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slight cleaning

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This commit is contained in:
Jay Christy
2023-10-09 00:16:14 -04:00
parent abfc376c99
commit cae43d4175
1 changed files with 11 additions and 55 deletions
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66
examples/xr.rs
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@@ -30,7 +30,7 @@ fn main() {
.add_systems(Startup, setup) .add_systems(Startup, setup)
.add_systems(Update, proto_locomotion) .add_systems(Update, proto_locomotion)
.add_systems(Startup, spawn_controllers_example) .add_systems(Startup, spawn_controllers_example)
.add_systems(Update, draw_skeleton_hands) .add_systems(Update, update_emulated_hand_skeletons)
.add_systems(PreUpdate, update_hand_states) .add_systems(PreUpdate, update_hand_states)
.add_systems(PostUpdate, draw_hand_entities) .add_systems(PostUpdate, draw_hand_entities)
.add_systems(Startup, spawn_hand_entities) .add_systems(Startup, spawn_hand_entities)
@@ -245,8 +245,7 @@ pub fn update_hand_states(
} }
} }
fn draw_skeleton_hands( fn update_emulated_hand_skeletons(
mut gizmos: Gizmos,
right_controller_query: Query<(&GlobalTransform, With<OpenXRRightController>)>, right_controller_query: Query<(&GlobalTransform, With<OpenXRRightController>)>,
left_controller_query: Query<(&GlobalTransform, With<OpenXRLeftController>)>, left_controller_query: Query<(&GlobalTransform, With<OpenXRLeftController>)>,
hand_states_option: Option<ResMut<HandStatesResource>>, hand_states_option: Option<ResMut<HandStatesResource>>,
@@ -259,8 +258,7 @@ fn draw_skeleton_hands(
.unwrap() .unwrap()
.0 .0
.compute_transform(); .compute_transform();
draw_hand_bones( update_hand_bones_emulated(
&mut gizmos,
left_hand_transform, left_hand_transform,
Hand::Left, Hand::Left,
hands.left, hands.left,
@@ -271,9 +269,7 @@ fn draw_skeleton_hands(
.unwrap() .unwrap()
.0 .0
.compute_transform(); .compute_transform();
// draw_hand(&mut gizmos, right_hand_transform, Hand::Right); update_hand_bones_emulated(
draw_hand_bones(
&mut gizmos,
right_hand_transform, right_hand_transform,
Hand::Right, Hand::Right,
hands.right, hands.right,
@@ -448,8 +444,7 @@ fn get_bone_gizmo_style(hand_bone: &HandBone) -> (f32, Color) {
} }
} }
fn draw_hand_bones( fn update_hand_bones_emulated(
mut gizmos: &mut Gizmos,
controller_transform: Transform, controller_transform: Transform,
hand: Hand, hand: Hand,
hand_state: HandState, hand_state: HandState,
@@ -477,49 +472,26 @@ fn draw_hand_bones(
let grip_curl = hand_state.grip; let grip_curl = hand_state.grip;
let index_curl = hand_state.get_index_curl(); let index_curl = hand_state.get_index_curl();
let thumb_curl = hand_state.get_thumb_curl(); let thumb_curl = hand_state.get_thumb_curl();
//get paml quat //get palm quat
let y = Quat::from_rotation_y(-90.0 * PI / 180.0); let y = Quat::from_rotation_y(-90.0 * PI / 180.0);
let x = Quat::from_rotation_x(-90.0 * PI / 180.0); let x = Quat::from_rotation_x(-90.0 * PI / 180.0);
let palm_quat = controller_quat.mul_quat(y).mul_quat(x); let palm_quat = controller_quat.mul_quat(y).mul_quat(x);
//draw debug rays
// gizmos.ray(
// hand_translation,
// palm_quat.mul_vec3(Vec3::Z * 0.2),
// Color::BLUE,
// );
// gizmos.ray(
// hand_translation,
// palm_quat.mul_vec3(Vec3::Y * 0.2),
// Color::GREEN,
// );
// gizmos.ray(
// hand_translation,
// palm_quat.mul_vec3(Vec3::X * 0.2),
// Color::RED,
// );
//get simulated bones //get simulated bones
let hand_transform_array: [Transform; 26] = get_simulated_open_hand_transforms(hand); let hand_transform_array: [Transform; 26] = get_simulated_open_hand_transforms(hand);
//draw controller-palm bone(should be zero length) //palm
let palm = hand_transform_array[HandJoint::PALM]; let palm = hand_transform_array[HandJoint::PALM];
gizmos.ray(hand_translation, palm.translation, Color::WHITE);
calc_transforms[HandJoint::PALM] = Transform { calc_transforms[HandJoint::PALM] = Transform {
translation: hand_translation + palm.translation, translation: hand_translation + palm.translation,
..default() ..default()
}; };
//draw palm-wrist //wrist
let wrist = hand_transform_array[HandJoint::WRIST]; let wrist = hand_transform_array[HandJoint::WRIST];
gizmos.ray(
hand_translation + palm.translation,
palm_quat.mul_vec3(wrist.translation),
Color::GRAY,
);
calc_transforms[HandJoint::WRIST] = Transform { calc_transforms[HandJoint::WRIST] = Transform {
translation: hand_translation + palm.translation + palm_quat.mul_vec3(wrist.translation), translation: hand_translation + palm.translation + palm_quat.mul_vec3(wrist.translation),
..default() ..default()
}; };
//thumb //thumb
//better finger drawing?
