left hand works too
This commit is contained in:
Jay Christy
844
examples/xr.rs
844
examples/xr.rs
@@ -2,16 +2,18 @@ use std::f32::consts::PI;
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use std::ops::Mul;
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use bevy::diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin};
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use bevy::prelude::*;
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use bevy::math::vec3;
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use bevy::transform::components::Transform;
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use bevy_openxr::xr_input::{Vec3Conv, QuatConv, Hand};
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use bevy::{gizmos, prelude::*};
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use bevy_openxr::xr_input::debug_gizmos::OpenXrDebugRenderer;
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use bevy_openxr::xr_input::hand_poses::*;
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use bevy_openxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig};
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use bevy_openxr::xr_input::trackers::{
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OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker,
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};
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use bevy_openxr::xr_input::{Hand, QuatConv, Vec3Conv};
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use bevy_openxr::DefaultXrPlugins;
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use openxr::{Posef, Quaternionf, Vector3f, HandJoint};
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use openxr::{HandJoint, Posef, Quaternionf, Vector3f};
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fn main() {
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color_eyre::install().unwrap();
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@@ -68,34 +70,306 @@ fn setup(
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});
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// camera
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commands.spawn((Camera3dBundle {
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transform: Transform::from_xyz(0.25, 1.25, 0.0).looking_at(Vec3{x: -0.548, y: -0.161, z: -0.137}, Vec3::Y),
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transform: Transform::from_xyz(0.25, 1.25, 0.0).looking_at(
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Vec3 {
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x: -0.548,
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y: -0.161,
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z: -0.137,
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},
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Vec3::Y,
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),
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..default()
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},));
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}
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fn draw_skeleton_hands(mut commands: Commands,
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fn draw_skeleton_hands(
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mut commands: Commands,
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mut gizmos: Gizmos,
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right_controller_query: Query<(
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&GlobalTransform,
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With<OpenXRRightController>,
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)>,
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left_controller_query: Query<(
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&GlobalTransform,
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With<OpenXRLeftController>,
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)>,) {
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let left_hand_transform = left_controller_query.get_single().unwrap().0.compute_transform();
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draw_hand(&mut gizmos, left_hand_transform, Hand::Left);
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let right_hand_transform = right_controller_query.get_single().unwrap().0.compute_transform();
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draw_hand(&mut gizmos, right_hand_transform, Hand::Right)
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right_controller_query: Query<(&GlobalTransform, With<OpenXRRightController>)>,
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left_controller_query: Query<(&GlobalTransform, With<OpenXRLeftController>)>,
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) {
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let left_hand_transform = left_controller_query
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.get_single()
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.unwrap()
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.0
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.compute_transform();
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draw_hand_bones(&mut gizmos, left_hand_transform, Hand::Left);
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let right_hand_transform = right_controller_query
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.get_single()
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.unwrap()
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.0
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.compute_transform();
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// draw_hand(&mut gizmos, right_hand_transform, Hand::Right);
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draw_hand_bones(&mut gizmos, right_hand_transform, Hand::Right);
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}
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fn draw_hand(mut gizmos: &mut Gizmos,
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controller_transform: Transform,
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hand: Hand) {
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fn pose_array_to_transform_array(hand_pose: [Posef; 26]) -> [Transform; 26] {
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let mut result_array: [Transform; 26] = [Transform::default(); 26];
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for (place, data) in result_array.iter_mut().zip(hand_pose.iter()) {
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*place = Transform {
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translation: data.position.to_vec3(),
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rotation: data.orientation.to_quat(),
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scale: Vec3::splat(1.0),
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}
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}
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return result_array;
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}
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fn draw_hand_bones(mut gizmos: &mut Gizmos, controller_transform: Transform, hand: Hand) {
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let left_hand_rot = Quat::from_rotation_y(180.0 * PI / 180.0);
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let hand_translation: Vec3 = match hand {
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Hand::Left => controller_transform.translation,
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Hand::Right => controller_transform.translation,
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};
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let controller_quat: Quat = match hand {
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Hand::Left => controller_transform.rotation.mul_quat(left_hand_rot),
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Hand::Right => controller_transform.rotation,
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};
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let splay_direction = match hand {
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Hand::Left => -1.0,
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Hand::Right => 1.0,
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};
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//get paml quat
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let y = Quat::from_rotation_y(-90.0 * PI / 180.0);
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let x = Quat::from_rotation_x(-90.0 * PI / 180.0);
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let palm_quat = controller_quat.mul_quat(y).mul_quat(x);
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//draw debug rays
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gizmos.ray(
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hand_translation,
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palm_quat.mul_vec3(Vec3::Z * 0.2),
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Color::BLUE,
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);
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gizmos.ray(
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hand_translation,
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palm_quat.mul_vec3(Vec3::Y * 0.2),
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Color::GREEN,
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);
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gizmos.ray(
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hand_translation,
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palm_quat.mul_vec3(Vec3::X * 0.2),
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Color::RED,
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);
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//get simulated bones
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let hand_transform_array: [Transform; 26] = get_simulated_open_hand_transforms(hand);
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//draw controller-palm bone(should be zero length)
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let palm = hand_transform_array[HandJoint::PALM];
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gizmos.ray(hand_translation, palm.translation, Color::WHITE);
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//draw palm-wrist
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let wrist = hand_transform_array[HandJoint::WRIST];
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gizmos.ray(
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hand_translation + palm.translation,
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palm_quat.mul_vec3(wrist.translation),
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Color::GRAY,
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);
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//thumb
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//better finger drawing?
