annotate Orchestland/Assets/LeapMotion/Scripts/Hands/HandModel.cs @ 1:f7675884f2a1

Add Orchestland project
author Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
date Fri, 17 Jul 2015 23:09:20 +0900
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1 /******************************************************************************\
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2 * Copyright (C) Leap Motion, Inc. 2011-2014. *
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3 * Leap Motion proprietary. Licensed under Apache 2.0 *
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4 * Available at http://www.apache.org/licenses/LICENSE-2.0.html *
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5 \******************************************************************************/
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6
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7 using UnityEngine;
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8 using System.Collections;
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9 using Leap;
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10
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11 /**
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12 * The base class for all hand models, both graphics and physics.
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13 *
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14 * This class serves as the interface between the HandController object
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15 * and the concrete hand object containing the graphics and physics of a hand.
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16 *
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17 * Subclasses of HandModel must implement InitHand() and UpdateHand(). The UpdateHand()
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18 * function is called in the Unity Update() phase for graphics HandModel instances;
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19 * and in the Unity FixedUpdate() phase for physics objects. InitHand() is called once,
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20 * when the hand is created and is followed by a call to UpdateHand().
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21 */
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22 public abstract class HandModel : MonoBehaviour {
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23
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24 /** The number of fingers on a hand.*/
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25 public const int NUM_FINGERS = 5;
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26
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27 /** The model width of the hand in meters. This value is used with the measured value
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28 * of the user's hand to scale the model proportionally.
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29 */
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30 public float handModelPalmWidth = 0.085f;
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31 /** The array of finger objects for this hand. The array is ordered from thumb (element 0) to pinky (element 4).*/
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32 public FingerModel[] fingers = new FingerModel[NUM_FINGERS];
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33
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34 // Unity references
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35 public Transform palm;
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36 public Transform forearm;
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37 public Transform wristJoint;
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38 public Transform elbowJoint;
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39
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40 // Leap references
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41 /** The Leap Hand object this hand model represents. */
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42 protected Hand hand_;
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43 /** The parent HandController object for this hand. */
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44 protected HandController controller_;
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45
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46 /** Whether the parent HandController instance has been set to mirror across the z axis.*/
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47 protected bool mirror_z_axis_ = false;
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48
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49 /**
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50 * Calculates the offset between the wrist position and the controller based
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51 * on the HandController.handMovementScale property and the Leap hand wrist position.
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52 */
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53 public Vector3 GetHandOffset() {
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54 if (controller_ == null || hand_ == null)
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55 return Vector3.zero;
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56
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57 Vector3 additional_movement = controller_.handMovementScale - Vector3.one;
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58 Vector3 scaled_wrist_position = Vector3.Scale(additional_movement, hand_.WristPosition.ToUnityScaled(mirror_z_axis_));
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59
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60 return controller_.transform.TransformPoint(scaled_wrist_position) -
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61 controller_.transform.position;
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62 }
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63
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64 /** Calculates the position of the palm relative to the controller.
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65 * @returns A Vector3 containing the Unity coordinates of the palm position.
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66 */
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67 public Vector3 GetPalmPosition() {
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68 if (controller_ != null && hand_ != null) {
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69 return controller_.transform.TransformPoint (hand_.PalmPosition.ToUnityScaled (mirror_z_axis_)) + GetHandOffset ();
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70 }
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71 if (palm) {
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72 return palm.position;
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73 }
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74 return Vector3.zero;
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75 }
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76
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77 /** Calculates the rotation of the hand relative to the controller.
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78 * @returns A Quaternion representing the rotation of the hand relative to the controller.
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79 */
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80 public Quaternion GetPalmRotation() {
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81 if (controller_ != null && hand_ != null) {
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82 return controller_.transform.rotation * hand_.Basis.Rotation(mirror_z_axis_);
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83 }
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84 if (palm) {
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85 return palm.rotation;
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86 }
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87 return Quaternion.identity;
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88 }
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89
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90 /** Calculates the direction vector of the hand relative to the controller.
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91 * @returns A Vector3 representing the direction of the hand relative to the controller.
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92 */
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93 public Vector3 GetPalmDirection() {
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94 if (controller_ != null && hand_ != null) {
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95 return controller_.transform.TransformDirection(hand_.Direction.ToUnity(mirror_z_axis_));
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96 }
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97 if (palm) {
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98 return palm.forward;
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99 }
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100 return Vector3.forward;
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101 }
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102
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103 /** Calculates the normal vector projecting from the hand relative to the controller.