let thumb_joints = [ let thumb_joints = [
HandJoint::THUMB_METACARPAL, HandJoint::THUMB_METACARPAL,
HandJoint::THUMB_PROXIMAL, HandJoint::THUMB_PROXIMAL,
@@ -529,7 +501,6 @@ fn draw_hand_bones(
let mut prior_start: Option<Vec3> = None; let mut prior_start: Option<Vec3> = None;
let mut prior_quat: Option<Quat> = None; let mut prior_quat: Option<Quat> = None;
let mut prior_vector: Option<Vec3> = None; let mut prior_vector: Option<Vec3> = None;
let color = Color::RED;
let splay = Quat::from_rotation_y(splay_direction * 30.0 * PI / 180.0); let splay = Quat::from_rotation_y(splay_direction * 30.0 * PI / 180.0);
let huh = Quat::from_rotation_x(-35.0 * PI / 180.0); let huh = Quat::from_rotation_x(-35.0 * PI / 180.0);
let splay_quat = palm_quat.mul_quat(huh).mul_quat(splay); let splay_quat = palm_quat.mul_quat(huh).mul_quat(splay);
@@ -542,7 +513,6 @@ fn draw_hand_bones(
let thumb_prox = hand_transform_array[*bone]; let thumb_prox = hand_transform_array[*bone];
let tp_start = start + prior_vector.unwrap(); let tp_start = start + prior_vector.unwrap();
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation); let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
gizmos.ray(tp_start, tp_vector, color);
prior_start = Some(tp_start); prior_start = Some(tp_start);
prior_quat = Some(tp_quat); prior_quat = Some(tp_quat);
prior_vector = Some(tp_vector); prior_vector = Some(tp_vector);
@@ -558,7 +528,6 @@ fn draw_hand_bones(
+ palm_quat.mul_vec3(palm.translation) + palm_quat.mul_vec3(palm.translation)
+ palm_quat.mul_vec3(wrist.translation); + palm_quat.mul_vec3(wrist.translation);
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation); let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
gizmos.ray(tm_start, tm_vector, color);
prior_start = Some(tm_start); prior_start = Some(tm_start);
prior_quat = Some(splay_quat); prior_quat = Some(splay_quat);
prior_vector = Some(tm_vector); prior_vector = Some(tm_vector);
@@ -572,7 +541,6 @@ fn draw_hand_bones(
} }
//index //index
//better finger drawing?
