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551 lines
22 KiB
JavaScript
551 lines
22 KiB
JavaScript
//
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// scripts/system/libraries/handTouch.js
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//
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// Created by Luis Cuenca on 12/29/17
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// Copyright 2017 High Fidelity, Inc.
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//
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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/* jslint bitwise: true */
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/* global Script, Overlays, Controller, Vec3, Quat, MyAvatar, Entities
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*/
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(function(){
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var updateFingerWithIndex = 0;
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// Keys to access finger data
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var fingerKeys = ["pinky", "ring", "middle", "index", "thumb"];
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// Additionally close the hands to achieve a grabbing effect
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var grabPercent = { left: 0,
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right: 0 };
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// var isGrabbing = false;
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// Store which fingers are touching - if all false restate the default poses
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var isTouching = {
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left: {
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pinky: false,
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middle: false,
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ring: false,
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thumb: false,
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index: false
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}, right: {
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pinky: false,
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middle: false,
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ring: false,
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thumb: false,
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index: false
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}
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}
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// frame count for transition to default pose
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var countToDefault = {
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left: 0,
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right: 0
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}
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// joint data for opened pose
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var dataOpen = {
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left: {
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pinky: [{x: -0.18262, y:-2.666, z:-25.11229}, {x: 1.28845, y:0, z:1.06604}, {x: -3.967, y:0, z:-0.8351} ],
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middle: [{x: -0.18262, y:0, z:-3.2809}, {x: 1.28845, y:0, z:-0.71834}, {x: -3.967, y:0, z:0.83978}],
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ring: [{x: -0.18262, y:-1.11078, z:-16.24391}, {x: 1.28845, y:0, z:0.68153}, {x: -3.967, y:0, z:-0.69295}],
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thumb: [{x: 5.207, y:2.595, z:38.40092}, {x: -9.869, y:11.755, z:10.50012}, {x: -9.778, y:9.647, z:15.16963}],
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index: [{x: -0.18262, y:0.0099, z:2.28085}, {x: 1.28845, y:-0.01107, z:0.93037}, {x: -3.967, y:0, z:-2.64018}]
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}, right: {
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pinky: [{x: -0.111, y: 2.66601, z: 12.06423}, {x: 1.217, y: 0, z: -1.03973}, {x: -3.967, y: 0, z: 0.86424}],
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middle: [{x: -0.111, y: 0, z: 3.26538}, {x: 1.217, y: 0, z: 0.71427}, {x: -3.967, y: 0, z: -0.85103}],
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ring: [{x: -0.111, y: 1.11101, z: 3.56312}, {x: 1.217, y: 0, z: -0.64524}, {x: -3.967, y: 0, z: 0.69807}],
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thumb: [{x: 5.207, y: -2.595, z: -38.26131}, {x: -9.869, y: -11.755, z: -10.51778}, {x: -9.77799, y: -9.647, z: -15.10783}],
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index: [{x: -0.111, y: 0, z: -2.2816}, {x: 1.217, y: 0, z: -0.90168}, {x: -3.967, y: 0, z: 2.62649}]
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}
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}
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// joint data for closed hand
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var dataClose = {
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left: {
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pinky:[{x: 75.45709, y:-8.01347, z:-22.54823}, {x: 69.562, y:0, z:1.06604}, {x: 74.73801, y:0, z:-0.8351}],
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middle: [{x: 66.0237, y:-2.42536, z:-6.13193}, {x: 65.63042, y:0, z:-0.71834}, {x: 60.19901, y:0, z:0.83978}],
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ring: [{x: 71.52988, y:-2.35423, z:-16.21694}, {x: 64.44739, y:0, z:0.68153}, {x: 70.518, y:0, z:-0.69295}],
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thumb: [{x: 33.83371, y:-15.19106, z:34.66116}, {x: 0, y:0, z:-43.42915}, {x: 0, y:0, z:-30.18613}],
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index: [{x: 35.56082, y:-1.21056, z:-2.07362}, {x: 79.79845, y:-0.01107, z:0.93037}, {x: 68.767, y:0, z:-2.64018}]
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}, right: {
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pinky:[{x: 75.45702, y: 8.013, z: 22.41022}, {x: 69.562, y: 0, z: -1.03973}, {x: 74.738, y: 0, z: 0.86424}],
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middle: [{x: 66.02399, y: 2.425, z: 6.11638}, {x: 65.63002, y: 0, z: 0.71427}, {x: 60.63, y: 0, z: -0.85103}],
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ring: [{x: 71.53, y: 5.022, z: 16.33612}, {x: 64.447, y: 0, z: -0.64524}, {x: 70.51801, y: 0, z: 0.69807}],
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thumb: [{x: 33.834, y: 15.191, z: -34.52131}, {x: 0, y: 0, z: 43.41122}, {x: 0, y: 0, z: 30.24818}],
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index: [{x: 35.633, y: 1.215, z: -6.6376}, {x: 79.72701, y: 0, z: -0.90168}, {x: 68.76701, y: 0, z: 2.62649}]
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}
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}
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// snapshot for the default pose
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var dataDefault = {
