protected virtual void CopyPoseImp()
{
//For some obscure reason, we have to set source and dest to null parent in order to work.
QuickHumanPoseHandler.GetHumanPose(_source, ref _poseSource);
QuickHumanPoseHandler.GetHumanPose(_dest, ref _poseDest);
foreach (QuickHumanBodyBones boneID in _allJoints)
{
if (!IsTrackedJoint(boneID))
{
for (int i = 0; i < 3; i++)
{
int m = QuickHumanTrait.GetMuscleFromBone(boneID, i);
if (m != -1)
{
_poseSource.muscles[m] = _poseDest.muscles[m];
}
}
}
}
//The hips is a special case, it modifies the bodyPosition and bodyRotation fields
if (!IsTrackedJointBody(TrackedJointBody.Hips))
{
_poseSource.bodyPosition = _poseDest.bodyPosition;
_poseSource.bodyRotation = _poseDest.bodyRotation;
}
QuickHumanPoseHandler.SetHumanPose(_dest, ref _poseSource);
}
protected virtual void InitFingersData()
{
Animator animator = QuickSingletonManager.GetInstance <QuickVRManager>().GetAnimatorSource();
QuickHumanFingers[] fingers = QuickHumanTrait.GetHumanFingers();
int numFingers = fingers.Length;
_handFingerConfidence = new int[numFingers];
_vrNodeFingers = new QuickVRNode[numFingers * NUM_BONES_PER_FINGER];
_tBoneFingers = new Transform[numFingers * NUM_BONES_PER_FINGER];
for (int i = 0; i < numFingers; i++)
{
_handFingerConfidence[i] = NUM_FRAMES_CONFIDENCE;
List <QuickHumanBodyBones> fingerBones = QuickHumanTrait.GetBonesFromFinger(fingers[i], IsLeft());
for (int j = 0; j < NUM_BONES_PER_FINGER; j++)
{
int fingerBoneID = (i * NUM_BONES_PER_FINGER) + j;
Transform tBone = animator.GetBoneTransform(fingerBones[j]);
_vrNodeFingers[fingerBoneID] = _playArea.GetVRNode(fingerBones[j]);
_tBoneFingers[fingerBoneID] = tBone;
}
}
}
protected virtual void UpdateVRNodeFingers()
{
if (IsTracked() && QuickVRManager._handTrackingMode == QuickVRManager.HandTrackingMode.Controllers)
{
//Update the nodes of the fingers
foreach (QuickHumanFingers f in QuickHumanTrait.GetHumanFingers())
{
List <QuickHumanBodyBones> fingerBones = QuickHumanTrait.GetBonesFromFinger(f, _isLeft);
for (int i = 0; i < QuickHumanTrait.NUM_BONES_PER_FINGER; i++)
{
QuickVRNode nFinger = QuickSingletonManager.GetInstance <QuickVRPlayArea>().GetVRNode(fingerBones[i]);
//The finger is tracked.
Transform t = _handAnimator[(int)f][i]; // .GetBoneFingerTransform(f, i);
nFinger.transform.position = t.position;
nFinger.transform.rotation = t.rotation;
//Correct the rotation
//if (IsLeft())
//{
// nFinger.transform.Rotate(Vector3.right, 180, Space.Self);
// nFinger.transform.Rotate(Vector3.up, -90, Space.Self);
//}
//else
//{
// nFinger.transform.Rotate(Vector3.up, 90, Space.Self);
//}
nFinger.SetTracked(true);
}
}
}
}
protected virtual void UpdateVRNodeFingers()
{
if (IsInitialized())
{
if (!_physicsInitialized)
{
CreatePhysics();
_physicsInitialized = true;
}
if (!_fingersDataInitialized)
{
InitFingersData();
_fingersDataInitialized = true;
}
//Update the nodes of the fingers
foreach (QuickHumanFingers f in QuickHumanTrait.GetHumanFingers())
{
_handFingerConfidence[(int)f] = IsDataHighConfidence ? Mathf.Min(_handFingerConfidence[(int)f] + 1, NUM_FRAMES_CONFIDENCE) : 0;
for (int i = 0; i < NUM_BONES_PER_FINGER; i++)
{
int boneID = ((int)f) * NUM_BONES_PER_FINGER + i;
QuickVRNode nFinger = _vrNodeFingers[boneID]; //_playArea.GetVRNode(fingerBones[i]);
if (IsDataHighConfidenceFinger(f))
{
//The finger is tracked.
