moved everything to the hand file
This commit is contained in:
Jay Christy
899
examples/xr.rs
899
examples/xr.rs
@@ -31,9 +31,7 @@ use bevy_openxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLoc
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use bevy_openxr::xr_input::trackers::{
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use bevy_openxr::xr_input::trackers::{
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OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker,
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OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker,
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};
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};
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use bevy_openxr::xr_input::{Hand, Vec3Conv};
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use bevy_openxr::DefaultXrPlugins;
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use bevy_openxr::DefaultXrPlugins;
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use openxr::{HandJoint, Posef};
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fn main() {
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fn main() {
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color_eyre::install().unwrap();
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color_eyre::install().unwrap();
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@@ -116,903 +114,6 @@ fn setup(
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},));
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},));
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}
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}
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pub fn spawn_hand_entities(mut commands: Commands) {
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let hands = [Hand::Left, Hand::Right];
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let bones = [
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HandBone::Palm,
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HandBone::Wrist,
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HandBone::ThumbMetacarpal,
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HandBone::ThumbProximal,
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HandBone::ThumbDistal,
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HandBone::ThumbTip,
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HandBone::IndexMetacarpal,
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HandBone::IndexProximal,
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HandBone::IndexIntermediate,
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HandBone::IndexDistal,
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HandBone::IndexTip,
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HandBone::MiddleMetacarpal,
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HandBone::MiddleProximal,
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HandBone::MiddleIntermediate,
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HandBone::MiddleDistal,
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HandBone::MiddleTip,
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HandBone::RingMetacarpal,
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HandBone::RingProximal,
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HandBone::RingIntermediate,
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HandBone::RingDistal,
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HandBone::RingTip,
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HandBone::LittleMetacarpal,
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HandBone::LittleProximal,
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HandBone::LittleIntermediate,
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HandBone::LittleDistal,
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HandBone::LittleTip,
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];
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//hand resource
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let mut hand_resource = HandsResource { ..default() };
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for hand in hands.iter() {
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for bone in bones.iter() {
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let boneid = commands
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.spawn((
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SpatialBundle::default(),
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bone.clone(),
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OpenXRTracker,
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hand.clone(),
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))
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.id();
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match hand {
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Hand::Left => match bone {
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HandBone::Palm => hand_resource.left.palm = boneid,
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HandBone::Wrist => hand_resource.left.wrist = boneid,
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HandBone::ThumbMetacarpal => hand_resource.left.thumb.metacarpal = boneid,
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HandBone::ThumbProximal => hand_resource.left.thumb.proximal = boneid,
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HandBone::ThumbDistal => hand_resource.left.thumb.distal = boneid,
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HandBone::ThumbTip => hand_resource.left.thumb.tip = boneid,
