/// <inheritdoc />
public override void Initialize()
{
base.Initialize();
if (!Application.isPlaying)
{
return;
}
if (!handTrackingHandle.IsValid)
{
if (!MlHandTracking.MLHandTrackingCreate(ref handTrackingHandle).IsOk)
{
Debug.LogError($"Failed to start {nameof(MlHandTracking)}!");
return;
}
configuration.keypose_enable_finger = false;
configuration.keypose_enable_fist = false;
configuration.keypose_enable_pinch = false;
configuration.keypose_enable_thumb = false;
configuration.keypose_enable_l = false;
configuration.keypose_enable_open_hand = false;
configuration.keypose_enable_ok = false;
configuration.keypose_enable_c = false;
configuration.keypose_enable_no_pose = true;
configuration.keypose_enable_no_hand = true;
configuration.handtracking_pipeline_enabled = true;
configuration.key_points_filter_level = keyPointFilterLevel;
configuration.pose_filter_level = poseFilterLevel;
if (!MlHandTracking.MLHandTrackingSetConfiguration(handTrackingHandle, ref configuration).IsOk)
{
Debug.LogError($"Failed to set {nameof(MlHandTracking.MLHandTrackingConfiguration)}!");
}
}
}
/// <inheritdoc />
public override void Destroy()
{
base.Destroy();
if (!Application.isPlaying)
{
return;
}
if (handTrackingHandle.IsValid)
{
if (!MlHandTracking.MLHandTrackingDestroy(handTrackingHandle).IsOk)
{
Debug.LogError($"Failed to destroy {nameof(MlHandTracking)}!");
}
}
foreach (var activeController in activeControllers)
{
RemoveController(activeController.Key, false);
}
activeControllers.Clear();
}
/// <inheritdoc />
public override void Update()
{
base.Update();
if (!Application.isPlaying)
{
return;
}
if (handTrackingHandle.IsValid)
{
if (MlHandTracking.MLHandTrackingGetDataEx(handTrackingHandle, ref handTrackingDataEx).IsOk)
{
leftHandData.TrackingState = handTrackingDataEx.left_hand_state.keypose < MlHandTracking.MLHandTrackingKeyPose.NoHand && !handTrackingDataEx.left_hand_state.is_holding_control ? TrackingState.Tracked : TrackingState.NotTracked;
rightHandData.TrackingState = handTrackingDataEx.right_hand_state.keypose < MlHandTracking.MLHandTrackingKeyPose.NoHand && !handTrackingDataEx.right_hand_state.is_holding_control ? TrackingState.Tracked : TrackingState.NotTracked;
}
else
{
Debug.LogError($"{nameof(MlHandTracking.MLHandTrackingGetDataEx)} Failed!");
}
if (leftHandData.TrackingState == TrackingState.Tracked || rightHandData.TrackingState == TrackingState.Tracked)
{
if (MlHandTracking.MLHandTrackingGetStaticData(handTrackingHandle, ref staticHandTrackingData).IsOk)
{
var now = DateTimeOffset.UtcNow.Ticks;
if (!MlPerception.MLPerceptionGetSnapshot(out var snapshot).IsOk)
{
Debug.LogError($"{nameof(MlPerception.MLPerceptionGetSnapshot)} Failed!");
return;
}
if (leftHandData.TrackingState == TrackingState.Tracked)
{
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Hand_Center] = GetPoseData(ref staticHandTrackingData.left.hand_center, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Wrist_Center] = GetPoseData(ref staticHandTrackingData.left.wrist.center, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Wrist_Radial] = GetPoseData(ref staticHandTrackingData.left.wrist.radial, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Wrist_Ulnar] = GetPoseData(ref staticHandTrackingData.left.wrist.ulnar, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Index_Tip] = GetPoseData(ref staticHandTrackingData.left.index.tip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Index_DIP] = GetPoseData(ref staticHandTrackingData.left.index.dip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Index_PIP] = GetPoseData(ref staticHandTrackingData.left.index.pip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Index_MCP] = GetPoseData(ref staticHandTrackingData.left.index.mcp, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Middle_Tip] = GetPoseData(ref staticHandTrackingData.left.middle.tip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Middle_DIP] = GetPoseData(ref staticHandTrackingData.left.middle.dip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Middle_PIP] = GetPoseData(ref staticHandTrackingData.left.middle.pip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Middle_MCP] = GetPoseData(ref