OVRSkeleton.BoneId ovrBoneID = _ovrFingerBones[boneID];
Transform ovrBone = GetOVRBoneTransform(ovrBoneID);
nFinger.transform.position = ovrBone.position;
nFinger.transform.rotation = ovrBone.rotation;
//Correct the rotation
if (IsLeft())
{
nFinger.transform.Rotate(Vector3.right, 180, Space.Self);
nFinger.transform.Rotate(Vector3.up, -90, Space.Self);
}
else
{
nFinger.transform.Rotate(Vector3.up, 90, Space.Self);
}
//nFinger.SetTracked(true);
}
else
{
//The finger is not tracked. Restore the last valid local rotation.
//nFinger.SetTracked(false);
}
nFinger.SetTracked(true);
}
}
}
}
protected virtual bool IsTrackedJoint(QuickHumanBodyBones boneID)
{
if (QuickHumanTrait.IsBoneFingerLeft(boneID))
{
return(IsTrackedJointHandLeft(QuickHumanTrait.GetFingerFromBone(boneID)));
}
else if (QuickHumanTrait.IsBoneFingerRight(boneID))
{
return(IsTrackedJointHandRight(QuickHumanTrait.GetFingerFromBone(boneID)));
}
return(IsTrackedJointBody(_toTrackedJointBody[boneID]));
}
protected virtual Transform GetBoneMid(HumanBodyBones boneLimbID)
{
if (boneLimbID == HumanBodyBones.Hips || boneLimbID == HumanBodyBones.Head)
{
return(_animator.GetBoneTransform(HumanBodyBones.Spine));
}
else if (boneLimbID == HumanBodyBones.LeftEye || boneLimbID == HumanBodyBones.RightEye)
{
return(_animator.GetBoneTransform(HumanBodyBones.Head));
}
return(_animator.GetBoneTransform(QuickHumanTrait.GetParentBone(boneLimbID)));
}
private static void Init()
{
_allJoints = QuickUtils.ParseEnum <QuickHumanBodyBones, TrackedJointBody>();
foreach (QuickHumanFingers f in QuickHumanTrait.GetHumanFingers())
{
_allJoints.AddRange(QuickHumanTrait.GetBonesFromFinger(f, true));
_allJoints.AddRange(QuickHumanTrait.GetBonesFromFinger(f, false));
}
foreach (TrackedJointBody j in QuickUtils.GetEnumValues <TrackedJointBody>())
{
_toTrackedJointBody[QuickUtils.ParseEnum <QuickHumanBodyBones>(j.ToString())] = j;
}
}
protected virtual void InitBoneFingers()
{
_boneFingers = new List <KeyValuePair <Transform, Transform> >();
foreach (bool b in new bool[] { true, false })
{
foreach (QuickHumanFingers f in QuickHumanTrait.GetHumanFingers())
{
List <QuickHumanBodyBones> fingerBones = QuickHumanTrait.GetBonesFromFinger(f, b);
for (int i = 0; i < fingerBones.Count; i++)
{
QuickHumanBodyBones fBoneID = fingerBones[i];
_boneFingers.Add(new KeyValuePair <Transform, Transform>(_animator.GetBoneTransform(fBoneID), _vrPlayArea.GetVRNode(fBoneID).GetTrackedObject().transform));
}
}
}
}
public virtual void EvaluateHumanPose(float time, ref HumanPose pose)
{
if (_animator.isHuman)
{
pose.bodyPosition = GetAnimationCurve(CURVE_BODY_POSITION).EvaluateVector3(time);
pose.bodyRotation = GetAnimationCurve(CURVE_BODY_ROTATION).EvaluateQuaternion(time);
List <float> muscles = new List <float>();
for (int i = 0; i < QuickHumanTrait.GetNumMuscles(); i++)
{
muscles.Add(_curves[QuickHumanTrait.GetMuscleName(i)].Evaluate(time));
}
