diff --git a/examples/xr.rs b/examples/xr.rs index d14f9c4..f011a96 100644 --- a/examples/xr.rs +++ b/examples/xr.rs @@ -21,8 +21,9 @@ use bevy_openxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLoc use bevy_openxr::xr_input::trackers::{ OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker, }; +use bevy_openxr::xr_input::{Hand, QuatConv, Vec3Conv}; use bevy_openxr::DefaultXrPlugins; -use openxr::{Posef, Quaternionf, Vector3f, HandJoint}; +use openxr::{HandJoint, Posef, Quaternionf, Vector3f}; fn main() { color_eyre::install().unwrap(); @@ -97,29 +98,294 @@ fn setup( },)); } -fn draw_skeleton_hands(mut commands: Commands, +fn draw_skeleton_hands( + mut commands: Commands, mut gizmos: Gizmos, - right_controller_query: Query<( - &GlobalTransform, - With, -)>, -left_controller_query: Query<( - &GlobalTransform, - With, -)>,) { - - let left_hand_transform = left_controller_query.get_single().unwrap().0.compute_transform(); - draw_hand(&mut gizmos, left_hand_transform, Hand::Left); - let right_hand_transform = right_controller_query.get_single().unwrap().0.compute_transform(); - draw_hand(&mut gizmos, right_hand_transform, Hand::Right) - - - + right_controller_query: Query<(&GlobalTransform, With)>, + left_controller_query: Query<(&GlobalTransform, With)>, +) { + let left_hand_transform = left_controller_query + .get_single() + .unwrap() + .0 + .compute_transform(); + draw_hand_bones(&mut gizmos, left_hand_transform, Hand::Left); + let right_hand_transform = right_controller_query + .get_single() + .unwrap() + .0 + .compute_transform(); + // draw_hand(&mut gizmos, right_hand_transform, Hand::Right); + draw_hand_bones(&mut gizmos, right_hand_transform, Hand::Right); } -fn draw_hand(mut gizmos: &mut Gizmos, - controller_transform: Transform, -hand: Hand) { +fn pose_array_to_transform_array(hand_pose: [Posef; 26]) -> [Transform; 26] { + let mut result_array: [Transform; 26] = [Transform::default(); 26]; + for (place, data) in result_array.iter_mut().zip(hand_pose.iter()) { + *place = Transform { + translation: data.position.to_vec3(), + rotation: data.orientation.to_quat(), + scale: Vec3::splat(1.0), + } + } + return result_array; +} + +fn draw_hand_bones(mut gizmos: &mut Gizmos, controller_transform: Transform, hand: 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, + }; + //get paml 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); + //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 + let hand_transform_array: [Transform; 26] = get_simulated_open_hand_transforms(hand); + //draw controller-palm bone(should be zero length) + let palm = hand_transform_array[HandJoint::PALM]; + gizmos.ray(hand_translation, palm.translation, Color::WHITE); + //draw palm-wrist + let wrist = hand_transform_array[HandJoint::WRIST]; + gizmos.ray( + hand_translation + palm.translation, + palm_quat.mul_vec3(wrist.translation), + Color::GRAY, + ); + + //thumb + //better finger drawing? + let thumb_joints = [ + HandJoint::THUMB_METACARPAL, + HandJoint::THUMB_PROXIMAL, + HandJoint::THUMB_DISTAL, + HandJoint::THUMB_TIP, + ]; + let mut prior_start: Option = None; + let mut prior_quat: Option = None; + let mut prior_vector: Option = None; + let color = Color::RED; + let splay = Quat::from_rotation_y(splay_direction * 30.0 * PI / 180.0); + let splay_quat = palm_quat.mul_quat(splay); + for bone in thumb_joints.iter() { + match prior_start { + Some(start) => { + let tp_lrot = Quat::from_rotation_y(splay_direction * 5.0 * 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); + gizmos.ray(tp_start, tp_vector, color); + prior_start = Some(tp_start); + prior_quat = Some(tp_quat); + prior_vector = Some(tp_vector); + } + 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); + gizmos.ray(tm_start, tm_vector, color); + prior_start = Some(tm_start); + prior_quat = Some(splay_quat); + prior_vector = Some(tm_vector); + } + } + } + + //better finger drawing? + let thumb_joints = [ + HandJoint::INDEX_METACARPAL, + HandJoint::INDEX_PROXIMAL, + HandJoint::INDEX_INTERMEDIATE, + HandJoint::INDEX_DISTAL, + HandJoint::INDEX_TIP, + ]; + let mut prior_start: Option = None; + let mut prior_quat: