820 lines
36 KiB
C#
820 lines
36 KiB
C#
/*
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* Copyright (c) Meta Platforms, Inc. and affiliates.
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* All rights reserved.
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*
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* Licensed under the Oculus SDK License Agreement (the "License");
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* you may not use the Oculus SDK except in compliance with the License,
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* which is provided at the time of installation or download, or which
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* otherwise accompanies this software in either electronic or hard copy form.
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*
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* You may obtain a copy of the License at
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*
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* https://developer.oculus.com/licenses/oculussdk/
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*
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* Unless required by applicable law or agreed to in writing, the Oculus SDK
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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#if ISDK_OPENXR_HAND
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using OVRHandJointId = Oculus.Interaction.Input.Compatibility.OVR.HandJointId;
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using OpenXRHandJointId = Oculus.Interaction.Input.HandJointId;
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#else
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using OVRHandJointId = Oculus.Interaction.Input.HandJointId;
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using OpenXRHandJointId = Oculus.Interaction.Input.Compatibility.OpenXR.HandJointId;
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#endif
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/// <summary>
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/// Primitive type serialization
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/// </summary>
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#if ISDK_OPENXR_HAND
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namespace Oculus.Interaction.Input
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#else
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namespace Oculus.Interaction.Input.Compatibility.OpenXR
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#endif
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{
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public static class Constants
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{
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/// <summary>
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/// The number of joints in the hand skeleton.
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/// </summary>
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public const int NUM_HAND_JOINTS = (int)HandJointId.HandEnd;
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/// <summary>
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/// The number of fingers in the hand skeleton.
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/// </summary>
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public const int NUM_FINGERS = 5;
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/// <summary>
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/// The local proximal (toward-palm) axis of a Right hand joint.
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/// </summary>
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public static readonly Vector3 RightProximal = Vector3.back;
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/// <summary>
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/// The local distal (away-from-palm) axis of a Right hand joint.
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/// </summary>
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public static readonly Vector3 RightDistal = Vector3.forward;
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/// <summary>
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/// The local to-pinky axis of a Right hand joint.
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/// </summary>
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public static readonly Vector3 RightPinkySide = Vector3.right;
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/// <summary>
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/// The local to-thumb axis of a Right hand joint.
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/// </summary>
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public static readonly Vector3 RightThumbSide = Vector3.left;
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/// <summary>
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/// The local palmar (palm facing) axis of a Right hand joint.
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/// </summary>
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public static readonly Vector3 RightPalmar = Vector3.down;
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/// <summary>
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/// The local dorsal (back-of-hand facing) axis of a Right hand joint.
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/// </summary>
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public static readonly Vector3 RightDorsal = Vector3.up;
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/// <summary>
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/// The local proximal (toward-palm) axis of a Left hand joint.
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/// </summary>
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public static readonly Vector3 LeftProximal = Vector3.back;
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/// <summary>
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/// The local distal (away-from-palm) axis of a Left hand joint.
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/// </summary>
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public static readonly Vector3 LeftDistal = Vector3.forward;
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/// <summary>
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/// The local to-pinky axis of a Left hand joint.
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/// </summary>
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public static readonly Vector3 LeftPinkySide = Vector3.left;
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/// <summary>
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/// The local to-thumb axis of a Left hand joint.
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/// </summary>
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public static readonly Vector3 LeftThumbSide = Vector3.right;
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/// <summary>
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/// The local palmar (palm facing) axis of a Left hand joint.
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/// </summary>
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public static readonly Vector3 LeftPalmar = Vector3.down;
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/// <summary>
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/// The local dorsal (back-of-hand facing) axis of a Left hand joint.
