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annotate Orchestland/Assets/LeapMotion/Scripts/Hands/FingerModel.cs @ 3:0030a1b971fb default tip

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author Yuta ANSE <e135745@ie.u-ryukyu.ac.jp>
date Fri, 17 Jul 2015 23:23:43 +0900
parents f7675884f2a1
children
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1
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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 fingers.
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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 * the parent Hand object and the concrete finger objects.
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16 *
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17 * Subclasses of FingerModel must implement InitFinger() and UpdateFinger(). The InitHand() function
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18 * is typically called by the parent HandModel InitHand() method; likewise, the UpdateFinger()
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19 * function is typically called by the parent HandModel UpdateHand() function.
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20 */
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21
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22 public abstract class FingerModel : MonoBehaviour {
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23
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24 /** The number of bones in a finger. */
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25 public const int NUM_BONES = 4;
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26
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27 /** The number of joints in a finger. */
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28 public const int NUM_JOINTS = 3;
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29
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30 [HideInInspector]
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31 public Finger.FingerType fingerType = Finger.FingerType.TYPE_INDEX;
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32
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33 // Unity references
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34 /** Bones positioned and rotated by FingerModel. */
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35 public Transform[] bones = new Transform[NUM_BONES];
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36 /** Joints positioned and rotated by FingerModel. */
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37 public Transform[] joints = new Transform[NUM_BONES - 1];
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38
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39 // Leap references
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40 /** The Leap Hand object. */
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41 protected Hand hand_;
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42 /** The Leap Finger object. */
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43 protected Finger finger_;
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44 /** An added offset vector. */
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45 protected Vector3 offset_ = Vector3.zero;
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46 /** Whether this finger is mirrored. */
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47 protected bool mirror_z_axis_ = false;
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48
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49 /** The parent HandController instance. */
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50 protected HandController controller_;
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51
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52 /** Assigns the HandController parent for this FingerModel object. */
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53 public void SetController(HandController controller) {
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54 controller_ = controller;
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55 }
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56
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57 /** The parent HandController instance. */
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58 public HandController GetController() {
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59 return controller_;
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60 }
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61
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62 /** Sets the Leap Hand and Leap Finger for this finger.
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63 * Note that Leap Hand and Finger objects are recreated every frame. The
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64 * parent HandModel object calls this function to set or update the underlying
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65 * finger. The tracking data in the Leap objects are used to update the FingerModel.
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66 */
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67 public void SetLeapHand(Hand hand) {
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68 hand_ = hand;
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69 if (hand_ != null)
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70 finger_ = hand.Fingers[(int)fingerType];
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71 }
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72
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73 /** Sets an offset vector to displace the finger from its normally calculated
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74 * position relative to the HandController. Typically, this offset is used to
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75 * give the virtual hands a larger range of motion then they would have based on their
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76 * scaled size in the Unity scene.
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77 */
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78 public void SetOffset(Vector3 offset) {
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79 offset_ = offset;
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80 }
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81
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82 /**
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83 * Sets the mirror z-axis flag for this Finger Model.
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84 * Mirroring the z axis reverses the hand so that they face the opposite direction -- as if in a mirror.
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85 * @param mirror Set true, the default value to mirror; false for normal rendering.
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86 */
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87 public void MirrorZAxis(bool mirror = true) {
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88 mirror_z_axis_ = mirror;
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89 }
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90
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91 /** The Leap Hand object. */
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92 public Hand GetLeapHand() { return hand_; }
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93 /** The Leap Finger object. */
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94 public Finger GetLeapFinger() { return finger_; }
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95
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96 /**
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97 * Implement this function to initialize this finger after it is created.
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98 * Typically, this function is called by the parent HandModel object.
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99 */
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100 public virtual void InitFinger() {
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101 UpdateFinger();
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102 }
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103
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104 /**
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105 * Implement this function to update this finger once per game loop.
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106 * Typically, this function is called by the parent HandModel object's
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107 * UpdateHand() function, which is called in the Unity Update() phase for
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108 * graphics hand models and in the FixedUpdate() phase for physics hand
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109 * models.