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HandBone::IndexMetacarpal => hand_resource.left.index.metacarpal = boneid,
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HandBone::IndexProximal => hand_resource.left.index.proximal = boneid,
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HandBone::IndexIntermediate => hand_resource.left.index.intermediate = boneid,
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HandBone::IndexDistal => hand_resource.left.index.distal = boneid,
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HandBone::IndexTip => hand_resource.left.index.tip = boneid,
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HandBone::MiddleMetacarpal => hand_resource.left.middle.metacarpal = boneid,
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HandBone::MiddleProximal => hand_resource.left.middle.proximal = boneid,
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HandBone::MiddleIntermediate => hand_resource.left.middle.intermediate = boneid,
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HandBone::MiddleDistal => hand_resource.left.middle.distal = boneid,
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HandBone::MiddleTip => hand_resource.left.middle.tip = boneid,
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HandBone::RingMetacarpal => hand_resource.left.ring.metacarpal = boneid,
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HandBone::RingProximal => hand_resource.left.ring.proximal = boneid,
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HandBone::RingIntermediate => hand_resource.left.ring.intermediate = boneid,
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HandBone::RingDistal => hand_resource.left.ring.distal = boneid,
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HandBone::RingTip => hand_resource.left.ring.tip = boneid,
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HandBone::LittleMetacarpal => hand_resource.left.little.metacarpal = boneid,
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HandBone::LittleProximal => hand_resource.left.little.proximal = boneid,
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HandBone::LittleIntermediate => hand_resource.left.little.intermediate = boneid,
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HandBone::LittleDistal => hand_resource.left.little.distal = boneid,
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HandBone::LittleTip => hand_resource.left.little.tip = boneid,
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},
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Hand::Right => match bone {
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HandBone::Palm => hand_resource.right.palm = boneid,
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HandBone::Wrist => hand_resource.right.wrist = boneid,
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HandBone::ThumbMetacarpal => hand_resource.right.thumb.metacarpal = boneid,
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HandBone::ThumbProximal => hand_resource.right.thumb.proximal = boneid,
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HandBone::ThumbDistal => hand_resource.right.thumb.distal = boneid,
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HandBone::ThumbTip => hand_resource.right.thumb.tip = boneid,
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HandBone::IndexMetacarpal => hand_resource.right.index.metacarpal = boneid,
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HandBone::IndexProximal => hand_resource.right.index.proximal = boneid,
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HandBone::IndexIntermediate => hand_resource.right.index.intermediate = boneid,
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HandBone::IndexDistal => hand_resource.right.index.distal = boneid,
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HandBone::IndexTip => hand_resource.right.index.tip = boneid,
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HandBone::MiddleMetacarpal => hand_resource.right.middle.metacarpal = boneid,
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HandBone::MiddleProximal => hand_resource.right.middle.proximal = boneid,
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HandBone::MiddleIntermediate => hand_resource.right.middle.intermediate = boneid,
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HandBone::MiddleDistal => hand_resource.right.middle.distal = boneid,
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HandBone::MiddleTip => hand_resource.right.middle.tip = boneid,
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HandBone::RingMetacarpal => hand_resource.right.ring.metacarpal = boneid,
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HandBone::RingProximal => hand_resource.right.ring.proximal = boneid,
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HandBone::RingIntermediate => hand_resource.right.ring.intermediate = boneid,
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HandBone::RingDistal => hand_resource.right.ring.distal = boneid,
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HandBone::RingTip => hand_resource.right.ring.tip = boneid,
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HandBone::LittleMetacarpal => hand_resource.right.little.metacarpal = boneid,
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HandBone::LittleProximal => hand_resource.right.little.proximal = boneid,
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HandBone::LittleIntermediate => hand_resource.right.little.intermediate = boneid,
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HandBone::LittleDistal => hand_resource.right.little.distal = boneid,