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/// </summary>
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public static readonly Vector3 LeftDorsal = Vector3.up;
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}
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public enum Handedness
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{
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Left = 0,
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Right = 1,
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}
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public enum HandFinger
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{
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Invalid = -1,
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Thumb = 0,
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Index = 1,
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Middle = 2,
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Ring = 3,
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Pinky = 4,
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Max = 4
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}
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[Flags]
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public enum HandFingerFlags
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{
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None = 0,
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Thumb = 1 << 0,
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Index = 1 << 1,
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Middle = 1 << 2,
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Ring = 1 << 3,
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Pinky = 1 << 4,
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All = (1 << 5) - 1
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}
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public enum PinchGrabParam
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{
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PinchDistanceStart = 0,
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PinchDistanceStopMax,
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PinchDistanceStopOffset,
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PinchHqDistanceStart,
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PinchHqDistanceStopMax,
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PinchHqDistanceStopOffset,
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PinchHqViewAngleThreshold,
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ThumbDistanceStart,
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ThumbDistanceStopMax,
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ThumbDistanceStopOffset,
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ThumbMaxDot,
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}
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public enum PalmGrabParamID
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{
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PoseVolumeOffsetRightVec3 = 0,
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PoseVolumeOffsetLeftVec3,
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StartThresholdFloat,
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ReleaseThresholdFloat,
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}
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[Flags]
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public enum HandFingerJointFlags
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{
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None = 0,
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Palm = 1 << HandJointId.HandPalm,
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Wrist = 1 << HandJointId.HandWristRoot,
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Thumb1 = 1 << HandJointId.HandThumb1,
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Thumb2 = 1 << HandJointId.HandThumb2,
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Thumb3 = 1 << HandJointId.HandThumb3,
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ThumbTip = 1 << HandJointId.HandThumbTip,
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Index0 = 1 << HandJointId.HandIndex0,
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Index1 = 1 << HandJointId.HandIndex1,
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Index2 = 1 << HandJointId.HandIndex2,
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Index3 = 1 << HandJointId.HandIndex3,
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IndexTip = 1 << HandJointId.HandIndexTip,
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Middle0 = 1 << HandJointId.HandMiddle0,
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Middle1 = 1 << HandJointId.HandMiddle1,
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Middle2 = 1 << HandJointId.HandMiddle2,
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Middle3 = 1 << HandJointId.HandMiddle3,
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MiddleTip = 1 << HandJointId.HandMiddleTip,
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Ring0 = 1 << HandJointId.HandRing0,
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Ring1 = 1 << HandJointId.HandRing1,
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Ring2 = 1 << HandJointId.HandRing2,
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Ring3 = 1 << HandJointId.HandRing3,
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RingTip = 1 << HandJointId.HandRingTip,
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Pinky0 = 1 << HandJointId.HandPinky0,
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Pinky1 = 1 << HandJointId.HandPinky1,
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Pinky2 = 1 << HandJointId.HandPinky2,
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Pinky3 = 1 << HandJointId.HandPinky3,
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PinkyTip = 1 << HandJointId.HandPinkyTip,
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HandMaxSkinnable = 1 << HandJointId.HandMaxSkinnable,
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All = (1 << HandJointId.HandEnd) - 1
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}
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/// <summary>
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/// Utility methods for working with <see cref="HandFinger"/> data.
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/// </summary>
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public static class HandFingerUtils
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{
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/// <summary>
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/// Convert the provided <see cref="HandFinger"/> to <see cref="HandFingerFlags"/>.
