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left hand works too

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This commit is contained in:
Jay Christy
2023-10-07 17:05:47 -04:00
parent 023e4036b2
commit 0f2c063a44
3 changed files with 1224 additions and 141 deletions
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src/xr_input/hand_poses.rs Normal file
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use bevy::prelude::{Quat, Transform, Vec3};
use openxr::{Posef, Quaternionf, Vector3f};
use super::Hand;
pub fn get_simulated_open_hand_transforms(hand: Hand) -> [Transform; 26] {
let test_hand_bones: [Vec3; 26] = [
Vec3 {
x: 0.0,
y: 0.0,
z: 0.0,
}, //palm
Vec3 {
x: 0.0,
y: 0.0,
z: -0.04,
}, //wrist
Vec3 {
x: -0.02,
y: 0.00,
z: 0.015,
}, //thumb
Vec3 {
x: 0.0,
y: 0.0,
z: 0.03,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.024,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.024,
},
Vec3 {
x: -0.01,
y: -0.015,
z: 0.0155,
}, //index
Vec3 {
x: 0.0,
y: 0.0,
z: 0.064,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.037,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.02,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.01,
},
Vec3 {
x: 0.0,
y: -0.02,
z: 0.016,
}, //middle
Vec3 {
x: 0.0,
y: 0.0,
z: 0.064,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.037,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.02,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.01,
},
Vec3 {
x: 0.01,
y: -0.015,
z: 0.015,
}, //ring
Vec3 {
x: 0.0,
y: 0.0,
z: 0.064,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.037,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.02,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.01,
},
Vec3 {
x: 0.02,
y: -0.01,
z: 0.015,
}, //little
Vec3 {
x: 0.0,
y: 0.0,
z: 0.064,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.037,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.02,
},
Vec3 {
x: 0.0,
y: 0.0,
z: 0.01,
},
];
let result = bones_to_transforms(test_hand_bones, hand);
return result;
}
fn bones_to_transforms(hand_bones: [Vec3; 26], hand: Hand) -> [Transform; 26] {
match hand {
Hand::Left => {
let mut result_array: [Transform; 26] = [Transform::default(); 26];
for (place, data) in result_array.iter_mut().zip(hand_bones.iter()) {
*place = Transform {
translation: Vec3 {
x: -data.x,
y: -data.y,
z: -data.z,
},
rotation: Quat::IDENTITY,
scale: Vec3::splat(1.0),
}
}
return result_array;
}
Hand::Right => {
let mut result_array: [Transform; 26] = [Transform::default(); 26];
for (place, data) in result_array.iter_mut().zip(hand_bones.iter()) {
*place = Transform {
translation: Vec3 {
x: data.x,
y: -data.y,
z: -data.z,
},
rotation: Quat::IDENTITY,
scale: Vec3::splat(1.0),
}
}
return result_array;
}
}
}
pub fn get_test_hand_pose_array() -> [Posef; 26] {
let test_hand_pose: [Posef; 26] = [
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
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
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,
},
},
];
return test_hand_pose;
}