pose.muscles = muscles.ToArray();
}
}
protected virtual Transform GetIKTargetParent(HumanBodyBones boneID)
{
if (boneID == HumanBodyBones.LeftEye || boneID == HumanBodyBones.RightEye)
{
return(GetIKSolver(IKBone.Head)._targetLimb);
}
if (QuickHumanTrait.IsBoneFingerLeft(boneID))
{
return(GetIKSolver(IKBone.LeftHand)._targetLimb);
}
if (QuickHumanTrait.IsBoneFingerRight(boneID))
{
return(GetIKSolver(IKBone.RightHand)._targetLimb);
}
return(_ikTargetsRoot);
}
protected virtual void CopyPose(QuickHumanBodyBones boneID)
{
QuickHumanBodyBones nextBoneID = QuickHumanTrait.GetNextBoneInChain(boneID);
Transform tBoneSrc = _source.GetBoneTransform(boneID);
Transform tBoneSrcNext = _source.GetBoneTransform(nextBoneID);
Transform tBoneDst = _dest.GetBoneTransform(boneID);
Transform tBoneDstNext = _dest.GetBoneTransform(nextBoneID);
Vector3 currentDir = tBoneDstNext.position - tBoneDst.position;
Vector3 targetDir = tBoneSrcNext.position - tBoneSrc.position;
Vector3 rotAxis = Vector3.Cross(currentDir, targetDir);
float rotAngle = Vector3.Angle(currentDir, targetDir);
tBoneDst.Rotate(rotAxis, rotAngle, Space.World);
}
public virtual AnimationClip ToAnimationClip()
{
AnimationClip anim = new AnimationClip();
QuickAnimationCurve curvePos = GetAnimationCurve(CURVE_BODY_POSITION);
anim.SetCurve("", typeof(Animator), "RootT.x", curvePos[0]);
anim.SetCurve("", typeof(Animator), "RootT.y", curvePos[1]);
anim.SetCurve("", typeof(Animator), "RootT.z", curvePos[2]);
QuickAnimationCurve curveRot = GetAnimationCurve(CURVE_BODY_ROTATION);
anim.SetCurve("", typeof(Animator), "RootQ.x", curveRot[0]);
anim.SetCurve("", typeof(Animator), "RootQ.y", curveRot[1]);
anim.SetCurve("", typeof(Animator), "RootQ.z", curveRot[2]);
anim.SetCurve("", typeof(Animator), "RootQ.w", curveRot[3]);
curvePos = GetAnimationCurve(CURVE_LEFT_FOOT_IK_GOAL_POSITION);
anim.SetCurve("", typeof(Animator), "LeftFootT.x", curvePos[0]);
anim.SetCurve("", typeof(Animator), "LeftFootT.y", curvePos[1]);
anim.SetCurve("", typeof(Animator), "LeftFootT.z", curvePos[2]);
curveRot = GetAnimationCurve(CURVE_LEFT_FOOT_IK_GOAL_ROTATION);
anim.SetCurve("", typeof(Animator), "LeftFootQ.x", curveRot[0]);
anim.SetCurve("", typeof(Animator), "LeftFootQ.y", curveRot[1]);
anim.SetCurve("", typeof(Animator), "LeftFootQ.z", curveRot[2]);
anim.SetCurve("", typeof(Animator), "LeftFootQ.w", curveRot[3]);
curvePos = GetAnimationCurve(CURVE_RIGHT_FOOT_IK_GOAL_POSITION);
anim.SetCurve("", typeof(Animator), "RightFootT.x", curvePos[0]);
anim.SetCurve("", typeof(Animator), "RightFootT.y", curvePos[1]);
anim.SetCurve("", typeof(Animator), "RightFootT.z", curvePos[2]);
curveRot = GetAnimationCurve(CURVE_RIGHT_FOOT_IK_GOAL_ROTATION);
anim.SetCurve("", typeof(Animator), "RightFootQ.x", curveRot[0]);
anim.SetCurve("", typeof(Animator), "RightFootQ.y", curveRot[1]);
anim.SetCurve("", typeof(Animator), "RightFootQ.z", curveRot[2]);