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/// </summary>
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/// <param name="handFinger">The finger to convert to flags.</param>
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/// <returns>Flags representing the provided finger.</returns>
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public static HandFingerFlags ToFlags(HandFinger handFinger)
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{
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return (HandFingerFlags)(1 << (int)handFinger);
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}
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}
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public enum HandJointId
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{
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Invalid = -1,
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HandStart = 0,
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/// <summary>
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/// Palm
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/// </summary>
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[Tooltip("Palm")]
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HandPalm = HandStart + 0,
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/// <summary>
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/// Wrist Joint
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/// </summary>
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[Tooltip("Wrist Joint")]
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HandWristRoot = HandStart + 1,
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/// <summary>
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/// Thumb Metacarpal Joint
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/// </summary>
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[Tooltip("Thumb Metacarpal Joint")]
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HandThumb1 = HandStart + 2,
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/// <summary>
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/// Thumb Proximal Joint
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/// </summary>
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[Tooltip("Thumb Proximal Joint")]
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HandThumb2 = HandStart + 3,
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/// <summary>
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/// Thumb Distal Joint
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/// </summary>
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[Tooltip("Thumb Distal Joint")]
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HandThumb3 = HandStart + 4,
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/// <summary>
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/// Thumb Tip
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/// </summary>
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[Tooltip("Thumb Tip")]
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HandThumbTip = HandStart + 5,
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/// <summary>
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/// Index Finger Metacarpal Joint
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/// </summary>
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[Tooltip("Index Finger Metacarpal Joint")]
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HandIndex0 = HandStart + 6,
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/// <summary>
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/// Index Finger Proximal Joint
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/// </summary>
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[Tooltip("Index Finger Proximal Joint")]
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HandIndex1 = HandStart + 7,
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/// <summary>
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/// Index Finger Intermediate Joint
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/// </summary>
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[Tooltip("Index Finger Intermediate Joint")]
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HandIndex2 = HandStart + 8,
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/// <summary>
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/// Index Finger Distal Joint
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/// </summary>
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[Tooltip("Index Finger Distal Joint")]
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HandIndex3 = HandStart + 9,
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/// <summary>
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/// Index Finger Tip
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/// </summary>
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[Tooltip("Index Finger Tip")]
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HandIndexTip = HandStart + 10,
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/// <summary>
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/// Middle Finger Metacarpal Joint
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/// </summary>
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[Tooltip("Middle Finger Metacarpal Joint")]
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HandMiddle0 = HandStart + 11,
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/// <summary>
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/// Middle Finger Proximal Joint
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/// </summary>
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[Tooltip("Middle Finger Proximal Joint")]
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HandMiddle1 = HandStart + 12,
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/// <summary>
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/// Middle Finger Intermediate Joint
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/// </summary>
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[Tooltip("Middle Finger Intermediate Joint")]
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HandMiddle2 = HandStart + 13,
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/// <summary>
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/// Middle Finger Distal Joint
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/// </summary>
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[Tooltip("Middle Finger Distal Joint")]
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HandMiddle3 = HandStart + 14,
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/// <summary>
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/// Middle Finger Tip
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/// </summary>
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[Tooltip("Middle Finger Tip")]
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HandMiddleTip = HandStart + 15,
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/// <summary>
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/// Ring Finger Metacarpal Joint
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/// </summary>
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[Tooltip("Ring Finger Metacarpal Joint")]
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HandRing0 = HandStart + 16,
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/// <summary>
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/// Ring Finger Proximal Joint
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/// </summary>
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[Tooltip("Ring Finger Proximal Joint")]
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HandRing1 = HandStart + 17,
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/// <summary>
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/// Ring Finger Intermediate Joint
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/// </summary>
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[Tooltip("Ring Finger Intermediate Joint")]
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HandRing2 = HandStart + 18,
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/// <summary>
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/// Ring Finger Distal Joint
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/// </summary>
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[Tooltip("Ring Finger Distal Joint")]
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HandRing3 = HandStart + 19,
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/// <summary>
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/// Ring Finger Tip
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/// </summary>
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[Tooltip("Ring Finger Tip")]
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HandRingTip = HandStart + 20,
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/// <summary>
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/// Pinky Finger Metacarpal Joint
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/// </summary>
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[Tooltip("Pinky Finger Metacarpal Joint")]
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HandPinky0 = HandStart + 21,
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/// <summary>
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/// Pinky Finger Proximal Joint
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/// </summary>
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[Tooltip("Pinky Finger Proximal Joint")]
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HandPinky1 = HandStart + 22,
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/// <summary>
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/// Pinky Finger Intermediate Joint
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/// </summary>
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[Tooltip("Pinky Finger Intermediate Joint")]
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HandPinky2 = HandStart + 23,
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/// <summary>
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/// Pinky Finger Distal Joint
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/// </summary>
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[Tooltip("Pinky Finger Distal Joint")]
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HandPinky3 = HandStart + 24,
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/// <summary>
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/// Pinky Finger Tip
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/// </summary>
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[Tooltip("Pinky Finger Tip")]
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HandPinkyTip = HandStart + 25,
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HandEnd = HandStart + 26,
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HandMaxSkinnable = HandEnd,
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}
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/// <summary>
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/// Utility methods for working with <see cref="HandJointId"/>s.
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/// </summary>
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public class HandJointUtils
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{
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/// <summary>
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/// A list of joint arrays representing <see cref="HandJointId"/>s for each finger.
