static protected LeapTransform CalcUnityTransformForNextFrame(GameObject gameObject)
{
//return gameObject.transform; // skip velocities -- return this frame
Transform unityTransform = gameObject.transform;
LeapTransform targetTransform = new LeapTransform();
// apply angular velcocit - rotation
Quaternion extraRotation = Quaternion.identity;
Vector3 angularDisplacement = gameObject.GetComponent <Rigidbody>().angularVelocity *Time.deltaTime;
float angularMagnitude = angularDisplacement.magnitude;
if (angularMagnitude > 0.0001f)
{
extraRotation = Quaternion.AngleAxis(angularMagnitude, angularDisplacement / angularMagnitude);
}
targetTransform.Rotation = extraRotation * unityTransform.rotation;
// apply angular & linear velocities to body
Vector3 oldCom = unityTransform.position + unityTransform.rotation * unityTransform.GetComponent <Rigidbody>().centerOfMass;
Vector3 newCom = oldCom + gameObject.GetComponent <Rigidbody>().velocity *Time.deltaTime;
targetTransform.Position = newCom - (Quaternion)targetTransform.Rotation * unityTransform.GetComponent <Rigidbody>().centerOfMass;
return(targetTransform);
}
static protected void ApplyTargetUnityTransformAsVelocities(LeapTransform targetUnityTransform, GameObject gameObject)
{
Vector3 angularVelocity = CalcAngularVelocityToTarget(gameObject, targetUnityTransform.Rotation);
gameObject.GetComponent <Rigidbody>().velocity = CalcLinearVelocityToTarget(gameObject, targetUnityTransform.Position, targetUnityTransform.Rotation, angularVelocity);
gameObject.GetComponent <Rigidbody>().angularVelocity = angularVelocity;
}
static protected LeapTransform UnityTransformToLeap(LeapTransform unityTransform, GameObject gameObject)
{
LeapTransform leapTransform = new LeapTransform();
float scale = gameObject.transform.lossyScale.x;
leapTransform.Position = unityTransform.Position + (Quaternion)unityTransform.Rotation * GetCenterFromCollider(gameObject) * scale;
leapTransform.Rotation = unityTransform.Rotation;
return leapTransform;
}
static protected LeapTransform UnityTransformToLeap(LeapTransform unityTransform, GameObject gameObject)
{
LeapTransform leapTransform = new LeapTransform();
float scale = gameObject.transform.lossyScale.x;
leapTransform.Position = unityTransform.Position + (Quaternion)unityTransform.Rotation * GetCenterFromCollider(gameObject) * scale;
leapTransform.Rotation = unityTransform.Rotation;
return(leapTransform);
}
static protected void RepositionHandBone(GameObject gameObject, Body leapBody)
{
//RepositionFreeBody(gameObject, leapBody);
Transform unityTransform = gameObject.transform;
LeapTransform leapTransform = leapBody.Transform;
LeapTransform targetUnityTransform = LeapTransformToUnity(leapTransform, gameObject);
if (gameObject.name == UnityUtil.FingerBoneName || gameObject.name == UnityUtil.FingerTipBoneName || gameObject.name == UnityUtil.ThumbTipBoneName)
{
// reorient the capsule.