anim.SetCurve("", typeof(Animator), "RightFootQ.w", curveRot[3]);
for (int i = 0; i < QuickHumanTrait.GetNumMuscles(); i++)
{
string muscleName = QuickHumanTrait.GetMuscleName(i);
anim.SetCurve("", typeof(Animator), muscleName, _curves[muscleName][0]);
}
return(anim);
}
public virtual float GetFingerLength(QuickHumanFingers f, bool isLeft)
{
List <QuickHumanBodyBones> boneFingers = QuickHumanTrait.GetBonesFromFinger(f, isLeft);
HumanBodyBones boneID = (HumanBodyBones)boneFingers[0];
if (_fingerLength[boneID] == 0)
{
QuickVRNode n0 = GetVRNode(boneFingers[0]);
QuickVRNode n1 = GetVRNode(boneFingers[1]);
QuickVRNode n2 = GetVRNode(boneFingers[2]);
if (n0.IsTracked() && n1.IsTracked() && n2.IsTracked())
{
_fingerLength[boneID] = Vector3.Distance(n0.transform.position, n1.transform.position) + Vector3.Distance(n1.transform.position, n2.transform.position);
}
}
return(_fingerLength[boneID]);
}
public virtual void LoadTPose()
{
_animator.EnforceTPose();
//Reset the IKTargets
for (IKBone ikBone = 0; ikBone < IKBone.LastBone; ikBone++)
{
QuickIKSolver ikSolver = GetIKSolver(ikBone);
HumanBodyBones boneID = ToHumanBodyBones(ikBone);
ResetIKTarget(boneID, ikSolver._targetLimb);
ikSolver._targetLimb.parent = GetIKTargetParent(boneID);
if (ikSolver._targetLimb.childCount > 0)
{
ikSolver._targetLimb.GetChild(0).rotation = ikSolver._boneLimb.rotation;
}
if (ikSolver._targetHint)
{
ResetIKTarget(QuickHumanTrait.GetParentBone(boneID), ikSolver._targetHint);
}
}
}
public virtual void AddKey(float time, bool forceAdd = false)
{
GetAnimationCurve(CURVE_TRANSFORM_POSITION).AddKey(time, _animator.transform.position, forceAdd);
GetAnimationCurve(CURVE_TRANSFORM_ROTATION).AddKey(time, _animator.transform.rotation, forceAdd);
if (_animator.isHuman)
{
QuickHumanPoseHandler.GetHumanPose(_animator, ref _pose);
Vector3 bodyPosition = _pose.bodyPosition;
Quaternion bodyRotation = _pose.bodyRotation;
GetAnimationCurve(CURVE_BODY_POSITION).AddKey(time, bodyPosition, forceAdd);
GetAnimationCurve(CURVE_BODY_ROTATION).AddKey(time, bodyRotation, forceAdd);
Vector3 ikGoalPos;
Quaternion ikGoalRot;
_animator.GetIKGoalFromBodyPose(AvatarIKGoal.LeftFoot, bodyPosition, bodyRotation, out ikGoalPos, out ikGoalRot);
GetAnimationCurve(CURVE_LEFT_FOOT_IK_GOAL_POSITION).AddKey(time, ikGoalPos, forceAdd);
GetAnimationCurve(CURVE_LEFT_FOOT_IK_GOAL_ROTATION).AddKey(time, ikGoalRot, forceAdd);
_animator.GetIKGoalFromBodyPose(AvatarIKGoal.RightFoot, bodyPosition, bodyRotation, out ikGoalPos, out ikGoalRot);
GetAnimationCurve(CURVE_RIGHT_FOOT_IK_GOAL_POSITION).AddKey(time, ikGoalPos, forceAdd);
GetAnimationCurve(CURVE_RIGHT_FOOT_IK_GOAL_ROTATION).AddKey(time, ikGoalRot, forceAdd);
for (int i = 0; i < _pose.muscles.Length; i++)
{
string muscleName = QuickHumanTrait.GetMuscleName(i);
GetAnimationCurve(muscleName).AddKey(time, _pose.muscles[i], forceAdd);
}
}
if (time > _timeLength)
{
_timeLength = time;
}
}