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/// The list is indexed by the integer value of <see cref="HandFinger"/>.
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/// </summary>
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public static List<HandJointId[]> FingerToJointList = new List<HandJointId[]>()
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{
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new[] {HandJointId.HandThumb1,HandJointId.HandThumb2,HandJointId.HandThumb3,HandJointId.HandThumbTip},
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new[] {HandJointId.HandIndex0,HandJointId.HandIndex1, HandJointId.HandIndex2, HandJointId.HandIndex3, HandJointId.HandIndexTip},
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new[] {HandJointId.HandMiddle0,HandJointId.HandMiddle1, HandJointId.HandMiddle2, HandJointId.HandMiddle3, HandJointId.HandMiddleTip},
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new[] {HandJointId.HandRing0,HandJointId.HandRing1,HandJointId.HandRing2,HandJointId.HandRing3, HandJointId.HandRingTip},
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new[] {HandJointId.HandPinky0, HandJointId.HandPinky1, HandJointId.HandPinky2, HandJointId.HandPinky3, HandJointId.HandPinkyTip}
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};
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/// <summary>
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/// An array indexed by the integer value of <see cref="HandJointId"/>
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/// which provides the corresponding <see cref="HandFinger"/>, if applicable.
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/// If the joint used to index into this array is not a finger joint,
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/// the value at that index will be <see cref="HandFinger.Invalid"/>
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/// </summary>
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public static HandFinger[] JointToFingerList = new[]
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{
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HandFinger.Invalid, //HandPalm == 0
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HandFinger.Invalid, //HandWrist
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HandFinger.Thumb, //ThumbMetacarpal
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HandFinger.Thumb, //ThumbProximal
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HandFinger.Thumb, //ThumbDistal
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HandFinger.Thumb, //ThumbTip
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HandFinger.Index, //IndexMetacarpal
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HandFinger.Index, //IndexProximal
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HandFinger.Index, //IndexIntermediate
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HandFinger.Index, //IndexDistal
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HandFinger.Index, //IndexTip
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HandFinger.Middle, //MiddleMetacarpal
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HandFinger.Middle, //MiddleProximal
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HandFinger.Middle, //MiddleIntermediate
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HandFinger.Middle, //MiddleDistal
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HandFinger.Middle, //MiddleTip
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HandFinger.Ring, //RingMetacarpal
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HandFinger.Ring, //RingProximal
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HandFinger.Ring, //RingIntermediate
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HandFinger.Ring, //RingDistal
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HandFinger.Ring, //RingTip
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HandFinger.Pinky, //PinkyMetacarpal
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HandFinger.Pinky, //PinkyProximal
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HandFinger.Pinky, //PinkyIntermediate
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HandFinger.Pinky, //PinkyDistal
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HandFinger.Pinky, //PinkyTip
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};
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/// <summary>
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/// An array indexed by the integer value of <see cref="HandJointId"/>
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/// which provides the parent <see cref="HandJointId"/>, if applicable.
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/// If the joint used to index into this array does not have a valid parent,
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/// the value at that index will be <see cref="HandFinger.Invalid"/>
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/// </summary>
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public static HandJointId[] JointParentList = new[]
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{
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HandJointId.HandWristRoot, //HandPalm == 0
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HandJointId.Invalid, //HandWrist
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HandJointId.HandWristRoot, //ThumbMetacarpal
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HandJointId.HandThumb1, //ThumbProximal
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HandJointId.HandThumb2, //ThumbDistal
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HandJointId.HandThumb3, //ThumbTip
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HandJointId.HandWristRoot, //IndexMetacarpal
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HandJointId.HandIndex0, //IndexProximal
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HandJointId.HandIndex1, //IndexIntermediate
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HandJointId.HandIndex2, //IndexDistal
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HandJointId.HandIndex3, //IndexTip
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HandJointId.HandWristRoot, //MiddleMetacarpal
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HandJointId.HandMiddle0, //MiddleProximal
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HandJointId.HandMiddle1, //MiddleIntermediate
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HandJointId.HandMiddle2, //MiddleDistal
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HandJointId.HandMiddle3, //MiddleTip
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HandJointId.HandWristRoot, //RingMetacarpal
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HandJointId.HandRing0, //RingProximal
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HandJointId.HandRing1, //RingIntermediate
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HandJointId.HandRing2, //RingDistal
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HandJointId.HandRing3, //RingTip
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HandJointId.HandWristRoot, //PinkyMetacarpal
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HandJointId.HandPinky0, //PinkyProximal
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HandJointId.HandPinky1, //PinkyIntermediate
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HandJointId.HandPinky2, //PinkyDistal
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HandJointId.HandPinky3, //PinkyTip
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};
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/// <summary>
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/// An array indexed by the integer value of <see cref="HandJointId"/>
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/// which provides an array of child <see cref="HandJointId"/>s, if applicable.
