625 lines
26 KiB
C#
625 lines
26 KiB
C#
/*
|
|
* Copyright (c) Meta Platforms, Inc. and affiliates.
|
|
* All rights reserved.
|
|
*
|
|
* Licensed under the Oculus SDK License Agreement (the "License");
|
|
* you may not use the Oculus SDK except in compliance with the License,
|
|
* which is provided at the time of installation or download, or which
|
|
* otherwise accompanies this software in either electronic or hard copy form.
|
|
*
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* https://developer.oculus.com/licenses/oculussdk/
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, the Oculus SDK
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
using System;
|
|
using System.Collections;
|
|
using System.Collections.Generic;
|
|
using System.Linq;
|
|
using UnityEngine;
|
|
|
|
/// <summary>
|
|
/// Primitive type serialization
|
|
/// </summary>
|
|
#if ISDK_OPENXR_HAND
|
|
namespace Oculus.Interaction.Input.Compatibility.OVR
|
|
#else
|
|
namespace Oculus.Interaction.Input
|
|
#endif
|
|
{
|
|
/// <summary>
|
|
/// A set of hand skeleton constants used globally throughout Interaction SDK.
|
|
/// </summary>
|
|
public static class Constants
|
|
{
|
|
/// <summary>
|
|
/// The number of joints in the hand skeleton.
|
|
/// </summary>
|
|
public const int NUM_HAND_JOINTS = (int)HandJointId.HandEnd;
|
|
|
|
/// <summary>
|
|
/// The number of fingers in the hand skeleton.
|
|
/// </summary>
|
|
public const int NUM_FINGERS = 5;
|
|
|
|
/// <summary>
|
|
/// The local proximal (toward-palm) axis of a Right hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 RightProximal = Vector3.left;
|
|
|
|
/// <summary>
|
|
/// The local distal (away-from-palm) axis of a Right hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 RightDistal = Vector3.right;
|
|
|
|
/// <summary>
|
|
/// The local to-pinky axis of a Right hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 RightPinkySide = Vector3.back;
|
|
|
|
/// <summary>
|
|
/// The local to-thumb axis of a Right hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 RightThumbSide = Vector3.forward;
|
|
|
|
/// <summary>
|
|
/// The local palmar (palm facing) axis of a Right hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 RightPalmar = Vector3.down;
|
|
|
|
/// <summary>
|
|
/// The local dorsal (back-of-hand facing) axis of a Right hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 RightDorsal = Vector3.up;
|
|
|
|
/// <summary>
|
|
/// The local proximal (toward-palm) axis of a Left hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 LeftProximal = Vector3.right;
|
|
|
|
/// <summary>
|
|
/// The local distal (away-from-palm) axis of a Left hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 LeftDistal = Vector3.left;
|
|
|
|
/// <summary>
|
|
/// The local to-pinky axis of a Left hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 LeftPinkySide = Vector3.forward;
|
|
|
|
/// <summary>
|
|
/// The local to-thumb axis of a Left hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 LeftThumbSide = Vector3.back;
|
|
|
|
/// <summary>
|
|
/// The local palmar (palm facing) axis of a Left hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 LeftPalmar = Vector3.up;
|
|
|
|
/// <summary>
|
|
/// The local dorsal (back-of-hand facing) axis of a Left hand joint.
|
|
/// </summary>
|
|
public static readonly Vector3 LeftDorsal = Vector3.down;
|
|
|
|
/// <summary>
|
|
/// The rotation of the left hand's root bone. This is unique to the OVR hand skeleton,
|
|
/// as its left wrist orientation is a mirror of the right wrist.
