void Update()
{
if (_handController == null || !_handController.GetLeapController().IsConnected)
{
return;
}
var h = (Type == HandType.Left) ? Hands.Left : Hands.Right;
if (h == null)
{
return;
}
if (h.Confidence < 0.7f)
{
return;
}
Direction.Invoke(h.Direction.ToQuaternion());
Position.Invoke(h.PalmPosition.ToVector3());
Fist.Invoke(Hands.GetFistStrength(h));
foreach (var f in h.Fingers)
{
_fingers [(int)f.Type].Invoke(f);
}
}
protected override void UpdateState()
{
if (_armController == null || !_armController.GetLeapController().IsConnected)
{
return;
}
if (_type != Type)
{
_type = Type;
_resetOrientation();
}
var h = (Type == TxBodyInput.SideType.Left) ? Hands.Left : Hands.Right;
if (h == null)
{
return;
}
if (h.Confidence < MinimumConfidence)
{
return;
}
bool flip = true;// (Type == TxBodyInput.SideType.Right);
var q = h.Arm.Rotation.ToQuaternion(flip);
var e = q.eulerAngles;
_arm.Elbow.Position = h.Arm.ElbowPosition.ToVector3();
// _arm.elbow.Rotation = Quaternion.Euler(0, 0, e.z) ;
// _arm.forearm.Rotation = Quaternion.Euler(e.x, e.y, 0) ;
// Quaternion invRot = Quaternion.Inverse(q);
_arm.wrist.Position = _armController.transform.TransformPoint(h.Arm.WristPosition.ToVector3());
q = h.Rotation.ToQuaternion(flip);
_arm.wrist.Rotation = _armController.transform.TransformRotation(q);
Quaternion invRot;
invRot = Quaternion.Inverse(q);
foreach (var f in FingerMap)
{
// Vector3 fingerBase= h.Finger(f.Value).
var src = h.Fingers[f.Value];
var dst = _arm.hand.Fingers[f.Key];
var invR = Quaternion.Inverse(src.Bone(Bone.BoneType.TYPE_METACARPAL).Rotation.ToQuaternion(flip) * Reorintation);
foreach (var j in FingerJointsMap)
{
// _arm.Fingers[f.Key].Joints[j.Key].Position = h.Finger(f.Value).bones[j.Value].Direction.ToQuaternion();
q = src.Bone((Bone.BoneType)(j.Value)).Rotation.ToQuaternion(flip);
dst.Joints[j.Key].Rotation = invR * q;
invR = Quaternion.Inverse(q);
}
}
Arm.Invoke(_arm);
Hand.Invoke(_arm.hand);
Fist.Invoke(Hands.GetFistStrength(h));
Provider.Invoke(_armController);
}