbTip, Controller.ControllerHandedness, out MixedRealityPose thumb);
if (index != null && thumb != null)
{
// result = 0.5f * (index.position + thumb.position);
result = index.Position;
return(true);
}
}
else
{
result = Position;
return(true);
}
result = Vector3.zero;
return(false);
}
/// <summary>
/// Tries and get's hand joints based on the current pointer.
/// </summary>
/// <param name="joint">The joint type to get.</param>
/// <param name="position">Out parameter filled with joint position, otherwise
/// <see href="https://docs.unity3d.com/ScriptReference/Vector3-zero.html">Vector3.zero</see></param>
/// <param name="rotation">Out parameter filled with joint rotation, otherwise
/// <see href="https://docs.unity3d.com/ScriptReference/Quaternion-identity.html">Quaternion.identity</see></param>
/// <returns></returns>
protected bool TryGetJoint(TrackedHandJoint joint, out Vector3 position, out Quaternion rotation)
{
if (Pointer != null && Pointer.Controller != null)
{
if (HandJointUtils.TryGetJointPose(joint, Pointer.Controller.ControllerHandedness, out MixedRealityPose handJoint))
{
position = handJoint.Position;
rotation = handJoint.Rotation;
return(true);
}
}
position = Vector3.zero;
rotation = Quaternion.identity;
return(false);
}
public void RecordHandStop()
{
MixedRealityPose[] jointPoses = new MixedRealityPose[jointCount];
for (int i = 0; i < jointCount; ++i)
{
HandJointUtils.TryGetJointPose <WindowsMixedRealityArticulatedHand>((TrackedHandJoint)i, recordingHand, out jointPoses[i]);
}
ArticulatedHandPose pose = new ArticulatedHandPose();
pose.ParseFromJointPoses(jointPoses, recordingHand, Quaternion.identity, offset);
recordingHand = Handedness.None;
var filename = String.Format("{0}-{1}.json", OutputFileName, DateTime.UtcNow.ToString("yyyyMMdd-HHmmss"));
StoreRecordedHandPose(pose.ToJson(), filename);
}
/// <summary>
/// Record a keyframe at the given time for a hand with the given handedness it is tracked.
/// </summary>
private bool RecordInputHandData(Handedness handedness)
{
float time = Time.time;
var profile = InputRecordingProfile;
var hand = HandJointUtils.FindHand(handedness);
if (hand == null)
{
recordingBuffer.AddHandStateKey(time, handedness, false, false);
return(false);
}
bool isTracked = (hand.TrackingState == TrackingState.Tracked);
// Extract extra information from current interactions
bool isPinching = false;
for (int i = 0; i < hand.Interactions?.Length; i++)
{
var interaction = hand.Interactions[i];
switch (interaction.InputType)
{
case DeviceInputType.Select:
isPinching = interaction.BoolData;
break;
}
}
recordingBuffer.AddHandStateKey(time, handedness, isTracked, isPinching);
if (isTracked)
{
for (int i = 0; i < jointCount; ++i)
{
if (hand.TryGetJoint((TrackedHandJoint)i, out MixedRealityPose jointPose))
{
recordingBuffer.AddHandJointKey(time, handedness, (TrackedHandJoint)i, jointPose, profile.JointPositionThreshold, profile.JointRotationThreshold);
}
}
}
return(true);
}
void Update()
{
if (UnityEngine.Input.GetKeyDown(KeyCode.F9))
{
HandJointUtils.TryGetJointPose(ReferenceJoint, Handedness.Left, out MixedRealityPose joint);
offset = joint.Position;
}
if (UnityEngine.Input.GetKeyUp(KeyCode.F9))
{
RecordPose(Handedness.Left);
}
if (UnityEngine.Input.GetKeyDown(KeyCode.F10))
{
HandJointUtils.TryGetJointPose(ReferenceJoint, Handedness.Right, out MixedRealityPose joint);
offset = joint.Position;
}
if (UnityEngine.Input.GetKeyUp(KeyCode.F10))
{
RecordPose(Handedness.Right);
}
}
private void RecordHandStart(Handedness handedness)
{
HandJointUtils.TryGetJointPose <WindowsMixedRealityArticulatedHand>(ReferenceJoint, handedness, out MixedRealityPose joint);
offset = joint.Position;
recordingHand = handedness;
}
private void GetJointPosition(Vector3[] positions, TrackedHandJoint jointId, Handedness handedness)
{
HandJointUtils.TryGetJointPose(jointId, handedness, out MixedRealityPose joint);
positions[(int)jointId] = joint.Position;
}