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104 * @returns A Vector3 representing the vector perpendicular to the palm.
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105 */
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106 public Vector3 GetPalmNormal() {
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107 if (controller_ != null && hand_ != null) {
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108 return controller_.transform.TransformDirection(hand_.PalmNormal.ToUnity(mirror_z_axis_));
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109 }
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110 if (palm) {
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111 return -palm.up;
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112 }
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113 return -Vector3.up;
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114 }
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115
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116 /** Calculates the direction vector of the forearm relative to the controller.
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117 * @returns A Vector3 representing the direction of the forearm (pointing from elbow to wrist).
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118 */
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119 public Vector3 GetArmDirection() {
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120 if (controller_ != null && hand_ != null) {
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121 return controller_.transform.TransformDirection(hand_.Arm.Direction.ToUnity(mirror_z_axis_));
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122 }
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123 if (forearm) {
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124 return forearm.forward;
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125 }
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126 return Vector3.forward;
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127 }
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128
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129 /** Calculates the center of the forearm relative to the controller.
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diff changeset
130 * @returns A Vector3 containing the Unity coordinates of the center of the forearm.
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131 */
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132 public Vector3 GetArmCenter() {
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133 if (controller_ != null && hand_ != null) {
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parents:
diff changeset
134 Vector leap_center = 0.5f * (hand_.Arm.WristPosition + hand_.Arm.ElbowPosition);
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135 return controller_.transform.TransformPoint (leap_center.ToUnityScaled (mirror_z_axis_)) + GetHandOffset ();
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parents:
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136 }
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diff changeset
137 if (forearm) {
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parents:
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138 return forearm.position;
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139 }
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140 return Vector3.zero;
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parents:
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141 }
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142
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143 /** Returns the measured length of the forearm in meters.*/
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diff changeset
144 public float GetArmLength() {
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145 return (hand_.Arm.WristPosition - hand_.Arm.ElbowPosition).Magnitude * UnityVectorExtension.INPUT_SCALE;
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146 }
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147
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148 /** Returns the measured width of the forearm in meters.*/
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
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diff changeset
149 public float GetArmWidth() {
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diff changeset
150 return hand_.Arm.Width * UnityVectorExtension.INPUT_SCALE;
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151 }
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152
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153 /** Calculates the position of the elbow relative to the controller.
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parents:
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154 * @returns A Vector3 containing the Unity coordinates of the elbow.
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155 */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
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diff changeset
156 public Vector3 GetElbowPosition() {
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157 if (controller_ != null && hand_ != null) {
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diff changeset
158 Vector3 local_position = hand_.Arm.ElbowPosition.ToUnityScaled (mirror_z_axis_);
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parents:
diff changeset
159 return controller_.transform.TransformPoint (local_position) + GetHandOffset ();
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160 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
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161 if (elbowJoint) {
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parents:
diff changeset
162 return elbowJoint.position;
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parents:
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163 }
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parents:
diff changeset
164 return Vector3.zero;
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parents:
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165 }
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parents:
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166
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parents:
diff changeset
167 /** Calculates the position of the wrist relative to the controller.
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parents:
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168 * @returns A Vector3 containing the Unity coordinates of the wrist.
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parents:
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169 */
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parents:
diff changeset
170 public Vector3 GetWristPosition() {
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parents:
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171 if (controller_ != null && hand_ != null) {
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parents:
diff changeset
172 Vector3 local_position = hand_.Arm.WristPosition.ToUnityScaled (mirror_z_axis_);
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parents:
diff changeset
173 return controller_.transform.TransformPoint (local_position) + GetHandOffset ();
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parents:
diff changeset
174 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
175 if (wristJoint) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
176 return wristJoint.position;
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parents:
diff changeset
177 }
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parents:
diff changeset
178 return Vector3.zero;
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parents:
diff changeset
179 }
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parents:
diff changeset
180
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parents:
diff changeset
181 /** Calculates the rotation of the forearm relative to the controller.
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parents:
diff changeset
182 * @returns A Quaternion representing the rotation of the arm relative to the controller.
