Mercurial > hg > Game > Games

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

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
Add Orchestland project
author Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
date Fri, 17 Jul 2015 23:09:20 +0900
parents
children
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
1
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
1 /******************************************************************************\
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
2 * Copyright (C) Leap Motion, Inc. 2011-2014. *
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
3 * Leap Motion proprietary. Licensed under Apache 2.0 *
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
4 * Available at http://www.apache.org/licenses/LICENSE-2.0.html *
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
5 \******************************************************************************/
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
6
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
7 using UnityEngine;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
8 using System.Collections;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
9 using Leap;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
10
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
11 // The model for our rigid hand made out of various polyhedra.
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
12 public class RigidHand : SkeletalHand {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
13
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
14 public float filtering = 0.5f;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
15
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
16 public override void InitHand() {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
17 base.InitHand();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
18 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
19
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
20 public override void UpdateHand() {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
21 for (int f = 0; f < fingers.Length; ++f) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
22 if (fingers[f] != null)
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
23 fingers[f].UpdateFinger();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
24 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
25
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
26 if (palm != null) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
27 bool useVelocity = false;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
28 Rigidbody palmBody = palm.GetComponent<Rigidbody>();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
29 if (palmBody) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
30 if (!palmBody.isKinematic) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
31 useVelocity = true;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
32
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
33 // Set palm velocity.
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
34 Vector3 target_position = GetPalmCenter();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
35 palmBody.velocity = (target_position - palm.position) * (1 - filtering) / Time.deltaTime;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
36
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
37 // Set palm angular velocity.
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
38 Quaternion target_rotation = GetPalmRotation();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
39 Quaternion delta_rotation = target_rotation * Quaternion.Inverse(palm.rotation);
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
40 float angle = 0.0f;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
41 Vector3 axis = Vector3.zero;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
42 delta_rotation.ToAngleAxis(out angle, out axis);
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
43
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
44 if (angle >= 180) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
45 angle = 360 - angle;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
46 axis = -axis;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
47 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
48 if (angle != 0) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
49 float delta_radians = (1 - filtering) * angle * Mathf.Deg2Rad;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
50 palmBody.angularVelocity = delta_radians * axis / Time.deltaTime;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
51 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
52 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
53 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
54 if (!useVelocity) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
55 palm.position = GetPalmCenter();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
56 palm.rotation = GetPalmRotation();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
57 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
58 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
59
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
60 if (forearm != null) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
61 // Set arm dimensions.
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
62 CapsuleCollider capsule = forearm.GetComponent<CapsuleCollider> ();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
63 if (capsule != null) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
64 // Initialization
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
65 capsule.direction = 2;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
66 forearm.localScale = new Vector3 (1f, 1f, 1f);
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
67
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
68 // Update
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
69 capsule.radius = GetArmWidth () / 2f;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
70 capsule.height = GetArmLength () + GetArmWidth ();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
71 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
72
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
73 bool useVelocity = false;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
74 Rigidbody forearmBody = forearm.GetComponent<Rigidbody> ();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
75 if (forearmBody) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
76 if (!forearmBody.isKinematic) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
77 useVelocity = true;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
78
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
79 // Set arm velocity.
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
80 Vector3 target_position = GetArmCenter ();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
81 forearmBody.velocity = (target_position - forearm.position) * (1 - filtering) / Time.deltaTime;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
82
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
83 // Set arm velocity.
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
84 Quaternion target_rotation = GetArmRotation ();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
85 Quaternion delta_rotation = target_rotation * Quaternion.Inverse (forearm.rotation);
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
86 float angle = 0.0f;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
87 Vector3 axis = Vector3.zero;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
88 delta_rotation.ToAngleAxis (out angle, out axis);
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
89
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
90 if (angle >= 180) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
91 angle = 360 - angle;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
92 axis = -axis;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
93 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
94 if (angle != 0) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
95 float delta_radians = (1 - filtering) * angle * Mathf.Deg2Rad;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
96 forearmBody.angularVelocity = delta_radians * axis / Time.deltaTime;
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
97 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
98 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
99 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
100 if (!useVelocity) {
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
101 forearm.position = GetArmCenter();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
102 forearm.rotation = GetArmRotation();
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
103 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
104 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
105 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
106 }