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let thumb_joints = [
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HandJoint::THUMB_METACARPAL,
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HandJoint::THUMB_PROXIMAL,
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HandJoint::THUMB_DISTAL,
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HandJoint::THUMB_TIP,
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];
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let mut prior_start: Option<Vec3> = None;
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let mut prior_quat: Option<Quat> = None;
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let mut prior_vector: Option<Vec3> = None;
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let color = Color::RED;
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let splay = Quat::from_rotation_y(splay_direction * 30.0 * PI / 180.0);
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let splay_quat = palm_quat.mul_quat(splay);
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for bone in thumb_joints.iter() {
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match prior_start {
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Some(start) => {
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let tp_lrot = Quat::from_rotation_y(splay_direction * 5.0 * PI / 180.0);
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let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
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let thumb_prox = hand_transform_array[*bone];
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let tp_start = start + prior_vector.unwrap();
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let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
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gizmos.ray(tp_start, tp_vector, color);
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prior_start = Some(tp_start);
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prior_quat = Some(tp_quat);
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prior_vector = Some(tp_vector);
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}
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None => {
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let thumb_meta = hand_transform_array[*bone];
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let tm_start = hand_translation
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+ palm_quat.mul_vec3(palm.translation)
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+ palm_quat.mul_vec3(wrist.translation);
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let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
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gizmos.ray(tm_start, tm_vector, color);
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prior_start = Some(tm_start);
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prior_quat = Some(splay_quat);
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prior_vector = Some(tm_vector);
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}
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}
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}
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//better finger drawing?
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let thumb_joints = [
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HandJoint::INDEX_METACARPAL,
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HandJoint::INDEX_PROXIMAL,
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HandJoint::INDEX_INTERMEDIATE,
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HandJoint::INDEX_DISTAL,
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HandJoint::INDEX_TIP,
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];
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let mut prior_start: Option<Vec3> = None;
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let mut prior_quat: Option<Quat> = None;
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let mut prior_vector: Option<Vec3> = None;
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let color = Color::ORANGE;
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let splay = Quat::from_rotation_y(splay_direction * 10.0 * PI / 180.0);
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let splay_quat = palm_quat.mul_quat(splay);
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for bone in thumb_joints.iter() {
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match prior_start {
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Some(start) => {
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let tp_lrot = Quat::from_rotation_x(-5.0 * PI / 180.0);
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let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
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let thumb_prox = hand_transform_array[*bone];
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let tp_start = start + prior_vector.unwrap();
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let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
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gizmos.ray(tp_start, tp_vector, color);
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prior_start = Some(tp_start);
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prior_quat = Some(tp_quat);
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prior_vector = Some(tp_vector);
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}
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None => {
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let thumb_meta = hand_transform_array[*bone];
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let tm_start = hand_translation
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+ palm_quat.mul_vec3(palm.translation)
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+ palm_quat.mul_vec3(wrist.translation);
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let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
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gizmos.ray(tm_start, tm_vector, color);
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prior_start = Some(tm_start);
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prior_quat = Some(splay_quat);
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prior_vector = Some(tm_vector);
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}
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}
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}
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//better finger drawing?
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let thumb_joints = [
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HandJoint::MIDDLE_METACARPAL,
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HandJoint::MIDDLE_PROXIMAL,
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HandJoint::MIDDLE_INTERMEDIATE,
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HandJoint::MIDDLE_DISTAL,
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HandJoint::MIDDLE_TIP,
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];
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let mut prior_start: Option<Vec3> = None;
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let mut prior_quat: Option<Quat> = None;
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let mut prior_vector: Option<Vec3> = None;
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let color = Color::YELLOW;
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let splay = Quat::from_rotation_y(splay_direction * 0.0 * PI / 180.0);
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let splay_quat = palm_quat.mul_quat(splay);
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for bone in thumb_joints.iter() {
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match prior_start {
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Some(start) => {
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let tp_lrot = Quat::from_rotation_x(-5.0 * PI / 180.0);
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let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
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let thumb_prox = hand_transform_array[*bone];
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let tp_start = start + prior_vector.unwrap();
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let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
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gizmos.ray(tp_start, tp_vector, color);
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prior_start = Some(tp_start);
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prior_quat = Some(tp_quat);
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prior_vector = Some(tp_vector);
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}
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None => {
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let thumb_meta = hand_transform_array[*bone];
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let tm_start = hand_translation
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+ palm_quat.mul_vec3(palm.translation)
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+ palm_quat.mul_vec3(wrist.translation);
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let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
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gizmos.ray(tm_start, tm_vector, color);
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prior_start = Some(tm_start);
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prior_quat = Some(splay_quat);
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prior_vector = Some(tm_vector);
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}
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}
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}
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//better finger drawing?