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left:{
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pinky:[{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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middle: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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ring: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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thumb: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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index: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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set: false
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},
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right:{
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pinky:[{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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middle: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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ring: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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thumb: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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index: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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set: false
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}
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}
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// joint data for the current frame
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var dataCurrent = {
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left:{
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pinky:[{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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middle: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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ring: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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thumb: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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index: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}]
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},
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right:{
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pinky:[{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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middle: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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ring: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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thumb: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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index: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}]
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}
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}
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// interpolated values on joint data to smooth movement
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var dataDelta = {
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left:{
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pinky:[{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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middle: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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ring: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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thumb: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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index: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}]
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},
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right:{
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pinky:[{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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middle: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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ring: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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thumb: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}],
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index: [{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0},{x: 0, y: 0, z: 0}]
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}
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}
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// Acquire an updated value per hand every 5 frames when finger is touching (faster in)
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var touchAnimationSteps = 5;
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// Acquire an updated value per hand every 10 frames when finger is returning to default position (slower out)
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var defaultAnimationSteps = 10;
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// Debugging info
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var showSphere = false;
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var showLines = false;
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// store the rays for the fingers - only for debug purposes
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var fingerRays = {
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left:{pinky: undefined, middle: undefined, ring: undefined, thumb: undefined, index: undefined},
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right:{pinky: undefined, middle: undefined, ring: undefined, thumb: undefined, index: undefined}
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};
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// Register object with API Debugger
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var varsToDebug = {
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toggleDebugSphere: function(){
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showSphere = !showSphere;
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},
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toggleDebugLines: function(){
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showLines = !showLines;
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},
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fingerPercent: {
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left: {
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pinky: 0.38,
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middle: 0.38,
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ring: 0.38,
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thumb: 0.38,
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index: 0.38
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} ,