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HandBone::LittleTip => hand_resource.right.little.tip = boneid,
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},
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}
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}
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}
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commands.insert_resource(hand_resource);
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}
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pub fn update_hand_states(
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oculus_controller: Res<OculusController>,
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hand_states_option: Option<ResMut<HandStatesResource>>,
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frame_state: Res<XrFrameState>,
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xr_input: Res<XrInput>,
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instance: Res<XrInstance>,
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session: Res<XrSession>,
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) {
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match hand_states_option {
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Some(mut hands) => {
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//lock frame
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let frame_state = *frame_state.lock().unwrap();
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//get controller
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let controller =
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oculus_controller.get_ref(&instance, &session, &frame_state, &xr_input);
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//right hand
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let squeeze = controller.squeeze(Hand::Right);
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let trigger_state = controller.trigger(Hand::Right);
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let calc_trigger_state = match controller.trigger_touched(Hand::Right) {
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true => match trigger_state > 0.0 {
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true => TriggerState::PULLED,
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false => TriggerState::TOUCHED,
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},
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false => TriggerState::OFF,
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};
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//button a
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let mut a_state = ButtonState::OFF;
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if controller.a_button_touched() {
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a_state = ButtonState::TOUCHED;
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}
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if controller.a_button() {
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a_state = ButtonState::PRESSED;
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}
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//button b
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let mut b_state = ButtonState::OFF;
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if controller.b_button_touched() {
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b_state = ButtonState::TOUCHED;
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}
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if controller.b_button() {
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b_state = ButtonState::PRESSED;
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}
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let thumbstick_state = controller.thumbstick(Hand::Right);
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let calc_thumbstick_state = match controller.thumbstick_touch(Hand::Right) {
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true => match thumbstick_state.x > 0.0 || thumbstick_state.y > 0.0 {
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true => ThumbstickState::PRESSED,
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false => ThumbstickState::TOUCHED,
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},
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false => ThumbstickState::OFF,
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};
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let right_state = HandState {
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grip: squeeze,
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trigger_state: calc_trigger_state,
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a_button: a_state,
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b_button: b_state,
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thumbstick: calc_thumbstick_state,
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};
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//left
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let squeeze = controller.squeeze(Hand::Left);
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let trigger_state = controller.trigger(Hand::Left);
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let calc_trigger_state = match controller.trigger_touched(Hand::Left) {
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true => match trigger_state > 0.0 {
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true => TriggerState::PULLED,
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false => TriggerState::TOUCHED,
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},