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let thumb_joints = [
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HandJoint::RING_METACARPAL,
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HandJoint::RING_PROXIMAL,
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HandJoint::RING_INTERMEDIATE,
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HandJoint::RING_DISTAL,
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HandJoint::RING_TIP,
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];
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let mut prior_start: Option<Vec3> = None;
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let mut prior_quat: Option<Quat> = None;
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let mut prior_vector: Option<Vec3> = None;
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let color = Color::GREEN;
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let splay = Quat::from_rotation_y(splay_direction * -10.0 * PI / 180.0);
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let splay_quat = palm_quat.mul_quat(splay);
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for bone in thumb_joints.iter() {
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match prior_start {
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Some(start) => {
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let tp_lrot = Quat::from_rotation_x(-5.0 * PI / 180.0);
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let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
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let thumb_prox = hand_transform_array[*bone];
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let tp_start = start + prior_vector.unwrap();
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let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
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gizmos.ray(tp_start, tp_vector, color);
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prior_start = Some(tp_start);
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prior_quat = Some(tp_quat);
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prior_vector = Some(tp_vector);
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}
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None => {
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let thumb_meta = hand_transform_array[*bone];
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let tm_start = hand_translation
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+ palm_quat.mul_vec3(palm.translation)
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+ palm_quat.mul_vec3(wrist.translation);
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let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
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gizmos.ray(tm_start, tm_vector, color);
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prior_start = Some(tm_start);
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prior_quat = Some(splay_quat);
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prior_vector = Some(tm_vector);
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}
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}
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}
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//better finger drawing?
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let thumb_joints = [
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HandJoint::LITTLE_METACARPAL,
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HandJoint::LITTLE_PROXIMAL,
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HandJoint::LITTLE_INTERMEDIATE,
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HandJoint::LITTLE_DISTAL,
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HandJoint::LITTLE_TIP,
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];
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let mut prior_start: Option<Vec3> = None;
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let mut prior_quat: Option<Quat> = None;
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let mut prior_vector: Option<Vec3> = None;
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let color = Color::BLUE;
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let splay = Quat::from_rotation_y(splay_direction * -20.0 * PI / 180.0);
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let splay_quat = palm_quat.mul_quat(splay);
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for bone in thumb_joints.iter() {
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match prior_start {
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Some(start) => {
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let tp_lrot = Quat::from_rotation_x(-5.0 * PI / 180.0);
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let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
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let thumb_prox = hand_transform_array[*bone];
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let tp_start = start + prior_vector.unwrap();
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let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
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gizmos.ray(tp_start, tp_vector, color);
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prior_start = Some(tp_start);
