void FixedUpdate()
{
UpdatePalmRotation();
UpdatePinchPosition();
Leap.Unity.HandModel hand_model = GetComponent <Leap.Unity.HandModel>();
Hand leap_hand = hand_model.GetLeapHand();
if (leap_hand == null)
{
return;
}
PinchState new_pinch_state = GetNewPinchState();
if (pinch_state_ == PinchState.kPinched)
{
if (new_pinch_state == PinchState.kReleased)
{
OnRelease();
}
else if (active_object_ != null)
{
ContinueHardPinch();
}
}
else if (pinch_state_ == PinchState.kReleasing)
{
if (new_pinch_state == PinchState.kReleased)
{
OnRelease();
}
else if (new_pinch_state == PinchState.kPinched)
{
StartPinch();
}
else if (active_object_ != null)
{
ContinueSoftPinch();
}
}
else
{
if (new_pinch_state == PinchState.kPinched)
{
StartPinch();
}
else
{
Hover();
}
}
pinch_state_ = new_pinch_state;
}
/**
* Checks whether the hand is pinching and updates the position of the pinched object.
*/
void Update()
{
bool trigger_pinch = false;
Leap.Unity.HandModel hand_model = GetComponent <Leap.Unity.HandModel>();
Hand leap_hand = hand_model.GetLeapHand();
if (leap_hand == null)
{
return;
}
// Scale trigger distance by thumb proximal bone length.
Vector leap_thumb_tip = leap_hand.Fingers[0].TipPosition;
float proximal_length = leap_hand.Fingers[0].Bone(Bone.BoneType.TYPE_PROXIMAL).Length;
float trigger_distance = proximal_length * TRIGGER_DISTANCE_RATIO;
// Check thumb tip distance to joints on all other fingers.
// If it's close enough, start pinching.
for (int i = 1; i < Leap.Unity.HandModel.NUM_FINGERS && !trigger_pinch; ++i)
{
Finger finger = leap_hand.Fingers[i];
for (int j = 0; j < Leap.Unity.FingerModel.NUM_BONES && !trigger_pinch; ++j)
{
Vector leap_joint_position = finger.Bone((Bone.BoneType)j).NextJoint;
if (leap_joint_position.DistanceTo(leap_thumb_tip) < trigger_distance)
{
trigger_pinch = true;
}
}
}
Vector3 pinch_position = hand_model.fingers[0].GetTipPosition();
// Only change state if it's different.
if (trigger_pinch && !pinching_)
{
OnPinch(pinch_position);
}
else if (!trigger_pinch && pinching_)
{
OnRelease();
}
// Accelerate what we are grabbing toward the pinch.
if (grabbed_ != null)
{
Vector3 distance = pinch_position - grabbed_.transform.position;
grabbed_.GetComponent <Rigidbody>().AddForce(forceSpringConstant * distance);
}
}
protected PinchState GetNewPinchState()
{
Leap.Unity.HandModel hand_model = GetComponent <Leap.Unity.HandModel>();
Hand leap_hand = hand_model.GetLeapHand();
Vector leap_thumb_tip = leap_hand.Fingers[0].TipPosition;
float closest_distance = Mathf.Infinity;
// Check thumb tip distance to joints on all other fingers.
// If it's close enough, you're pinching.
for (int i = 1; i < Leap.Unity.HandModel.NUM_FINGERS; ++i)
{
Finger finger = leap_hand.Fingers[i];
for (int j = 0; j < Leap.Unity.FingerModel.NUM_BONES; ++j)
{
Vector leap_joint_position = finger.Bone((Bone.BoneType)j).NextJoint;
float thumb_tip_distance = leap_joint_position.DistanceTo(leap_thumb_tip);
closest_distance = Mathf.Min(closest_distance, thumb_tip_distance);
}
}
// Scale trigger distance by thumb proximal bone length.
float proximal_length = leap_hand.Fingers[0].Bone(Bone.BoneType.TYPE_PROXIMAL).Length;
float trigger_distance = proximal_length * grabTriggerDistance;
float release_distance = proximal_length * releaseTriggerDistance;
if (closest_distance <= trigger_distance)
{
return(PinchState.kPinched);
}
if (closest_distance <= release_distance && pinch_state_ != PinchState.kReleased &&
!ObjectReleaseBreak(current_pinch_position_))
{
return(PinchState.kReleasing);
}
return(PinchState.kReleased);
}
protected virtual float GetUnsmoothedConfidence()
{
return(_handModel.GetLeapHand().Confidence);
}
protected void StartPinch()
{
// Only pinch if we're hovering over an object.
if (active_object_ == null)
{
return;
}
Leap.Unity.HandModel hand_model = GetComponent <Leap.Unity.HandModel>();
Leap.Unity.Utils.IgnoreCollisions(gameObject, active_object_.gameObject, true);
GrabbableObject grabbable = active_object_.GetComponent <GrabbableObject>();
// Setup initial position and rotation conditions.
palm_rotation_ = hand_model.GetPalmRotation();
object_pinch_offset_ = Vector3.zero;
// If we don't center the object, find the closest point in the collider for our grab point.
if (grabbable == null || !grabbable.centerGrabbedObject)
{
Vector3 delta_position = active_object_.transform.position - current_pinch_position_;
Ray pinch_ray = new Ray(current_pinch_position_, delta_position);
RaycastHit pinch_hit;
// If we raycast hits the object, we're outside the collider so grab the hit point.
// If not, we're inside the collider so just use the pinch position.
if (active_object_.Raycast(pinch_ray, out pinch_hit, grabObjectDistance))
{
object_pinch_offset_ = active_object_.transform.position - pinch_hit.point;
}
else
{
object_pinch_offset_ = active_object_.transform.position - current_pinch_position_;
}
}
filtered_pinch_position_ = active_object_.transform.position - object_pinch_offset_;
object_pinch_offset_ = Quaternion.Inverse(active_object_.transform.rotation) *
object_pinch_offset_;
rotation_from_palm_ = Quaternion.Inverse(palm_rotation_) * active_object_.transform.rotation;
// If we can rotate the object quickly, increase max angular velocity for now.
if (grabbable == null || grabbable.rotateQuickly)
{
last_max_angular_velocity_ = active_object_.GetComponent <Rigidbody>().maxAngularVelocity;
active_object_.GetComponent <Rigidbody>().maxAngularVelocity = Mathf.Infinity;
}
if (grabbable != null)
{
// Notify grabbable object that it was grabbed.
grabbable.OnGrab();
if (grabbable.useAxisAlignment)
{
// If this option is enabled we only want to align the object axis with the palm axis
// so we'll cancel out any rotation about the aligned axis.
Vector3 palm_vector = grabbable.rightHandAxis;
if (hand_model.GetLeapHand().IsLeft)
{
palm_vector = Vector3.Scale(palm_vector, new Vector3(-1, 1, 1));
}
Vector3 axis_in_palm = rotation_from_palm_ * grabbable.objectAxis;
Quaternion axis_correction = Quaternion.FromToRotation(axis_in_palm, palm_vector);
if (Vector3.Dot(axis_in_palm, palm_vector) < 0)
{
axis_correction = Quaternion.FromToRotation(axis_in_palm, -palm_vector);
}
rotation_from_palm_ = axis_correction * rotation_from_palm_;
}
}
}