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right: {
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pinky: 0.38,
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middle: 0.38,
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ring: 0.38,
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thumb: 0.38,
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index: 0.38
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}
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},
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triggerValues: {
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leftTriggerValue: 0,
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leftTriggerClicked: 0,
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rightTriggerValue: 0,
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rightTriggerClicked: 0,
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leftSecondaryValue: 0,
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rightSecondaryValue: 0
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}
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}
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// Add/Subtract the joint data - per finger joint
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function addVals(val1, val2, sign) {
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var val = [];
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if (val1.length != val2.length) return;
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for (var i = 0; i < val1.length; i++) {
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val.push({x: 0, y: 0, z: 0});
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val[i].x = val1[i].x + sign*val2[i].x;
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val[i].y = val1[i].y + sign*val2[i].y;
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val[i].z = val1[i].z + sign*val2[i].z;
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}
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return val;
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}
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// Multiply/Divide the joint data - per finger joint
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function multiplyValsBy(val1, num) {
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var val = [];
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for (var i = 0; i < val1.length; i++) {
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val.push({x: 0, y: 0, z: 0});
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val[i].x = val1[i].x * num;
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val[i].y = val1[i].y * num;
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val[i].z = val1[i].z * num;
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}
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return val;
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}
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// Calculate the finger lengths by adding its joint lengths
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function getJointDistances(jointNamesArray) {
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var result = {distances: [], totalDistance: 0}
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for (var i = 1; i < jointNamesArray.length; i++) {
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var index0 = MyAvatar.getJointIndex(jointNamesArray[i-1]);
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var index1 = MyAvatar.getJointIndex(jointNamesArray[i]);
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var pos0 = MyAvatar.getJointPosition(index0);
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var pos1 = MyAvatar.getJointPosition(index1);
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var distance = Vec3.distance(pos0, pos1);
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result.distances.push(distance);
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result.totalDistance += distance;
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}
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return result;
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}
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// Calculate the sphere that look up for entities, the center of the palm, perpendicular vector from the palm plane and origin of the the finger rays
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function estimatePalmData(side) {
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// Return data object
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var data = {position: undefined, perpendicular: undefined, distance: undefined, fingers: {pinky: undefined, middle: undefined, ring: undefined, thumb: undefined, index: undefined}};
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var jointOffset = { x: 0, y: 0, z: 0 };
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var upperSide = side[0].toUpperCase() + side.substring(1);
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var jointIndexHand = MyAvatar.getJointIndex(upperSide + "Hand");
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// Store position of the hand joint
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var worldPosHand = MyAvatar.jointToWorldPoint(jointOffset, jointIndexHand);
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var minusWorldPosHand = {x:-worldPosHand.x, y:-worldPosHand.y, z:-worldPosHand.z};
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// Data for finger rays
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var directions = {pinky: undefined, middle: undefined, ring: undefined, thumb: undefined, index: undefined};
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var positions = {pinky: undefined, middle: undefined, ring: undefined, thumb: undefined, index: undefined};
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// Calculate palm center
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var palmCenter = {x:0, y:0, z:0};
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palmCenter = Vec3.sum(worldPosHand, palmCenter);
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var thumbLength = 0;
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for (var i = 0; i < fingerKeys.length; i++) {
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var finger = fingerKeys[i];
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var jointNames = getJointNames(side, finger, 4);
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var fingerLength = getJointDistances(jointNames).totalDistance;
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var jointIndex = MyAvatar.getJointIndex(jointNames[0]);
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positions[finger] = MyAvatar.jointToWorldPoint(jointOffset, jointIndex);
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directions[finger] = Vec3.normalize(Vec3.sum(positions[finger], minusWorldPosHand));