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false => TriggerState::OFF,
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};
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//button a
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let mut a_state = ButtonState::OFF;
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if controller.x_button_touched() {
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a_state = ButtonState::TOUCHED;
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}
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if controller.x_button() {
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a_state = ButtonState::PRESSED;
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}
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//button b
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let mut b_state = ButtonState::OFF;
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if controller.y_button_touched() {
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b_state = ButtonState::TOUCHED;
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}
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if controller.y_button() {
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b_state = ButtonState::PRESSED;
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}
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let thumbstick_state = controller.thumbstick(Hand::Left);
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let calc_thumbstick_state = match controller.thumbstick_touch(Hand::Left) {
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true => match thumbstick_state.x > 0.0 || thumbstick_state.y > 0.0 {
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true => ThumbstickState::PRESSED,
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false => ThumbstickState::TOUCHED,
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},
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false => ThumbstickState::OFF,
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};
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let left_state = HandState {
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grip: squeeze,
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trigger_state: calc_trigger_state,
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a_button: a_state,
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b_button: b_state,
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thumbstick: calc_thumbstick_state,
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};
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hands.left = left_state;
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hands.right = right_state;
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}
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None => info!("hand states resource not init yet"),
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}
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}
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fn update_emulated_hand_skeletons(
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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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hand_states_option: Option<ResMut<HandStatesResource>>,
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mut hand_bone_query: Query<(&mut Transform, &HandBone, &Hand)>,
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) {
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match hand_states_option {
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Some(hands) => {
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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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update_hand_bones_emulated(
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left_hand_transform,
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Hand::Left,
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hands.left,
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&mut hand_bone_query,
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);
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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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update_hand_bones_emulated(
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right_hand_transform,
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Hand::Right,
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hands.right,
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&mut hand_bone_query,
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);
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}
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None => info!("hand states resource not initialized yet"),
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}
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}
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#[derive(Component, Debug, Clone, Copy)]
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pub enum HandBone {
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Palm,
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Wrist,
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ThumbMetacarpal,
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ThumbProximal,
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ThumbDistal,
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ThumbTip,
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IndexMetacarpal,
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IndexProximal,
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IndexIntermediate,