|
|
/// </summary>
|
|
public static readonly Quaternion LeftRootRotation = Quaternion.Euler(180f, 0f, 0f);
|
|
}
|
|
|
|
public enum Handedness
|
|
{
|
|
Left = 0,
|
|
Right = 1,
|
|
}
|
|
|
|
public enum HandFinger
|
|
{
|
|
Invalid = -1,
|
|
Thumb = 0,
|
|
Index = 1,
|
|
Middle = 2,
|
|
Ring = 3,
|
|
Pinky = 4,
|
|
Max = 4
|
|
}
|
|
|
|
[Flags]
|
|
public enum HandFingerFlags
|
|
{
|
|
None = 0,
|
|
Thumb = 1 << 0,
|
|
Index = 1 << 1,
|
|
Middle = 1 << 2,
|
|
Ring = 1 << 3,
|
|
Pinky = 1 << 4,
|
|
All = (1 << 5) - 1
|
|
}
|
|
|
|
|
|
public enum PinchGrabParam
|
|
{
|
|
PinchDistanceStart = 0,
|
|
PinchDistanceStopMax,
|
|
PinchDistanceStopOffset,
|
|
PinchHqDistanceStart,
|
|
PinchHqDistanceStopMax,
|
|
PinchHqDistanceStopOffset,
|
|
PinchHqViewAngleThreshold,
|
|
ThumbDistanceStart,
|
|
ThumbDistanceStopMax,
|
|
ThumbDistanceStopOffset,
|
|
ThumbMaxDot,
|
|
}
|
|
|
|
public enum PalmGrabParamID
|
|
{
|
|
PoseVolumeOffsetRightVec3 = 0,
|
|
PoseVolumeOffsetLeftVec3,
|
|
StartThresholdFloat,
|
|
ReleaseThresholdFloat,
|
|
}
|
|
|
|
[Flags]
|
|
public enum HandFingerJointFlags
|
|
{
|
|
None = 0,
|
|
Wrist = 1 << HandJointId.HandWristRoot,
|
|
ForearmStub = 1 << HandJointId.HandForearmStub,
|
|
Thumb0 = 1 << HandJointId.HandThumb0,
|
|
Thumb1 = 1 << HandJointId.HandThumb1,
|
|
Thumb2 = 1 << HandJointId.HandThumb2,
|
|
Thumb3 = 1 << HandJointId.HandThumb3,
|
|
Index1 = 1 << HandJointId.HandIndex1,
|
|
Index2 = 1 << HandJointId.HandIndex2,
|
|
Index3 = 1 << HandJointId.HandIndex3,
|
|
Middle1 = 1 << HandJointId.HandMiddle1,
|
|
Middle2 = 1 << HandJointId.HandMiddle2,
|
|
Middle3 = 1 << HandJointId.HandMiddle3,
|
|
Ring1 = 1 << HandJointId.HandRing1,
|
|
Ring2 = 1 << HandJointId.HandRing2,
|
|
Ring3 = 1 << HandJointId.HandRing3,
|
|
Pinky0 = 1 << HandJointId.HandPinky0,
|
|
Pinky1 = 1 << HandJointId.HandPinky1,
|
|
Pinky2 = 1 << HandJointId.HandPinky2,
|
|
Pinky3 = 1 << HandJointId.HandPinky3,
|
|
HandMaxSkinnable = 1 << HandJointId.HandMaxSkinnable,
|
|
ThumbTip = 1 << HandJointId.HandThumbTip,
|
|
IndexTip = 1 << HandJointId.HandIndexTip,
|
|
MiddleTip = 1 << HandJointId.HandMiddleTip,
|
|
RingTip = 1 << HandJointId.HandRingTip,
|
|
PinkyTip = 1 << HandJointId.HandPinkyTip,
|
|
All = (1 << HandJointId.HandEnd) - 1
|
|
}
|
|
|
|
/// <summary>
|
|
/// Utility methods for working with <see cref="HandFinger"/> data.
|
|
/// </summary>
|
|
public static class HandFingerUtils
|
|
{
|
|
/// <summary>
|
|
/// Convert the provided <see cref="HandFinger"/> to <see cref="HandFingerFlags"/>.
