diff --git a/interface/src/avatar/MySkeletonModel.cpp b/interface/src/avatar/MySkeletonModel.cpp index 50e0474831..8d07a878b9 100644 --- a/interface/src/avatar/MySkeletonModel.cpp +++ b/interface/src/avatar/MySkeletonModel.cpp @@ -336,17 +336,25 @@ void MySkeletonModel::updateFingers() { for (auto& link : chain) { int index = _rig.indexOfJoint(link.second); if (index >= 0) { + auto rotationFrameOffset = _jointRotationFrameOffsetMap.find(index); + if (rotationFrameOffset == _jointRotationFrameOffsetMap.end()) { + _jointRotationFrameOffsetMap.insert(std::pair(index, 0)); + rotationFrameOffset = _jointRotationFrameOffsetMap.find(index); + } auto pose = myAvatar->getControllerPoseInSensorFrame(link.first); + if (pose.valid) { glm::quat relRot = glm::inverse(prevAbsRot) * pose.getRotation(); // only set the rotation for the finger joints, not the hands. if (link.first != controller::Action::LEFT_HAND && link.first != controller::Action::RIGHT_HAND) { _rig.setJointRotation(index, true, relRot, CONTROLLER_PRIORITY); + rotationFrameOffset->second = 0; } prevAbsRot = pose.getRotation(); - } else { + } else if (rotationFrameOffset->second == 1) { // if the pose is invalid and was set on previous frame we do clear ( current frame offset = 1 ) _rig.clearJointAnimationPriority(index); } + rotationFrameOffset->second++; } } } diff --git a/interface/src/avatar/MySkeletonModel.h b/interface/src/avatar/MySkeletonModel.h index d9f57a439a..252b6c293b 100644 --- a/interface/src/avatar/MySkeletonModel.h +++ b/interface/src/avatar/MySkeletonModel.h @@ -28,6 +28,8 @@ private: AnimPose _prevHips; // sensor frame bool _prevHipsValid { false }; + + std::map _jointRotationFrameOffsetMap; }; #endif // hifi_MySkeletonModel_h diff --git a/scripts/system/controllers/handTouch.js b/scripts/system/controllers/handTouch.js new file mode 100644 index 0000000000..345ba7a1d7 --- /dev/null +++ b/scripts/system/controllers/handTouch.js @@ -0,0 +1,739 @@ +// +// scripts/system/libraries/handTouch.js +// +// Created by Luis Cuenca on 12/29/17 +// Copyright 2017 High Fidelity, Inc. +// +// +// Distributed under the Apache License, Version 2.0. +// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html +// + +/* jslint bitwise: true */ + +/* global Script, Overlays, Controller, Vec3, MyAvatar, Entities +*/ + +(function(){ + + var updateFingerWithIndex = 0; + + // Keys to access finger data + var fingerKeys = ["pinky", "ring", "middle", "index", "thumb"]; + + // Additionally close the hands to achieve a grabbing effect + var grabPercent = { left: 0, + right: 0 }; + + // var isGrabbing = false; + + var Palm = function() { + this.position = {x:0, y:0, z:0}; + this.perpendicular = {x:0, y:0, z:0}; + this.distance = 0; + this.fingers = { + pinky: {x:0, y:0, z:0}, + middle: {x:0, y:0, z:0}, + ring: {x:0, y:0, z:0}, + thumb: {x:0, y:0, z:0}, + index: {x:0, y:0, z:0} + }; + this.set = false; + }; + + var palmData = { + left: new Palm(), + right: new Palm() + }; + + var handJointNames = {left: "LeftHand", right: "RightHand"}; + + // Store which fingers are touching - if all false restate the default poses + var isTouching = { + left: { + pinky: false, + middle: false, + ring: false, + thumb: false, + index: false + }, right: { + pinky: false, + middle: false, + ring: false, + thumb: false, + index: false + } + }; + + // frame count for transition to default pose + + var countToDefault = { + left: 0, + right: 0 + }; + + // joint data for opened pose + + var dataOpen = { + left: { + 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}], + 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}], + 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}], + 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}], + 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}] + }, right: { + 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}], + 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}], + 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}], + 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}], + 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}] + } + }; + var dataClose = { + left: { + 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}], + 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}], + 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}], + 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}], + 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}] + }, right: { + 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}], + 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}], + 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}], + 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}], + 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}] + } + }; + + // snapshot for the default pose + + var dataDefault = { + left:{ + 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}], + 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}], + 