protected override void UpdateIKFingers()
{
if (_vrPlayArea)
{
//if (_boneFingers == null)
//{
// InitBoneFingers();
//}
//for (int j = 0; j < _boneFingers.Count; j+= 4)
//{
// if (_boneFingers[j].Key != null)
// {
// for (int i = 0; i < 3; i++)
// {
// if ((i == 0 && (j == 0 || j == 20)) && QuickVRManager._handTrackingMode == QuickVRManager.HandTrackingMode.Controllers)
// {
// //HACK
// //Avoid applying the rotation to the thumb distal fingers as the results look weird. Look for a better method
// //of transfering the bone rotations when using the controllers.
// continue;
// }
// ApplyFingerRotation(_boneFingers[j + i], _boneFingers[j + i + 1]);
// }
// }
//}
//foreach (bool b in new bool[] { true, false })
//{
// foreach (QuickHumanFingers f in QuickHumanTrait.GetHumanFingers())
// {
// List<QuickHumanBodyBones> fingerBones = QuickHumanTrait.GetBonesFromFinger(f, b);
// List<Quaternion> initialFingerBonesLocalRotations = new List<Quaternion>();
// for (int i = 0; i < fingerBones.Count - 1; i++)
// {
// QuickHumanBodyBones fBoneID = fingerBones[i];
// initialFingerBonesLocalRotations.Add(_animator.GetBoneTransform(fBoneID).localRotation);
// if (_animator.GetBoneTransform(fBoneID) && _vrPlayArea.GetVRNode(fBoneID).IsTracked())
// {
// ApplyFingerRotation(fBoneID, fingerBones[i + 1]);
// }
// }
// //At this point the finger is correctly aligned. Set the targets to match this.
// //HumanBodyBones boneID = (HumanBodyBones)fingerBones[2];
// //QuickIKSolver ikSolver = GetIKSolver(boneID);
// //Transform tBone = _animator.GetBoneTransform(boneID);
// //ikSolver._targetLimb.position = tBone.position;
// //ikSolver._targetLimb.GetChild(0).rotation = tBone.rotation;
// //ikSolver._targetHint.position = ikSolver._boneMid.position + (ikSolver._boneMid.position - ikSolver._boneUpper.position) + (ikSolver._boneMid.position - ikSolver._boneLimb.position);
// ////Restore the rotation of the bone fingers
// //ikSolver._boneUpper.localRotation = initialFingerBonesLocalRotations[0];
// //ikSolver._boneMid.localRotation = initialFingerBonesLocalRotations[1];
// //ikSolver._boneLimb.localRotation = initialFingerBonesLocalRotations[2];
// }
//}
//foreach (bool b in new bool[] { true, false })
//{
// foreach (QuickHumanFingers f in QuickHumanTrait.GetHumanFingers())
// {
// List<QuickHumanBodyBones> fingerBones = QuickHumanTrait.GetBonesFromFinger(f, b);
// List<Quaternion> initialFingerBonesLocalRotations = new List<Quaternion>();
// for (int i = 0; i < fingerBones.Count - 1; i++)
// {
// QuickHumanBodyBones fBoneID = fingerBones[i];
// initialFingerBonesLocalRotations.Add(_animator.GetBoneTransform(fBoneID).localRotation);
// if (_animator.GetBoneTransform(fBoneID) && _vrPlayArea.GetVRNode(fBoneID).IsTracked())
// {
// ApplyFingerRotation(fBoneID, fingerBones[i + 1]);
// }
// }
// //At this point the finger is correctly aligned. Set the targets to match this.
