void _findHandFromVerticesUpdate2(int[] triangles, Vector3[] vertices, out Vector3 outNearPoint, out Vector3 outFarPoint, out Quaternion handRot)
{
//handSize = 0;
if (_colliderHandMeshes != null)
{
_colliderHandMeshes.sharedMesh.Clear();
}
Vector3 newNearPoint, newFarPoint;
//MyHelpMesh.GetLineFromVertices(null, vertices, out newNearPoint, out newFarPoint);
//get 10 point which is nearest with camera plane
findHandDataList.Clear();
Vector3 localEyePos = SRWorkControl.Instance.viveSR.transform.InverseTransformPoint(SRWorkControl.Instance.eye.position);
Vector3 localEyeDir = SRWorkControl.Instance.viveSR.transform.InverseTransformDirection(SRWorkControl.Instance.eye.forward);
Vector3 cameraNormal = localEyeDir;
//cameraNormal.y = 0; cameraNormal.Normalize();
Plane cameraPlane = new Plane(cameraNormal, localEyePos);
byte[] colorRGB = null;
tempVertices.Clear();
if (considerSkinColor)
{
int vid = 0;
colorRGB = _getDummyLeftTex();
foreach (Vector3 v in vertices)
{
if (IsSkinColorVert(v, colorRGB))
{
tempVertices.Add(vertices[vid]);
}
vid++;
}
if (renderSkinVert)
{
Texture2D tex = ViveSR_DualCameraRig.Instance.DualCameraImageRenderer.UndistortedLeft[0].mainTexture as Texture2D;
tex.LoadRawTextureData(_dummyLeftTex);
tex.Apply();
//byte[] bytes = tex.EncodeToJPG();
//System.IO.File.WriteAllBytes("d:/234.jpg", bytes);
//UnityEditor.EditorApplication.isPaused = true;
}
}
else
{
tempVertices.AddRange(vertices);
}
//consider nearest from all dynamic vertices
//foreach (Vector3 v in vertices)
foreach (Vector3 v in tempVertices)
{
//limit nearest not too high
if (Mathf.Abs(v.y - localEyePos.y) > 0.4f)
{
continue;
}
FindHandData data = new FindHandData();
data.cameraPlaneDis = cameraPlane.GetDistanceToPoint(v);
data.vert = v;
findHandDataList.Add(data);
}
findHandDataList.Sort();
//get the closest points.
float nearestDis = 99999;
FindHandData nearestData = null;
for (int a = 0; a < 10; a++)
{
if (a == findHandDataList.Count)
{
break;
}
float sqrDis = (findHandDataList[a].vert - localEyePos).sqrMagnitude;
if (sqrDis < nearestDis)
{
nearestDis = sqrDis;
nearestData = findHandDataList[a];
}
}
if (nearestData == null)
{
outNearPoint = oldNearPoint;
outFarPoint = oldFarPoint;
handRot = Quaternion.identity;
return;
}
newNearPoint = nearestData.vert;
//get 10 point which is farest with camera plane
findHandDataList.Clear();
foreach (Vector3 v in tempVertices)//get farest point from skin color vertices
{
//limit farest not too high
if (Mathf.Abs(v.y - localEyePos.y) > 0.5f)
{
continue;
}
FindHandData data = new FindHandData();
data.cameraPlaneDis = cameraPlane.GetDistanceToPoint(v);
data.vert = v;
findHandDataList.Add(data);
}
findHandDataList.Sort();
//get the point which is farest from newNearPoint
float maxDis = 0;
newFarPoint = newNearPoint;
for (int a = 0; a < findHandDataList.Count; a++)
{
// if (a == 10)//there are too many other point, so cannot limit the amount
// break;
FindHandData data = findHandDataList[findHandDataList.Count - a - 1];
float sqrDis = (data.vert - newNearPoint).sqrMagnitude;
//float dddd = (data.vert - newNearPoint).magnitude;
if (sqrDis > maxDis && sqrDis < 0.5f * 0.5f)
{
maxDis = sqrDis;
newFarPoint = data.vert;
}
}
//fix the hand direction by camera forward
