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Control "hand" joint with wrist position estimate if no "wrist" joint
This commit is contained in:
David Rowe
parent
a50c3c1696
commit
5f259791a3
1 changed files with 81 additions and 46 deletions
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@ -17,12 +17,16 @@ var leapHands = (function () {
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LEAP_ON_HMD_MENU_ITEM = "Leap Motion on HMD",
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LEAP_OFFSET = 0.019, // Thickness of Leap Motion plus HMD clip
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HMD_OFFSET = 0.070, // Eyeballs to front surface of Oculus DK2 TODO: Confirm and make depend on device and eye relief
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hasHandAndWristJoints,
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handToWristOffset = [], // For avatars without a wrist joint we control an estimate of a proper hand joint position
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HAND_OFFSET = 0.4, // Relative distance of wrist to hand versus wrist to index finger knuckle
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hands,
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wrists,
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NUM_HANDS = 2, // 0 = left; 1 = right
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fingers,
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NUM_FINGERS = 5, // 0 = thumb; ...; 4 = pinky
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THUMB = 0,
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MIDDLE_FINGER = 2,
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NUM_FINGER_JOINTS = 3, // 0 = metacarpal(hand)-proximal(finger) joint; ...; 2 = intermediate-distal joint
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MAX_HAND_INACTIVE_COUNT = 20,
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calibrationStatus,
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@ -123,30 +127,41 @@ var leapHands = (function () {
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function finishCalibration() {
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var avatarPosition,
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avatarOrientation,
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avatarHandPosition,
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handPosition,
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middleFingerPosition,
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leapHandHeight,
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h;
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if (hands[0].controller.isActive() && hands[1].controller.isActive()) {
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leapHandHeight = (hands[0].controller.getAbsTranslation().y + hands[1].controller.getAbsTranslation().y) / 2.0;
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} else {
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calibrationStatus = UNCALIBRATED;
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return;
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if (!isOnHMD) {
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if (hands[0].controller.isActive() && hands[1].controller.isActive()) {
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leapHandHeight = (hands[0].controller.getAbsTranslation().y + hands[1].controller.getAbsTranslation().y) / 2.0;
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} else {
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calibrationStatus = UNCALIBRATED;
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return;
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}
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}
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avatarPosition = MyAvatar.position;
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avatarOrientation = MyAvatar.orientation;
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for (h = 0; h < NUM_HANDS; h += 1) {
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avatarHandPosition = MyAvatar.getJointPosition(hands[h].jointName);
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hands[h].zeroPosition = {
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x: avatarHandPosition.x - avatarPosition.x,
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y: avatarHandPosition.y - avatarPosition.y,
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z: avatarPosition.z - avatarHandPosition.z
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};
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hands[h].zeroPosition = Vec3.multiplyQbyV(MyAvatar.orientation, hands[h].zeroPosition);
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hands[h].zeroPosition.y = hands[h].zeroPosition.y - leapHandHeight;
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handPosition = MyAvatar.getJointPosition(hands[h].jointName);
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if (!hasHandAndWristJoints) {
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middleFingerPosition = MyAvatar.getJointPosition(fingers[h][MIDDLE_FINGER][0].jointName);
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handToWristOffset[h] = Vec3.multiply(Vec3.subtract(handPosition, middleFingerPosition), 1.0 - HAND_OFFSET);
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}
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if (isOnHMD) {
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// Offset of Leap Motion origin from physical eye position
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hands[h].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
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} else {
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hands[h].zeroPosition = {
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x: handPosition.x - avatarPosition.x,
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y: handPosition.y - avatarPosition.y,
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z: avatarPosition.z - handPosition.z
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};
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hands[h].zeroPosition = Vec3.multiplyQbyV(MyAvatar.orientation, hands[h].zeroPosition);
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hands[h].zeroPosition.y = hands[h].zeroPosition.y - leapHandHeight;
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}
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}
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MyAvatar.clearJointData("LeftHand");
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@ -161,6 +176,8 @@ var leapHands = (function () {
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}
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function calibrate() {
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var jointNames,
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i;
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calibrationStatus = CALIBRATING;
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@ -168,6 +185,13 @@ var leapHands = (function () {
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avatarFaceModelURL = MyAvatar.faceModelURL;
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avatarSkeletonModelURL = MyAvatar.skeletonModelURL;
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// Does this skeleton have both wrist and hand joints?