Quaternion flipAxes = Quaternion.Euler(90.0f, 0f, 0f);
targetUnityTransform.Rotation = leapTransform.Rotation * flipAxes;
// shift the capsule along it's local y-direction
float halfHeight = unityTransform.localScale.y;
float radius = unityTransform.localScale.x / 2f;
Vector3 displacement = (Quaternion)targetUnityTransform.Rotation * new Vector3(0, -halfHeight + radius, 0);
// if mirroring, reverse displacment
if (UnityUtil.MirrorAlongZ)
{
displacement *= -1.0f;
}
targetUnityTransform.Position += displacement;
}
// either do a hard keyframe
bool useHardKeyframe = false;
if (useHardKeyframe || gameObject.GetComponent <Rigidbody>().isKinematic)
{
unityTransform.position = targetUnityTransform.Position;
unityTransform.rotation = targetUnityTransform.Rotation;
gameObject.GetComponent <Rigidbody>().velocity = Vector3.zero;
gameObject.GetComponent <Rigidbody>().angularVelocity = Vector3.zero;
}
else
{
// or assigne velocities
ApplyTargetUnityTransformAsVelocities(targetUnityTransform, gameObject);
}
}
static protected void RepositionHeldBody(GameObject gameObject, Body leapBody)
{
LeapTransform leapTransform = leapBody.Transform;
LeapTransform targetUnityTransform = LeapTransformToUnity(leapTransform, gameObject);
LeapInteraction leapInteraction = gameObject.GetComponent <LeapInteraction>();
if (gameObject.GetComponent <Rigidbody>().isKinematic || !leapInteraction.UseVelocity)
{
ApplyTargetUnityTransformAsVelocities(targetUnityTransform, gameObject);
gameObject.transform.position = targetUnityTransform.Position;
gameObject.transform.rotation = targetUnityTransform.Rotation;
if (true)
{
LeapInteraction props = gameObject.GetComponent <LeapInteraction>();
props.tmpVelocity = gameObject.GetComponent <Rigidbody>().velocity;
props.tmpAngularVelocity = gameObject.GetComponent <Rigidbody>().angularVelocity;
props.velocityToTransfer = true;
gameObject.GetComponent <Rigidbody>().velocity = Vector3.zero;
gameObject.GetComponent <Rigidbody>().angularVelocity = Vector3.zero;
}
}
else
{
ApplyTargetUnityTransformAsVelocities(targetUnityTransform, gameObject);
}
if (UnityUtil.FilterHandCollisionPerColliderExplicitly && !leapInteraction.CollisionsWithHandFilteredOut)
{
HandViewer.Instance.DisableHandCollisionsWithGameObject(gameObject);
leapInteraction.CollisionsWithHandFilteredOut = true;
}
if (UnityUtil.LayerForHeldObjects != UnityUtil.LayerForReleasedObjects)
{
SetLayerForHierarchy(gameObject, UnityUtil.LayerForHeldObjects);
}
}
/// <summary>
/// Updates Leap information from your scene. This is usually done after your Unity physics is stepped,
/// and actions are applied.
/// </summary>
static public void UpdateLeapFromUnity(Dictionary <UnityEngine.GameObject, Body> BodyMapper)
{
foreach (KeyValuePair <GameObject, Body> pair in BodyMapper)
{
GameObject gameObject = pair.Key;
if (gameObject == null)
{
// Remove the body from mapping &
// TODO: remove from leap interact
continue;
}
if (gameObject.name != UnityUtil.FingerBoneName && gameObject.name != UnityUtil.FingerTipBoneName && gameObject.name != UnityUtil.ThumbTipBoneName && gameObject.name != UnityUtil.HandPalmName)
{
LeapTransform nextFrameUnityTransform = CalcUnityTransformForNextFrame(gameObject);
LeapTransform targetLeapTransform = UnityTransformToLeap(nextFrameUnityTransform, gameObject);
Body body = pair.Value;
body.Transform = targetLeapTransform;
}
}
}
static protected LeapTransform CalcUnityTransformForNextFrame(GameObject gameObject)
{
//return gameObject.transform; // skip velocities -- return this frame
Transform unityTransform = gameObject.transform;
