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Merge pull request #12071 from luiscuenca/handTouch
Touch feeling for near grab
This commit is contained in:
Anthony Thibault
GitHub
commit
f4c38b91b3
3 changed files with 750 additions and 1 deletions
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@ -336,17 +336,25 @@ void MySkeletonModel::updateFingers() {
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for (auto& link : chain) {
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int index = _rig.indexOfJoint(link.second);
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if (index >= 0) {
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auto rotationFrameOffset = _jointRotationFrameOffsetMap.find(index);
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if (rotationFrameOffset == _jointRotationFrameOffsetMap.end()) {
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_jointRotationFrameOffsetMap.insert(std::pair<int, int>(index, 0));
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rotationFrameOffset = _jointRotationFrameOffsetMap.find(index);
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}
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auto pose = myAvatar->getControllerPoseInSensorFrame(link.first);
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if (pose.valid) {
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glm::quat relRot = glm::inverse(prevAbsRot) * pose.getRotation();
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// only set the rotation for the finger joints, not the hands.
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if (link.first != controller::Action::LEFT_HAND && link.first != controller::Action::RIGHT_HAND) {
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_rig.setJointRotation(index, true, relRot, CONTROLLER_PRIORITY);
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rotationFrameOffset->second = 0;
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}
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prevAbsRot = pose.getRotation();
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} else {
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} else if (rotationFrameOffset->second == 1) { // if the pose is invalid and was set on previous frame we do clear ( current frame offset = 1 )
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_rig.clearJointAnimationPriority(index);
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}
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rotationFrameOffset->second++;
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}
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}
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}
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@ -28,6 +28,8 @@ private:
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AnimPose _prevHips; // sensor frame
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bool _prevHipsValid { false };
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std::map<int, int> _jointRotationFrameOffsetMap;
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};
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#endif // hifi_MySkeletonModel_h
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739
scripts/system/controllers/handTouch.js
Normal file
739
scripts/system/controllers/handTouch.js
Normal file
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@ -0,0 +1,739 @@
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//
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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, 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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var Palm = function() {
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this.position = {x:0, y:0, z:0};
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this.perpendicular = {x:0, y:0, z:0};
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this.distance = 0;
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this.fingers = {
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pinky: {x:0, y:0, z:0},
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middle: {x:0, y:0, z:0},
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ring: {x:0, y:0, z:0},
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thumb: {x:0, y:0, z:0},
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index: {x:0, y:0, z:0}
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};
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this.set = false;
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};