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}], + 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}], + 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}], + set: false + }, + right:{ + 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}], + 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}], + 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}], + 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}], + 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}], + set: false + } + }; + + // joint data for the current frame + + var dataCurrent = { + left:{ + 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}], + 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}], + 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}], + 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}], + 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}] + }, + right:{ + 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}], + 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}], + 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}], + 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}], + 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}] + } + }; + + // interpolated values on joint data to smooth movement + + var dataDelta = { + left:{ + 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}], + 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}], + 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}], + 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}], + 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}] + }, + right:{ + 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}], + 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}], + 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}], + 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}], + 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}] + } + }; + + // Acquire an updated value per hand every 5 frames when finger is touching (faster in) + + var touchAnimationSteps = 5; + + // Acquire an updated value per hand every 10 frames when finger is returning to default position (slower out) + + var defaultAnimationSteps = 10; + + // Debugging info + + var showSphere = false; + var showLines = false; + + // This get setup on creation + + var linesCreated = false; + var sphereCreated = false; + + // Register object with API Debugger + + var varsToDebug = { + scriptLoaded: false, + toggleDebugSphere: function(){ + showSphere = !showSphere; + if (showSphere && !sphereCreated) { + createDebugSphere(); + sphereCreated = true; + } + }, + toggleDebugLines: function(){ + showLines = !showLines; + if (showLines && !linesCreated) { + createDebugLines(); + linesCreated = true; + } + }, + fingerPercent: { + left: { + pinky: 0.38, + middle: 0.38, + ring: 0.38, + thumb: 0.38, + index: 0.38 + } , + right: { + pinky: 0.38, + middle: 0.38, + ring: 0.38, + thumb: 0.38, + index: 0.38 + } + }, + triggerValues: { + leftTriggerValue: 0, + leftTriggerClicked: 0, + rightTriggerValue: 0, + rightTriggerClicked: 0, + leftSecondaryValue: 0, + rightSecondaryValue: 0 + }, + palmData: { + left: new Palm(), + right: new Palm() + }, + offset: {x:0, y:0, z:0}, + avatarLoaded: false + }; + + + // Add/Subtract the joint data - per finger joint + + function addVals(val1, val2, sign) { + var val = []; + if (val1.length != val2.length) return; + for (var i = 0; i < val1.length; i++) { + val.push({x: 0, y: 0, z: 0, w: 0}); + val[i].x = val1[i].x + sign*val2[i].x; + val[i].y = val1[i].y + sign*val2[i].y; + val[i].z = val1[i].z + sign*val2[i].z; + val[i].w = val1[i].w + sign*val2[i].w; + } + return val; + } + + // Multiply/Divide the joint data - per finger joint + + function multiplyValsBy(val1, num) { + var val = []; + for (var i = 0; i < val1.length; i++) { + val.push({x: 0, y: 0, z: 0, w: 0}); + val[i].x = val1[i].x * num; + val[i].y = val1[i].y * num; + val[i].z = val1[i].z * num; + val[i].w = val1[i].w * num; + } + return val; + } + + // Calculate the finger lengths by adding its joint lengths + + function getJointDistances(jointNamesArray) { + var result = {distances: [], totalDistance: 0}; + for (var i = 1; i < jointNamesArray.length; i++) { + var index0 = MyAvatar.getJointIndex(jointNamesArray[i-1]); + var index1 = MyAvatar.getJointIndex(jointNamesArray[i]); + var pos0 = MyAvatar.getJointPosition(index0); + var pos1 = MyAvatar.getJointPosition(index1); + var distance = Vec3.distance(pos0, pos1); + result.distances.push(distance); + result.totalDistance += distance; + } + return result; + } + + function dataRelativeToWorld(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.jointToWorldPoint(dataIn.position, jointIndex); + // dataOut.perpendicular = Vec3.subtract(MyAvatar.jointToWorldPoint(dataIn.perpendicular, jointIndex), worldPosHand); + 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); + } + } + } + }); + }); + +}());