public VertexNormal[] ClampPoints(VertexNormal[] positions, float radius, float angleDelta)
{
if (positions.Length != touchPoints.Length)
{
return(null);
}
var newPoints = new VertexNormal[positions.Length];
for (int i = 0; i < positions.Length; i++)
{
// https://answers.unity.com/questions/1309521/how-to-keep-an-object-within-a-circlesphere-radius.html
// Get vertex in range
var newVert = positions[i].vertex;
float distance = Vector3.Distance(newVert, touchPoints[i].vertex); //distance from ~green object~ to *black circle*
if (distance > radius) //If the distance is less than the radius, it is already within the circle.
{
Vector3 fromOriginToObject = newVert - touchPoints[i].vertex; //~GreenPosition~ - *BlackCenter*
fromOriginToObject *= radius / distance; //Multiply by radius //Divide by Distance
newVert = touchPoints[i].vertex + fromOriginToObject; //*BlackCenter* + all that Math
}
// Get normal within tolerance
var newNorm = Vector3.RotateTowards(touchPoints[i].normal, positions[i].normal, angleDelta, 0.0f);
newNorm.Normalize();
newPoints[i] = new VertexNormal(newVert, newNorm);
}
return(newPoints);
}
bool GetNewGrip()
{
VertexNormal[] pads = new VertexNormal[HandObject.FingerList.Length];
pads[0] = UnusedCloud[Mathf.RoundToInt(Random.Range(0, UnusedCloud.Count - 1))];
// Get a grab pose
var startList = GetSpacedPad(RegionList, pads[0]);
try
{
for (int i = 1; i < HandObject.FingerList.Length; i++)
{
if (startList == null)
{
return(false);
}
pads[i] = startList.Find(pad => pad.vertex != pads[i - 1].vertex && pad.normal != pads[i - 1].normal);
startList = GetSpacedPad(startList, pads[i]);
}
for (int i = 0; i < pads.Length; i++)
{
UnusedCloud.Remove(pads[i]);
}
PossibleHoldPoints.Add(new GripPoints(pads));
return(true);
}
catch
{
return(false);
}
}
public VertexNormal[] GetGrip()
{
VertexNormal[] outPoint = new VertexNormal[touchPoints.Length];
for (int i = 0; i < touchPoints.Length; i++)
{
outPoint[i] = touchPoints[i];
}
return(outPoint);
}
public PositionRotation JointPositionFromPad(VertexNormal DesiredPadPosition)
{
var pos = transform.localPosition;
//var rot = joint.transform.rotation;
var jpos = DesiredPadPosition.vertex - transform.localPosition;
var jrot = transform.rotation;
jrot *= Quaternion.FromToRotation(transform.position, -DesiredPadPosition.normal);
jrot *= Quaternion.FromToRotation(transform.position, joint.transform.position);
//var jrot = rot * jrot;
return(new PositionRotation(jpos, jrot));
}
List <VertexNormal> GetSpacedPad(List <VertexNormal> padList, VertexNormal pad)
{
try
{
var list = padList.FindAll(newpoint => Vector3.Distance(newpoint.vertex, pad.vertex) <= (fingerSpace + (fingerSpace * 0.1f)) &&
Vector3.Distance(newpoint.vertex, pad.vertex) >= (fingerSpace - (fingerSpace * 0.1f)));
return(list);
}
catch
{
return(null);
}
}