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data.fingers[finger] = Vec3.sum(positions[finger], Vec3.multiply(fingerLength, directions[finger]));
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if (finger != "thumb") {
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// finger joints have double the weight than the hand joint
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// This would better position the palm estimation
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palmCenter = Vec3.sum(Vec3.multiply(2, positions[finger]), palmCenter);
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} else {
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thumbLength = fingerLength;
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}
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}
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// perpendicular change direction depending on the side
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data.perpendicular = (side == "right") ?
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Vec3.normalize(Vec3.cross(directions["index"], directions["pinky"])):
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Vec3.normalize(Vec3.cross(directions["pinky"], directions["index"]));
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data.position = Vec3.multiply(1.0/9, palmCenter); // 1(weight) * Hand joint + 2(weight) * 4 fingers(no thumb) = 9
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data.distance = 1.55*Vec3.distance(data.position, positions["index"]); // 1.55 based on test/error for the sphere radius that best fits the hand
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// move back thumb ray origin
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data.fingers["thumb"] = Vec3.sum(data.fingers["thumb"], Vec3.multiply( -0.2 * thumbLength, data.perpendicular));
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return data;
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}
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// Register GlobalDebugger for API Debugger
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Script.registerValue("GlobalDebugger", varsToDebug);
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// Create debug overlays - finger rays + palm rays + spheres
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for (var i = 0; i < fingerKeys.length; i++) {
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fingerRays["left"][fingerKeys[i]] = Overlays.addOverlay("line3d", {
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color: { red: 0, green: 0, blue: 255 },
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start: { x:0, y:0, z:0 },
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end: { x:0, y:1, z:0 },
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visible: showLines
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});
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fingerRays["right"][fingerKeys[i]] = Overlays.addOverlay("line3d", {
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color: { red: 0, green: 0, blue: 255 },
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start: { x:0, y:0, z:0 },
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end: { x:0, y:1, z:0 },
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visible: showLines
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});
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}
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var palmRay = {
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left: Overlays.addOverlay("line3d", {
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color: { red: 255, green: 0, blue: 0 },
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start: { x:0, y:0, z:0 },
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end: { x:0, y:1, z:0 },
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visible: showLines
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}),
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right: Overlays.addOverlay("line3d", {
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color: { red: 255, green: 0, blue: 0 },
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start: { x:0, y:0, z:0 },
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end: { x:0, y:1, z:0 },
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visible: showLines
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})
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}
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var sphereHand = {
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right: Overlays.addOverlay("sphere", {
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position: MyAvatar.position,
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color: { red: 0, green: 255, blue: 0 },
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scale: { x: 0.01, y: 0.01, z: 0.01 },
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visible: showSphere
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}),
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left: Overlays.addOverlay("sphere", {
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position: MyAvatar.position,
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color: { red: 0, green: 255, blue: 0 },
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scale: { x: 0.01, y: 0.01, z: 0.01 },
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visible: showSphere
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})
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}
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function acquireDefaultPose(side) {
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for (var i = 0; i < fingerKeys.length; i++) {
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var finger = fingerKeys[i];
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var names = getJointNames(side, finger, 3);
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for (var j = 0; j < names.length; j++) {
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var index = MyAvatar.getJointIndex(names[j]);
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var rotation = Quat.safeEulerAngles(MyAvatar.getJointRotation(index));
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dataDefault[side][finger][j] = dataCurrent[side][finger][j] = rotation;
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}
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}
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dataDefault[side].set = true;
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}
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function updateSphereHand(side) {
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var palmData = estimatePalmData(side);
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var palmPoint = palmData.position;
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var dist = 1.5*palmData.distance;
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// Situate the debugging overlays