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prior_quat = Some(tp_quat);
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prior_vector = Some(tp_vector);
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}
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None => {
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let thumb_meta = hand_transform_array[*bone];
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let tm_start = hand_translation
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+ palm_quat.mul_vec3(palm.translation)
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+ palm_quat.mul_vec3(wrist.translation);
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let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
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gizmos.ray(tm_start, tm_vector, color);
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prior_start = Some(tm_start);
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prior_quat = Some(splay_quat);
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prior_vector = Some(tm_vector);
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}
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}
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}
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}
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fn draw_hand(mut gizmos: &mut Gizmos, controller_transform: Transform, hand: Hand) {
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//draw debug for controller grip center to match palm to
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let hand_translation = controller_transform.translation;
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let hand_quat = controller_transform.rotation;
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@@ -103,104 +377,280 @@ hand: Hand) {
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let flip = Quat::from_rotation_x(PI);
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let controller_backward = hand_quat.mul_quat(flip);
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let test: [Posef; 26] = [
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Posef { position: Vector3f {x: 0.0, y: 0.0, z: 0.0}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}}, //palm
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Posef { position: Vector3f { x: 0.02, y: -0.040, z: -0.015}, orientation: Quaternionf {x: -0.267, y: 0.849, z: 0.204, w: 0.407}},
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let test_hand_pose = get_test_hand_pose_array();
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Posef { position: Vector3f {x: 0.019, y: -0.037, z: 0.011}, orientation: Quaternionf {x: -0.744, y: -0.530, z: 0.156, w: -0.376}},
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Posef { position: Vector3f {x: 0.015, y: -0.014, z: 0.047}, orientation: Quaternionf {x: -0.786, y: -0.550, z: 0.126, w: -0.254}},
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Posef { position: Vector3f {x: 0.004, y: 0.003, z: 0.068}, orientation: Quaternionf {x: -0.729, y: -0.564, z: 0.027, w: -0.387}},
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Posef { position: Vector3f {x: -0.009, y: 0.011, z: 0.072}, orientation: Quaternionf {x: -0.585, y: -0.548, z: -0.140,w: -0.582}},
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let hand_pose = flip_hand_pose(test_hand_pose.clone(), hand);
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Posef { position: Vector3f {x: 0.027, y: -0.021, z: 0.001}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317, w: -0.376}},
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Posef { position: Vector3f {x: -0.002, y:0.026, z:0.034}, orientation: Quaternionf {x: -0.277, y: -0.826, z: 0.317, w: -0.376}},
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Posef { position: Vector3f {x: -0.023, y:0.049, z:0.055}, orientation: Quaternionf {x: -0.244, y: -0.843, z: 0.256, w: -0.404}},
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Posef { position: Vector3f {x: -0.037, y:0.059, z:0.067}, orientation: Quaternionf {x: -0.200, y: -0.866, z: 0.165, w: -0.428}},
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Posef { position: Vector3f {x: -0.045, y:0.063, z:0.073}, orientation: Quaternionf {x: -0.172, y: -0.874, z: 0.110, w: -0.440}},
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// let hand_transform_array: [Transform; 26] = pose_array_to_transform_array(hand_pose);
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let hand_transform_array: [Transform; 26] = get_simulated_open_hand_transforms(hand);
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Posef { position: Vector3f {x: 0.021, y: -0.017, z: -0.007}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370, w: -0.401}},
|
||||
Posef { position: Vector3f {x: -0.011, y: 0.029, z:0.018}, orientation: Quaternionf {x: -0.185, y: -0.817, z: 0.370, w: -0.401}},
|
||||
Posef { position: Vector3f {x: -0.034, y:0.06, z:0.033}, orientation: Quaternionf {x: -0.175, y: -0.809, z: 0.371, w: -0.420}},
|
||||
Posef { position: Vector3f {x: -0.051, y: 0.072, z: 0.045}, orientation: Quaternionf {x: -0.109, y: -0.856, z: 0.245, w: -0.443}},
|
||||
Posef { position: Vector3f {x: -0.06, y: 0.077, z:0.051}, orientation: Quaternionf {x: -0.075, y: -0.871, z: 0.180, w: -0.450}},
|
||||
let palm = hand_transform_array[HandJoint::PALM];
|
||||
gizmos.sphere(
|
||||