Vector3 newDirection = newFarPoint - newNearPoint;
if (Vector3.Dot(localEyeDir, newDirection.normalized) < 0)
{
Vector3 rec = newNearPoint;
newNearPoint = newFarPoint;
newFarPoint = rec;
}
newNearPoint = Vector3.Lerp(oldNearPoint, newNearPoint, lowPassRatio);
newFarPoint = Vector3.Lerp(oldFarPoint, newFarPoint, lowPassRatio);
//save old position
oldFarPoint = newFarPoint;
oldNearPoint = newNearPoint;
//get hand size in range
//float handSize = 0;
List <int> handIB = new List <int>();
List <Vector3> handVB = new List <Vector3>();
int count = 0;
for (int a = 0; a < triangles.Length; a += 3)
{
Vector3 vA = vertices[triangles[a + 0]];
Vector3 vB = vertices[triangles[a + 1]];
Vector3 vC = vertices[triangles[a + 2]];
//if (considerSkinColor)
//{
// if (!IsSkinColorVert(vA, colorRGB) &&
// !IsSkinColorVert(vB, colorRGB) &&
// !IsSkinColorVert(vC, colorRGB)
// )
// continue;
//}
Vector3 dA = newFarPoint - vA;
Vector3 dB = newFarPoint - vB;
Vector3 dC = newFarPoint - vC;
if (
dA.sqrMagnitude < handSizeRange * handSizeRange ||
dB.sqrMagnitude < handSizeRange * handSizeRange ||
dC.sqrMagnitude < handSizeRange * handSizeRange)
{
//get area
//https://answers.unity.com/questions/291923/area-of-a-triangle-this-code-seems-to-work-why.html
//Vector3 V = Vector3.Cross(vA - vB, vA - vC);
//handSize += V.magnitude * 0.5f;
handVB.Add(vA);
handVB.Add(vB);
handVB.Add(vC);
handIB.Add(count + 0);
handIB.Add(count + 1);
handIB.Add(count + 2);
count += 3;
}
}
//recalculate far point
if (handVB.Count > 0)
{
newFarPoint = Vector3.zero;
foreach (Vector3 v in handVB)
{
newFarPoint += v;
}
newFarPoint /= handVB.Count;
}
//set point to world coordinate
HandFar = outFarPoint = newFarPoint; // + SRWorkControl.Instance.viveSR.transform.position;
HandNear = outNearPoint = newNearPoint; // + SRWorkControl.Instance.viveSR.transform.position;
handRot = Quaternion.identity;
if (showHand)
{
_colliderHandMeshes.sharedMesh.Clear();
if (handVB.Count > 0)
{
for (int a = 0; a < handVB.Count; a++)
{
handVB[a] += SRWorkControl.Instance.viveSR.transform.position;
}
_colliderHandMeshes.sharedMesh.SetVertices(handVB);
_colliderHandMeshes.sharedMesh.SetIndices(handIB.ToArray(), MeshTopology.Triangles, 0);
_colliderHandMeshRenderer.material.color = farDebugColor;
}
_colliderHandObjs.GetComponent <MeshRenderer>().enabled = true;
_getDynamicScanObj().GetComponent <MeshRenderer>().enabled = false;
}
else
{
_colliderHandObjs.GetComponent <MeshRenderer>().enabled = false;
_getDynamicScanObj().GetComponent <MeshRenderer>().enabled = true;
}
_showDebug.gameObject.SetActive(false);
if (Debug.isDebugBuild && DebugShow)
{
if (nearDebug == null)
{
nearDebug = GameObject.CreatePrimitive(PrimitiveType.Sphere);
}
if (farDebug == null)
{
farDebug = GameObject.CreatePrimitive(PrimitiveType.Cube);
}
nearDebug.transform.localScale = Vector3.one * 0.05f;
farDebug.transform.localScale = Vector3.one * 0.05f;
//Vector3.Lerp(Vector3.one * handSize, farDebug.transform.localScale, 0.1f);
nearDebug.transform.position = outNearPoint + SRWorkControl.Instance.viveSR.transform.position;
farDebug.transform.position = outFarPoint + SRWorkControl.Instance.viveSR.transform.position;
nearDebug.GetComponent <Renderer>().material.color = Color.red;