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IndexDistal,
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IndexTip,
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MiddleMetacarpal,
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MiddleProximal,
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MiddleIntermediate,
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MiddleDistal,
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MiddleTip,
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RingMetacarpal,
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RingProximal,
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RingIntermediate,
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RingDistal,
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RingTip,
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LittleMetacarpal,
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LittleProximal,
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LittleIntermediate,
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LittleDistal,
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LittleTip,
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}
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#[derive(Clone, Copy)]
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pub enum ButtonState {
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OFF,
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TOUCHED,
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PRESSED,
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}
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impl Default for ButtonState {
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fn default() -> Self {
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ButtonState::OFF
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}
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}
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#[derive(Clone, Copy)]
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pub enum ThumbstickState {
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OFF,
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TOUCHED,
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PRESSED,
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}
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impl Default for ThumbstickState {
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fn default() -> Self {
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ThumbstickState::OFF
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}
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}
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#[derive(Clone, Copy)]
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pub enum TriggerState {
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OFF,
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TOUCHED,
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PULLED,
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}
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impl Default for TriggerState {
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fn default() -> Self {
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TriggerState::OFF
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}
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}
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#[derive(Default, Resource)]
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pub struct HandStatesResource {
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pub left: HandState,
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pub right: HandState,
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}
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#[derive(Clone, Copy)]
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pub struct HandState {
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grip: f32,
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trigger_state: TriggerState,
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a_button: ButtonState,
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b_button: ButtonState,
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thumbstick: ThumbstickState,
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}
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impl Default for HandState {
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||||||
fn default() -> Self {
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Self {
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grip: Default::default(),
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||||||
trigger_state: Default::default(),
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a_button: Default::default(),
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b_button: Default::default(),
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thumbstick: Default::default(),
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}
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}
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}
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impl HandState {
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pub fn get_index_curl(&self) -> f32 {
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match self.trigger_state {
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||||||
TriggerState::OFF => 0.0,
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||||||
TriggerState::TOUCHED => 0.50,
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||||||
TriggerState::PULLED => 1.0,
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|
||||||