|
|
/// </summary>
|
|
/// <param name="handFinger">The finger to convert to flags.</param>
|
|
/// <returns>Flags representing the provided finger.</returns>
|
|
public static HandFingerFlags ToFlags(HandFinger handFinger)
|
|
{
|
|
return (HandFingerFlags)(1 << (int)handFinger);
|
|
}
|
|
}
|
|
|
|
public enum HandJointId
|
|
{
|
|
Invalid = -1,
|
|
|
|
// hand bones
|
|
HandStart = 0,
|
|
HandWristRoot = HandStart + 0, // root frame of the hand, where the wrist is located
|
|
HandForearmStub = HandStart + 1, // frame for user's forearm
|
|
HandThumb0 = HandStart + 2, // thumb trapezium bone
|
|
HandThumb1 = HandStart + 3, // thumb metacarpal bone
|
|
HandThumb2 = HandStart + 4, // thumb proximal phalange bone
|
|
HandThumb3 = HandStart + 5, // thumb distal phalange bone
|
|
HandIndex1 = HandStart + 6, // index proximal phalange bone
|
|
HandIndex2 = HandStart + 7, // index intermediate phalange bone
|
|
HandIndex3 = HandStart + 8, // index distal phalange bone
|
|
HandMiddle1 = HandStart + 9, // middle proximal phalange bone
|
|
HandMiddle2 = HandStart + 10, // middle intermediate phalange bone
|
|
HandMiddle3 = HandStart + 11, // middle distal phalange bone
|
|
HandRing1 = HandStart + 12, // ring proximal phalange bone
|
|
HandRing2 = HandStart + 13, // ring intermediate phalange bone
|
|
HandRing3 = HandStart + 14, // ring distal phalange bone
|
|
HandPinky0 = HandStart + 15, // pinky metacarpal bone
|
|
HandPinky1 = HandStart + 16, // pinky proximal phalange bone
|
|
HandPinky2 = HandStart + 17, // pinky intermediate phalange bone
|
|
HandPinky3 = HandStart + 18, // pinky distal phalange bone
|
|
HandMaxSkinnable = HandStart + 19,
|
|
// Bone tips are position only.
|
|
// They are not used for skinning but are useful for hit-testing.
|
|
// NOTE: HandThumbTip == HandMaxSkinnable since the extended tips need to be contiguous
|
|
HandThumbTip = HandMaxSkinnable + 0, // tip of the thumb
|
|
HandIndexTip = HandMaxSkinnable + 1, // tip of the index finger
|
|
HandMiddleTip = HandMaxSkinnable + 2, // tip of the middle finger
|
|
HandRingTip = HandMaxSkinnable + 3, // tip of the ring finger
|
|
HandPinkyTip = HandMaxSkinnable + 4, // tip of the pinky
|
|
HandEnd = HandMaxSkinnable + 5,
|
|
}
|
|
|
|
|
|
|
|
public class HandJointUtils
|
|
{
|
|
/// <summary>
|
|
/// A list of joint arrays representing <see cref="HandJointId"/>s for each finger.
|
|
/// The list is indexed by the integer value of <see cref="HandFinger"/>.
|
|
/// </summary>
|
|
public static List<HandJointId[]> FingerToJointList = new List<HandJointId[]>()
|
|
{
|
|
new[] {HandJointId.HandThumb0, HandJointId.HandThumb1, HandJointId.HandThumb2, HandJointId.HandThumb3, HandJointId.HandThumbTip},
|
|
new[] {HandJointId.HandIndex1, HandJointId.HandIndex2, HandJointId.HandIndex3, HandJointId.HandIndexTip},
|
|
new[] {HandJointId.HandMiddle1, HandJointId.HandMiddle2, HandJointId.HandMiddle3, HandJointId.HandMiddleTip},
|
|
new[] {HandJointId.HandRing1, HandJointId.HandRing2, HandJointId.HandRing3, HandJointId.HandRingTip},
|
|
new[] {HandJointId.HandPinky0, HandJointId.HandPinky1, HandJointId.HandPinky2, HandJointId.HandPinky3, HandJointId.HandPinkyTip }
|
|
};
|
|
|
|
/// <summary>
|
|
/// An array indexed by the integer value of <see cref="HandJointId"/>
|
|
/// which provides the corresponding <see cref="HandFinger"/>, if applicable.