farDebug.GetComponent <Renderer>().material.color = Color.red;
Destroy(nearDebug.GetComponent <Collider>());
Destroy(farDebug.GetComponent <Collider>());
float farDis = cameraPlane.GetDistanceToPoint(HandFar);
_showDebug.gameObject.SetActive(true);
_showDebug.text =
//"handSize : " + handSize + Environment.NewLine +
"farDis : " + farDis;
}
}
void _findHandFromVerticesUpdate2(int[] triangles, Vector3[] vertices, out Vector3 outNearPoint, out Vector3 outFarPoint, out Quaternion handRot)
{
Vector3 newNearPoint, newFarPoint;
//MyHelpMesh.GetLineFromVertices(null, vertices, out newNearPoint, out newFarPoint);
//get 10 point which is nearest with camera plane
findHandDataList.Clear();
Vector3 localEyePos = SRWorksHand.Instance.viveSR.transform.InverseTransformPoint(SRWorksHand.Instance.eye.position);
Vector3 localEyeDir = SRWorksHand.Instance.viveSR.transform.InverseTransformDirection(SRWorksHand.Instance.eye.forward);
Vector3 cameraNormal = localEyeDir;
//cameraNormal.y = 0; cameraNormal.Normalize();
Plane cameraPlane = new Plane(cameraNormal, localEyePos);
foreach (Vector3 v in vertices)
{
//limit nearest not too high
if (Mathf.Abs(v.y - localEyePos.y) > 0.4f)
{
continue;
}
FindHandData data = new FindHandData();
data.cameraPlaneDis = cameraPlane.GetDistanceToPoint(v);
data.vert = v;
findHandDataList.Add(data);
}
findHandDataList.Sort();
//get the closest points.
float nearestDis = 99999;
FindHandData nearestData = null;
for (int a = 0; a < 10; a++)
{
if (a == findHandDataList.Count)
{
break;
}
float sqrDis = (findHandDataList[a].vert - localEyePos).sqrMagnitude;
if (sqrDis < nearestDis)
{
nearestDis = sqrDis;
nearestData = findHandDataList[a];
}
}
if (nearestData == null)
{
outNearPoint = oldNearPoint;
outFarPoint = oldFarPoint;
handRot = Quaternion.identity;
return;
}
newNearPoint = nearestData.vert;
//get 10 point which is farest with camera plane
findHandDataList.Clear();
foreach (Vector3 v in vertices)
{
//limit farest not too high
if (Mathf.Abs(v.y - localEyePos.y) > 0.5f)
{
continue;
}
FindHandData data = new FindHandData();
data.cameraPlaneDis = cameraPlane.GetDistanceToPoint(v);
data.vert = v;
findHandDataList.Add(data);
}
findHandDataList.Sort();
//get the point which is farthest from newNearPoint
float maxDis = 0;
newFarPoint = newNearPoint;
for (int a = 0; a < findHandDataList.Count; a++)
{
// if (a == 10)//there are too many other point, so cannot limit the head amount
// break;
FindHandData data = findHandDataList[findHandDataList.Count - a - 1];
float sqrDis = (data.vert - newNearPoint).sqrMagnitude;
//float dddd = (data.vert - newNearPoint).magnitude;
if (sqrDis > maxDis && sqrDis < 0.5f * 0.5f)
{
maxDis = sqrDis;
newFarPoint = data.vert;
}
}
Vector3 newDirection = newFarPoint - newNearPoint;
if (Vector3.Dot(localEyeDir, newDirection.normalized) < 0)
{
Vector3 rec = newNearPoint;
newNearPoint = newFarPoint;
newFarPoint = rec;
}
newNearPoint = Vector3.Lerp(oldNearPoint, newNearPoint, dynamicHandDisDivided);
newFarPoint = Vector3.Lerp(oldFarPoint, newFarPoint, dynamicHandDisDivided);
//save old position
oldFarPoint = newFarPoint;
oldNearPoint = newNearPoint;
//get hand direction
//Vector3 handPoint;
//if (MyHelpMesh.GetLongestPointInRange(vertices, newFarPoint, 0.1f, out handPoint))