staticHandTrackingData.left.middle.mcp, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Ring_Tip] = GetPoseData(ref staticHandTrackingData.left.ring.tip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Ring_DIP] = GetPoseData(ref staticHandTrackingData.left.ring.dip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Ring_PIP] = GetPoseData(ref staticHandTrackingData.left.ring.pip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Ring_MCP] = GetPoseData(ref staticHandTrackingData.left.ring.mcp, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Pinky_Tip] = GetPoseData(ref staticHandTrackingData.left.pinky.tip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Pinky_DIP] = GetPoseData(ref staticHandTrackingData.left.pinky.dip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Pinky_PIP] = GetPoseData(ref staticHandTrackingData.left.pinky.pip, ref snapshot);
tempLeftKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Pinky_MCP] = GetPoseData(ref staticHandTrackingData.left.pinky.mcp, ref snapshot);
leftHandData = SyncHandPoseData(leftHandData, Handedness.Left);
leftHandData.UpdatedAt = now;
}
if (rightHandData.TrackingState == TrackingState.Tracked)
{
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Hand_Center] = GetPoseData(ref staticHandTrackingData.right.hand_center, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Wrist_Center] = GetPoseData(ref staticHandTrackingData.right.wrist.center, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Wrist_Radial] = GetPoseData(ref staticHandTrackingData.right.wrist.radial, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Wrist_Ulnar] = GetPoseData(ref staticHandTrackingData.right.wrist.ulnar, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Index_Tip] = GetPoseData(ref staticHandTrackingData.right.index.tip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Index_DIP] = GetPoseData(ref staticHandTrackingData.right.index.dip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Index_PIP] = GetPoseData(ref staticHandTrackingData.right.index.pip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Index_MCP] = GetPoseData(ref staticHandTrackingData.right.index.mcp, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Middle_Tip] = GetPoseData(ref staticHandTrackingData.right.middle.tip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Middle_DIP] = GetPoseData(ref staticHandTrackingData.right.middle.dip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Middle_PIP] = GetPoseData(ref staticHandTrackingData.right.middle.pip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Middle_MCP] = GetPoseData(ref staticHandTrackingData.right.middle.mcp, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Ring_Tip] = GetPoseData(ref staticHandTrackingData.right.ring.tip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Ring_DIP] = GetPoseData(ref staticHandTrackingData.right.ring.dip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Ring_PIP] = GetPoseData(ref staticHandTrackingData.right.ring.pip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Ring_MCP] = GetPoseData(ref staticHandTrackingData.right.ring.mcp, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Pinky_Tip] = GetPoseData(ref staticHandTrackingData.right.pinky.tip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Pinky_DIP] = GetPoseData(ref staticHandTrackingData.right.pinky.dip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Pinky_PIP] = GetPoseData(ref staticHandTrackingData.right.pinky.pip, ref snapshot);
tempRightKeyPoses[(int)MlHandTracking.MLHandTrackingKeyPoint.Pinky_MCP] = GetPoseData(ref staticHandTrackingData.right.pinky.mcp, ref snapshot);
rightHandData = SyncHandPoseData(rightHandData, Handedness.Right);
rightHandData.UpdatedAt = now;
}
if (!MlPerception.MLPerceptionReleaseSnapshot(snapshot).IsOk)
{
Debug.LogError($"{nameof(MlPerception.MLPerceptionReleaseSnapshot)} Failed!");
}
}
else
{
Debug.LogError($"{nameof(MlHandTracking.MLHandTrackingGetStaticData)} Failed!");
}
}
GetOrAddController(Handedness.Left).UpdateController(leftHandData);
GetOrAddController(Handedness.Right).UpdateController(rightHandData);
}
}
