private ContactBone initContactBone(Leap.Bone bone, GameObject contactBoneObj, int boneArrayIndex, Collider boneCollider)
{
contactBoneObj.layer = _contactBoneParent.gameObject.layer;
contactBoneObj.transform.localScale = Vector3.one;
ContactBone contactBone = contactBoneObj.GetComponent <ContactBone>();
contactBone.collider = boneCollider;
contactBone.interactionController = this;
contactBone.interactionHand = this;
_contactBones[boneArrayIndex] = contactBone;
Transform capsuleTransform = contactBoneObj.transform;
capsuleTransform.SetParent(_contactBoneParent.transform, false);
Rigidbody body = contactBoneObj.GetComponent <Rigidbody>();
body.freezeRotation = true;
contactBone.rigidbody = body;
body.useGravity = false;
body.collisionDetectionMode = CollisionDetectionMode.ContinuousDynamic; // TODO: Allow different collision detection modes as an optimization.
body.mass = 0.1f;
body.position = bone != null?bone.Center.ToVector3()
: _unwarpedHandData.PalmPosition.ToVector3();
body.rotation = bone != null?bone.Rotation.ToQuaternion()
: _unwarpedHandData.Rotation.ToQuaternion();
contactBone.lastTargetPosition = bone != null?bone.Center.ToVector3()
: _unwarpedHandData.PalmPosition.ToVector3();
return(contactBone);
}
private void initContactBones()
{
_colliderBuffer.Clear();
_contactBoneBuffer.Clear();
// Scan for existing colliders and construct contact bones out of them.
Utils.FindColliders <Collider>(this.gameObject, _colliderBuffer,
includeInactiveObjects: true);
foreach (var collider in _colliderBuffer)
{
if (collider.isTrigger)
{
continue; // Contact Bones are for "contacting" colliders.
}
ContactBone contactBone = collider.gameObject.AddComponent <ContactBone>();
Rigidbody body = collider.gameObject.GetComponent <Rigidbody>();
if (body == null)
{
body = collider.gameObject.AddComponent <Rigidbody>();
}
body.freezeRotation = true;
body.useGravity = false;
body.collisionDetectionMode = CollisionDetectionMode.ContinuousDynamic;
body.mass = 1F;
contactBone.interactionController = this;
contactBone.rigidbody = body;
contactBone.collider = collider;
_contactBoneBuffer.Add(contactBone);
}
//The number of bones is equal to the colliders found that are not set to trigger
int numBones = _contactBoneBuffer.Count;
_contactBones = new ContactBone[numBones];
_contactBoneLocalPositions = new Vector3[numBones];
_contactBoneLocalRotations = new Quaternion[numBones];
_contactBoneTargetPositions = new Vector3[numBones];
_contactBoneTargetRotations = new Quaternion[numBones];
for (int i = 0; i < numBones; i++)
{
_contactBones[i] = _contactBoneBuffer[i];
_contactBoneLocalPositions[i]
= _contactBoneTargetPositions[i]
= this.transform.InverseTransformPoint(_contactBones[i].transform.position);
_contactBoneLocalRotations[i]
= _contactBoneTargetRotations[i]
= this.transform.InverseTransformRotation(_contactBones[i].transform.rotation);
}
}
private void initContactBones()
{
_contactBones = new ContactBone[NUM_FINGERS * BONES_PER_FINGER + 1];
_handContactBoneMapFunctions = new BoneMapFunc[NUM_FINGERS * BONES_PER_FINGER + 1];
// Finger bones
for (int fingerIndex = 0; fingerIndex < NUM_FINGERS; fingerIndex++)
{
for (int jointIndex = 0; jointIndex < BONES_PER_FINGER; jointIndex++)
{
GameObject contactBoneObj = new GameObject("Contact Fingerbone", typeof(CapsuleCollider), typeof(Rigidbody), typeof(ContactBone));
contactBoneObj.layer = manager.contactBoneLayer;
Bone bone = _unwarpedHandData.Fingers[fingerIndex]
.Bone((Bone.BoneType)(jointIndex) + 1); // +1 to skip first bone.