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var palmData = {
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left: new Palm(),
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right: new Palm()
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};
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var handJointNames = {left: "LeftHand", right: "RightHand"};
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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: -0.0066, y:-0.0224, z:-0.2174, w:0.9758},{x: 0.0112, y:0.0001, z:0.0093, w:0.9999},{x: -0.0346, y:0.0003, z:-0.0073, w:0.9994}],
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ring:[{x: -0.0029, y:-0.0094, z:-0.1413, w:0.9899},{x: 0.0112, y:0.0001, z:0.0059, w:0.9999},{x: -0.0346, y:0.0002, z:-0.006, w:0.9994}],
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middle:[{x: -0.0016, y:0, z:-0.0286, w:0.9996},{x: 0.0112, y:-0.0001, z:-0.0063, w:0.9999},{x: -0.0346, y:-0.0003, z:0.0073, w:0.9994}],
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index:[{x: -0.0016, y:0.0001, z:0.0199, w:0.9998},{x: 0.0112, y:0, z:0.0081, w:0.9999},{x: -0.0346, y:0.0008, z:-0.023, w:0.9991}],
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thumb:[{x: 0.0354, y:0.0363, z:0.3275, w:0.9435},{x: -0.0945, y:0.0938, z:0.0995, w:0.9861},{x: -0.0952, y:0.0718, z:0.1382, w:0.9832}]
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}, right: {
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pinky:[{x: -0.0034, y:0.023, z:0.1051, w:0.9942},{x: 0.0106, y:-0.0001, z:-0.0091, w:0.9999},{x: -0.0346, y:-0.0003, z:0.0075, w:0.9994}],
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ring:[{x: -0.0013, y:0.0097, z:0.0311, w:0.9995},{x: 0.0106, y:-0.0001, z:-0.0056, w:0.9999},{x: -0.0346, y:-0.0002, z:0.0061, w:0.9994}],
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middle:[{x: -0.001, y:0, z:0.0285, w:0.9996},{x: 0.0106, y:0.0001, z:0.0062, w:0.9999},{x: -0.0346, y:0.0003, z:-0.0074, w:0.9994}],
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index:[{x: -0.001, y:0, z:-0.0199, w:0.9998},{x: 0.0106, y:-0.0001, z:-0.0079, w:0.9999},{x: -0.0346, y:-0.0008, z:0.0229, w:0.9991}],
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thumb:[{x: 0.0355, y:-0.0363, z:-0.3263, w:0.9439},{x: -0.0946, y:-0.0938, z:-0.0996, w:0.9861},{x: -0.0952, y:-0.0719, z:-0.1376, w:0.9833}]
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}
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};
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var dataClose = {
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left: {
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pinky:[{x: 0.5878, y:-0.1735, z:-0.1123, w:0.7821},{x: 0.5704, y:0.0053, z:0.0076, w:0.8213},{x: 0.6069, y:-0.0044, z:-0.0058, w:0.7947}],
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ring:[{x: 0.5761, y:-0.0989, z:-0.1025, w:0.8048},{x: 0.5332, y:0.0032, z:0.005, w:0.846},{x: 0.5773, y:-0.0035, z:-0.0049, w:0.8165}],
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middle:[{x: 0.543, y:-0.0469, z:-0.0333, w:0.8378},{x: 0.5419, y:-0.0034, z:-0.0053, w:0.8404},{x: 0.5015, y:0.0037, z:0.0063, w:0.8651}],
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index:[{x: 0.3051, y:-0.0156, z:-0.014, w:0.9521},{x: 0.6414, y:0.0051, z:0.0063, w:0.7671},{x: 0.5646, y:-0.013, z:-0.019, w:0.8251}],
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thumb:[{x: 0.313, y:-0.0348, z:0.3192, w:0.8938},{x: 0, y:0, z:-0.37, w:0.929},{x: 0, y:0, z:-0.2604, w:0.9655}]
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}, right: {
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pinky:[{x: 0.5881, y:0.1728, z:0.1114, w:0.7823},{x: 0.5704, y:-0.0052, z:-0.0075, w:0.8213},{x: 0.6069, y:0.0046, z:0.006, w:0.7947}],
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ring:[{x: 0.5729, y:0.1181, z:0.0898, w:0.8061},{x: 0.5332, y:-0.003, z:-0.0048, w:0.846},{x: 0.5773, y:0.0035, z:0.005, w:0.8165}],
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middle:[{x: 0.543, y:0.0468, z:0.0332, w:0.8378},{x: 0.5419, y:0.0034, z:0.0052, w:0.8404},{x: 0.5047, y:-0.0037, z:-0.0064, w:0.8632}],
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index:[{x: 0.306, y:-0.0076, z:-0.0584, w:0.9502},{x: 0.6409, y:-0.005, z:-0.006, w:0.7675},{x: 0.5646, y:0.0129, z:0.0189, w:0.8251}],
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thumb:[{x: 0.313, y:0.0352, z:-0.3181, w:0.8942},{x: 0, y:0, z:0.3698, w:0.9291},{x: 0, y:0, z:0.2609, w:0.9654}]