// //HumanBodyBones boneID = (HumanBodyBones)fingerBones[2];
// //QuickIKSolver ikSolver = GetIKSolver(boneID);
// //Transform tBone = _animator.GetBoneTransform(boneID);
// //ikSolver._targetLimb.position = tBone.position;
// //ikSolver._targetLimb.GetChild(0).rotation = tBone.rotation;
// //ikSolver._targetHint.position = ikSolver._boneMid.position + (ikSolver._boneMid.position - ikSolver._boneUpper.position) + (ikSolver._boneMid.position - ikSolver._boneLimb.position);
// ////Restore the rotation of the bone fingers
// //ikSolver._boneUpper.localRotation = initialFingerBonesLocalRotations[0];
// //ikSolver._boneMid.localRotation = initialFingerBonesLocalRotations[1];
// //ikSolver._boneLimb.localRotation = initialFingerBonesLocalRotations[2];
// }
//}
//foreach (bool isLeft in new bool[] { true, false })
//{
// foreach (QuickHumanFingers f in QuickHumanTrait.GetHumanFingers())
// {
// float fLength = _vrPlayArea.GetFingerLength(f, isLeft);
// if (fLength > 0)
// {
// List<QuickHumanBodyBones> fingerBones = QuickHumanTrait.GetBonesFromFinger(f, isLeft);
// QuickVRNode n0 = _vrPlayArea.GetVRNode(fingerBones[0]);
// QuickVRNode n1 = _vrPlayArea.GetVRNode(fingerBones[1]);
// QuickVRNode n2 = _vrPlayArea.GetVRNode(fingerBones[2]);
// QuickIKSolver ikSolver = GetIKSolver((HumanBodyBones)fingerBones[2]);
// if (n0.IsTracked() && n2.IsTracked())
// {
// float sf = ikSolver.GetChainLength() / fLength;
// Vector3 v = sf * (n2.transform.position - n0.transform.position);
// ikSolver._targetLimb.position = ikSolver._boneUpper.position + v;
// ikSolver._targetHint.position = ikSolver._boneMid.position + (n1.transform.position - n0.transform.position) + (n1.transform.position - n2.transform.position);
// }
// }
// }
//}
foreach (bool isLeft in new bool[] { true, false })
{
foreach (QuickHumanFingers f in QuickHumanTrait.GetHumanFingers())
{
List <QuickHumanBodyBones> fingerBones = QuickHumanTrait.GetBonesFromFinger(f, isLeft);
QuickVRNode n0 = _vrPlayArea.GetVRNode(fingerBones[0]);
QuickVRNode n1 = _vrPlayArea.GetVRNode(fingerBones[1]);
QuickVRNode n2 = _vrPlayArea.GetVRNode(fingerBones[2]);
if (n0.IsTracked() && n1.IsTracked() && n2.IsTracked())
{
QuickIKSolver ikSolver = GetIKSolver((HumanBodyBones)fingerBones[2]);
Vector3 v = (n1.transform.position - n0.transform.position).normalized;
Vector3 w = (n2.transform.position - n1.transform.position).normalized;
ikSolver._targetLimb.position = ikSolver._boneUpper.position + v * ikSolver.GetUpperLength() + w * ikSolver.GetMidLength();
ikSolver._targetLimb.rotation = n2.transform.rotation;
ikSolver._targetHint.position = ikSolver._boneMid.position + n1.transform.up * DEFAULT_TARGET_HINT_FINGER_DISTANCE;
ikSolver._targetHint.rotation = n1.transform.rotation;
//ikSolver._targetHint.position = ikSolver._boneMid.position + (n1.transform.position - n0.transform.position) + (n1.transform.position - n2.transform.position);
}
}
}
}
base.UpdateIKFingers();
}