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var checkOffset = { x: palmData.perpendicular.x * dist,
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y: palmData.perpendicular.y * dist,
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z: palmData.perpendicular.z * dist };
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var spherePos = Vec3.sum(palmPoint, checkOffset);
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var checkPoint = Vec3.sum(palmPoint, Vec3.multiply(2, checkOffset));
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Overlays.editOverlay(palmRay[side], {
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start: palmPoint,
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end: checkPoint,
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visible: showLines
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});
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Overlays.editOverlay(sphereHand[side], {
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position: spherePos,
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scale: {
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x: 2*dist,
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y: 2*dist,
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z: 2*dist
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},
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visible: showSphere
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|
});
|
|
|
|
for (var i = 0; i < fingerKeys.length; i++) {
|
|
Overlays.editOverlay(fingerRays[side][fingerKeys[i]], {
|
|
start: palmData.fingers[fingerKeys[i]],
|
|
end: checkPoint,
|
|
visible: showLines
|
|
});
|
|
}
|
|
|
|
// Update the intersection of only one finger at a time
|
|
|
|
var finger = fingerKeys[updateFingerWithIndex];
|
|
|
|
var grabbables = Entities.findEntities(spherePos, dist);
|
|
var newFingerData = dataDefault[side][finger];
|
|
var animationSteps = defaultAnimationSteps;
|
|
|
|
if (grabbables.length > 0) {
|
|
var origin = palmData.fingers[finger];
|
|
var direction = Vec3.normalize(Vec3.subtract(checkPoint, origin));
|
|
var intersection = Entities.findRayIntersection({origin: origin, direction: direction}, true, grabbables, [], true, false);
|
|
var percent = 0.38;
|
|
var isAbleToGrab = intersection.intersects && intersection.distance < 1.5*dist;
|
|
if (isAbleToGrab && !getTouching(side)) {
|
|
acquireDefaultPose(side); // take a snapshot of the default pose before touch starts
|
|
newFingerData = dataDefault[side][finger]; // assign default pose to finger data
|
|
}
|
|
// Store if this finger is touching something
|
|
isTouching[side][finger] = isAbleToGrab;
|
|
if (isAbleToGrab) {
|
|
// update the open/close percentage for this finger
|
|
percent = intersection.distance/(2.5*dist);
|
|
var grabMultiplier = finger === "thumb" ? 0.2 : 0.05;
|
|
percent += grabMultiplier * grabPercent[side];
|
|
|
|
// Calculate new interpolation data
|
|
var totalDistance = addVals(dataClose[side][finger], dataOpen[side][finger], -1);
|
|
newFingerData = addVals(dataOpen[side][finger], multiplyValsBy(totalDistance, percent), 1); // assign close/open ratio to finger to simulate touch
|
|
animationSteps = touchAnimationSteps;
|
|
}
|
|
varsToDebug.fingerPercent[side][finger] = percent;
|
|
}
|
|
|
|
// Calculate animation increments
|
|
dataDelta[side][finger] = multiplyValsBy(addVals(newFingerData, dataCurrent[side][finger], -1), 1.0/animationSteps);
|
|
}
|
|
|
|
// Recreate the finger joint names
|
|
|
|
function getJointNames(side, finger, count) {
|
|
var names = [];
|
|
for (var i = 1; i < count+1; i++) {
|
|
var name = side[0].toUpperCase()+side.substring(1)+"Hand"+finger[0].toUpperCase()+finger.substring(1)+(i);
|
|
names.push(name);
|
|
}
|
|
return names;
|
|
}
|
|
|
|
// Capture the controller values
|
|
|
|
var leftTriggerPress = function (value) {
|
|
varsToDebug.triggerValues.leftTriggerValue = value;
|
|
// the value for the trigger increments the hand-close percentage
|
|
grabPercent["left"] = value;
|
|
};
|
|
var leftTriggerClick = function (value) {
|
|
varsToDebug.triggerValues.leftTriggerClicked = value;
|
|
};
|
|
var rightTriggerPress = function (value) {
|
|
varsToDebug.triggerValues.rightTriggerValue = value;
|
|
// the value for the trigger increments the hand-close percentage
|
|
grabPercent["right"] = value;
|
|
};
|
|
var rightTriggerClick = function (value) {
|
|
varsToDebug.triggerValues.rightTriggerClicked = value;
|
|
};
|
|
var leftSecondaryPress = function (value) {
|
|
varsToDebug.triggerValues.leftSecondaryValue = value;
|
|
};
|
|
var rightSecondaryPress = function (value) {
|
|
varsToDebug.triggerValues.rightSecondaryValue = value;
|
|
};
|
|
|
|
var MAPPING_NAME = "com.highfidelity.handTouch";
|
|
var mapping = Controller.newMapping(MAPPING_NAME);
|
|
mapping.from([Controller.Standard.RT]).peek().to(rightTriggerPress);
|
|
mapping.from([Controller.Standard.RTClick]).peek().to(rightTriggerClick);
|
|
mapping.from([Controller.Standard.LT]).peek().to(leftTriggerPress);
|
|
mapping.from([Controller.Standard.LTClick]).peek().to(leftTriggerClick);
|
|
|
|
mapping.from([Controller.Standard.RB]).peek().to(rightSecondaryPress);
|
|
mapping.from([Controller.Standard.LB]).peek().to(leftSecondaryPress);
|
|
mapping.from([Controller.Standard.LeftGrip]).peek().to(leftSecondaryPress);
|
|
mapping.from([Controller.Standard.RightGrip]).peek().to(rightSecondaryPress);
|
|
|
|
Controller.enableMapping(MAPPING_NAME);
|
|
|
|
|
|
function getTouching(side) {
|
|
var animating = false;
|
|
for (var i = 0; i < fingerKeys.length; i++) {
|
|
var finger = fingerKeys[i];
|
|
animating = animating || isTouching[side][finger];
|
|
}
|
|
return animating; // return false only if none of the fingers are touching
|
|
}
|
|
|
|
Script.update.connect(function(){
|
|
|
|
// index of the finger that needs to be updated this frame
|
|
|
|
updateFingerWithIndex = (updateFingerWithIndex < fingerKeys.length-1) ? updateFingerWithIndex + 1 : 0;
|
|
|
|
|
|
|
|
["right", "left"].forEach(function(side){
|
|
|
|
// recalculate the base data
|
|
updateSphereHand(side);
|
|
|
|
// this vars manage the transition to default pose
|
|
var isHandTouching = getTouching(side);
|
|
countToDefault[side] = isHandTouching ? 0 : countToDefault[side] + 1;
|
|
|
|
|
|
for (var i = 0; i < fingerKeys.length; i++) {
|
|
var finger = fingerKeys[i];
|
|
var names = getJointNames(side, finger, 3);
|
|
|
|
// Add the animation increments
|
|
|
|
dataCurrent[side][finger] = addVals(dataCurrent[side][finger], dataDelta[side][finger], 1);
|
|
|
|
// update every finger joint
|
|
|
|
for (var j = 0; j < names.length; j++) {
|
|
var index = MyAvatar.getJointIndex(names[j]);
|
|
// if no finger is touching restate the default poses
|
|
if (isHandTouching || (dataDefault[side].set && countToDefault[side] < 5*touchAnimationSteps)) {
|
|
var quatRot = Quat.fromVec3Degrees(dataCurrent[side][finger][j]);
|
|
MyAvatar.setJointRotation(index, quatRot);
|
|
} else {
|
|
MyAvatar.clearJointData(index);
|
|
}
|
|
}
|
|
}
|
|
});
|
|
});
|
|
|
|
}())
|