}
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|
||||||
}
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||||||
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||||||
pub fn get_thumb_curl(&self) -> f32 {
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|
||||||
match self.thumbstick {
|
|
||||||
ThumbstickState::OFF => (),
|
|
||||||
ThumbstickState::TOUCHED => return 0.25,
|
|
||||||
ThumbstickState::PRESSED => return 0.25,
|
|
||||||
};
|
|
||||||
|
|
||||||
match self.a_button {
|
|
||||||
ButtonState::OFF => (),
|
|
||||||
ButtonState::TOUCHED => return 0.25,
|
|
||||||
ButtonState::PRESSED => return 0.25,
|
|
||||||
};
|
|
||||||
|
|
||||||
match self.b_button {
|
|
||||||
ButtonState::OFF => (),
|
|
||||||
ButtonState::TOUCHED => return 0.25,
|
|
||||||
ButtonState::PRESSED => return 0.25,
|
|
||||||
};
|
|
||||||
//if no thumb actions taken return open position
|
|
||||||
return 0.0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn draw_hand_entities(mut gizmos: Gizmos, query: Query<(&Transform, &HandBone)>) {
|
|
||||||
for (transform, hand_bone) in query.iter() {
|
|
||||||
let (radius, color) = get_bone_gizmo_style(hand_bone);
|
|
||||||
gizmos.sphere(transform.translation, transform.rotation, radius, color);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn get_bone_gizmo_style(hand_bone: &HandBone) -> (f32, Color) {
|
|
||||||
match hand_bone {
|
|
||||||
HandBone::Palm => (0.01, Color::WHITE),
|
|
||||||
HandBone::Wrist => (0.01, Color::GRAY),
|
|
||||||
HandBone::ThumbMetacarpal => (0.01, Color::RED),
|
|
||||||
HandBone::ThumbProximal => (0.008, Color::RED),
|
|
||||||
HandBone::ThumbDistal => (0.006, Color::RED),
|
|
||||||
HandBone::ThumbTip => (0.004, Color::RED),
|
|
||||||
HandBone::IndexMetacarpal => (0.01, Color::ORANGE),
|
|
||||||
HandBone::IndexProximal => (0.008, Color::ORANGE),
|
|
||||||
HandBone::IndexIntermediate => (0.006, Color::ORANGE),
|
|
||||||
HandBone::IndexDistal => (0.004, Color::ORANGE),
|
|
||||||
HandBone::IndexTip => (0.002, Color::ORANGE),
|
|
||||||
HandBone::MiddleMetacarpal => (0.01, Color::YELLOW),
|
|
||||||
HandBone::MiddleProximal => (0.008, Color::YELLOW),
|
|
||||||
HandBone::MiddleIntermediate => (0.006, Color::YELLOW),
|
|
||||||
HandBone::MiddleDistal => (0.004, Color::YELLOW),
|
|
||||||
HandBone::MiddleTip => (0.002, Color::YELLOW),
|
|
||||||
HandBone::RingMetacarpal => (0.01, Color::GREEN),
|
|
||||||
HandBone::RingProximal => (0.008, Color::GREEN),
|
|
||||||
HandBone::RingIntermediate => (0.006, Color::GREEN),
|
|
||||||
HandBone::RingDistal => (0.004, Color::GREEN),
|
|
||||||
HandBone::RingTip => (0.002, Color::GREEN),
|
|
||||||
HandBone::LittleMetacarpal => (0.01, Color::BLUE),
|
|
||||||
HandBone::LittleProximal => (0.008, Color::BLUE),
|
|
||||||
HandBone::LittleIntermediate => (0.006, Color::BLUE),
|
|
||||||
HandBone::LittleDistal => (0.004, Color::BLUE),
|
|
||||||
HandBone::LittleTip => (0.002, Color::BLUE),
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn update_hand_bones_emulated(
|
|
||||||
controller_transform: Transform,
|
|
||||||
hand: Hand,
|
|
||||||
hand_state: HandState,
|
|
||||||
hand_bone_query: &mut Query<(&mut Transform, &HandBone, &Hand)>,
|
|
||||||
) {
|
|
||||||
let left_hand_rot = Quat::from_rotation_y(180.0 * PI / 180.0);
|
|
||||||
let hand_translation: Vec3 = match hand {
|
|
||||||
Hand::Left => controller_transform.translation,
|
|
||||||
Hand::Right => controller_transform.translation,
|
|
||||||
};
|
|
||||||
|
|
||||||
let controller_quat: Quat = match hand {
|
|
||||||
Hand::Left => controller_transform.rotation.mul_quat(left_hand_rot),
|
|
||||||
Hand::Right => controller_transform.rotation,
|
|
||||||
};
|
|
||||||
|
|
||||||
let splay_direction = match hand {
|
|
||||||
Hand::Left => -1.0,
|
|
||||||
Hand::Right => 1.0,
|
|
||||||
};
|
|
||||||
//lets make a structure to hold our calculated transforms for now
|
|
||||||
let mut calc_transforms = [Transform::default(); 26];
|
|
||||||
|
|
||||||
//curl represents how closed the hand is from 0 to 1;
|
|
||||||
let grip_curl = hand_state.grip;
|
|
||||||
let index_curl = hand_state.get_index_curl();
|
|
||||||
let thumb_curl = hand_state.get_thumb_curl();
|
|
||||||
//get palm quat
|
|
||||||
let y = Quat::from_rotation_y(-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);
|
|
||||||
//get simulated bones
|
|
||||||
let hand_transform_array: [Transform; 26] = get_simulated_open_hand_transforms(hand);
|
|
||||||
//palm
|
|
||||||
let palm = hand_transform_array[HandJoint::PALM];
|
|
||||||
calc_transforms[HandJoint::PALM] = Transform {
|
|
||||||
translation: hand_translation + palm.translation,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
//wrist
|
|
||||||
let wrist = hand_transform_array[HandJoint::WRIST];
|
|
||||||
calc_transforms[HandJoint::WRIST] = Transform {
|
|
||||||
translation: hand_translation + palm.translation + palm_quat.mul_vec3(wrist.translation),
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
|
|
||||||
//thumb
|
|
||||||
let thumb_joints = [
|
|
||||||
HandJoint::THUMB_METACARPAL,
|
|
||||||
HandJoint::THUMB_PROXIMAL,
|
|
||||||
HandJoint::THUMB_DISTAL,
|
|
||||||
HandJoint::THUMB_TIP,
|
|
||||||
];
|
|
||||||
let mut prior_start: Option<Vec3> = None;
|
|
||||||
let mut prior_quat: Option<Quat> = None;
|
|
||||||
let mut prior_vector: Option<Vec3> = None;
|
|
||||||
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 splay_quat = palm_quat.mul_quat(huh).mul_quat(splay);
|
|
||||||
for bone in thumb_joints.iter() {
|
|
||||||
match prior_start {
|
|
||||||
Some(start) => {
|
|
||||||
let curl_angle: f32 = get_bone_curl_angle(*bone, thumb_curl);
|
|
||||||
let tp_lrot = Quat::from_rotation_y(splay_direction * curl_angle * PI / 180.0);