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110 */
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111 public abstract void UpdateFinger();
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112
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113 /** Returns any additional movement the finger needs because of non-relative palm movement.*/
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114 public Vector3 GetOffset() {
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115 return offset_;
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116 }
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117
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118 /** Returns the location of the tip of the finger in relation to the controller.*/
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119 public Vector3 GetTipPosition() {
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120 if (controller_ != null && finger_ != null) {
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121 Vector3 local_tip = finger_.Bone ((Bone.BoneType.TYPE_DISTAL)).NextJoint.ToUnityScaled (mirror_z_axis_);
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122 return controller_.transform.TransformPoint (local_tip) + offset_;
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123 }
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124 if (bones [NUM_BONES - 1] && joints [NUM_JOINTS - 2]) {
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125 return 2f*bones [NUM_BONES - 1].position - joints [NUM_JOINTS - 2].position;
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126 }
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127 return Vector3.zero;
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128 }
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129
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diff changeset
130 /** Returns the location of the given joint on the finger in relation to the controller.*/
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parents:
diff changeset
131 public Vector3 GetJointPosition(int joint) {
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parents:
diff changeset
132 if (joint >= NUM_BONES) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
133 return GetTipPosition ();
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parents:
diff changeset
134 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
135 if (controller_ != null && finger_ != null) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
136 Vector3 local_position = finger_.Bone ((Bone.BoneType)(joint)).PrevJoint.ToUnityScaled (mirror_z_axis_);
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parents:
diff changeset
137 return controller_.transform.TransformPoint (local_position) + offset_;
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parents:
diff changeset
138 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
139 if (joints [joint]) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
140 return joints[joint].position;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
141 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
142 return Vector3.zero;
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parents:
diff changeset
143 }
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parents:
diff changeset
144
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parents:
diff changeset
145 /** Returns a ray from the tip of the finger in the direction it is pointing.*/
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
146 public Ray GetRay() {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
147 Ray ray = new Ray(GetTipPosition(), GetBoneDirection(NUM_BONES - 1));
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parents:
diff changeset
148 return ray;
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parents:
diff changeset
149 }
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parents:
diff changeset
150
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parents:
diff changeset
151 /** Returns the center of the given bone on the finger in relation to the controller.*/
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
152 public Vector3 GetBoneCenter(int bone_type) {
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parents:
diff changeset
153 if (controller_ != null && finger_ != null) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
154 Bone bone = finger_.Bone ((Bone.BoneType)(bone_type));
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
155 return controller_.transform.TransformPoint (bone.Center.ToUnityScaled (mirror_z_axis_)) + offset_;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
156 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
157 if (bones [bone_type]) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
158 return bones[bone_type].position;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
159 }
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parents:
diff changeset
160 return Vector3.zero;
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parents:
diff changeset
161 }
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parents:
diff changeset
162
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parents:
diff changeset
163 /** Returns the direction the given bone is facing on the finger in relation to the controller.*/
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
164 public Vector3 GetBoneDirection(int bone_type) {
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parents:
diff changeset
165 if (controller_ != null && finger_ != null) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
166 Vector3 direction = GetJointPosition (bone_type + 1) - GetJointPosition (bone_type);
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
167 return direction.normalized;
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parents:
diff changeset
168 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
169 if (bones[bone_type]) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
170 return bones[bone_type].forward;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
171 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
172 return Vector3.forward;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
173 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
174
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parents:
diff changeset
175 /** Returns the rotation quaternion of the given bone in relation to the controller.*/
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parents:
diff changeset
176 public Quaternion GetBoneRotation(int bone_type) {
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parents:
diff changeset
177 if (controller_ != null && finger_ != null) {
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parents:
diff changeset
178 Quaternion local_rotation = finger_.Bone ((Bone.BoneType)(bone_type)).Basis.Rotation (mirror_z_axis_);
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parents:
diff changeset
179 return controller_.transform.rotation * local_rotation;
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parents:
diff changeset
180 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
181 if (bones[bone_type]) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
182 return bones[bone_type].rotation;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
183 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
184 return Quaternion.identity;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
185 }
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parents:
diff changeset
186
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parents:
diff changeset
187 /** Returns the length of the finger bone.*/
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
188 public float GetBoneLength(int bone_type) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
189 return finger_.Bone ((Bone.BoneType)(bone_type)).Length * UnityVectorExtension.INPUT_SCALE;
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parents:
diff changeset
190 }
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parents:
diff changeset
191
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parents:
diff changeset
192 /** Returns the width of the finger bone.*/
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
193 public float GetBoneWidth(int bone_type) {
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parents:
diff changeset
194 return finger_.Bone((Bone.BoneType)(bone_type)).Width * UnityVectorExtension.INPUT_SCALE;
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parents:
diff changeset
195 }
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parents:
diff changeset
196
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
197 /**
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
198 * Returns Mecanim stretch angle in the range (-180, +180]
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
199 * NOTE: Positive stretch opens the hand.
