protected override void Apply(HandDataAsset handDataAsset)
{
if (!handDataAsset.IsTracked)
{
return;
}
Profiler.BeginSample($"{nameof(OneEuroFilterRotationHand)}." +
$"{nameof(OneEuroFilterRotationHand.Apply)}");
if (Time.frameCount > _lastFrameUpdated)
{
_lastFrameUpdated = Time.frameCount;
ApplyFilters(handDataAsset);
_lastFiltered.CopyFrom(handDataAsset);
}
else
{
handDataAsset.CopyFrom(_lastFiltered);
}
handDataAsset.RootPoseOrigin = PoseOrigin.FilteredTrackedPose;
Profiler.EndSample();
}
protected override void Apply(HandDataAsset data)
{
if (!data.IsDataValid)
{
return;
}
if (_capturedDataVersion != ModifyDataFromSource.CurrentDataVersion)
{
_capturedDataVersion = ModifyDataFromSource.CurrentDataVersion;
_historyIndex = (_historyIndex + 1) % _historyLength;
for (int i = 0; i < _jointHistory.Length; i++)
{
_jointHistory[i][_historyIndex] = data.Joints[i];
}
}
_historyOffset = Mathf.Clamp(_historyOffset, 0, _historyLength);
int index = (_historyIndex + _historyLength - _historyOffset) % _historyLength;
for (int i = 0; i < _jointHistory.Length; i++)
{
data.Joints[i] = _jointHistory[i][index];
}
}
private void UpdateAllLocalPoses(HandDataAsset data)
{
for (int i = 0; i < Constants.NUM_HAND_JOINTS; ++i)
{
HandSkeletonJoint originalJoint = _originalJoints[i];
_localPoses[i].position = originalJoint.pose.position;
_localPoses[i].rotation = data.Joints[i];
}
}
protected override void Apply(HandDataAsset data)
{
Pose rootToPointer = PoseUtils.RelativeOffset(data.PointerPose, data.Root);
rootToPointer.position = (rootToPointer.position / data.HandScale) * _scale;
PoseUtils.Multiply(data.Root, rootToPointer, ref data.PointerPose);
data.HandScale = _scale;
}
protected override void Start()
{
base.Start();
InitFingerJointFilters();
_lastFrameUpdated = 0;
_lastFiltered = new HandDataAsset();
_wristFilter = OneEuroFilter.CreateQuaternion();
}
public void Update(HandDataAsset data, int dataVersion)
{
_dirtyWorldJoints = _dirtyWristJoints = (1 << (int)HandJointId.HandEnd) - 1; //set all dirty
if (!data.IsDataValidAndConnected)
{
return;
}
LocalDataVersion = dataVersion;
UpdateAllLocalPoses(data);
}
private void ApplyFilters(HandDataAsset handDataAsset)
{
if (_wristFilterEnabled)
{
Pose rootPose = handDataAsset.Root;
_wristFilter.SetProperties(_wristFilterProperties);
rootPose.rotation = _wristFilter.Step(rootPose.rotation, Time.fixedDeltaTime);
handDataAsset.Root = rootPose;
}
if (_fingerFiltersEnabled)
{
foreach (var joint in _fingerJointFilters)
{
joint.Filter.SetProperties(_fingerFilterProperties);
handDataAsset.Joints[(int)joint.JointId] =
joint.Filter.Step(handDataAsset.Joints[(int)joint.JointId], Time.fixedDeltaTime);
}
}
}
protected override void Apply(HandDataAsset handDataAsset)
{
if (!handDataAsset.IsTracked)
{
return;
}
Profiler.BeginSample($"{nameof(OneEuroFilterPositionHand)}." +
$"{nameof(OneEuroFilterPositionHand.Apply)}");
if (Time.frameCount > _lastFrameUpdated)
{
_lastFrameUpdated = Time.frameCount;
_lastSmoothedPose = ApplyFilter(handDataAsset.Root);
}
handDataAsset.Root = _lastSmoothedPose;
handDataAsset.RootPoseOrigin = PoseOrigin.FilteredTrackedPose;
Profiler.EndSample();
}
protected override void Apply(HandDataAsset data)
{
if (!data.IsDataValid || !data.IsTracked || !data.IsHighConfidence)
{
data.IsConnected = false;
data.RootPoseOrigin = PoseOrigin.None;
_hasConnectedData = false;
return;
}
UpdateRequired.Invoke();
_lastStates.CopyFrom(data);
if (!_hasConnectedData)
{
_constrainedWristPose.CopyFrom(data.Root);
_hasConnectedData = true;
}
UpdateJointsRotation(data);
UpdateRootPose(ref data.Root);
data.RootPoseOrigin = PoseOrigin.SyntheticPose;
}
/// <summary>
/// Updates the rotation of the joints in the hand
/// using the visual provided values. Sometimes this
/// might require lerping between the tracked pose
/// and the provided ones to improve the movement of the fingers
/// without worrying about when the overwrite values were written.