int boneArrayIndex = fingerIndex * BONES_PER_FINGER + jointIndex;
contactBoneObj.transform.position = bone.Center.ToVector3();
contactBoneObj.transform.rotation = bone.Rotation.ToQuaternion();
// Remember the method we used to calculate this bone position from
// a Leap Hand for later.
int fingerIndexCopy = fingerIndex;
int jointIndexCopy = jointIndex;
_handContactBoneMapFunctions[boneArrayIndex] = (Leap.Hand hand,
out Vector3 targetPosition,
out Quaternion targetRotation) => {
Bone theBone = hand.Fingers[fingerIndexCopy].Bone((Bone.BoneType)(jointIndexCopy + 1));
targetPosition = theBone.Center.ToVector3();
targetRotation = theBone.Rotation.ToQuaternion();
};
CapsuleCollider capsule = contactBoneObj.GetComponent <CapsuleCollider>();
capsule.direction = 2;
capsule.radius = bone.Width * 0.5f;
capsule.height = bone.Length + bone.Width;
capsule.material = defaultContactBoneMaterial;
ContactBone contactBone = initContactBone(bone, contactBoneObj, boneArrayIndex, capsule);
contactBone.lastTargetPosition = bone.Center.ToVector3();
}
}
// Palm bone
{
// Palm is attached to the third metacarpal and derived from it.
GameObject contactBoneObj = new GameObject("Contact Palm Bone", typeof(BoxCollider), typeof(Rigidbody), typeof(ContactBone));
Bone bone = _unwarpedHandData.Fingers[(int)Finger.FingerType.TYPE_MIDDLE].Bone(Bone.BoneType.TYPE_METACARPAL);
int boneArrayIndex = NUM_FINGERS * BONES_PER_FINGER;
contactBoneObj.transform.position = _unwarpedHandData.PalmPosition.ToVector3();
contactBoneObj.transform.rotation = _unwarpedHandData.Rotation.ToQuaternion();
// Remember the method we used to calculate the palm from a Leap Hand for later.
_handContactBoneMapFunctions[boneArrayIndex] = (Leap.Hand hand,
out Vector3 targetPosition,
out Quaternion targetRotation) => {
targetPosition = hand.PalmPosition.ToVector3();
targetRotation = hand.Rotation.ToQuaternion();
};
BoxCollider box = contactBoneObj.GetComponent <BoxCollider>();
box.center = new Vector3(_unwarpedHandData.IsLeft ? -0.005f : 0.005f, bone.Width * -0.3f, -0.01f);
box.size = new Vector3(bone.Length, bone.Width, bone.Length);
box.material = defaultContactBoneMaterial;
initContactBone(null, contactBoneObj, boneArrayIndex, box);
}
// Constrain the bones to each other to prevent separation.
addContactBoneJoints();
}
private void initContactBones()
{
Dictionary <Finger.FingerType, string> _fingerNames = new Dictionary <Finger.FingerType, string>()
{
{ Finger.FingerType.TYPE_INDEX, "Index" },
{ Finger.FingerType.TYPE_MIDDLE, "Middle" },
{ Finger.FingerType.TYPE_PINKY, "Pinky" },
{ Finger.FingerType.TYPE_RING, "Ring" },
{ Finger.FingerType.TYPE_THUMB, "Thumb" },
{ Finger.FingerType.TYPE_UNKNOWN, "Unknown" }
};
Dictionary <Bone.BoneType, string> _boneNames = new Dictionary <Bone.BoneType, string>()
{
{ Bone.BoneType.TYPE_DISTAL, "Distal" },
{ Bone.BoneType.TYPE_INTERMEDIATE, "Intermediate" },
{ Bone.BoneType.TYPE_INVALID, "Invalid" },
{ Bone.BoneType.TYPE_METACARPAL, "Metacarpal" },
{ Bone.BoneType.TYPE_PROXIMAL, "Proximal" }
};
_contactBones = new ContactBone[NUM_FINGERS * BONES_PER_FINGER + 1];
_handContactBoneMapFunctions = new BoneMapFunc[NUM_FINGERS * BONES_PER_FINGER + 1];
// Finger bones
for (int fingerIndex = 0; fingerIndex < NUM_FINGERS; fingerIndex++)
{
for (int jointIndex = 0; jointIndex < BONES_PER_FINGER; jointIndex++)
{
Finger finger = _unwarpedHandData.Fingers[fingerIndex];
Bone bone = finger.Bone((Bone.BoneType)(jointIndex) + 1); // +1 to skip first bone.