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
200 * For the thumb this moves it away from the palm.
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
201 */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
202 public float GetFingerJointStretchMecanim(int joint_type) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
203 // The successive actions of local rotations on a vector yield the global rotation,
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parents:
diff changeset
204 // so the inverse of the parent rotation appears on the left.
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
205 Quaternion jointRotation = Quaternion.identity;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
206 if (finger_ != null) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
207 jointRotation = Quaternion.Inverse (finger_.Bone ((Bone.BoneType)(joint_type)).Basis.Rotation (mirror_z_axis_))
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parents:
diff changeset
208 * finger_.Bone ((Bone.BoneType)(joint_type + 1)).Basis.Rotation (mirror_z_axis_);
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
209 } else if (bones [joint_type] && bones [joint_type + 1]) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
210 jointRotation = Quaternion.Inverse (GetBoneRotation (joint_type)) * GetBoneRotation (joint_type + 1);
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parents:
diff changeset
211 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
212 // Stretch is a rotation around the X axis of the base bone
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
213 // Positive stretch opens joints
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
214 float stretchAngle = -jointRotation.eulerAngles.x;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
215 if (stretchAngle <= -180f) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
216 stretchAngle += 360f;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
217 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
218 // NOTE: eulerAngles range is [0, 360) so stretchAngle > +180f will not occur.
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
219 return stretchAngle;
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parents:
diff changeset
220 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
221
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
222 /**
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
223 * Returns Mecanim spread angle, which only applies to joint_type = 0
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
224 * NOTE: Positive spread is towards thumb for index and middle,
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
225 * but is in the opposite direction for the ring and pinky.
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parents:
diff changeset
226 * For the thumb negative spread rotates the thumb in to the palm.
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
227 * */
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
228 public float GetFingerJointSpreadMecanim() {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
229 // The successive actions of local rotations on a vector yield the global rotation,
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
230 // so the inverse of the parent rotation appears on the left.
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
231 Quaternion jointRotation = Quaternion.identity;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
232 if (finger_ != null) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
233 jointRotation = Quaternion.Inverse (finger_.Bone ((Bone.BoneType)(0)).Basis.Rotation (mirror_z_axis_))
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
234 * finger_.Bone ((Bone.BoneType)(1)).Basis.Rotation (mirror_z_axis_);
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
235 } else if (bones [0] && bones [1]) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
236 jointRotation = Quaternion.Inverse (GetBoneRotation (0)) * GetBoneRotation (1);
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
237 }
f7675884f2a1 Add Orchestland project
Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
238 // Spread is a rotation around the Y axis of the base bone when joint_type = 0
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
239 float spreadAngle = 0f;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
240 Finger.FingerType fType = fingerType;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
241 if (finger_ != null) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
242 fingerType = finger_.Type;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
243 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
244
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
245 if (fType == Finger.FingerType.TYPE_INDEX ||
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
246 fType == Finger.FingerType.TYPE_MIDDLE) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
247 spreadAngle = jointRotation.eulerAngles.y;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
248 if (spreadAngle > 180f) {
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
249 spreadAngle -= 360f;
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
250 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
251 // NOTE: eulerAngles range is [0, 360) so spreadAngle <= -180f will not occur.
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
252 }
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
253 if (fType == Finger.FingerType.TYPE_THUMB ||
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
254 fType == Finger.FingerType.TYPE_RING ||
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Daiki OYAKAWA <e135764@ie.u-ryukyu.ac.jp>
parents:
diff changeset
255 fType == Finger.FingerType.TYPE_PINKY) {
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parents:
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256 spreadAngle = -jointRotation.eulerAngles.y;
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257 if (spreadAngle <= -180f) {
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258 spreadAngle += 360f;
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259 }
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260 // NOTE: eulerAngles range is [0, 360) so spreadAngle > +180f will not occur.
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261 }
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262 return spreadAngle;
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263 }
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264 }