palm.translation + hand_translation,
|
||||
palm.rotation.mul_quat(controller_backward),
|
||||
0.01,
|
||||
Color::WHITE,
|
||||
);
|
||||
|
||||
Posef { position: Vector3f {x: 0.013, y:-0.017, z:-0.015}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408, w: -0.445}},
|
||||
Posef { position: Vector3f {x: -0.02, y: 0.025, z: 0.0}, orientation: Quaternionf {x: -0.132, y: -0.786, z: 0.408, w: -0.445}},
|
||||
Posef { position: Vector3f {x: -0.042, y:0.055, z:0.007}, orientation: Quaternionf {x: -0.131, y: -0.762, z: 0.432, w: -0.464}},
|
||||
Posef { position: Vector3f {x: -0.06, y:0.069, z: 0.015}, orientation: Quaternionf {x: -0.071, y: -0.810, z: 0.332, w: -0.477}},
|
||||
Posef { position: Vector3f {x: -0.069, y:0.075, z:0.02}, orientation: Quaternionf {x: -0.029, y: -0.836, z: 0.260, w: -0.482}},
|
||||
let wrist = hand_transform_array[HandJoint::WRIST];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
wrist.translation,
|
||||
wrist.rotation,
|
||||
0.01,
|
||||
Color::GRAY,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
Posef { position: Vector3f {x: 0.004, y:-0.022, z:-0.022}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481, w: -0.452}},
|
||||
Posef { position: Vector3f {x: -0.028, y:0.018, z:-0.015}, orientation: Quaternionf {x: -0.060, y: -0.749, z: 0.481, w: -0.452}},
|
||||
Posef { position: Vector3f {x: -0.046, y:0.042, z:-0.017}, orientation: Quaternionf {x: -0.061, y: -0.684, z: 0.534, w: -0.493}},
|
||||
Posef { position: Vector3f {x: -0.059, y:0.053, z:-0.015}, orientation: Quaternionf {x: 0.002, y: -0.745, z: 0.444, w: -0.498}},
|
||||
Posef { position: Vector3f {x: -0.068, y:0.059, z:-0.013}, orientation: Quaternionf {x: 0.045, y: -0.780, z: 0.378, w: -0.496}},
|
||||
];
|
||||
let thumb_meta = hand_transform_array[HandJoint::THUMB_METACARPAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
thumb_meta.translation,
|
||||
thumb_meta.rotation,
|
||||
0.01,
|
||||
Color::RED,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
let hand_pose = flip_hand_pose(test.clone(), hand);
|
||||
let thumb_prox = hand_transform_array[HandJoint::THUMB_PROXIMAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
thumb_prox.translation,
|
||||
thumb_prox.rotation,
|
||||
0.008,
|
||||
Color::RED,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let thumb_dist = hand_transform_array[HandJoint::THUMB_DISTAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
thumb_dist.translation,
|
||||
thumb_dist.rotation,
|
||||
0.006,
|
||||
Color::RED,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let thumb_tip = hand_transform_array[HandJoint::THUMB_TIP];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
thumb_tip.translation,
|
||||
thumb_tip.rotation,
|
||||
0.004,
|
||||
Color::RED,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
//log_hand(hand_pose);
|
||||
let index_meta = hand_transform_array[HandJoint::INDEX_METACARPAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
index_meta.translation,
|
||||
index_meta.rotation,
|
||||
0.01,
|
||||
Color::ORANGE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let index_prox = hand_transform_array[HandJoint::INDEX_PROXIMAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
index_prox.translation,
|
||||
index_prox.rotation,
|
||||
0.008,
|
||||
Color::ORANGE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
let palm = hand_pose[HandJoint::PALM];
|
||||
gizmos.sphere(palm.position.to_vec3() + hand_translation, palm.orientation.to_quat().mul_quat(controller_backward), 0.01, Color::WHITE);
|
||||
let index_inter = hand_transform_array[HandJoint::INDEX_INTERMEDIATE];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
index_inter.translation,
|
||||
index_inter.rotation,
|
||||
0.006,
|
||||
Color::ORANGE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
let wrist = hand_pose[HandJoint::WRIST];
|
||||
draw_joint(&mut gizmos, wrist.position.to_vec3(), wrist.orientation.to_quat(), 0.01, Color::GRAY, controller_backward, hand_translation);
|
||||
let index_dist = hand_transform_array[HandJoint::INDEX_DISTAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
index_dist.translation,
|
||||
index_dist.rotation,
|
||||
0.004,
|
||||
Color::ORANGE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
let index_tip = hand_transform_array[HandJoint::INDEX_TIP];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
index_tip.translation,
|
||||
index_tip.rotation,
|
||||
0.002,
|
||||
Color::ORANGE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
let thumb_meta = hand_pose[HandJoint::THUMB_METACARPAL];
|
||||
draw_joint(&mut gizmos, thumb_meta.position.to_vec3(), thumb_meta.orientation.to_quat(), 0.01, Color::RED, controller_backward, hand_translation);
|
||||
let middle_meta = hand_transform_array[HandJoint::MIDDLE_METACARPAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
middle_meta.translation,
|
||||
middle_meta.rotation,
|
||||
0.01,
|
||||
Color::YELLOW,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let middle_prox = hand_transform_array[HandJoint::MIDDLE_PROXIMAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
middle_prox.translation,
|
||||
middle_prox.rotation,
|
||||
0.008,
|
||||
Color::YELLOW,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let middle_inter = hand_transform_array[HandJoint::MIDDLE_INTERMEDIATE];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
middle_inter.translation,
|
||||
middle_inter.rotation,
|
||||
0.006,
|
||||