|
|
||||||
let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
|
|
||||||
let thumb_prox = hand_transform_array[*bone];
|
|
||||||
let tp_start = start + prior_vector.unwrap();
|
|
||||||
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
|
|
||||||
prior_start = Some(tp_start);
|
|
||||||
prior_quat = Some(tp_quat);
|
|
||||||
prior_vector = Some(tp_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tp_start + tp_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
None => {
|
|
||||||
let thumb_meta = hand_transform_array[*bone];
|
|
||||||
let tm_start = hand_translation
|
|
||||||
+ palm_quat.mul_vec3(palm.translation)
|
|
||||||
+ palm_quat.mul_vec3(wrist.translation);
|
|
||||||
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
|
|
||||||
prior_start = Some(tm_start);
|
|
||||||
prior_quat = Some(splay_quat);
|
|
||||||
prior_vector = Some(tm_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tm_start + tm_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
//index
|
|
||||||
let thumb_joints = [
|
|
||||||
HandJoint::INDEX_METACARPAL,
|
|
||||||
HandJoint::INDEX_PROXIMAL,
|
|
||||||
HandJoint::INDEX_INTERMEDIATE,
|
|
||||||
HandJoint::INDEX_DISTAL,
|
|
||||||
HandJoint::INDEX_TIP,
|
|
||||||
];
|
|
||||||
let mut prior_start: Option<Vec3> = None;
|
|
||||||
let mut prior_quat: Option<Quat> = None;
|
|
||||||
let mut prior_vector: Option<Vec3> = None;
|
|
||||||
let splay = Quat::from_rotation_y(splay_direction * 10.0 * PI / 180.0);
|
|
||||||
let splay_quat = palm_quat.mul_quat(splay);
|
|
||||||
for bone in thumb_joints.iter() {
|
|
||||||
match prior_start {
|
|
||||||
Some(start) => {
|
|
||||||
let curl_angle: f32 = get_bone_curl_angle(*bone, index_curl);
|
|
||||||
let tp_lrot = Quat::from_rotation_x(curl_angle * PI / 180.0);
|
|
||||||
let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
|
|
||||||
let thumb_prox = hand_transform_array[*bone];
|
|
||||||
let tp_start = start + prior_vector.unwrap();
|
|
||||||
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
|
|
||||||
prior_start = Some(tp_start);
|
|
||||||
prior_quat = Some(tp_quat);
|
|
||||||
prior_vector = Some(tp_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tp_start + tp_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
None => {
|
|
||||||
let thumb_meta = hand_transform_array[*bone];
|
|
||||||
let tm_start = hand_translation
|
|
||||||
+ palm_quat.mul_vec3(palm.translation)
|
|
||||||
+ palm_quat.mul_vec3(wrist.translation);
|
|
||||||
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
|
|
||||||
prior_start = Some(tm_start);
|
|
||||||
prior_quat = Some(splay_quat);
|
|
||||||
prior_vector = Some(tm_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tm_start + tm_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
//middle
|
|
||||||
let thumb_joints = [
|
|
||||||
HandJoint::MIDDLE_METACARPAL,
|
|
||||||
HandJoint::MIDDLE_PROXIMAL,
|
|
||||||
HandJoint::MIDDLE_INTERMEDIATE,
|
|
||||||
HandJoint::MIDDLE_DISTAL,
|
|
||||||
HandJoint::MIDDLE_TIP,
|
|
||||||
];
|
|
||||||
let mut prior_start: Option<Vec3> = None;
|
|
||||||
let mut prior_quat: Option<Quat> = None;
|
|
||||||
let mut prior_vector: Option<Vec3> = None;
|
|
||||||
let splay = Quat::from_rotation_y(splay_direction * 0.0 * PI / 180.0);
|
|
||||||
let splay_quat = palm_quat.mul_quat(splay);
|
|
||||||
for bone in thumb_joints.iter() {
|
|
||||||
match prior_start {
|
|
||||||
Some(start) => {
|
|
||||||
let curl_angle: f32 = get_bone_curl_angle(*bone, grip_curl);
|
|
||||||
let tp_lrot = Quat::from_rotation_x(curl_angle * PI / 180.0);
|
|
||||||
let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
|
|
||||||
let thumb_prox = hand_transform_array[*bone];
|
|
||||||
let tp_start = start + prior_vector.unwrap();
|
|
||||||
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
|
|
||||||
prior_start = Some(tp_start);
|
|
||||||
prior_quat = Some(tp_quat);
|
|
||||||
prior_vector = Some(tp_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tp_start + tp_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
None => {
|
|
||||||
let thumb_meta = hand_transform_array[*bone];
|
|
||||||
let tm_start = hand_translation
|
|
||||||
+ palm_quat.mul_vec3(palm.translation)
|
|
||||||
+ palm_quat.mul_vec3(wrist.translation);
|
|
||||||
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
|
|
||||||
prior_start = Some(tm_start);
|
|
||||||
prior_quat = Some(splay_quat);
|
|
||||||
prior_vector = Some(tm_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tm_start + tm_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
//ring
|
|
||||||
let thumb_joints = [
|
|
||||||
HandJoint::RING_METACARPAL,
|
|
||||||
HandJoint::RING_PROXIMAL,
|
|
||||||
HandJoint::RING_INTERMEDIATE,
|
|
||||||
HandJoint::RING_DISTAL,
|
|
||||||
HandJoint::RING_TIP,
|
|
||||||
];
|
|
||||||
let mut prior_start: Option<Vec3> = None;
|
|
||||||
let mut prior_quat: Option<Quat> = None;
|
|
||||||
let mut prior_vector: Option<Vec3> = None;
|
|
||||||
let splay = Quat::from_rotation_y(splay_direction * -10.0 * PI / 180.0);
|
|
||||||
let splay_quat = palm_quat.mul_quat(splay);
|
|
||||||
for bone in thumb_joints.iter() {
|
|
||||||
match prior_start {
|
|
||||||
Some(start) => {
|
|
||||||
let curl_angle: f32 = get_bone_curl_angle(*bone, grip_curl);
|
|
||||||
let tp_lrot = Quat::from_rotation_x(curl_angle * PI / 180.0);
|
|
||||||
let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
|
|
||||||
let thumb_prox = hand_transform_array[*bone];
|
|
||||||
let tp_start = start + prior_vector.unwrap();
|
|
||||||
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
|
|
||||||
prior_start = Some(tp_start);
|
|
||||||
prior_quat = Some(tp_quat);
|
|
||||||