let thumb_joints = [ let thumb_joints = [
HandJoint::INDEX_METACARPAL, HandJoint::INDEX_METACARPAL,
HandJoint::INDEX_PROXIMAL, HandJoint::INDEX_PROXIMAL,
@@ -583,7 +551,6 @@ fn draw_hand_bones(
let mut prior_start: Option<Vec3> = None; let mut prior_start: Option<Vec3> = None;
let mut prior_quat: Option<Quat> = None; let mut prior_quat: Option<Quat> = None;
let mut prior_vector: Option<Vec3> = None; let mut prior_vector: Option<Vec3> = None;
let color = Color::ORANGE;
let splay = Quat::from_rotation_y(splay_direction * 10.0 * PI / 180.0); let splay = Quat::from_rotation_y(splay_direction * 10.0 * PI / 180.0);
let splay_quat = palm_quat.mul_quat(splay); let splay_quat = palm_quat.mul_quat(splay);
for bone in thumb_joints.iter() { for bone in thumb_joints.iter() {
@@ -595,7 +562,6 @@ fn draw_hand_bones(
let thumb_prox = hand_transform_array[*bone]; let thumb_prox = hand_transform_array[*bone];
let tp_start = start + prior_vector.unwrap(); let tp_start = start + prior_vector.unwrap();
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation); let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
gizmos.ray(tp_start, tp_vector, color);
prior_start = Some(tp_start); prior_start = Some(tp_start);
prior_quat = Some(tp_quat); prior_quat = Some(tp_quat);
prior_vector = Some(tp_vector); prior_vector = Some(tp_vector);
@@ -611,7 +577,6 @@ fn draw_hand_bones(
+ palm_quat.mul_vec3(palm.translation) + palm_quat.mul_vec3(palm.translation)
+ palm_quat.mul_vec3(wrist.translation); + palm_quat.mul_vec3(wrist.translation);
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation); let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
gizmos.ray(tm_start, tm_vector, color);
prior_start = Some(tm_start); prior_start = Some(tm_start);
prior_quat = Some(splay_quat); prior_quat = Some(splay_quat);
prior_vector = Some(tm_vector); prior_vector = Some(tm_vector);
@@ -624,7 +589,7 @@ fn draw_hand_bones(
} }
} }
//better finger drawing? //middle
let thumb_joints = [ let thumb_joints = [
HandJoint::MIDDLE_METACARPAL, HandJoint::MIDDLE_METACARPAL,
HandJoint::MIDDLE_PROXIMAL, HandJoint::MIDDLE_PROXIMAL,
@@ -635,7 +600,6 @@ fn draw_hand_bones(
let mut prior_start: Option<Vec3> = None; let mut prior_start: Option<Vec3> = None;
let mut prior_quat: Option<Quat> = None; let mut prior_quat: Option<Quat> = None;
let mut prior_vector: Option<Vec3> = None; let mut prior_vector: Option<Vec3> = None;
let color = Color::YELLOW;
let splay = Quat::from_rotation_y(splay_direction * 0.0 * PI / 180.0); let splay = Quat::from_rotation_y(splay_direction * 0.0 * PI / 180.0);
let splay_quat = palm_quat.mul_quat(splay); let splay_quat = palm_quat.mul_quat(splay);
for bone in thumb_joints.iter() { for bone in thumb_joints.iter() {
@@ -647,7 +611,6 @@ fn draw_hand_bones(
let thumb_prox = hand_transform_array[*bone]; let thumb_prox = hand_transform_array[*bone];
let tp_start = start + prior_vector.unwrap(); let tp_start = start + prior_vector.unwrap();
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation); let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
gizmos.ray(tp_start, tp_vector, color);
prior_start = Some(tp_start); prior_start = Some(tp_start);
prior_quat = Some(tp_quat); prior_quat = Some(tp_quat);
prior_vector = Some(tp_vector); prior_vector = Some(tp_vector);
@@ -663,7 +626,6 @@ fn draw_hand_bones(
+ palm_quat.mul_vec3(palm.translation) + palm_quat.mul_vec3(palm.translation)
+ palm_quat.mul_vec3(wrist.translation); + palm_quat.mul_vec3(wrist.translation);
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation); let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
gizmos.ray(tm_start, tm_vector, color);
prior_start = Some(tm_start); prior_start = Some(tm_start);
prior_quat = Some(splay_quat); prior_quat = Some(splay_quat);
prior_vector = Some(tm_vector); prior_vector = Some(tm_vector);
@@ -675,7 +637,7 @@ fn draw_hand_bones(
