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

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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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0:347d21cdfc22 1:f7675884f2a1
1 /******************************************************************************\
2 * Copyright (C) Leap Motion, Inc. 2011-2014. *
3 * Leap Motion proprietary. Licensed under Apache 2.0 *
4 * Available at http://www.apache.org/licenses/LICENSE-2.0.html *
5 \******************************************************************************/
6
7 using UnityEngine;
8 using System.Collections;
9 using Leap;
10
11 // The model for our rigid hand made out of various polyhedra.
12 public class RigidHand : SkeletalHand {
13
14 public float filtering = 0.5f;
15
16 public override void InitHand() {
17 base.InitHand();
18 }
19
20 public override void UpdateHand() {
21 for (int f = 0; f < fingers.Length; ++f) {
22 if (fingers[f] != null)
23 fingers[f].UpdateFinger();
24 }
25
26 if (palm != null) {
27 bool useVelocity = false;
28 Rigidbody palmBody = palm.GetComponent<Rigidbody>();
29 if (palmBody) {
30 if (!palmBody.isKinematic) {
31 useVelocity = true;
32
33 // Set palm velocity.
34 Vector3 target_position = GetPalmCenter();
35 palmBody.velocity = (target_position - palm.position) * (1 - filtering) / Time.deltaTime;
36
37 // Set palm angular velocity.
38 Quaternion target_rotation = GetPalmRotation();
39 Quaternion delta_rotation = target_rotation * Quaternion.Inverse(palm.rotation);
40 float angle = 0.0f;
41 Vector3 axis = Vector3.zero;
42 delta_rotation.ToAngleAxis(out angle, out axis);
43
44 if (angle >= 180) {
45 angle = 360 - angle;
46 axis = -axis;
47 }
48 if (angle != 0) {
49 float delta_radians = (1 - filtering) * angle * Mathf.Deg2Rad;
50 palmBody.angularVelocity = delta_radians * axis / Time.deltaTime;
51 }
52 }
53 }
54 if (!useVelocity) {
55 palm.position = GetPalmCenter();
56 palm.rotation = GetPalmRotation();
57 }
58 }
59
60 if (forearm != null) {
61 // Set arm dimensions.
62 CapsuleCollider capsule = forearm.GetComponent<CapsuleCollider> ();
63 if (capsule != null) {
64 // Initialization
65 capsule.direction = 2;
66 forearm.localScale = new Vector3 (1f, 1f, 1f);
67
68 // Update
69 capsule.radius = GetArmWidth () / 2f;
70 capsule.height = GetArmLength () + GetArmWidth ();
71 }
72
73 bool useVelocity = false;
74 Rigidbody forearmBody = forearm.GetComponent<Rigidbody> ();
75 if (forearmBody) {
76 if (!forearmBody.isKinematic) {
77 useVelocity = true;
78
79 // Set arm velocity.
80 Vector3 target_position = GetArmCenter ();
81 forearmBody.velocity = (target_position - forearm.position) * (1 - filtering) / Time.deltaTime;
82
83 // Set arm velocity.
84 Quaternion target_rotation = GetArmRotation ();
85 Quaternion delta_rotation = target_rotation * Quaternion.Inverse (forearm.rotation);
86 float angle = 0.0f;
87 Vector3 axis = Vector3.zero;
88 delta_rotation.ToAngleAxis (out angle, out axis);
89
90 if (angle >= 180) {
91 angle = 360 - angle;
92 axis = -axis;
93 }
94 if (angle != 0) {
95 float delta_radians = (1 - filtering) * angle * Mathf.Deg2Rad;
96 forearmBody.angularVelocity = delta_radians * axis / Time.deltaTime;
97 }
98 }
99 }
100 if (!useVelocity) {
101 forearm.position = GetArmCenter();
102 forearm.rotation = GetArmRotation();
103 }
104 }
105 }
106 }