|
|
/// If the joint used to index into this array is not a finger joint,
|
|
/// the value at that index will be <see cref="HandFinger.Invalid"/>
|
|
/// </summary>
|
|
public static HandFinger[] JointToFingerList = new[]
|
|
{
|
|
HandFinger.Invalid,
|
|
HandFinger.Invalid,
|
|
HandFinger.Thumb,
|
|
HandFinger.Thumb,
|
|
HandFinger.Thumb,
|
|
HandFinger.Thumb,
|
|
HandFinger.Index,
|
|
HandFinger.Index,
|
|
HandFinger.Index,
|
|
HandFinger.Middle,
|
|
HandFinger.Middle,
|
|
HandFinger.Middle,
|
|
HandFinger.Ring,
|
|
HandFinger.Ring,
|
|
HandFinger.Ring,
|
|
HandFinger.Pinky,
|
|
HandFinger.Pinky,
|
|
HandFinger.Pinky,
|
|
HandFinger.Pinky,
|
|
HandFinger.Thumb,
|
|
HandFinger.Index,
|
|
HandFinger.Middle,
|
|
HandFinger.Ring,
|
|
HandFinger.Pinky
|
|
};
|
|
|
|
/// <summary>
|
|
/// An array indexed by the integer value of <see cref="HandJointId"/>
|
|
/// which provides the parent <see cref="HandJointId"/>, if applicable.
|
|
/// If the joint used to index into this array does not have a valid parent,
|
|
/// the value at that index will be <see cref="HandFinger.Invalid"/>
|
|
/// </summary>
|
|
public static HandJointId[] JointParentList = new[]
|
|
{
|
|
HandJointId.Invalid,
|
|
HandJointId.HandStart,
|
|
HandJointId.HandStart,
|
|
HandJointId.HandThumb0,
|
|
HandJointId.HandThumb1,
|
|
HandJointId.HandThumb2,
|
|
HandJointId.HandStart,
|
|
HandJointId.HandIndex1,
|
|
HandJointId.HandIndex2,
|
|
HandJointId.HandStart,
|
|
HandJointId.HandMiddle1,
|
|
HandJointId.HandMiddle2,
|
|
HandJointId.HandStart,
|
|
HandJointId.HandRing1,
|
|
HandJointId.HandRing2,
|
|
HandJointId.HandStart,
|
|
HandJointId.HandPinky0,
|
|
HandJointId.HandPinky1,
|
|
HandJointId.HandPinky2,
|
|
HandJointId.HandThumb3,
|
|
HandJointId.HandIndex3,
|
|
HandJointId.HandMiddle3,
|
|
HandJointId.HandRing3,
|
|
HandJointId.HandPinky3
|
|
};
|
|
|
|
/// <summary>
|
|
/// An array indexed by the integer value of <see cref="HandJointId"/>
|
|
/// which provides an array of child <see cref="HandJointId"/>s, if applicable.
|
|
/// If the joint used to index into this array does not have children,
|
|
/// the value at that index will be a zero-length array.