Color::YELLOW,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let middle_dist = hand_transform_array[HandJoint::MIDDLE_DISTAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
middle_dist.translation,
|
||||
middle_dist.rotation,
|
||||
0.004,
|
||||
Color::YELLOW,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let middle_tip = hand_transform_array[HandJoint::MIDDLE_TIP];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
middle_tip.translation,
|
||||
middle_tip.rotation,
|
||||
0.002,
|
||||
Color::YELLOW,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
let thumb_prox = hand_pose[HandJoint::THUMB_PROXIMAL];
|
||||
draw_joint(&mut gizmos, thumb_prox.position.to_vec3(), thumb_prox.orientation.to_quat(), 0.008, Color::RED, controller_backward, hand_translation);
|
||||
let thumb_dist = hand_pose[HandJoint::THUMB_DISTAL];
|
||||
draw_joint(&mut gizmos, thumb_dist.position.to_vec3(), thumb_dist.orientation.to_quat(), 0.006, Color::RED, controller_backward, hand_translation);
|
||||
let thumb_tip = hand_pose[HandJoint::THUMB_TIP];
|
||||
draw_joint(&mut gizmos, thumb_tip.position.to_vec3(), thumb_tip.orientation.to_quat(), 0.004, Color::RED, controller_backward, hand_translation);
|
||||
let ring_meta = hand_transform_array[HandJoint::RING_METACARPAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
ring_meta.translation,
|
||||
ring_meta.rotation,
|
||||
0.01,
|
||||
Color::GREEN,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let ring_prox = hand_transform_array[HandJoint::RING_PROXIMAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
ring_prox.translation,
|
||||
ring_prox.rotation,
|
||||
0.008,
|
||||
Color::GREEN,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let ring_inter = hand_transform_array[HandJoint::RING_INTERMEDIATE];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
ring_inter.translation,
|
||||
ring_inter.rotation,
|
||||
0.006,
|
||||
Color::GREEN,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let ring_dist = hand_transform_array[HandJoint::RING_DISTAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
ring_dist.translation,
|
||||
ring_dist.rotation,
|
||||
0.004,
|
||||
Color::GREEN,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let ring_tip = hand_transform_array[HandJoint::RING_TIP];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
ring_tip.translation,
|
||||
ring_tip.rotation,
|
||||
0.002,
|
||||
Color::GREEN,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
|
||||
let index_meta = hand_pose[HandJoint::INDEX_METACARPAL];
|
||||
draw_joint(&mut gizmos, index_meta.position.to_vec3(), index_meta.orientation.to_quat(), 0.01, Color::ORANGE, controller_backward, hand_translation);
|
||||
let index_prox = hand_pose[HandJoint::INDEX_PROXIMAL];
|
||||
draw_joint(&mut gizmos, index_prox.position.to_vec3(), index_prox.orientation.to_quat(), 0.008, Color::ORANGE, controller_backward, hand_translation);
|
||||
let index_inter = hand_pose[HandJoint::INDEX_INTERMEDIATE];
|
||||
draw_joint(&mut gizmos, index_inter.position.to_vec3(), index_inter.orientation.to_quat(), 0.006, Color::ORANGE, controller_backward, hand_translation);
|
||||
let index_dist = hand_pose[HandJoint::INDEX_DISTAL];
|
||||
draw_joint(&mut gizmos, index_dist.position.to_vec3(), index_dist.orientation.to_quat(), 0.004, Color::ORANGE, controller_backward, hand_translation);
|
||||
let index_tip = hand_pose[HandJoint::INDEX_TIP];
|
||||
draw_joint(&mut gizmos, index_tip.position.to_vec3(), index_tip.orientation.to_quat(), 0.002, Color::ORANGE, controller_backward, hand_translation);
|
||||
|
||||
let middle_meta = hand_pose[HandJoint::MIDDLE_METACARPAL];
|
||||
draw_joint(&mut gizmos, middle_meta.position.to_vec3(), middle_meta.orientation.to_quat(), 0.01, Color::YELLOW, controller_backward, hand_translation);
|
||||
let middle_prox = hand_pose[HandJoint::MIDDLE_PROXIMAL];
|
||||
draw_joint(&mut gizmos, middle_prox.position.to_vec3(), middle_prox.orientation.to_quat(), 0.008, Color::YELLOW, controller_backward, hand_translation);
|
||||
let middle_inter = hand_pose[HandJoint::MIDDLE_INTERMEDIATE];
|
||||
draw_joint(&mut gizmos, middle_inter.position.to_vec3(), middle_inter.orientation.to_quat(), 0.006, Color::YELLOW, controller_backward, hand_translation);
|
||||
let middle_dist = hand_pose[HandJoint::MIDDLE_DISTAL];
|
||||
draw_joint(&mut gizmos, middle_dist.position.to_vec3(), middle_dist.orientation.to_quat(), 0.004, Color::YELLOW, controller_backward, hand_translation);
|
||||
let middle_tip = hand_pose[HandJoint::MIDDLE_TIP];
|
||||
draw_joint(&mut gizmos, middle_tip.position.to_vec3(), middle_tip.orientation.to_quat(), 0.002, Color::YELLOW, controller_backward, hand_translation);
|
||||
|
||||
let ring_meta = hand_pose[HandJoint::RING_METACARPAL];
|
||||
draw_joint(&mut gizmos, ring_meta.position.to_vec3(), ring_meta.orientation.to_quat(), 0.01, Color::GREEN, controller_backward, hand_translation);
|
||||
let ring_prox = hand_pose[HandJoint::RING_PROXIMAL];
|
||||
draw_joint(&mut gizmos, ring_prox.position.to_vec3(), ring_prox.orientation.to_quat(), 0.008, Color::GREEN, controller_backward, hand_translation);
|
||||
let ring_inter = hand_pose[HandJoint::RING_INTERMEDIATE];
|
||||
draw_joint(&mut gizmos, ring_inter.position.to_vec3(), ring_inter.orientation.to_quat(), 0.006, Color::GREEN, controller_backward, hand_translation);
|
||||
let ring_dist = hand_pose[HandJoint::RING_DISTAL];
|
||||