Option = None; + let mut prior_vector: Option = None; + let color = Color::ORANGE; + 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 tp_lrot = Quat::from_rotation_x(-5.0 * 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); + gizmos.ray(tp_start, tp_vector, color); + prior_start = Some(tp_start); + prior_quat = Some(tp_quat); + prior_vector = Some(tp_vector); + } + 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); + gizmos.ray(tm_start, tm_vector, color); + prior_start = Some(tm_start); + prior_quat = Some(splay_quat); + prior_vector = Some(tm_vector); + } + } + } + + //better finger drawing? + let thumb_joints = [ + HandJoint::MIDDLE_METACARPAL, + HandJoint::MIDDLE_PROXIMAL, + HandJoint::MIDDLE_INTERMEDIATE, + HandJoint::MIDDLE_DISTAL, + HandJoint::MIDDLE_TIP, + ]; + let mut prior_start: Option = None; + let mut prior_quat: Option = None; + let mut prior_vector: Option = None; + let color = Color::YELLOW; + 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 tp_lrot = Quat::from_rotation_x(-5.0 * 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); + gizmos.ray(tp_start, tp_vector, color); + prior_start = Some(tp_start); + prior_quat = Some(tp_quat); + prior_vector = Some(tp_vector); + } + 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); + gizmos.ray(tm_start, tm_vector, color); + prior_start = Some(tm_start); + prior_quat = Some(splay_quat); + prior_vector = Some(tm_vector); + } + } + } + //better finger drawing? + let thumb_joints = [ + HandJoint::RING_METACARPAL, + HandJoint::RING_PROXIMAL, + HandJoint::RING_INTERMEDIATE, + HandJoint::RING_DISTAL, + HandJoint::RING_TIP, + ]; + let mut prior_start: Option = None; + let mut prior_quat: Option = None; + let mut prior_vector: Option = None; + let color = Color::GREEN; + 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 tp_lrot = Quat::from_rotation_x(-5.0 * 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); + gizmos.ray(tp_start, tp_vector, color); + prior_start = Some(tp_start); + prior_quat = Some(tp_quat); + prior_vector = Some(tp_vector); + } + 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); + gizmos.ray(tm_start, tm_vector, color); + prior_start = Some(tm_start); + prior_quat = Some(splay_quat); + prior_vector = Some(tm_vector); + } + } + } + + //better finger drawing? + let thumb_joints = [ + HandJoint::LITTLE_METACARPAL, + HandJoint::LITTLE_PROXIMAL, + HandJoint::LITTLE_INTERMEDIATE, + HandJoint::LITTLE_DISTAL, + HandJoint::LITTLE_TIP, + ]; + let mut prior_start: Option = None; + let mut prior_quat: Option = None; + let mut prior_vector: Option = None; + let color = Color::BLUE; + 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 tp_lrot = Quat::from_rotation_x(-5.0 * 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); + gizmos.ray(tp_start, tp_vector, color); + prior_start = Some(tp_start); + prior_quat = Some(tp_quat); + prior_vector = Some(tp_vector); + } + 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); + gizmos.ray(tm_start, tm_vector, color); + prior_start = Some(tm_start); + prior_quat = Some(splay_quat); + prior_vector = Some(tm_vector); + } + } + } +} + +fn draw_hand(mut gizmos: &mut Gizmos, controller_transform: Transform, hand: Hand) { //draw debug for controller grip center to match palm to let hand_translation = controller_transform.translation; let hand_quat = controller_transform.rotation; @@ -127,104 +393,280 @@ hand: Hand) { let flip = Quat::from_rotation_x(PI); let controller_backward = hand_quat.mul_quat(flip); - let test: [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}}, + let test_hand_pose = get_test_hand_pose_array(); - 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}}, + let hand_pose = flip_hand_pose(test_hand_pose.clone(), hand); - 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}}, + // let hand_transform_array: [Transform; 26] = pose_array_to_transform_array(hand_pose); + let hand_transform_array: [Transform; 26] = get_simulated_open_hand_transforms(hand); - 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] { @@ -234,52 +676,164 @@ 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((