LeapTransform targetTransform = new LeapTransform();
// apply angular velcocit - rotation
Quaternion extraRotation = Quaternion.identity;
Vector3 angularDisplacement = gameObject.rigidbody.angularVelocity * Time.deltaTime;
float angularMagnitude = angularDisplacement.magnitude;
if (angularMagnitude > 0.0001f)
{
extraRotation = Quaternion.AngleAxis(angularMagnitude, angularDisplacement / angularMagnitude);
}
targetTransform.Rotation = extraRotation * unityTransform.rotation;
// apply angular & linear velocities to body
Vector3 oldCom = unityTransform.position + unityTransform.rotation * unityTransform.rigidbody.centerOfMass;
Vector3 newCom = oldCom + gameObject.rigidbody.velocity * Time.deltaTime;
targetTransform.Position = newCom - (Quaternion)targetTransform.Rotation * unityTransform.rigidbody.centerOfMass;
return targetTransform;
}
static protected void ApplyTargetUnityTransformAsVelocities(LeapTransform targetUnityTransform, GameObject gameObject)
{
Vector3 angularVelocity = CalcAngularVelocityToTarget(gameObject, targetUnityTransform.Rotation);
gameObject.rigidbody.velocity = CalcLinearVelocityToTarget(gameObject, targetUnityTransform.Position, targetUnityTransform.Rotation, angularVelocity);
gameObject.rigidbody.angularVelocity = angularVelocity;
}
public Body AddBodyToLeapFromUnity(Rigidbody rigidbody)
{
LeapInteraction properties = rigidbody.GetComponent <LeapInteraction>();
if (rigidbody.collider && properties)
{
Collider[] colliders = rigidbody.GetComponents <Collider>();
Shape shape = new Shape();
foreach (Collider collider in colliders)
{
if (collider is SphereCollider)
{
float scale = rigidbody.transform.lossyScale.x;
SphereCollider sc = collider as SphereCollider;
shape = Shape.CreateSphere(sc.radius * scale);
}
else if (collider is CapsuleCollider)
{
float scale = rigidbody.transform.lossyScale.x;
CapsuleCollider cc = collider as CapsuleCollider;
shape = Shape.CreateCapsule((Shape.CapsuleOrientation)cc.direction, Math.Max(0f, cc.height / 2f - cc.radius) * scale, cc.radius * scale);
}
else if (collider is BoxCollider)
{
BoxCollider bc = collider as BoxCollider;
Vector3 scale = collider.transform.lossyScale;
shape = Shape.CreateBox(Vector3.Scale(bc.size, scale) / 2f, 0f);
}
}
if (shape != IntPtr.Zero)
{
Body body = new Body();//shape);
body.Shape = shape;
body.Mass = rigidbody.mass;
// Add body anchors.
for (int i = 0; i < rigidbody.transform.childCount; i++)
{
Transform child = rigidbody.transform.GetChild(i);
if (child.name.StartsWith("Anchor") || child.name.StartsWith("ClickAnchor"))
{
LeapTransform anchor = new LeapTransform();
anchor.Position = Vector3.Scale(child.localPosition - rigidbody.transform.rotation * TransformSyncUtil.GetCenterFromCollider(rigidbody.gameObject), rigidbody.transform.lossyScale);
anchor.Rotation = child.localRotation;
if (child.name.StartsWith("Anchor"))
{
body.Shape.AddAnchor(anchor);
}
if (child.name.StartsWith("ClickAnchor"))
{
body.Shape.AddClickAnchor(anchor);
}
}
}
// Apply BodyProperties
properties.ApplyToBody(body);
Scene.AddBody(body);
BodyMapper.Add(rigidbody.gameObject, body);
rigidbody.maxAngularVelocity = 100.0f;
return(body);
}
}
return(null);
}
public void AddClickAnchor(LeapTransform t) { Native.AccessPropertyAsTransform(this, Native.Property.ShapeClickAnchors, Native.Mode.Add, t.ToNative()); }
public void OnBodyAddedCallback(Body body)// IntPtr bodyHandle)
{
// Create the game object
bool isFinger = false;
GameObject gameObject;
Shape.ShapeType type = body.Shape.Type;
if (type == Shape.ShapeType.Capsule)
{