draw_joint(&mut gizmos, ring_dist.position.to_vec3(), ring_dist.orientation.to_quat(), 0.004, Color::GREEN, controller_backward, hand_translation);
|
||||
let ring_tip = hand_pose[HandJoint::RING_TIP];
|
||||
draw_joint(&mut gizmos, ring_tip.position.to_vec3(), ring_tip.orientation.to_quat(), 0.002, Color::GREEN, controller_backward, hand_translation);
|
||||
|
||||
let little_meta = hand_pose[HandJoint::LITTLE_METACARPAL];
|
||||
draw_joint(&mut gizmos, little_meta.position.to_vec3(), little_meta.orientation.to_quat(), 0.01, Color::BLUE, controller_backward, hand_translation);
|
||||
let little_prox = hand_pose[HandJoint::LITTLE_PROXIMAL];
|
||||
draw_joint(&mut gizmos, little_prox.position.to_vec3(), little_prox.orientation.to_quat(), 0.008, Color::BLUE, controller_backward, hand_translation);
|
||||
let little_inter = hand_pose[HandJoint::LITTLE_INTERMEDIATE];
|
||||
draw_joint(&mut gizmos, little_inter.position.to_vec3(), little_inter.orientation.to_quat(), 0.006, Color::BLUE, controller_backward, hand_translation);
|
||||
let little_dist = hand_pose[HandJoint::LITTLE_DISTAL];
|
||||
draw_joint(&mut gizmos, little_dist.position.to_vec3(), little_dist.orientation.to_quat(), 0.004, Color::BLUE, controller_backward, hand_translation);
|
||||
let little_tip = hand_pose[HandJoint::LITTLE_TIP];
|
||||
draw_joint(&mut gizmos, little_tip.position.to_vec3(), little_tip.orientation.to_quat(), 0.002, Color::BLUE, controller_backward, hand_translation);
|
||||
let little_meta = hand_transform_array[HandJoint::LITTLE_METACARPAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
little_meta.translation,
|
||||
little_meta.rotation,
|
||||
0.01,
|
||||
Color::BLUE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let little_prox = hand_transform_array[HandJoint::LITTLE_PROXIMAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
little_prox.translation,
|
||||
little_prox.rotation,
|
||||
0.008,
|
||||
Color::BLUE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let little_inter = hand_transform_array[HandJoint::LITTLE_INTERMEDIATE];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
little_inter.translation,
|
||||
little_inter.rotation,
|
||||
0.006,
|
||||
Color::BLUE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let little_dist = hand_transform_array[HandJoint::LITTLE_DISTAL];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
little_dist.translation,
|
||||
little_dist.rotation,
|
||||
0.004,
|
||||
Color::BLUE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
let little_tip = hand_transform_array[HandJoint::LITTLE_TIP];
|
||||
draw_joint(
|
||||
&mut gizmos,
|
||||
little_tip.translation,
|
||||
little_tip.rotation,
|
||||
0.002,
|
||||
Color::BLUE,
|
||||
controller_backward,
|
||||
hand_translation,
|
||||
);
|
||||
}
|
||||
|
||||
fn flip_hand_pose(hand_pose: [Posef; 26], hand: Hand) -> [Posef; 26] {
|
||||
@@ -210,52 +660,164 @@ fn flip_hand_pose(hand_pose: [Posef; 26], hand: Hand) -> [Posef; 26] {
|
||||
for pose in new_pose.iter_mut() {
|
||||
pose.position.x = -pose.position.x;
|
||||
}
|
||||
},
|
||||
}
|
||||
Hand::Right => (),
|
||||
}
|
||||
return new_pose;
|
||||
}
|
||||
|
||||
fn draw_joint(gizmos: &mut Gizmos, joint_pos: Vec3, joint_rot: Quat, radius: f32, color: Color, controller_backwards: Quat, offset: Vec3) {
|
||||
gizmos.sphere(controller_backwards.mul_vec3(joint_pos) + offset, joint_rot, radius, color);
|
||||
fn draw_joint(
|
||||
gizmos: &mut Gizmos,
|
||||
joint_pos: Vec3,
|
||||
joint_rot: Quat,
|
||||
radius: f32,
|
||||
color: Color,
|
||||
controller_backwards: Quat,
|
||||
offset: Vec3,
|
||||
) {
|
||||
gizmos.sphere(
|
||||
controller_backwards.mul_vec3(joint_pos) + offset,
|
||||
joint_rot,
|
||||
radius,
|
||||
color,
|
||||
);
|
||||
}
|
||||
|
||||
fn log_hand(hand_pose: [Posef; 26]) {
|
||||
let palm_vec = hand_pose[HandJoint::PALM].position.to_vec3();
|
||||
info!("palm: {}", hand_pose[HandJoint::PALM].position.to_vec3() - palm_vec);
|
||||
info!("wrist: {}", hand_pose[HandJoint::WRIST].position.to_vec3() - palm_vec);
|
||||
let palm_wrist = hand_pose[HandJoint::WRIST].position.to_vec3()
|
||||
- hand_pose[HandJoint::PALM].position.to_vec3();
|
||||
info!(
|
||||
"palm-wrist: {}",
|
||||
hand_pose[HandJoint::WRIST].position.to_vec3()
|
||||
- hand_pose[HandJoint::PALM].position.to_vec3()
|
||||
);
|
||||
|
||||
info!("tm: {}", hand_pose[HandJoint::THUMB_METACARPAL].position.to_vec3() - palm_vec);
|
||||
info!("tp: {}", hand_pose[HandJoint::THUMB_PROXIMAL].position.to_vec3() - palm_vec);
|
||||
info!("td: {}", hand_pose[HandJoint::THUMB_DISTAL].position.to_vec3() - palm_vec);
|
||||
info!("tt: {}", hand_pose[HandJoint::THUMB_TIP].position.to_vec3() - palm_vec);
|
||||
|
||||
info!("im: {}", hand_pose[HandJoint::INDEX_METACARPAL].position.to_vec3() - palm_vec);
|
||||
info!("ip: {}", hand_pose[HandJoint::INDEX_PROXIMAL].position.to_vec3() - palm_vec);
|
||||
info!("ii: {}", hand_pose[HandJoint::INDEX_INTERMEDIATE].position.to_vec3() - palm_vec);
|
||||
info!("id: {}", hand_pose[HandJoint::INDEX_DISTAL].position.to_vec3() - palm_vec);
|
||||
info!("it: {}", hand_pose[HandJoint::INDEX_TIP].position.to_vec3() - palm_vec);
|
||||
info!(
|
||||
"wrist-tm: {}",
|
||||
hand_pose[HandJoint::THUMB_METACARPAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::WRIST].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"tm-tp: {}",
|
||||
hand_pose[HandJoint::THUMB_PROXIMAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::THUMB_METACARPAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"tp-td: {}",