} }
} }
} }
//better finger drawing? //ring
let thumb_joints = [ let thumb_joints = [
HandJoint::RING_METACARPAL, HandJoint::RING_METACARPAL,
HandJoint::RING_PROXIMAL, HandJoint::RING_PROXIMAL,
@@ -686,7 +648,6 @@ fn draw_hand_bones(
let mut prior_start: Option<Vec3> = None; let mut prior_start: Option<Vec3> = None;
let mut prior_quat: Option<Quat> = None; let mut prior_quat: Option<Quat> = None;
let mut prior_vector: Option<Vec3> = None; let mut prior_vector: Option<Vec3> = None;
let color = Color::GREEN;
let splay = Quat::from_rotation_y(splay_direction * -10.0 * PI / 180.0); let splay = Quat::from_rotation_y(splay_direction * -10.0 * PI / 180.0);
let splay_quat = palm_quat.mul_quat(splay); let splay_quat = palm_quat.mul_quat(splay);
for bone in thumb_joints.iter() { for bone in thumb_joints.iter() {
@@ -698,7 +659,6 @@ fn draw_hand_bones(
let thumb_prox = hand_transform_array[*bone]; let thumb_prox = hand_transform_array[*bone];
let tp_start = start + prior_vector.unwrap(); let tp_start = start + prior_vector.unwrap();
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation); let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
gizmos.ray(tp_start, tp_vector, color);
prior_start = Some(tp_start); prior_start = Some(tp_start);
prior_quat = Some(tp_quat); prior_quat = Some(tp_quat);
prior_vector = Some(tp_vector); prior_vector = Some(tp_vector);
@@ -714,7 +674,6 @@ fn draw_hand_bones(
+ palm_quat.mul_vec3(palm.translation) + palm_quat.mul_vec3(palm.translation)
+ palm_quat.mul_vec3(wrist.translation); + palm_quat.mul_vec3(wrist.translation);
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation); let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
gizmos.ray(tm_start, tm_vector, color);
prior_start = Some(tm_start); prior_start = Some(tm_start);
prior_quat = Some(splay_quat); prior_quat = Some(splay_quat);
prior_vector = Some(tm_vector); prior_vector = Some(tm_vector);
@@ -727,7 +686,7 @@ fn draw_hand_bones(
} }
} }
//better finger drawing? //little
let thumb_joints = [ let thumb_joints = [
HandJoint::LITTLE_METACARPAL, HandJoint::LITTLE_METACARPAL,
HandJoint::LITTLE_PROXIMAL, HandJoint::LITTLE_PROXIMAL,
@@ -738,7 +697,6 @@ fn draw_hand_bones(
let mut prior_start: Option<Vec3> = None; let mut prior_start: Option<Vec3> = None;
let mut prior_quat: Option<Quat> = None; let mut prior_quat: Option<Quat> = None;
let mut prior_vector: Option<Vec3> = None; let mut prior_vector: Option<Vec3> = None;
let color = Color::BLUE;
let splay = Quat::from_rotation_y(splay_direction * -20.0 * PI / 180.0); let splay = Quat::from_rotation_y(splay_direction * -20.0 * PI / 180.0);
let splay_quat = palm_quat.mul_quat(splay); let splay_quat = palm_quat.mul_quat(splay);
for bone in thumb_joints.iter() { for bone in thumb_joints.iter() {
@@ -750,7 +708,6 @@ fn draw_hand_bones(
let thumb_prox = hand_transform_array[*bone]; let thumb_prox = hand_transform_array[*bone];
let tp_start = start + prior_vector.unwrap(); let tp_start = start + prior_vector.unwrap();
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation); let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
gizmos.ray(tp_start, tp_vector, color);
prior_start = Some(tp_start); prior_start = Some(tp_start);
prior_quat = Some(tp_quat); prior_quat = Some(tp_quat);
prior_vector = Some(tp_vector); prior_vector = Some(tp_vector);
@@ -766,7 +723,6 @@ fn draw_hand_bones(
+ palm_quat.mul_vec3(palm.translation) + palm_quat.mul_vec3(palm.translation)
+ palm_quat.mul_vec3(wrist.translation); + palm_quat.mul_vec3(wrist.translation);
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation); let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
gizmos.ray(tm_start, tm_vector, color);
prior_start = Some(tm_start); prior_start = Some(tm_start);
prior_quat = Some(splay_quat); prior_quat = Some(splay_quat);
prior_vector = Some(tm_vector); prior_vector = Some(tm_vector);