|
|
/// </summary>
|
|
public static HandJointId[][] JointChildrenList = new[]
|
|
{
|
|
new []
|
|
{
|
|
HandJointId.HandForearmStub,
|
|
HandJointId.HandThumb0,
|
|
HandJointId.HandIndex1,
|
|
HandJointId.HandMiddle1,
|
|
HandJointId.HandRing1,
|
|
HandJointId.HandPinky0
|
|
},
|
|
new HandJointId[0],
|
|
new []{ HandJointId.HandThumb1 },
|
|
new []{ HandJointId.HandThumb2 },
|
|
new []{ HandJointId.HandThumb3 },
|
|
new []{ HandJointId.HandThumbTip },
|
|
new []{ HandJointId.HandIndex2 },
|
|
new []{ HandJointId.HandIndex3 },
|
|
new []{ HandJointId.HandIndexTip },
|
|
new []{ HandJointId.HandMiddle2 },
|
|
new []{ HandJointId.HandMiddle3 },
|
|
new []{ HandJointId.HandMiddleTip },
|
|
new []{ HandJointId.HandRing2 },
|
|
new []{ HandJointId.HandRing3 },
|
|
new []{ HandJointId.HandRingTip },
|
|
new []{ HandJointId.HandPinky1 },
|
|
new []{ HandJointId.HandPinky2 },
|
|
new []{ HandJointId.HandPinky3 },
|
|
new []{ HandJointId.HandPinkyTip },
|
|
new HandJointId[0],
|
|
new HandJointId[0],
|
|
new HandJointId[0],
|
|
new HandJointId[0],
|
|
new HandJointId[0]
|
|
};
|
|
|
|
[Obsolete("Use " + nameof(JointToFingerList) + "instead.")]
|
|
public static List<HandJointId> JointIds = new List<HandJointId>()
|
|
{
|
|
HandJointId.HandIndex1,
|
|
HandJointId.HandIndex2,
|
|
HandJointId.HandIndex3,
|
|
HandJointId.HandMiddle1,
|
|
HandJointId.HandMiddle2,
|
|
HandJointId.HandMiddle3,
|
|
HandJointId.HandRing1,
|
|
HandJointId.HandRing2,
|
|
HandJointId.HandRing3,
|
|
HandJointId.HandPinky0,
|
|
HandJointId.HandPinky1,
|
|
HandJointId.HandPinky2,
|
|
HandJointId.HandPinky3,
|
|
HandJointId.HandThumb0,
|
|
HandJointId.HandThumb1,
|
|
HandJointId.HandThumb2,
|
|
HandJointId.HandThumb3
|
|
};
|
|
|
|
/// <summary>
|
|
/// This array is indexed by the integer value of <see cref="HandFinger"/>, and
|
|
/// contains the Proximal <see cref="HandJointId"/> at each finger index.
|
|
/// </summary>
|
|
private static readonly HandJointId[] _handFingerProximals =
|
|
{
|
|
HandJointId.HandThumb2, HandJointId.HandIndex1, HandJointId.HandMiddle1,
|
|
HandJointId.HandRing1, HandJointId.HandPinky1
|
|
};
|
|
|
|
/// <summary>
|
|
/// Returns the Tip joint corresponding to the provided <see cref="HandFinger"/>.
|
|
/// </summary>
|
|
/// <param name="finger">The finger to retrieve the tip for.</param>
|
|
/// <returns>The fingertip joint.</returns>
|
|
public static HandJointId GetHandFingerTip(HandFinger finger)
|
|
{
|
|
return HandJointId.HandMaxSkinnable + (int)finger;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Returns true for HandJointIds that represent finger tips.
|
|
/// </summary>
|
|
public static bool IsFingerTip(HandJointId joint) => joint == HandJointId.HandThumbTip ||
|
|
joint == HandJointId.HandIndexTip ||
|
|
joint == HandJointId.HandMiddleTip ||
|
|
joint == HandJointId.HandRingTip ||
|
|
joint == HandJointId.HandPinkyTip;
|
|
|
|
/// <summary>
|
|
/// Returns the "proximal" JointId for the given finger.
|
|
/// This is commonly known as the Knuckle.
|
|
/// For fingers, proximal is the join with index 1; eg HandIndex1.
|
|
/// For thumb, proximal is the joint with index 2; eg HandThumb2.