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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, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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middle: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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ring: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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thumb: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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index: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 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, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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middle: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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ring: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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thumb: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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index: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 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, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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middle: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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ring: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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thumb: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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index: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}]
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},
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right:{
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pinky:[{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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middle: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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ring: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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thumb: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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index: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 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, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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middle: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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ring: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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thumb: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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index: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}]
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},
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right:{
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pinky:[{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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middle: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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ring: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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thumb: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0}],
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index: [{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 0},{x: 0, y: 0, z: 0, w: 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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// This get setup on creation
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var linesCreated = false;
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var sphereCreated = false;
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// Register object with API Debugger
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var varsToDebug = {
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scriptLoaded: false,
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toggleDebugSphere: function(){
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showSphere = !showSphere;
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if (showSphere && !sphereCreated) {
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createDebugSphere();
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sphereCreated = true;
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}
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},
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toggleDebugLines: function(){
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showLines = !showLines;
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if (showLines && !linesCreated) {
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createDebugLines();
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linesCreated = true;
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}
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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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palmData: {
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left: new Palm(),
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right: new Palm()
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},
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offset: {x:0, y:0, z:0},
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avatarLoaded: false
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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, w: 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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val[i].w = val1[i].w + sign*val2[i].w;
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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, w: 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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val[i].w = val1[i].w * 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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function dataRelativeToWorld(side, dataIn, dataOut) {
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var handJoint = handJointNames[side];
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var jointIndex = MyAvatar.getJointIndex(handJoint);
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var worldPosHand = MyAvatar.jointToWorldPoint({x:0, y:0, z:0}, jointIndex);
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dataOut.position = MyAvatar.jointToWorldPoint(dataIn.position, jointIndex);
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// dataOut.perpendicular = Vec3.subtract(MyAvatar.jointToWorldPoint(dataIn.perpendicular, jointIndex), worldPosHand);
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var localPerpendicular = side == "right" ? {x:0.2, y:0, z:1} : {x:-0.2, y:0, z:1};
|
||||
dataOut.perpendicular = Vec3.normalize(Vec3.subtract(MyAvatar.jointToWorldPoint(localPerpendicular, jointIndex), worldPosHand));
|
||||
dataOut.distance = dataIn.distance;
|
||||
for (var i = 0; i < fingerKeys.length; i++) {
|
||||
var finger = fingerKeys[i];
|
||||
dataOut.fingers[finger] = MyAvatar.jointToWorldPoint(dataIn.fingers[finger], jointIndex);
|
||||
}
|
||||
}
|
||||
|
||||
function dataRelativeToHandJoint(side, dataIn, dataOut) {
|
||||
|
||||
var handJoint = handJointNames[side];
|
||||
var jointIndex = MyAvatar.getJointIndex(handJoint);
|
||||
var worldPosHand = MyAvatar.jointToWorldPoint({x:0, y:0, z:0}, jointIndex);
|
||||
|
||||
dataOut.position = MyAvatar.worldToJointPoint(dataIn.position, jointIndex);
|
||||
dataOut.perpendicular = MyAvatar.worldToJointPoint(Vec3.sum(worldPosHand, dataIn.perpendicular), jointIndex);
|
||||
dataOut.distance = dataIn.distance;
|
||||
for (var i = 0; i < fingerKeys.length; i++) {
|
||||
var finger = fingerKeys[i];
|
||||
dataOut.fingers[finger] = MyAvatar.worldToJointPoint(dataIn.fingers[finger], jointIndex);
|
||||
}
|
||||
}
|
||||
|
||||
// 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
|
||||
|
||||
function estimatePalmData(side) {
|
||||
// Return data object
|
||||
var data = new Palm();
|
||||
|
||||
var jointOffset = { x: 0, y: 0, z: 0 };
|
||||
|
||||
var upperSide = side[0].toUpperCase() + side.substring(1);
|
||||
var jointIndexHand = MyAvatar.getJointIndex(upperSide + "Hand");
|
||||
|
||||
// Store position of the hand joint
|
||||
var worldPosHand = MyAvatar.jointToWorldPoint(jointOffset, jointIndexHand);
|
||||
var minusWorldPosHand = {x:-worldPosHand.x, y:-worldPosHand.y, z:-worldPosHand.z};
|
||||
|
||||
// Data for finger rays
|
||||
var directions = {pinky: undefined, middle: undefined, ring: undefined, thumb: undefined, index: undefined};
|
||||
var positions = {pinky: undefined, middle: undefined, ring: undefined, thumb: undefined, index: undefined};
|
||||
|
||||
var thumbLength = 0;
|
||||
var weightCount = 0;
|
||||
|
||||
// Calculate palm center
|
||||
|
||||
var handJointWeight = 1;
|
||||
var fingerJointWeight = 2;
|
||||
|
||||
var palmCenter = {x:0, y:0, z:0};
|
||||
palmCenter = Vec3.sum(worldPosHand, palmCenter);
|
||||
|