//{
// Vector3 handDir = handPoint - newFarPoint;
// handDir.Normalize();
// handRot = Quaternion.LookRotation(-handDir, Vector3.up);
// handRot = Quaternion.Slerp(oldHandRot, handRot, dynamicHandDisDivided);
// oldHandRot = handRot;
//}
//get hand size in range
//float handSize = 0;
List <int> handIB = new List <int>();
List <Vector3> handVB = new List <Vector3>();
int count = 0;
for (int a = 0; a < triangles.Length; a += 3)
{
Vector3 vA = vertices[triangles[a + 0]];
Vector3 vB = vertices[triangles[a + 1]];
Vector3 vC = vertices[triangles[a + 2]];
Vector3 dA = newFarPoint - vA;
Vector3 dB = newFarPoint - vB;
Vector3 dC = newFarPoint - vC;
if (
dA.sqrMagnitude < handSizeRange * handSizeRange ||
dB.sqrMagnitude < handSizeRange * handSizeRange ||
dC.sqrMagnitude < handSizeRange * handSizeRange)
{
//get area
//https://answers.unity.com/questions/291923/area-of-a-triangle-this-code-seems-to-work-why.html
//Vector3 V = Vector3.Cross(vA - vB, vA - vC);
// handSize += V.magnitude * 0.5f;
handVB.Add(vA + SRWorksHand.Instance.viveSR.transform.position);
handVB.Add(vB + SRWorksHand.Instance.viveSR.transform.position);
handVB.Add(vC + SRWorksHand.Instance.viveSR.transform.position);
handIB.Add(count + 0);
handIB.Add(count + 1);
handIB.Add(count + 2);
count += 3;
}
}
//recalculate far point
if (handVB.Count > 0)
{
newFarPoint = Vector3.zero;
foreach (Vector3 v in handVB)
{
newFarPoint += v - SRWorksHand.Instance.viveSR.transform.position;
}
newFarPoint /= handVB.Count;
}
//set point to world coordinate
_OutFar = outFarPoint = newFarPoint; // + SRWorkHand.Instance.viveSR.transform.position;
_OutNear = outNearPoint = newNearPoint; // + SRWorkHand.Instance.viveSR.transform.position;
handRot = Quaternion.identity;
if (showHandMesh)
{
ColliderMeshes.sharedMesh.Clear();
if (handVB.Count > 0)
{
ColliderMeshes.sharedMesh.SetVertices(handVB);
ColliderMeshes.sharedMesh.SetIndices(handIB.ToArray(), MeshTopology.Triangles, 0);
}
ColliderObjs.GetComponent <MeshRenderer>().enabled = true;
GetDynamicHand().GetComponent <MeshRenderer>().enabled = true;
}
else
{
ColliderObjs.GetComponent <MeshRenderer>().enabled = false;
GetDynamicHand().GetComponent <MeshRenderer>().enabled = false;
}
_showDebug.gameObject.SetActive(false);
if (Debug.isDebugBuild && DebugShow)
{
if (nearDebug == null)
{
nearDebug = GameObject.CreatePrimitive(PrimitiveType.Sphere);
}
if (farDebug == null)
{
farDebug = GameObject.CreatePrimitive(PrimitiveType.Cube);
}
nearDebug.transform.localScale = Vector3.one * 0.05f;
farDebug.transform.localScale = Vector3.one * 0.05f;
//Vector3.Lerp(Vector3.one * handSize, farDebug.transform.localScale, 0.1f);
nearDebug.transform.position = outNearPoint + SRWorksHand.Instance.viveSR.transform.position;
farDebug.transform.position = outFarPoint + SRWorksHand.Instance.viveSR.transform.position;
nearDebug.GetComponent <Renderer>().material.color = Color.red;
farDebug.GetComponent <Renderer>().material.color = Color.green;
Destroy(nearDebug.GetComponent <Collider>());
Destroy(farDebug.GetComponent <Collider>());
float farDis = cameraPlane.GetDistanceToPoint(_OutFar);
_showDebug.gameObject.SetActive(true);
_showDebug.text =
//"handSize : " + handSize + Environment.NewLine +
"farDis : " + farDis;
}
}