|
|
/// </summary>
|
|
public static HandJointId GetHandFingerProximal(HandFinger finger)
|
|
{
|
|
return _handFingerProximals[(int)finger];
|
|
}
|
|
}
|
|
|
|
/// <summary>
|
|
/// Contains the data for a single joint within the <see cref="HandSkeleton"/> hierarchy.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// <see cref="HandSkeleton"/>'s joint hierarchy is stored as an array, but structured as a tree; to calculate
|
|
/// transform data for a join in the hierarchy, one need only start at the correct joint index in
|
|
/// <see cref="HandSkeleton.Joints"/> and follow the <see cref="parent"/> indices backward up the hierarchy to
|
|
/// the root, concatenating transforms throughout the process.
|
|
/// </remarks>
|
|
public struct HandSkeletonJoint
|
|
{
|
|
/// <summary>
|
|
/// Index of the <see cref="HandSkeletonJoint"/> in the skeleton hierarchy (<see cref="HandSkeleton.Joints"/>).
|
|
/// Must always have a lower index than this joint.
|
|
/// </summary>
|
|
public int parent;
|
|
|
|
/// <summary>
|
|
/// Stores the pose of the joint, in local space.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// For an overview of the process of calculating joint poses in non-local space, see the remarks on <see cref="HandSkeletonJoint"/>.
|
|
/// </remarks>
|
|
public Pose pose;
|
|
|
|
/// <summary>
|
|
/// Radius of the bones starting at this joint
|
|
/// </summary>
|
|
public float radius;
|
|
}
|
|
|
|
public interface IReadOnlyHandSkeletonJointList
|
|
{
|
|
ref readonly HandSkeletonJoint this[int jointId] { get; }
|
|
}
|
|
|
|
public interface IReadOnlyHandSkeleton
|
|
{
|
|
IReadOnlyHandSkeletonJointList Joints { get; }
|
|
}
|
|
|
|
/// <summary>
|
|
/// Curiously-recurring generic interface indicating that the implementing type is capable of copying data from other instances of the
|
|
/// same type.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// Because the curiously-recurring pattern requires the concrete type to be known in order to express the interface (i.e.,
|
|
/// ICopyFrom<Foo> cannot be written without knowledge of the type Foo), this interface is only used within other generic types where
|
|
/// <typeparamref name="TSelfType"/> is in turn generic. For a canonical example, see <see cref="DataModifier{TData}"/>.
|
|
/// </remarks>
|
|
/// <typeparam name="TSelfType"></typeparam>
|
|
public interface ICopyFrom<in TSelfType>
|
|
{
|
|
/// <summary>
|
|
/// Copies data from <paramref name="source"/> to the current ICopyFrom instance.
|
|
/// </summary>
|
|
/// <remarks>
|
|
/// For a canonical example, see <see cref="HmdDataAsset"/>.
|
|
/// </remarks>
|
|
/// <param name="source"></param>
|
|
void CopyFrom(TSelfType source);
|
|
}
|
|
|
|
public class ReadOnlyHandJointPoses : IReadOnlyList<Pose>
|
|
{
|
|
private Pose[] _poses;
|
|
|
|
public ReadOnlyHandJointPoses(Pose[] poses)
|
|
{
|
|
_poses = poses;
|
|
}
|
|
|
|
public IEnumerator<Pose> GetEnumerator()
|
|
{
|
