public AngleBasedHandModel createRandomFromSavedMorph()
{
TrainingUnit first = PostureDataHandler.instance.getRand();
TrainingUnit second;
do
{
second = PostureDataHandler.instance.getRand();
}while(first.posture == second.posture);
AngleBasedHandModel temp1 = first.hand;
AngleBasedHandModel temp2 = second.hand;
AngleBasedHandModel result = new AngleBasedHandModel();
for (int i = 0; i < result.fingers.Length; i++)
{
result.fingers [i] = AngleBasedFingerModel.Lerp(temp1.fingers[i], temp2.fingers[i], ((float)i) / ((float)result.fingers.Length));
}
//Debug.Log ("First: "+first.posture+", Second: "+second.posture);
temp1 = PostureDataHandler.instance.getRand().hand;
result.thumb = temp1.thumb;
return(result);
}
public AngleBasedHandModel createRandomRandom()
{
AngleBasedHandModel result = new AngleBasedHandModel();
float random = Mathf.Pow(Random.value, 2.0f);
result.fingers[(int)AngleBasedHandModel.FingerName.index].mcp = Quaternion.Euler(Random.Range(XMCP_min, XMCP_max), random * abduct_index, 0);
result.fingers[(int)AngleBasedHandModel.FingerName.middle].mcp = Quaternion.Euler(Random.Range(XMCP_min, XMCP_max), 0, 0);
result.fingers[(int)AngleBasedHandModel.FingerName.ring].mcp = Quaternion.Euler(Random.Range(XMCP_min, XMCP_max), random * abduct_ring, 0);
result.fingers[(int)AngleBasedHandModel.FingerName.pinky].mcp = Quaternion.Euler(Random.Range(XMCP_min, XMCP_max), random * abduct_pinky, 0);
for (int i = 0; i < result.fingers.Length; i++)
{
AngleBasedFingerModel finger = result.fingers[i];
random = Random.value;
finger.jointAngles[(int)AngleBasedFingerModel.Fingerjoints.DIP] = DIP_min + random * (DIP_max - DIP_min);
finger.jointAngles[(int)AngleBasedFingerModel.Fingerjoints.PIP] = PIP_min + random * (PIP_max - PIP_min);
}
random = Random.value;
result.thumb.tmc = Quaternion.Lerp(PostureDataHandler.instance.getRand().hand.thumb.tmc, Quaternion.Euler(Random.Range(XTMC_min, XTMC_max), Random.Range(YTMC_min, YTMC_max), Random.Range(ZTMC_min, ZTMC_max)), 0.5f);
result.thumb.jointAngles[(int)AngleBasedThumbModel.Fingerjoints.IP] = IP_min + random * (IP_max - IP_min);
result.thumb.jointAngles[(int)AngleBasedThumbModel.Fingerjoints.MP] = MP_min + random * (MP_max - MP_min);
result.rotation = Quaternion.identity;
result.position = Vector3.zero;
return(result);
}
public AngleBasedHandModel()
{
rotation = new sQuaternion();
position = new sVector3(0, 0, 0);
thumb = new AngleBasedThumbModel();
for (int i = 0; i < fingers.Length; i++)
{
fingers[i] = new AngleBasedFingerModel();
}
}
public AngleBasedHandModel createRandomProcedural()
{
AngleBasedHandModel result = new AngleBasedHandModel();
FingerState[] fingers = new FingerState[result.fingers.Length];
for (int i = 0; i < fingers.Length; i++)
{
fingers [i] = (FingerState)Random.Range(0, System.Enum.GetNames(typeof(FingerState)).Length);
}
//abduction
float random = Mathf.Pow(Random.value, 2.0f);
float[] abductions = { random *abduct_index, 0, random *abduct_ring, random *abduct_pinky };
for (int i = 0; i < result.fingers.Length; i++)
{
float xmcp = 0;
if (fingers [i] == FingerState.ForwardFist || fingers [i] == FingerState.Flat)
{
xmcp = 0;
}
if (fingers [i] == FingerState.Fist)
{
xmcp = XMCP_max;
}
if (fingers [i] == FingerState.HyperExtended)
{
xmcp = XMCP_min;
}
result.fingers [i].mcp = Quaternion.Euler(xmcp, abductions[i], 0);
AngleBasedFingerModel finger = result.fingers[i];
if (fingers [i] == FingerState.HyperExtended || fingers [i] == FingerState.Flat)
{
finger.jointAngles [(int)AngleBasedFingerModel.Fingerjoints.DIP] = DIP_min;
finger.jointAngles [(int)AngleBasedFingerModel.Fingerjoints.PIP] = PIP_min;
}
if (fingers [i] == FingerState.Fist || fingers [i] == FingerState.ForwardFist)
{
finger.jointAngles [(int)AngleBasedFingerModel.Fingerjoints.DIP] = DIP_max;
finger.jointAngles [(int)AngleBasedFingerModel.Fingerjoints.PIP] = PIP_max;
}
}
ThumbState thumb = (ThumbState)Random.Range(0, System.Enum.GetNames(typeof(ThumbState)).Length);
result.thumb = PostureDataHandler.instance.getRand().hand.thumb;
result.rotation = Quaternion.identity;
result.position = Vector3.zero;
result = AngleBasedHandModel.Lerp(result, PostureDataHandler.instance.getRand(TrainingUnit.Posture.idle).hand, 0.2f);
return(result);
}
public float euclidianDistance(AngleBasedFingerModel other)
{
float result = 0;
for (int i = 0; i < jointAngles.Length - 2; i++)
{
result += Mathf.Pow(jointAngles [i] - other.jointAngles [i], 2.0f);
}
result += Mathf.Pow(Quaternion.Angle(other.mcp, mcp), 2.0f);
return(Mathf.Sqrt(result));
}
public static AngleBasedFingerModel Lerp(AngleBasedFingerModel first, AngleBasedFingerModel second, float t)
{
AngleBasedFingerModel result = new AngleBasedFingerModel();
t = Mathf.Clamp(t, 0, 1);
result.mcp = Quaternion.Lerp(first.mcp, second.mcp, t);
for (int i = 0; i < result.jointAngles.Length; i++)
{
result.jointAngles [i] = Mathf.Lerp(first.jointAngles [i], second.jointAngles [i], t);
}
return(result);
}
public static string getCSVHeader(string endl, string handname)
{
string result = "";
result += AngleBasedThumbModel.getCSVHeader(endl, handname + "Thumb") + endl;
for (int i = 0; i < System.Enum.GetNames(typeof(FingerName)).Length; i++)
{
result += AngleBasedFingerModel.getCSVHeader(endl, handname + System.Enum.GetNames(typeof(FingerName))[i]) + endl;
}
result += sQuaternion.getCSVHeader(endl, handname + "Rot") + endl;
result += sVector3.getCSVHeader(endl, handname + "Pos");
return(result);
}
public static AngleBasedHandModel Lerp(AngleBasedHandModel first, AngleBasedHandModel second, float t)
{
AngleBasedHandModel result = new AngleBasedHandModel();
t = Mathf.Clamp(t, 0, 1);
result.rotation = Quaternion.Lerp(first.rotation, second.rotation, t);
result.position = Vector3.Lerp(first.position, second.position, t);
for (int i = 0; i < result.fingers.Length; i++)
{
result.fingers [i] = AngleBasedFingerModel.Lerp(first.fingers [i], second.fingers [i], t);
}
result.thumb = AngleBasedThumbModel.Lerp(first.thumb, second.thumb, t);
return(result);
}