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/// If the joint used to index into this array does not have children,
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/// the value at that index will be a zero-length array.
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/// </summary>
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public static HandJointId[][] JointChildrenList = new[]
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{
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new HandJointId[0], //HandPalm
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new [] //HandWrist
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{
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HandJointId.HandPalm,
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HandJointId.HandThumb1,
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HandJointId.HandIndex0,
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HandJointId.HandMiddle0,
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HandJointId.HandRing0,
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HandJointId.HandPinky0
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},
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new []{ HandJointId.HandThumb2 }, //ThumbMetacarpal
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new []{ HandJointId.HandThumb3 }, //ThumbProximal
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new []{ HandJointId.HandThumbTip }, //ThumbDistal
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new HandJointId[0], //ThumbTip
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new []{ HandJointId.HandIndex1 }, //IndexMetacarpal
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new []{ HandJointId.HandIndex2 }, //IndexProximal
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new []{ HandJointId.HandIndex3 }, //IndexIntermediate
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new []{ HandJointId.HandIndexTip }, //IndexDistal
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new HandJointId[0], //IndexTip
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new []{ HandJointId.HandMiddle1 }, //MiddleMetacarpal
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new []{ HandJointId.HandMiddle2 }, //MiddleProximal
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new []{ HandJointId.HandMiddle3 }, //MiddleIntermediate
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new []{ HandJointId.HandMiddleTip }, //MiddleDistal
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new HandJointId[0], //MiddleTip
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new []{ HandJointId.HandRing1 }, //RingMetacarpal
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new []{ HandJointId.HandRing2 }, //RingProximal
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new []{ HandJointId.HandRing3 }, //RingIntermediate
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new []{ HandJointId.HandRingTip }, //RingDistal
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new HandJointId[0], //RingTip
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new []{ HandJointId.HandPinky1 }, //PinkyMetacarpal
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new []{ HandJointId.HandPinky2 }, //PinkyProximal
|
|
new []{ HandJointId.HandPinky3 }, //PinkyIntermediate
|
|
new []{ HandJointId.HandPinkyTip }, //PinkyDistal
|
|
new HandJointId[0], //PinkyTip
|
|
};
|
|
|
|
[Obsolete("Use " + nameof(JointToFingerList) + "instead.")]
|
|
public static List<HandJointId> JointIds = new List<HandJointId>()
|
|
{
|
|
HandJointId.HandIndex0,
|
|
HandJointId.HandIndex1,
|
|
HandJointId.HandIndex2,
|
|
HandJointId.HandIndex3,
|
|
HandJointId.HandMiddle0,
|
|
HandJointId.HandMiddle1,
|
|
HandJointId.HandMiddle2,
|
|
HandJointId.HandMiddle3,
|
|
HandJointId.HandRing0,
|
|
HandJointId.HandRing1,
|
|
HandJointId.HandRing2,
|
|
HandJointId.HandRing3,
|
|
HandJointId.HandPinky0,
|
|
HandJointId.HandPinky1,
|
|
HandJointId.HandPinky2,
|
|
HandJointId.HandPinky3,
|
|
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)
|
|
{
|
|
switch (finger)
|
|
{
|
|
default:
|
|
case HandFinger.Invalid:
|
|
return HandJointId.Invalid;
|
|
case HandFinger.Thumb:
|
|
return HandJointId.HandThumbTip;
|
|
case HandFinger.Index:
|
|
return HandJointId.HandIndexTip;
|
|
case HandFinger.Middle:
|
|
return HandJointId.HandMiddleTip;
|
|
case HandFinger.Ring:
|
|
return HandJointId.HandRingTip;
|
|
case HandFinger.Pinky:
|
|
return HandJointId.HandPinkyTip;
|
|
}
|
|
}
|
|
|
|
/// <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>
|
|
/// Translates an array of joint poses in wrist space to an orientation-only
|
|
/// <see cref="Quaternion"/> array in local space.