|
foreach (var pose in _poses)
|
|
{
|
|
yield return pose;
|
|
}
|
|
}
|
|
|
|
IEnumerator IEnumerable.GetEnumerator()
|
|
{
|
|
return GetEnumerator();
|
|
}
|
|
|
|
public static ReadOnlyHandJointPoses Empty { get; } = new ReadOnlyHandJointPoses(Array.Empty<Pose>());
|
|
|
|
public int Count => _poses.Length;
|
|
|
|
public Pose this[int index] => _poses[index];
|
|
|
|
public ref readonly Pose this[HandJointId index] => ref _poses[(int)index];
|
|
}
|
|
|
|
public class HandSkeleton : IReadOnlyHandSkeleton, IReadOnlyHandSkeletonJointList
|
|
{
|
|
public HandSkeletonJoint[] joints = new HandSkeletonJoint[Constants.NUM_HAND_JOINTS];
|
|
public IReadOnlyHandSkeletonJointList Joints => this;
|
|
public ref readonly HandSkeletonJoint this[int jointId] => ref joints[jointId];
|
|
|
|
|
|
public static readonly HandSkeleton DefaultLeftSkeleton = new HandSkeleton()
|
|
{
|
|
joints = new HandSkeletonJoint[]
|
|
{
|
|
new HandSkeletonJoint(){parent = -1, pose = new Pose(new Vector3(0f,0f,0f), new Quaternion(0f,0f,0f,-1f))},
|
|
new HandSkeletonJoint(){parent = 0, pose = new Pose(new Vector3(0f,0f,0f), new Quaternion(0f,0f,0f,-1f))},
|
|
new HandSkeletonJoint(){parent = 0, pose = new Pose(new Vector3(-0.0200693f,0.0115541f,-0.01049652f), new Quaternion(-0.3753869f,0.4245841f,-0.007778856f,-0.8238644f))},
|
|
new HandSkeletonJoint(){parent = 2, pose = new Pose(new Vector3(-0.02485256f,-9.31E-10f,-1.863E-09f), new Quaternion(-0.2602303f,0.02433088f,0.125678f,-0.9570231f))},
|
|
new HandSkeletonJoint(){parent = 3, pose = new Pose(new Vector3(-0.03251291f,5.82E-10f,1.863E-09f), new Quaternion(0.08270377f,-0.0769617f,-0.08406223f,-0.9900357f))},
|
|
new HandSkeletonJoint(){parent = 4, pose = new Pose(new Vector3(-0.0337931f,3.26E-09f,1.863E-09f), new Quaternion(-0.08350593f,0.06501573f,-0.05827406f,-0.9926752f))},
|
|
new HandSkeletonJoint(){parent = 0, pose = new Pose(new Vector3(-0.09599624f,0.007316455f,-0.02355068f), new Quaternion(-0.03068309f,-0.01885559f,0.04328144f,-0.9984136f))},
|
|
new HandSkeletonJoint(){parent = 6, pose = new Pose(new Vector3(-0.0379273f,-5.82E-10f,-5.97E-10f), new Quaternion(0.02585241f,-0.007116061f,0.003292944f,-0.999635f))},
|
|
new HandSkeletonJoint(){parent = 7, pose = new Pose(new Vector3(-0.02430365f,-6.73E-10f,-6.75E-10f), new Quaternion(0.016056f,-0.02714872f,-0.072034f,-0.9969034f))},
|
|
new HandSkeletonJoint(){parent = 0, pose = new Pose(new Vector3(-0.09564661f,0.002543155f,-0.001725906f), new Quaternion(0.009066326f,-0.05146559f,0.05183575f,-0.9972874f))},
|
|
new HandSkeletonJoint(){parent = 9, pose = new Pose(new Vector3(-0.042927f,-8.51E-10f,-1.193E-09f), new Quaternion(0.01122823f,-0.004378874f,-0.001978267f,-0.9999254f))},
|
|
new HandSkeletonJoint(){parent = 10, pose = new Pose(new Vector3(-0.02754958f,3.09E-10f,1.128E-09f), new Quaternion(0.03431955f,-0.004611839f,-0.09300701f,-0.9950631f))},
|
|