///
/// During this update the modifier also ensures that fingers that disallow
/// some movement (locked or constrained) have their values properly set, and
/// when there is an unlock event the finger values are smoothly animated back to
/// their tracked rotations.
/// </summary>
/// <param name="data">The entire hand data structure to read and write the joints rotations from</param>
private void UpdateJointsRotation(HandDataAsset data)
{
float extraRotationAllowance = 0f;
Quaternion[] jointRotations = data.Joints;
for (int i = 0; i < FingersMetadata.HAND_JOINT_IDS.Length; ++i)
{
JointFreedom freedomLevel = _jointsFreedomLevels[i];
Quaternion desiredRotation = _desiredJointsRotation[i];
float overrideFactor = _jointsOverrideFactor[i];
int rawJointIndex = (int)FingersMetadata.HAND_JOINT_IDS[i];
if (freedomLevel == JointFreedom.Free)
{
//nothing to do, we move the finger freely
}
else if (freedomLevel == JointFreedom.Locked)
{
jointRotations[rawJointIndex] = Quaternion.Slerp(
jointRotations[rawJointIndex],
desiredRotation,
overrideFactor);
}
else if (freedomLevel == JointFreedom.Constrained)
{
bool jointCanSpread = false;
if (FingersMetadata.HAND_JOINT_CAN_SPREAD[i])
{
jointCanSpread = true;
extraRotationAllowance = 0f;
}
Quaternion maxRotation = desiredRotation * Quaternion.Euler(0f, 0f, -90f * extraRotationAllowance);
float overRotation = OverFlex(jointRotations[rawJointIndex], maxRotation);
extraRotationAllowance = Mathf.Max(extraRotationAllowance, overRotation);
if (overRotation < 0f)
{
jointRotations[rawJointIndex] = Quaternion.Slerp(
jointRotations[rawJointIndex],
maxRotation,
overrideFactor);
}
else if (jointCanSpread)
{
Quaternion trackedRotation = jointRotations[rawJointIndex];
float spreadAngle = Vector3.SignedAngle(
trackedRotation * Vector3.forward,
maxRotation * Vector3.forward,
trackedRotation * Vector3.up);
float spreadFactor = 1f - Mathf.Clamp01(overRotation * _spreadAllowance);
trackedRotation = trackedRotation * Quaternion.Euler(0f, spreadAngle * spreadFactor, 0f);
jointRotations[rawJointIndex] = trackedRotation;
}
}
float smoothFactor = _jointsFreedomLevels[i] == JointFreedom.Free ?
_jointUnlockProgressCurves[i].Progress()
: _jointLockProgressCurves[i].Progress();
jointRotations[rawJointIndex] = Quaternion.Slerp(
_constrainedJointRotations[i],
jointRotations[rawJointIndex],
smoothFactor);
_lastSyntheticRotation[i] = jointRotations[rawJointIndex];
}
}