||||
weightCount += handJointWeight;
|
||||
|
||||
for (var i = 0; i < fingerKeys.length; i++) {
|
||||
var finger = fingerKeys[i];
|
||||
var jointSuffixes = 4; // Get 4 joint names with suffix numbers (0, 1, 2, 3)
|
||||
var jointNames = getJointNames(side, finger, jointSuffixes);
|
||||
var fingerLength = getJointDistances(jointNames).totalDistance;
|
||||
|
||||
var jointIndex = MyAvatar.getJointIndex(jointNames[0]);
|
||||
positions[finger] = MyAvatar.jointToWorldPoint(jointOffset, jointIndex);
|
||||
directions[finger] = Vec3.normalize(Vec3.sum(positions[finger], minusWorldPosHand));
|
||||
data.fingers[finger] = Vec3.sum(positions[finger], Vec3.multiply(fingerLength, directions[finger]));
|
||||
if (finger != "thumb") {
|
||||
// finger joints have double the weight than the hand joint
|
||||
// This would better position the palm estimation
|
||||
|
||||
palmCenter = Vec3.sum(Vec3.multiply(fingerJointWeight, positions[finger]), palmCenter);
|
||||
weightCount += fingerJointWeight;
|
||||
} else {
|
||||
thumbLength = fingerLength;
|
||||
}
|
||||
}
|
||||
|
||||
// perpendicular change direction depending on the side
|
||||
|
||||
data.perpendicular = (side == "right") ?
|
||||
Vec3.normalize(Vec3.cross(directions.index, directions.pinky)):
|
||||
Vec3.normalize(Vec3.cross(directions.pinky, directions.index));
|
||||
|
||||
data.position = Vec3.multiply(1.0/weightCount, palmCenter);
|
||||
|
||||
if (side == "right") varsToDebug.offset = MyAvatar.worldToJointPoint(worldPosHand, jointIndexHand);
|
||||
|
||||
var palmDistanceMultiplier = 1.55; // 1.55 based on test/error for the sphere radius that best fits the hand
|
||||
data.distance = palmDistanceMultiplier*Vec3.distance(data.position, positions.index);
|
||||
|
||||
// move back thumb ray origin
|
||||
var thumbBackMultiplier = 0.2;
|
||||
data.fingers.thumb = Vec3.sum(data.fingers.thumb, Vec3.multiply( -thumbBackMultiplier * thumbLength, data.perpendicular));
|
||||
|
||||
//return getDataRelativeToHandJoint(side, data);
|
||||
dataRelativeToHandJoint(side, data, palmData[side]);
|
||||
palmData[side].set = true;
|
||||
// return palmData[side];
|
||||
}
|
||||
|
||||
// Register GlobalDebugger for API Debugger
|
||||
Script.registerValue("GlobalDebugger", varsToDebug);
|
||||
|
||||
|
||||
|
||||
// store the rays for the fingers - only for debug purposes
|
||||
|
||||
var fingerRays = {
|
||||
left:{
|
||||
pinky: undefined,
|
||||
middle: undefined,
|
||||
ring: undefined,
|
||||
thumb: undefined,
|
||||
index: undefined
|
||||
},
|
||||
right:{
|
||||
pinky: undefined,
|
||||
middle: undefined,
|
||||
ring: undefined,
|
||||
thumb: undefined,
|
||||
index: undefined
|
||||
}
|
||||
};
|
||||
|
||||
// Create debug overlays - finger rays + palm rays + spheres
|
||||
|
||||
var palmRay, sphereHand;
|
||||
|
||||
function createDebugLines() {
|
||||
|
||||
for (var i = 0; i < fingerKeys.length; i++) {
|
||||
fingerRays.left[fingerKeys[i]] = Overlays.addOverlay("line3d", {
|
||||
color: { red: 0, green: 0, blue: 255 },
|
||||
start: { x:0, y:0, z:0 },
|
||||
end: { x:0, y:1, z:0 },
|
||||
visible: showLines
|
||||
});
|
||||
fingerRays.right[fingerKeys[i]] = Overlays.addOverlay("line3d", {
|
||||
color: { red: 0, green: 0, blue: 255 },
|
||||
start: { x:0, y:0, z:0 },
|
||||
end: { x:0, y:1, z:0 },
|
||||
visible: showLines
|
||||
});
|
||||
}
|
||||
|
||||
palmRay = {
|
||||
left: Overlays.addOverlay("line3d", {
|
||||
color: { red: 255, green: 0, blue: 0 },
|
||||
start: { x:0, y:0, z:0 },
|
||||
end: { x:0, y:1, z:0 },
|
||||
visible: showLines
|
||||
}),
|
||||
right: Overlays.addOverlay("line3d", {
|
||||
color: { red: 255, green: 0, blue: 0 },
|
||||
start: { x:0, y:0, z:0 },
|
||||
end: { x:0, y:1, z:0 },
|
||||
visible: showLines
|
||||
})
|
||||
};
|
||||
linesCreated = true;
|
||||
}
|
||||
|
||||
function createDebugSphere() {
|
||||
|
||||
sphereHand = {
|
||||
right: Overlays.addOverlay("sphere", {
|
||||
position: MyAvatar.position,
|
||||
color: { red: 0, green: 255, blue: 0 },
|
||||
scale: { x: 0.01, y: 0.01, z: 0.01 },
|
||||
visible: showSphere
|
||||
}),
|
||||
left: Overlays.addOverlay("sphere", {
|
||||
position: MyAvatar.position,
|
||||
color: { red: 0, green: 255, blue: 0 },
|
||||
scale: { x: 0.01, y: 0.01, z: 0.01 },
|
||||
visible: showSphere
|
||||
})
|
||||
};
|
||||
sphereCreated = true;
|
||||
}
|
||||
|
||||
function acquireDefaultPose(side) {
|
||||
for (var i = 0; i < fingerKeys.length; i++) {
|
||||
var finger = fingerKeys[i];
|
||||
var jointSuffixes = 3; // We need rotation of the 0, 1 and 2 joints
|
||||
var names = getJointNames(side, finger, jointSuffixes);