prior_vector = Some(tp_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tp_start + tp_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
None => {
|
|
||||||
let thumb_meta = hand_transform_array[*bone];
|
|
||||||
let tm_start = hand_translation
|
|
||||||
+ palm_quat.mul_vec3(palm.translation)
|
|
||||||
+ palm_quat.mul_vec3(wrist.translation);
|
|
||||||
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
|
|
||||||
prior_start = Some(tm_start);
|
|
||||||
prior_quat = Some(splay_quat);
|
|
||||||
prior_vector = Some(tm_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tm_start + tm_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
//little
|
|
||||||
let thumb_joints = [
|
|
||||||
HandJoint::LITTLE_METACARPAL,
|
|
||||||
HandJoint::LITTLE_PROXIMAL,
|
|
||||||
HandJoint::LITTLE_INTERMEDIATE,
|
|
||||||
HandJoint::LITTLE_DISTAL,
|
|
||||||
HandJoint::LITTLE_TIP,
|
|
||||||
];
|
|
||||||
let mut prior_start: Option<Vec3> = None;
|
|
||||||
let mut prior_quat: Option<Quat> = None;
|
|
||||||
let mut prior_vector: Option<Vec3> = None;
|
|
||||||
let splay = Quat::from_rotation_y(splay_direction * -20.0 * PI / 180.0);
|
|
||||||
let splay_quat = palm_quat.mul_quat(splay);
|
|
||||||
for bone in thumb_joints.iter() {
|
|
||||||
match prior_start {
|
|
||||||
Some(start) => {
|
|
||||||
let curl_angle: f32 = get_bone_curl_angle(*bone, grip_curl);
|
|
||||||
let tp_lrot = Quat::from_rotation_x(curl_angle * PI / 180.0);
|
|
||||||
let tp_quat = prior_quat.unwrap().mul_quat(tp_lrot);
|
|
||||||
let thumb_prox = hand_transform_array[*bone];
|
|
||||||
let tp_start = start + prior_vector.unwrap();
|
|
||||||
let tp_vector = tp_quat.mul_vec3(thumb_prox.translation);
|
|
||||||
prior_start = Some(tp_start);
|
|
||||||
prior_quat = Some(tp_quat);
|
|
||||||
prior_vector = Some(tp_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tp_start + tp_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
None => {
|
|
||||||
let thumb_meta = hand_transform_array[*bone];
|
|
||||||
let tm_start = hand_translation
|
|
||||||
+ palm_quat.mul_vec3(palm.translation)
|
|
||||||
+ palm_quat.mul_vec3(wrist.translation);
|
|
||||||
let tm_vector = palm_quat.mul_vec3(thumb_meta.translation);
|
|
||||||
prior_start = Some(tm_start);
|
|
||||||
prior_quat = Some(splay_quat);
|
|
||||||
prior_vector = Some(tm_vector);
|
|
||||||
//store it
|
|
||||||
calc_transforms[*bone] = Transform {
|
|
||||||
translation: tm_start + tm_vector,
|
|
||||||
..default()
|
|
||||||
};
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
//now that we have all the transforms lets assign them
|
|
||||||
for (mut transform, handbone, bonehand) in hand_bone_query.iter_mut() {
|
|
||||||
if *bonehand == hand {
|
|
||||||
//if the hands match lets go
|
|
||||||
let index = match_index(handbone);
|
|
||||||
*transform = calc_transforms[index];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn match_index(handbone: &HandBone) -> HandJoint {
|
|
||||||
match handbone {
|
|
||||||
HandBone::Palm => HandJoint::PALM,
|
|
||||||
HandBone::Wrist => HandJoint::WRIST,
|
|
||||||
HandBone::ThumbMetacarpal => HandJoint::THUMB_METACARPAL,
|
|
||||||
HandBone::ThumbProximal => HandJoint::THUMB_PROXIMAL,
|
|
||||||
HandBone::ThumbDistal => HandJoint::THUMB_DISTAL,
|
|
||||||
HandBone::ThumbTip => HandJoint::THUMB_TIP,
|
|
||||||
HandBone::IndexMetacarpal => HandJoint::INDEX_METACARPAL,
|
|
||||||
HandBone::IndexProximal => HandJoint::INDEX_PROXIMAL,
|
|
||||||
HandBone::IndexIntermediate => HandJoint::INDEX_INTERMEDIATE,
|
|
||||||
HandBone::IndexDistal => HandJoint::INDEX_DISTAL,
|
|
||||||
HandBone::IndexTip => HandJoint::INDEX_TIP,
|
|
||||||
HandBone::MiddleMetacarpal => HandJoint::MIDDLE_METACARPAL,
|
|
||||||
HandBone::MiddleProximal => HandJoint::MIDDLE_PROXIMAL,
|
|
||||||
HandBone::MiddleIntermediate => HandJoint::MIDDLE_INTERMEDIATE,
|
|
||||||
HandBone::MiddleDistal => HandJoint::MIDDLE_DISTAL,
|
|
||||||
HandBone::MiddleTip => HandJoint::MIDDLE_TIP,
|
|
||||||
HandBone::RingMetacarpal => HandJoint::RING_METACARPAL,
|
|
||||||
HandBone::RingProximal => HandJoint::RING_PROXIMAL,
|
|
||||||
HandBone::RingIntermediate => HandJoint::RING_INTERMEDIATE,
|
|
||||||
HandBone::RingDistal => HandJoint::RING_DISTAL,
|
|
||||||
HandBone::RingTip => HandJoint::RING_TIP,
|
|
||||||
HandBone::LittleMetacarpal => HandJoint::LITTLE_METACARPAL,
|
|
||||||
HandBone::LittleProximal => HandJoint::LITTLE_PROXIMAL,
|
|
||||||
HandBone::LittleIntermediate => HandJoint::LITTLE_INTERMEDIATE,
|
|
||||||
HandBone::LittleDistal => HandJoint::LITTLE_DISTAL,
|
|
||||||
HandBone::LittleTip => HandJoint::LITTLE_TIP,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn get_bone_curl_angle(bone: HandJoint, curl: f32) -> f32 {
|
|
||||||
let mul: f32 = match bone {
|
|
||||||
HandJoint::INDEX_PROXIMAL => 0.0,
|
|
||||||
HandJoint::MIDDLE_PROXIMAL => 0.0,
|
|
||||||
HandJoint::RING_PROXIMAL => 0.0,
|
|
||||||
HandJoint::LITTLE_PROXIMAL => 0.0,
|
|
||||||
HandJoint::THUMB_PROXIMAL => 0.0,
|
|
||||||
_ => 1.0,
|
|
||||||
};
|
|
||||||
let curl_angle = -((mul * curl * 80.0) + 5.0);
|
|
||||||
return curl_angle;
|
|
||||||
}
|
|
||||||
|
|
||||||
fn log_hand(hand_pose: [Posef; 26]) {
|
|
||||||
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!(
|
|
||||||
"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!(
|
|
||||||
"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!(
|
|
||||||
"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!(
|
|
||||||
"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) {
|
fn spawn_controllers_example(mut commands: Commands) {
|
||||||
//left hand
|
//left hand
|
||||||
commands.spawn((
|
commands.spawn((
|
||||||
|
|||||||
Reference in New Issue
Block a user