new HandSkeletonJoint(){parent = 0, pose = new Pose(new Vector3(-0.0886938f,0.006529308f,0.01746524f), new Quaternion(0.05315936f,-0.1231034f,0.04981349f,-0.9897162f))},
|
|
new HandSkeletonJoint(){parent = 12, pose = new Pose(new Vector3(-0.0389961f,0f,5.24E-10f), new Quaternion(0.03363252f,-0.00278984f,0.00567602f,-0.9994143f))},
|
|
new HandSkeletonJoint(){parent = 13, pose = new Pose(new Vector3(-0.02657339f,1.281E-09f,1.63E-09f), new Quaternion(0.003477462f,0.02917945f,-0.02502854f,-0.9992548f))},
|
|
new HandSkeletonJoint(){parent = 0, pose = new Pose(new Vector3(-0.03407356f,0.009419836f,0.02299858f), new Quaternion(0.207036f,-0.1403428f,0.0183118f,-0.9680417f))},
|
|
new HandSkeletonJoint(){parent = 15, pose = new Pose(new Vector3(-0.04565055f,9.97679E-07f,-2.193963E-06f), new Quaternion(-0.09111304f,0.00407137f,0.02812923f,-0.9954349f))},
|
|
new HandSkeletonJoint(){parent = 16, pose = new Pose(new Vector3(-0.03072042f,1.048E-09f,-1.75E-10f), new Quaternion(0.03761665f,-0.04293772f,-0.01328605f,-0.9982809f))},
|
|
new HandSkeletonJoint(){parent = 17, pose = new Pose(new Vector3(-0.02031138f,-2.91E-10f,9.31E-10f), new Quaternion(-0.0006447434f,0.04917067f,-0.02401883f,-0.9985014f))},
|
|
new HandSkeletonJoint(){parent = 5, pose = new Pose(new Vector3(-0.02459077f,-0.001026974f,0.0006703701f), new Quaternion(0f,0f,0f,-1f))},
|
|
new HandSkeletonJoint(){parent = 8, pose = new Pose(new Vector3(-0.02236338f,-0.00102507f,0.0002956076f), new Quaternion(0f,0f,0f,-1f))},
|
|
new HandSkeletonJoint(){parent = 11, pose = new Pose(new Vector3(-0.02496492f,-0.001137299f,0.0003086528f), new Quaternion(0f,0f,0f,-1f))},
|
|
new HandSkeletonJoint(){parent = 14, pose = new Pose(new Vector3(-0.02432613f,-0.001608172f,0.000257905f), new Quaternion(0f,0f,0f,-1f))},
|
|
new HandSkeletonJoint(){parent = 18, pose = new Pose(new Vector3(-0.02192238f,-0.001216086f,-0.0002464796f), new Quaternion(0f,0f,0f,-1f)) }
|
|
}
|
|
};
|
|
|
|
public static readonly HandSkeleton DefaultRightSkeleton = new HandSkeleton()
|
|
{
|
|
joints = DefaultLeftSkeleton.joints.Select(joint => new HandSkeletonJoint()
|
|
{
|
|
parent = joint.parent,
|
|
pose = new Pose(-joint.pose.position, joint.pose.rotation)
|
|
}).ToArray()
|
|
};
|
|
|
|
|
|
public static HandSkeleton FromJoints(Transform[] joints)
|
|
{
|
|
HandSkeletonJoint[] skeletonJoints = new HandSkeletonJoint[joints.Length];
|
|
|
|
for (int i = 0; i < joints.Length; i++)
|
|
{
|
|
Pose jointPose = joints[i].GetPose(Space.Self);
|
|
skeletonJoints[i] = new HandSkeletonJoint()
|
|
{
|
|
parent = FindParentIndex(i),
|
|
pose = jointPose
|
|
};
|
|
|
|
}
|
|
|
|
HandSkeleton skeleton = new HandSkeleton() { joints = skeletonJoints };
|
|
return skeleton;
|
|
|
|
int FindParentIndex(int jointIndex)
|
|
{
|
|
Transform parent = joints[jointIndex].parent;
|
|
if (parent == null)
|
|
{
|
|
return -1;
|
|
}
|
|
for (int i = jointIndex - 1; i >= 0; i--)
|
|
{
|
|
if (joints[i] == parent)
|
|
{
|
|
return i;
|
|
}
|
|
}
|
|
return -1;
|
|
}
|
|
}
|
|
}
|
|
}
|