|
|
/// </summary>
|
|
/// <param name="jointPoses">Joint poses in wrist space.</param>
|
|
/// <param name="joints">Joint orientations in local space (local to the joint's parent).</param>
|
|
/// <returns>True if the arrays provided are valid for this operation.</returns>
|
|
public static bool WristJointPosesToLocalRotations(Pose[] jointPoses, ref Quaternion[] joints)
|
|
{
|
|
if (jointPoses.Length < Constants.NUM_HAND_JOINTS ||
|
|
joints.Length < Constants.NUM_HAND_JOINTS)
|
|
{
|
|
return false;
|
|
}
|
|
for (int i = 0; i < Constants.NUM_HAND_JOINTS; i++)
|
|
{
|
|
int parent = (int)HandJointUtils.JointParentList[i];
|
|
joints[i] = parent < 0 ? Quaternion.identity :
|
|
Quaternion.Inverse(jointPoses[parent].rotation) *
|
|
jointPoses[i].rotation;
|
|
}
|
|
return true;
|
|
}
|
|
}
|
|
|
|
/// <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;
|
|
}
|
|
|
|
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(0.000863f, -0.001272f, 0.047823f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = -1, pose = new Pose(new Vector3(0f, 0f, 0f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(0.030218f, -0.016084f, 0.034498f), new Quaternion(-0.06665304f, 0.3969201f, -0.5750258f, 0.71229f))},
|
|
new HandSkeletonJoint() { parent = 2, pose = new Pose(new Vector3(-1.152053E-06f, -4.860463E-06f, 0.03251399f), new Quaternion(0.2201137f, -0.05016914f, 0.08162888f, 0.9707573f))},
|
|
new HandSkeletonJoint() { parent = 3, pose = new Pose(new Vector3(-1.023574E-06f, -1.828242E-06f, 0.03379434f), new Quaternion(0.1129198f, 0.05065549f, -0.0791567f, 0.9891499f))},
|
|
new HandSkeletonJoint() { parent = 4, pose = new Pose(new Vector3(-0.0006706798f, 0.001025644f, 0.02459195f), new Quaternion(-9.62965E-35f, -2.775558E-17f, -3.469447E-18f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(0.019819f, -0.009505f, 0.036448f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 6, pose = new Pose(new Vector3(0.003732f, 0.002189f, 0.059548f), new Quaternion(0.151882f, 0.07698268f, -0.0411778f, 0.9845354f))},
|
|
new HandSkeletonJoint() { parent = 7, pose = new Pose(new Vector3(1.45847E-06f, -1.820559E-06f, 0.03792747f), new Quaternion(0.1307591f, -0.003759917f, 0.02628858f, 0.9910585f))},
|
|
new HandSkeletonJoint() { parent = 8, pose = new Pose(new Vector3(9.285007E-07f, 1.593788E-07f, 0.02430516f), new Quaternion(-0.003017978f, -0.02607772f, 0.0164322f, 0.9995203f))},
|
|
new HandSkeletonJoint() { parent = 9, pose = new Pose(new Vector3(-0.0002949532f, 0.001025431f, 0.02236465f), new Quaternion(0f, 4.336809E-19f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(0.00361f, -0.007648f, 0.034286f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 11, pose = new Pose(new Vector3(-0.001884f, 0.005105f, 0.061361f), new Quaternion(0.1896454f, -0.0117154f, 0.009750124f, 0.9817344f))},
|
|
new HandSkeletonJoint() { parent = 12, pose = new Pose(new Vector3(-3.311234E-07f, -8.804644E-07f, 0.04292654f), new Quaternion(0.2042747f, -0.001967482f, 0.0123084f, 0.9788343f))},
|
|
new HandSkeletonJoint() { parent = 13, pose = new Pose(new Vector3(1.703013E-07f, 5.871987E-07f, 0.02754843f), new Quaternion(-0.03223448f, -0.001938704f, 0.040453f, 0.9986595f))},