float capsuleRadius = body.Shape.CapsuleRadius;
float capsuleSegmentLength = body.Shape.CapsuleSegmentLength;
gameObject = GameObject.Instantiate(Resources.Load(UnityUtil.ResourcesFolder + UnityUtil.FingerBoneTemplateName) as GameObject) as GameObject;
// Adjust dimensions
float capsuleHeight = capsuleRadius * 2f + capsuleSegmentLength;
float yScale = capsuleHeight / 2f;
float zxScale = capsuleRadius / 0.5f;
gameObject.transform.localScale = new Vector3(zxScale, yScale, zxScale);
gameObject.name = UnityUtil.FingerBoneName;
LeapTransform t = new LeapTransform();
t = new LeapTransform(Native.AccessPropertyAsTransform(body, Native.Property.BodyTransform, Native.Mode.Get, t.ToNative()));
gameObject.transform.position = t.Position;
gameObject.transform.rotation = t.Rotation;
gameObject.rigidbody.maxAngularVelocity = 100.0f;
isFinger = true;
fingerBoneCount++;
}
else
{
gameObject = GameObject.Instantiate(Resources.Load(UnityUtil.ResourcesFolder + UnityUtil.HandPalmTemplateName) as GameObject) as GameObject;
gameObject.name = UnityUtil.HandPalmName;
LeapTransform t = new LeapTransform();
t = new LeapTransform(Native.AccessPropertyAsTransform(body, Native.Property.BodyTransform, Native.Mode.Get, t.ToNative()));
gameObject.transform.position = t.Position;
gameObject.transform.rotation = t.Rotation;
gameObject.rigidbody.maxAngularVelocity = 100.0f;
latestHandPalmAdded = gameObject;
fingerBoneCount = 0;
}
BodyMapper.Add(gameObject, body);
GameObject container = isFinger && latestHandPalmAdded != null ? latestHandPalmAdded : GameObject.Find(UnityUtil.DynamicObjectContainerName) as GameObject;
gameObject.transform.parent = container.transform;
gameObject.layer = UnityUtil.LayerForHands;
if (fingerBoneCount % 3 == 0 && fingerBoneCount > 0)
{
gameObject.name = UnityUtil.FingerTipBoneName;
if (fingerBoneCount == 3)
{
gameObject.name = UnityUtil.ThumbTipBoneName;
}
}
if (fingerBoneCount == 15)
{
latestHandPalmAdded = null;
fingerBoneCount = 0;
if (UnityUtil.FilterHandCollisionPerColliderExplicitly)
{
DisableHandSelfCollisions(gameObject.transform.parent);
}
}
}
protected static LeapTransform LeapTransformToUnity(LeapTransform leapTransform, GameObject gameObject)
{
LeapTransform unityTransform = new LeapTransform();
float scale = gameObject.transform.lossyScale.x;
unityTransform.Position = leapTransform.Position - (Quaternion)leapTransform.Rotation * GetCenterFromCollider(gameObject) * scale;
unityTransform.Rotation = leapTransform.Rotation;
return unityTransform;
}
public Body AddBodyToLeapFromUnity(Rigidbody rigidbody)
{
LeapInteraction properties = rigidbody.GetComponent<LeapInteraction>();
if (rigidbody.collider && properties)
{
Collider[] colliders = rigidbody.GetComponents<Collider>();
Shape shape = new Shape();
foreach(Collider collider in colliders)
{
if (collider is SphereCollider)
{
float scale = rigidbody.transform.lossyScale.x;
SphereCollider sc = collider as SphereCollider;
shape = Shape.CreateSphere(sc.radius * scale);
}
else if (collider is CapsuleCollider)
{
float scale = rigidbody.transform.lossyScale.x;
CapsuleCollider cc = collider as CapsuleCollider;
shape = Shape.CreateCapsule((Shape.CapsuleOrientation)cc.direction, Math.Max(0f, cc.height / 2f - cc.radius) * scale, cc.radius * scale);
}
else if (collider is BoxCollider)
{
BoxCollider bc = collider as BoxCollider;
Vector3 scale = collider.transform.lossyScale;
shape = Shape.CreateBox(Vector3.Scale(bc.size, scale) / 2f, 0f);
}
}
if (shape != IntPtr.Zero)
{
Body body = new Body();//shape);
body.Shape = shape;
body.Mass = rigidbody.mass;
// Add body anchors.
