Mercurial > hg > Game > Games

comparison Orchestland/Assets/LeapMotion/Scripts/Hands/RigidFinger.cs @ 3:0030a1b971fb default tip

Find changesets by keywords (author, files, the commit message), revision number or hash, or revset expression.
merge
author Yuta ANSE <e135745@ie.u-ryukyu.ac.jp>
date Fri, 17 Jul 2015 23:23:43 +0900
parents f7675884f2a1
children
comparison
equal deleted inserted replaced
2:fdab88fc2cb9 3:0030a1b971fb
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 finger model for our rigid hand made out of various cubes.
12 public class RigidFinger : SkeletalFinger {
13
14 public float filtering = 0.5f;
15
16 void Start() {
17 for (int i = 0; i < bones.Length; ++i) {
18 if (bones[i] != null) {
19 bones[i].GetComponent<Rigidbody>().maxAngularVelocity = Mathf.Infinity;
20 }
21 }
22 }
23
24 public override void UpdateFinger() {
25 for (int i = 0; i < bones.Length; ++i) {
26 if (bones[i] != null) {
27 // Set bone dimensions.
28 CapsuleCollider capsule = bones[i].GetComponent<CapsuleCollider>();
29 if (capsule != null)
30 {
31 // Initialization
32 capsule.direction = 2;
33 bones[i].localScale = new Vector3(1f, 1f, 1f);
34
35 // Update
36 capsule.radius = GetBoneWidth(i) / 2f;
37 capsule.height = GetBoneLength(i) + GetBoneWidth(i);
38 }
39
40 bool useVelocity = false;
41 Rigidbody boneBody = bones[i].GetComponent<Rigidbody>();
42 if (boneBody) {
43 if (!boneBody.isKinematic) {
44 useVelocity = true;
45
46 // Set velocity.
47 Vector3 target_bone_position = GetBoneCenter(i);
48
49 bones[i].GetComponent<Rigidbody>().velocity = (target_bone_position - bones[i].position) * ((1 - filtering) / Time.deltaTime);
50
51 // Set angular velocity.
52 Quaternion target_rotation = GetBoneRotation(i);
53 Quaternion delta_rotation = target_rotation * Quaternion.Inverse(bones[i].rotation);
54 float angle = 0.0f;
55 Vector3 axis = Vector3.zero;
56 delta_rotation.ToAngleAxis(out angle, out axis);
57
58 if (angle >= 180) {
59 angle = 360 - angle;
60 axis = -axis;
61 }
62
63 if (angle != 0) {
64 float delta_radians = (1 - filtering) * angle * Mathf.Deg2Rad;
65 bones[i].GetComponent<Rigidbody>().angularVelocity = delta_radians * axis / Time.deltaTime;
66 }
67 }
68 }
69 if (!useVelocity) {
70 bones[i].position = GetBoneCenter(i);
71 bones[i].rotation = GetBoneRotation(i);
72 }
73 }
74 }
75 }
76 }