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parents:
diff changeset
183 */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
184 public Quaternion GetArmRotation() {
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parents:
diff changeset
185 if (controller_ != null && hand_ != null) {
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parents:
diff changeset
186 Quaternion local_rotation = hand_.Arm.Basis.Rotation (mirror_z_axis_);
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parents:
diff changeset
187 return controller_.transform.rotation * local_rotation;
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188 }
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parents:
diff changeset
189 if (forearm) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
190 return forearm.rotation;
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parents:
diff changeset
191 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
192 return Quaternion.identity;
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parents:
diff changeset
193 }
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parents:
diff changeset
194
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
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195 /**
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parents:
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196 * Returns the Leap Hand object represented by this HandModel.
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parents:
diff changeset
197 * Note that any physical quantities and directions obtained from the
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parents:
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198 * Leap Hand object are relative to the Leap Motion coordinate system,
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parents:
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199 * which uses a right-handed axes and units of millimeters.
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200 */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
201 public Hand GetLeapHand() {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
202 return hand_;
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parents:
diff changeset
203 }
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parents:
diff changeset
204
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
205 /**
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parents:
diff changeset
206 * Assigns a Leap Hand object to this hand model.
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parents:
diff changeset
207 * Note that the Leap Hand objects are recreated every frame. The parent
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parents:
diff changeset
208 * HandController calls this method to set or update the underlying hand.
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parents:
diff changeset
209 */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
210 public void SetLeapHand(Hand hand) {
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parents:
diff changeset
211 hand_ = hand;
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parents:
diff changeset
212 for (int i = 0; i < fingers.Length; ++i) {
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parents:
diff changeset
213 if (fingers[i] != null) {
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parents:
diff changeset
214 fingers[i].SetLeapHand(hand_);
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parents:
diff changeset
215 fingers[i].SetOffset(GetHandOffset());
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parents:
diff changeset
216 }
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parents:
diff changeset
217 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
218 }
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parents:
diff changeset
219
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
220 /**
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
221 * Sets the mirror z-axis flag for this Hand Model and its fingers.
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parents:
diff changeset
222 * Mirroring the z axis reverses the hand so that they face the opposite direction -- as if in a mirror.
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parents:
diff changeset
223 * @param mirror Set true, the default value to mirror; false for normal rendering.
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parents:
diff changeset
224 */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
225 public void MirrorZAxis(bool mirror = true) {
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parents:
diff changeset
226 mirror_z_axis_ = mirror;
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parents:
diff changeset
227 for (int i = 0; i < fingers.Length; ++i) {
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parents:
diff changeset
228 if (fingers[i] != null)
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
229 fingers[i].MirrorZAxis(mirror);
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parents:
diff changeset
230 }
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parents:
diff changeset
231 }
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parents:
diff changeset
232
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parents:
diff changeset
233 /** Whether this hand is currently mirrored.*/
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
234 public bool IsMirrored() {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
235 return mirror_z_axis_;
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parents:
diff changeset
236 }
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parents:
diff changeset
237
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parents:
diff changeset
238 /** The parent HandController object of this hand.*/
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
239 public HandController GetController() {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
240 return controller_;
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parents:
diff changeset
241 }
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parents:
diff changeset
242
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parents:
diff changeset
243 /** Sets the parent HandController object. */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
244 public void SetController(HandController controller) {
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parents:
diff changeset
245 controller_ = controller;
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parents:
diff changeset
246 for (int i = 0; i < fingers.Length; ++i) {
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parents:
diff changeset
247 if (fingers[i] != null)
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
248 fingers[i].SetController(controller_);
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parents:
diff changeset
249 }
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parents:
diff changeset
250 }
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parents:
diff changeset
251
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parents:
diff changeset
252 /**
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parents:
diff changeset
253 * Implement this function to initialise this hand after it is created.
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parents:
diff changeset
254 * This function is called by the HandController during the Unity Update() phase when a new hand is detected
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parents:
diff changeset
255 * by the Leap Motion device.
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
256 */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
257 public virtual void InitHand() {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
258 for (int f = 0; f < fingers.Length; ++f) {
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parents:
diff changeset
259 if (fingers[f] != null) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
260 fingers[f].fingerType = (Finger.FingerType)f;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
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261 fingers[f].InitFinger();
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262 }
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263 }
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264
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265 UpdateHand ();
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266 }
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267
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268 /**
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269 * Implement this function to update this hand once every game loop.
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270 * For HandModel instances assigned to the HandController graphics hand list, the HandController calls this
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271 * function during the Unity Update() phase. For HandModel instances in the physics hand list, the HandController
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272 * calls this function in the FixedUpdate() phase.
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273 */
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274 public abstract void UpdateHand();
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275 }