for (int i = 0; i < rigidbody.transform.childCount; i++)
{
Transform child = rigidbody.transform.GetChild(i);
if (child.name.StartsWith("Anchor") || child.name.StartsWith("ClickAnchor"))
{
LeapTransform anchor = new LeapTransform();
anchor.Position = Vector3.Scale(child.localPosition - rigidbody.transform.rotation * TransformSyncUtil.GetCenterFromCollider(rigidbody.gameObject), rigidbody.transform.lossyScale);
anchor.Rotation = child.localRotation;
if (child.name.StartsWith("Anchor")) { body.Shape.AddAnchor(anchor); }
if (child.name.StartsWith("ClickAnchor"))
{
body.Shape.AddClickAnchor(anchor);
}
}
}
// Apply BodyProperties
properties.ApplyToBody(body);
Scene.AddBody(body);
BodyMapper.Add(rigidbody.gameObject, body);
rigidbody.maxAngularVelocity = 100.0f;
return body;
}
}
return null;
}
public void PositionCamera() {
Transform referenceObject = transform;
if(referenceObject == null) {
HandController tmp = GameObject.FindObjectOfType<HandController>();
if (tmp) referenceObject = tmp.transform;
}
if(referenceObject == null) {
GameObject tmp = GameObject.Find("Main Camera");
if (tmp) referenceObject = tmp.transform;
}
if(referenceObject == null) {
return;
}
LeapTransform referenceTransform = new LeapTransform(referenceObject.position, referenceObject.rotation);
referenceTransform.Position = referenceObject.position;
referenceTransform.Rotation = referenceObject.rotation;
Vector3 offsetCameraToLeap = OffsetCameraToLeap * 1.0f/clientUnitLengthInMillimeters;
offsetCameraToLeap = referenceObject.rotation * offsetCameraToLeap;
referenceTransform.Position = referenceObject.position + offsetCameraToLeap;
Scene.LeapOriginInClient = referenceTransform;
}
// IntPtr bodyHandle)
public void OnBodyAddedCallback(Body body)
{
// Create the game object
bool isFinger = false;
GameObject gameObject;
Shape.ShapeType type = body.Shape.Type;
if (type == Shape.ShapeType.Capsule)
{
float capsuleRadius = body.Shape.CapsuleRadius;
float capsuleSegmentLength = body.Shape.CapsuleSegmentLength;
gameObject = GameObject.Instantiate(Resources.Load(UnityUtil.ResourcesFolder + UnityUtil.FingerBoneTemplateName) as GameObject) as GameObject;
// Adjust dimensions
float capsuleHeight = capsuleRadius * 2f + capsuleSegmentLength;
float yScale = capsuleHeight / 2f;
float zxScale = capsuleRadius / 0.5f;
gameObject.transform.localScale = new Vector3(zxScale, yScale, zxScale);
gameObject.name = UnityUtil.FingerBoneName;
LeapTransform t = new LeapTransform();
t = new LeapTransform(Native.AccessPropertyAsTransform(body, Native.Property.BodyTransform, Native.Mode.Get, t.ToNative()));
gameObject.transform.position = t.Position;
gameObject.transform.rotation = t.Rotation;
gameObject.rigidbody.maxAngularVelocity = 100.0f;
isFinger = true;
fingerBoneCount++;
}
else
{
gameObject = GameObject.Instantiate(Resources.Load(UnityUtil.ResourcesFolder + UnityUtil.HandPalmTemplateName) as GameObject) as GameObject;
gameObject.name = UnityUtil.HandPalmName;
LeapTransform t = new LeapTransform();
t = new LeapTransform(Native.AccessPropertyAsTransform(body, Native.Property.BodyTransform, Native.Mode.Get, t.ToNative()));
gameObject.transform.position = t.Position;
gameObject.transform.rotation = t.Rotation;
gameObject.rigidbody.maxAngularVelocity = 100.0f;
latestHandPalmAdded = gameObject;
fingerBoneCount = 0;
}
BodyMapper.Add(gameObject, body);
GameObject container = isFinger && latestHandPalmAdded != null ? latestHandPalmAdded : GameObject.Find(UnityUtil.DynamicObjectContainerName) as GameObject;
gameObject.transform.parent = container.transform;
gameObject.layer = UnityUtil.LayerForHands;
if (fingerBoneCount%3 == 0 && fingerBoneCount > 0)
{
gameObject.name = UnityUtil.FingerTipBoneName;
if (fingerBoneCount == 3)
{
gameObject.name = UnityUtil.ThumbTipBoneName;
}
}
if (fingerBoneCount == 15)
{
latestHandPalmAdded = null;
fingerBoneCount = 0;
if (UnityUtil.FilterHandCollisionPerColliderExplicitly) { DisableHandSelfCollisions(gameObject.transform.parent); }
}
}
public void AddClickAnchor(LeapTransform t)
{
Native.AccessPropertyAsTransform(this, Native.Property.ShapeClickAnchors, Native.Mode.Add, t.ToNative());
}