|
|
new HandSkeletonJoint() { parent = 14, pose = new Pose(new Vector3(-0.0003095091f, 0.001137151f, 0.02496384f), new Quaternion(2.775558E-17f, 3.469447E-18f, 6.938894E-18f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(-0.014992f, -0.006016f, 0.034776f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 16, pose = new Pose(new Vector3(-0.002473f, -0.000513f, 0.053918f), new Quaternion(0.08123156f, -0.08615339f, 0.05587993f, 0.9913912f))},
|
|
new HandSkeletonJoint() { parent = 17, pose = new Pose(new Vector3(5.266108E-07f, 3.652638E-07f, 0.03899503f), new Quaternion(0.3017412f, 0.007293773f, 0.03955524f, 0.9525411f))},
|
|
new HandSkeletonJoint() { parent = 18, pose = new Pose(new Vector3(-1.039646E-06f, -5.423256E-07f, 0.02657356f), new Quaternion(0.09175414f, 0.02957179f, 0.008965106f, 0.9953021f))},
|
|
new HandSkeletonJoint() { parent = 19, pose = new Pose(new Vector3(-0.0002563861f, 0.001608112f, 0.02432607f), new Quaternion(-2.942483E-05f, -2.775558E-17f, -8.16703E-22f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(-0.022999f, -0.009419999f, 0.034074f), new Quaternion(0.01833355f, -0.1403366f, 0.2070356f, 0.9680423f))},
|
|
new HandSkeletonJoint() { parent = 21, pose = new Pose(new Vector3(2.530307E-06f, 1.160611E-06f, 0.04565198f), new Quaternion(-0.06267674f, -0.05101484f, -0.09903724f, 0.9917967f))},
|
|
new HandSkeletonJoint() { parent = 22, pose = new Pose(new Vector3(1.720091E-07f, -6.646861E-07f, 0.03071994f), new Quaternion(0.3602582f, -0.025497f, 0.06776039f, 0.930039f))},
|
|
new HandSkeletonJoint() { parent = 23, pose = new Pose(new Vector3(1.354028E-07f, 6.386686E-07f, 0.02031132f), new Quaternion(0.1151107f, 0.04873112f, -0.001109484f, 0.992156f))},
|
|
new HandSkeletonJoint() { parent = 24, pose = new Pose(new Vector3(0.0002463258f, 0.001215198f, 0.02192333f), new Quaternion(-2.775558E-17f, 2.775558E-17f, -1.387779E-17f, 1f))},
|
|
}
|
|
};
|
|
|
|
public static readonly HandSkeleton DefaultRightSkeleton = new HandSkeleton()
|
|
{
|
|
joints = new HandSkeletonJoint[]
|
|
{
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(-0.000863f, -0.001272f, 0.047823f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = -1, pose = new Pose(new Vector3(0f, 0f, 0f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(-0.030218f, -0.016084f, 0.034498f), new Quaternion(-0.127078f, -0.4597233f, 0.5512751f, 0.6845447f))},
|
|
new HandSkeletonJoint() { parent = 2, pose = new Pose(new Vector3(0.0009862719f, -0.005712928f, 0.03199217f), new Quaternion(0.3039057f, 0.06966191f, -0.09680318f, 0.9452078f))},
|
|
new HandSkeletonJoint() { parent = 3, pose = new Pose(new Vector3(1.384091E-06f, -6.110277E-06f, 0.03379152f), new Quaternion(0.1129837f, -0.05061896f, 0.07914509f, 0.9891453f))},
|
|
new HandSkeletonJoint() { parent = 4, pose = new Pose(new Vector3(0.0006700723f, 0.001027423f, 0.0245905f), new Quaternion(1.734723E-18f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(-0.019819f, -0.009505f, 0.036448f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 6, pose = new Pose(new Vector3(-0.003732f, 0.002189f, 0.059548f), new Quaternion(0.151882f, -0.07698268f, 0.0411778f, 0.9845354f))},