GameObject contactBoneObj = new GameObject("Contact Fingerbone (" + _fingerNames[finger.Type] + "-" + _boneNames[bone.Type] + ")", typeof(CapsuleCollider), typeof(Rigidbody), typeof(ContactBone));
contactBoneObj.layer = manager.contactBoneLayer;
int boneArrayIndex = fingerIndex * BONES_PER_FINGER + jointIndex;
contactBoneObj.transform.position = bone.Center.ToVector3();
contactBoneObj.transform.rotation = bone.Rotation.ToQuaternion();
// Remember the method we used to calculate this bone position from
// a Leap Hand for later.
int fingerIndexCopy = fingerIndex;
int jointIndexCopy = jointIndex;
_handContactBoneMapFunctions[boneArrayIndex] = (Leap.Hand hand,
out Vector3 targetPosition,
out Quaternion targetRotation) => {
Bone theBone = hand.Fingers[fingerIndexCopy].Bone((Bone.BoneType)(jointIndexCopy + 1));
targetPosition = theBone.Center.ToVector3();
targetRotation = theBone.Rotation.ToQuaternion();
};
CapsuleCollider capsule = contactBoneObj.GetComponent <CapsuleCollider>();
capsule.direction = 2;
capsule.radius = bone.Width * 0.5f;
capsule.height = bone.Length + bone.Width;
capsule.material = defaultContactBoneMaterial;
ContactBone contactBone = initContactBone(bone, contactBoneObj, boneArrayIndex, capsule);
contactBone.lastTargetPosition = bone.Center.ToVector3();
}
}
// Palm bone
{
// Palm is attached to the third metacarpal and derived from it.
GameObject contactBoneObj = new GameObject("Contact Palm Bone", typeof(BoxCollider), typeof(Rigidbody), typeof(ContactBone));
Bone bone = _unwarpedHandData.Fingers[(int)Finger.FingerType.TYPE_MIDDLE].Bone(Bone.BoneType.TYPE_METACARPAL);
int boneArrayIndex = NUM_FINGERS * BONES_PER_FINGER;
contactBoneObj.transform.position = _unwarpedHandData.PalmPosition.ToVector3();
contactBoneObj.transform.rotation = _unwarpedHandData.Rotation.ToQuaternion();
// Remember the method we used to calculate the palm from a Leap Hand for later.
_handContactBoneMapFunctions[boneArrayIndex] = (Leap.Hand hand,
out Vector3 targetPosition,
out Quaternion targetRotation) => {
targetPosition = hand.PalmPosition.ToVector3();
targetRotation = hand.Rotation.ToQuaternion();
};
BoxCollider box = contactBoneObj.GetComponent <BoxCollider>();
box.center = new Vector3(_unwarpedHandData.IsLeft ? -0.005f : 0.005f, bone.Width * -0.3f, -0.01f);
box.size = new Vector3(bone.Length, bone.Width, bone.Length);
box.material = defaultContactBoneMaterial;
initContactBone(null, contactBoneObj, boneArrayIndex, box);
}
// Constrain the bones to each other to prevent separation.
addContactBoneJoints();
}