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hasHandAndWristJoints = false;
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jointNames = MyAvatar.getJointNames();
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for (i = 0; i < jointNames.length; i += 1) {
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hasHandAndWristJoints = hasHandAndWristJoints || jointNames[i].toLowerCase() === "leftwrist";
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}
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// Set avatar arms vertical, forearms horizontal, as "zero" position for calibration
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MyAvatar.setJointData("LeftArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, -90.0));
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MyAvatar.setJointData("LeftForeArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 180.0));
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@ -176,6 +200,7 @@ var leapHands = (function () {
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MyAvatar.setJointData("RightForeArm", Quat.fromPitchYawRollDegrees(90.0, 0.0, 180.0));
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MyAvatar.setJointData("RightHand", Quat.fromPitchYawRollRadians(0.0, 0.0, 0.0));
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// Wait for arms to assume their positions before calculating
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Script.setTimeout(finishCalibration, CALIBRATION_TIME);
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}
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@ -195,37 +220,34 @@ var leapHands = (function () {
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function setIsOnHMD() {
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isOnHMD = Menu.isOptionChecked(LEAP_ON_HMD_MENU_ITEM);
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if (isOnHMD) {
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print("Leap Motion: Is on HMD");
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// Offset of Leap Motion origin from physical eye position
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hands[0].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
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hands[1].zeroPosition = { x: 0.0, y: 0.0, z: HMD_OFFSET + LEAP_OFFSET };
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calibrationStatus = CALIBRATED;
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} else {
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print("Leap Motion: Is on desk");
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calibrationStatus = UNCALIBRATED;
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}
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print("Leap Motion: " + (isOnHMD ? "Is on HMD" : "Is on desk"));
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}
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function checkSettings() {
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// There is no "scale changed" event so we need check periodically.
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if (!isOnHMD && calibrationStatus > UNCALIBRATED && (MyAvatar.scale !== avatarScale
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if (calibrationStatus > UNCALIBRATED && (MyAvatar.scale !== avatarScale
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|| MyAvatar.faceModelURL !== avatarFaceModelURL
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|| MyAvatar.skeletonModelURL !== avatarSkeletonModelURL)) {
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print("Leap Motion: Recalibrate because avatar body or scale changed");
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|| MyAvatar.skeletonModelURL !== avatarSkeletonModelURL
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|| Menu.isOptionChecked(LEAP_ON_HMD_MENU_ITEM) !== isOnHMD)) {
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print("Leap Motion: Recalibrate...");
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calibrationStatus = UNCALIBRATED;
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}
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// There is a "menu changed" event but we may as well check here.
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if (isOnHMD !== Menu.isOptionChecked(LEAP_ON_HMD_MENU_ITEM)) {
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setIsOnHMD();
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}
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}
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function setUp() {
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wrists = [
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{
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jointName: "LeftWrist",
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controller: Controller.createInputController("Spatial", "joint_L_wrist")
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},
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{
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jointName: "RightWrist",
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controller: Controller.createInputController("Spatial", "joint_R_wrist")
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}
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];
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hands = [
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{
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jointName: "LeftHand",
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@ -239,11 +261,6 @@ var leapHands = (function () {
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}
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];
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wrists = [
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{ controller: Controller.createInputController("Spatial", "joint_L_wrist") },
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{ controller: Controller.createInputController("Spatial", "joint_R_wrist") }
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];
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// The Leap controller's first joint is the hand-metacarpal joint but this joint's data is not used because it's too
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// dependent on the model skeleton exactly matching the Leap skeleton; using just the second and subsequent joints
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// seems to work better over all.