|
|
new HandSkeletonJoint() { parent = 7, pose = new Pose(new Vector3(-1.294385E-06f, -1.527845E-06f, 0.03792841f), new Quaternion(0.1307591f, 0.003759917f, -0.02628858f, 0.9910585f))},
|
|
new HandSkeletonJoint() { parent = 8, pose = new Pose(new Vector3(-9.285007E-07f, 1.593788E-07f, 0.02430516f), new Quaternion(-0.003017978f, 0.02607772f, -0.0164322f, 0.9995203f))},
|
|
new HandSkeletonJoint() { parent = 9, pose = new Pose(new Vector3(0.0002948791f, 0.001024898f, 0.0223638f), new Quaternion(0f, -4.336809E-19f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(-0.00361f, -0.007648f, 0.034286f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 11, pose = new Pose(new Vector3(0.001884f, 0.005105f, 0.061361f), new Quaternion(0.1896454f, 0.0117154f, -0.009750124f, 0.9817344f))},
|
|
new HandSkeletonJoint() { parent = 12, pose = new Pose(new Vector3(3.311234E-07f, -8.804644E-07f, 0.04292654f), new Quaternion(0.2042747f, 0.001967482f, -0.0123084f, 0.9788343f))},
|
|
new HandSkeletonJoint() { parent = 13, pose = new Pose(new Vector3(-1.703013E-07f, 5.871987E-07f, 0.02754843f), new Quaternion(-0.03223448f, 0.001938704f, -0.040453f, 0.9986595f))},
|
|
new HandSkeletonJoint() { parent = 14, pose = new Pose(new Vector3(0.0003095091f, 0.001137151f, 0.02496384f), new Quaternion(2.775558E-17f, -3.469447E-18f, -6.938894E-18f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(0.014992f, -0.006016f, 0.034776f), new Quaternion(0f, 0f, 0f, 1f))},
|
|
new HandSkeletonJoint() { parent = 16, pose = new Pose(new Vector3(0.002473f, -0.000513f, 0.053918f), new Quaternion(0.08123156f, 0.08615339f, -0.05587993f, 0.9913912f))},
|
|
new HandSkeletonJoint() { parent = 17, pose = new Pose(new Vector3(-5.266108E-07f, 3.652638E-07f, 0.03899503f), new Quaternion(0.3017412f, -0.007293773f, -0.03955524f, 0.9525411f))},
|
|
new HandSkeletonJoint() { parent = 18, pose = new Pose(new Vector3(1.039646E-06f, -5.423256E-07f, 0.02657356f), new Quaternion(0.09172485f, -0.02957153f, -0.008965976f, 0.9953048f))},
|
|
new HandSkeletonJoint() { parent = 19, pose = new Pose(new Vector3(0.0002563861f, 0.001606592f, 0.02432617f), new Quaternion(2.775558E-17f, 1.387779E-17f, -3.85186E-34f, 1f))},
|
|
new HandSkeletonJoint() { parent = 1, pose = new Pose(new Vector3(0.022999f, -0.009419999f, 0.034074f), new Quaternion(0.01833355f, 0.1403366f, -0.2070356f, 0.9680423f))},
|
|
new HandSkeletonJoint() { parent = 21, pose = new Pose(new Vector3(-2.530307E-06f, 1.160611E-06f, 0.04565198f), new Quaternion(-0.06267674f, 0.05101484f, 0.09903724f, 0.9917967f))},
|
|
new HandSkeletonJoint() { parent = 22, pose = new Pose(new Vector3(-1.720091E-07f, -6.646861E-07f, 0.03071994f), new Quaternion(0.3602582f, 0.025497f, -0.06776039f, 0.930039f))},
|
|
new HandSkeletonJoint() { parent = 23, pose = new Pose(new Vector3(-1.354028E-07f, 6.386686E-07f, 0.02031132f), new Quaternion(0.1151107f, -0.04873112f, 0.001109484f, 0.992156f))},
|
|
new HandSkeletonJoint() { parent = 24, pose = new Pose(new Vector3(-0.0002463258f, 0.001215198f, 0.02192333f), new Quaternion(-2.775558E-17f, -2.775558E-17f, 1.387779E-17f, 1f))},
|
|
}
|
|
};
|
|
|
|
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|