|
||||
hand_pose[HandJoint::THUMB_DISTAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::THUMB_PROXIMAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"td-tt: {}",
|
||||
hand_pose[HandJoint::THUMB_TIP].position.to_vec3()
|
||||
- hand_pose[HandJoint::THUMB_DISTAL].position.to_vec3()
|
||||
);
|
||||
|
||||
info!("mm: {}", hand_pose[HandJoint::MIDDLE_METACARPAL].position.to_vec3() - palm_vec);
|
||||
info!("mp: {}", hand_pose[HandJoint::MIDDLE_PROXIMAL].position.to_vec3() - palm_vec);
|
||||
info!("mi: {}", hand_pose[HandJoint::MIDDLE_INTERMEDIATE].position.to_vec3() - palm_vec);
|
||||
info!("md: {}", hand_pose[HandJoint::MIDDLE_DISTAL].position.to_vec3() - palm_vec);
|
||||
info!("mt: {}", hand_pose[HandJoint::MIDDLE_TIP].position.to_vec3() - palm_vec);
|
||||
info!(
|
||||
"wrist-im: {}",
|
||||
hand_pose[HandJoint::INDEX_METACARPAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::WRIST].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"im-ip: {}",
|
||||
hand_pose[HandJoint::INDEX_PROXIMAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::INDEX_METACARPAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"ip-ii: {}",
|
||||
hand_pose[HandJoint::INDEX_INTERMEDIATE].position.to_vec3()
|
||||
- hand_pose[HandJoint::INDEX_PROXIMAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"ii-id: {}",
|
||||
hand_pose[HandJoint::INDEX_DISTAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::INDEX_INTERMEDIATE].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"id-it: {}",
|
||||
hand_pose[HandJoint::INDEX_TIP].position.to_vec3()
|
||||
- hand_pose[HandJoint::INDEX_DISTAL].position.to_vec3()
|
||||
);
|
||||
|
||||
info!("rm: {}", hand_pose[HandJoint::RING_METACARPAL].position.to_vec3() - palm_vec);
|
||||
info!("rp: {}", hand_pose[HandJoint::RING_PROXIMAL].position.to_vec3() - palm_vec);
|
||||
info!("ri: {}", hand_pose[HandJoint::RING_INTERMEDIATE].position.to_vec3() - palm_vec);
|
||||
info!("rd: {}", hand_pose[HandJoint::RING_DISTAL].position.to_vec3() - palm_vec);
|
||||
info!("rt: {}", hand_pose[HandJoint::RING_TIP].position.to_vec3() - palm_vec);
|
||||
info!(
|
||||
"wrist-mm: {}",
|
||||
hand_pose[HandJoint::MIDDLE_METACARPAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::WRIST].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"mm-mp: {}",
|
||||
hand_pose[HandJoint::MIDDLE_PROXIMAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::MIDDLE_METACARPAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"mp-mi: {}",
|
||||
hand_pose[HandJoint::MIDDLE_INTERMEDIATE].position.to_vec3()
|
||||
- hand_pose[HandJoint::MIDDLE_PROXIMAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"mi-md: {}",
|
||||
hand_pose[HandJoint::MIDDLE_DISTAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::MIDDLE_INTERMEDIATE].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"md-mt: {}",
|
||||
hand_pose[HandJoint::MIDDLE_TIP].position.to_vec3()
|
||||
- hand_pose[HandJoint::MIDDLE_DISTAL].position.to_vec3()
|
||||
);
|
||||
|
||||
info!("lm: {}", hand_pose[HandJoint::LITTLE_METACARPAL].position.to_vec3() - palm_vec);
|
||||
info!("lp: {}", hand_pose[HandJoint::LITTLE_PROXIMAL].position.to_vec3() - palm_vec);
|
||||
info!("li: {}", hand_pose[HandJoint::LITTLE_INTERMEDIATE].position.to_vec3() - palm_vec);
|
||||
info!("ld: {}", hand_pose[HandJoint::LITTLE_DISTAL].position.to_vec3() - palm_vec);
|
||||
info!("lt: {}", hand_pose[HandJoint::LITTLE_TIP].position.to_vec3() - palm_vec);
|
||||
info!(
|
||||
"wrist-rm: {}",
|
||||
hand_pose[HandJoint::RING_METACARPAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::WRIST].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"rm-rp: {}",
|
||||
hand_pose[HandJoint::RING_PROXIMAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::RING_METACARPAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"rp-ri: {}",
|
||||
hand_pose[HandJoint::RING_INTERMEDIATE].position.to_vec3()
|
||||
- hand_pose[HandJoint::RING_PROXIMAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"ri-rd: {}",
|
||||
hand_pose[HandJoint::RING_DISTAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::RING_INTERMEDIATE].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"rd-rt: {}",
|
||||
hand_pose[HandJoint::RING_TIP].position.to_vec3()
|
||||
- hand_pose[HandJoint::RING_DISTAL].position.to_vec3()
|
||||
);
|
||||
|
||||
info!(
|
||||
"wrist-lm: {}",
|
||||
hand_pose[HandJoint::LITTLE_METACARPAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::WRIST].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"lm-lp: {}",
|
||||
hand_pose[HandJoint::LITTLE_PROXIMAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::LITTLE_METACARPAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"lp-li: {}",
|
||||
hand_pose[HandJoint::LITTLE_INTERMEDIATE].position.to_vec3()
|
||||
- hand_pose[HandJoint::LITTLE_PROXIMAL].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"li-ld: {}",
|
||||
hand_pose[HandJoint::LITTLE_DISTAL].position.to_vec3()
|
||||
- hand_pose[HandJoint::LITTLE_INTERMEDIATE].position.to_vec3()
|
||||
);
|
||||
info!(
|
||||
"ld-lt: {}",
|
||||
hand_pose[HandJoint::LITTLE_TIP].position.to_vec3()
|
||||
- hand_pose[HandJoint::LITTLE_DISTAL].position.to_vec3()
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
fn spawn_controllers_example(mut commands: Commands) {
|
||||
//left hand
|
||||
commands.spawn((
|
||||
|
||||
Reference in New Issue
Block a user