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@ -306,6 +323,8 @@ var leapHands = (function () {
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setIsOnHMD();
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settingsTimer = Script.setInterval(checkSettings, 2000);
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calibrationStatus = UNCALIBRATED;
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}
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function moveHands() {
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@ -314,6 +333,7 @@ var leapHands = (function () {
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j,
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side,
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handOffset,
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wristOffset,
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handRotation,
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locRotation,
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cameraOrientation,
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@ -330,10 +350,18 @@ var leapHands = (function () {
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}
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// Hand position ...
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handOffset = hands[h].controller.getAbsTranslation();
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handRotation = hands[h].controller.getAbsRotation();
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if (isOnHMD) {
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// Adjust to control wrist position if "hand" joint is at wrist ...
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if (!hasHandAndWristJoints) {
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wristOffset = Vec3.multiplyQbyV(handRotation, handToWristOffset[h]);
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handOffset = Vec3.sum(handOffset, wristOffset);
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}
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// Hand offset in camera coordinates ...
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handOffset = hands[h].controller.getAbsTranslation();
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handOffset = {
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x: hands[h].zeroPosition.x - handOffset.x,
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y: hands[h].zeroPosition.y - handOffset.z,
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@ -353,7 +381,6 @@ var leapHands = (function () {
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handOffset.x = -handOffset.x;
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// Hand rotation in camera coordinates ...
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handRotation = hands[h].controller.getAbsRotation();
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handRotation = {
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x: handRotation.z,
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y: handRotation.y,
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@ -361,6 +388,7 @@ var leapHands = (function () {
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w: handRotation.w
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};
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// Hand rotation in avatar coordinates ...
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if (h === 0) {
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handRotation.x = -handRotation.x;
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handRotation = Quat.multiply(Quat.angleAxis(90.0, { x: 1, y: 0, z: 0 }), handRotation);
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@ -371,7 +399,6 @@ var leapHands = (function () {
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handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 0, z: 1 }), handRotation);
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}
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// Hand rotation in avatar coordinates ...
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cameraOrientation.x = -cameraOrientation.x;
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cameraOrientation.z = -cameraOrientation.z;
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handRotation = Quat.multiply(cameraOrientation, handRotation);
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@ -379,14 +406,20 @@ var leapHands = (function () {
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} else {
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handOffset = hands[h].controller.getAbsTranslation();
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// Adjust to control wrist position if "hand" joint is at wrist ...
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if (!hasHandAndWristJoints) {
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wristOffset = Vec3.multiplyQbyV(handRotation, handToWristOffset[h]);
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handOffset = Vec3.sum(handOffset, wristOffset);
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}
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// Hand offset in camera coordinates ...
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handOffset = {
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x: -handOffset.x,
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y: hands[h].zeroPosition.y + handOffset.y,
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z: hands[h].zeroPosition.z - handOffset.z
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};
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handRotation = hands[h].controller.getAbsRotation();
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// Hand rotation in camera coordinates ...
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handRotation = {
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x: handRotation.z,
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y: handRotation.y,
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@ -394,6 +427,7 @@ var leapHands = (function () {
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w: handRotation.w
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};
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// Hand rotation in avatar coordinates ...
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if (h === 0) {
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handRotation.x = -handRotation.x;
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handRotation = Quat.multiply(Quat.angleAxis(-90.0, { x: 0, y: 1, z: 0 }),
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@ -405,9 +439,10 @@ var leapHands = (function () {
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}
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}
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// Set hand position and orientation ...
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MyAvatar.setJointModelPositionAndOrientation(hands[h].jointName, handOffset, handRotation, true);
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// Finger joints ...
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// Set finger joints ...
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for (i = 0; i < NUM_FINGERS; i += 1) {
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for (j = 0; j < NUM_FINGER_JOINTS; j += 1) {
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if (fingers[h][i][j].controller !== null) {
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