|
||||
for (var j = 0; j < names.length; j++) {
|
||||
var index = MyAvatar.getJointIndex(names[j]);
|
||||
var rotation = MyAvatar.getJointRotation(index);
|
||||
dataDefault[side][finger][j] = dataCurrent[side][finger][j] = rotation;
|
||||
}
|
||||
}
|
||||
dataDefault[side].set = true;
|
||||
}
|
||||
|
||||
function updateSphereHand(side) {
|
||||
|
||||
var data = new Palm();
|
||||
dataRelativeToWorld(side, palmData[side], data);
|
||||
varsToDebug.palmData[side] = palmData[side];
|
||||
|
||||
var palmPoint = data.position;
|
||||
var LOOKUP_DISTANCE_MULTIPLIER = 1.5;
|
||||
var dist = LOOKUP_DISTANCE_MULTIPLIER*data.distance;
|
||||
|
||||
// Situate the debugging overlays
|
||||
|
||||
var checkOffset = { x: data.perpendicular.x * dist,
|
||||
y: data.perpendicular.y * dist,
|
||||
z: data.perpendicular.z * dist };
|
||||
|
||||
|
||||
var spherePos = Vec3.sum(palmPoint, checkOffset);
|
||||
var checkPoint = Vec3.sum(palmPoint, Vec3.multiply(2, checkOffset));
|
||||
|
||||
if (showLines) {
|
||||
Overlays.editOverlay(palmRay[side], {
|
||||
start: palmPoint,
|
||||
end: checkPoint,
|
||||
visible: showLines
|
||||
});
|
||||
for (var i = 0; i < fingerKeys.length; i++) {
|
||||
Overlays.editOverlay(fingerRays[side][fingerKeys[i]], {
|
||||
start: data.fingers[fingerKeys[i]],
|
||||
end: checkPoint,
|
||||
visible: showLines
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
if (showSphere) {
|
||||
Overlays.editOverlay(sphereHand[side], {
|
||||
position: spherePos,
|
||||
scale: {
|
||||
x: 2*dist,
|
||||
y: 2*dist,
|
||||
z: 2*dist
|
||||
},
|
||||
visible: showSphere
|
||||
});
|
||||
}
|
||||
|
||||
// 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 = data.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; // Initialize
|
||||
var isAbleToGrab = intersection.intersects && intersection.distance < LOOKUP_DISTANCE_MULTIPLIER*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
|
||||
|
||||
var FINGER_REACT_MULTIPLIER = 2.8;
|
||||
|
||||
percent = intersection.distance/(FINGER_REACT_MULTIPLIER*dist);
|
||||
|
||||
var THUMB_FACTOR = 0.2;
|
||||
var FINGER_FACTOR = 0.05;
|
||||
|
||||
var grabMultiplier = finger === "thumb" ? THUMB_FACTOR : FINGER_FACTOR; // Amount of grab coefficient added to the fingers - thumb is higher
|
||||
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);
|
||||
|
||||
if (showLines && !linesCreated) {
|
||||
createDebugLines();
|
||||
linesCreated = true;
|
||||
}
|
||||
if (showSphere && !sphereCreated) {
|
||||
createDebugSphere();
|
||||
sphereCreated = true;
|
||||
}
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
function reEstimatePalmData() {
|
||||
["right", "left"].forEach(function(side){
|
||||
estimatePalmData(side);
|
||||
});
|
||||
}
|
||||
|
||||
MyAvatar.onLoadComplete.connect(function () {
|
||||
// Sometimes the rig is not ready when this signal is trigger
|
||||
console.log("avatar loaded");
|
||||
Script.setInterval(function(){
|
||||
reEstimatePalmData();
|
||||
}, 2000);
|
||||
});
|
||||
|
||||
MyAvatar.sensorToWorldScaleChanged.connect(function(){
|
||||
reEstimatePalmData();
|
||||
});
|
||||
|
||||
Script.scriptEnding.connect(function () {
|
||||
["right", "left"].forEach(function(side){
|
||||
if (linesCreated) {
|
||||
Overlays.deleteOverlay(palmRay[side]);
|
||||
}
|
||||
if (sphereCreated) {
|
||||
Overlays.deleteOverlay(sphereHand[side]);
|
||||
}
|
||||
for (var i = 0; i < fingerKeys.length; i++) {
|
||||
|
||||
var finger = fingerKeys[i];
|
||||
var jointSuffixes = 3; // We need to clear the joints 0, 1 and 2 joints
|
||||
var names = getJointNames(side, finger, jointSuffixes);
|
||||
|
||||
for (var j = 0; j < names.length; j++) {
|
||||
var index = MyAvatar.getJointIndex(names[j]);
|
||||
MyAvatar.clearJointData(index);
|
||||
}
|
||||
|
||||
if (linesCreated) {
|
||||
Overlays.deleteOverlay(fingerRays[side][finger]);
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
|
||||
|
||||
});
|
||||
|
||||
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){
|
||||
|
||||
if (!palmData[side].set) {
|
||||
reEstimatePalmData();
|
||||
}
|
||||
// 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 jointSuffixes = 3; // We need to update rotation of the 0, 1 and 2 joints
|
||||
var names = getJointNames(side, finger, jointSuffixes);
|
||||
|
||||
// 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 = dataCurrent[side][finger][j];
|
||||
MyAvatar.setJointRotation(index, quatRot);
|
||||
} else {
|
||||
MyAvatar.clearJointData(index);
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
});
|
||||
|
||||
}());
|
||||
Loading…
Reference in a new issue