943 lines
33 KiB
Rust
943 lines
33 KiB
Rust
use std::f32::consts::PI;
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use std::ops::Mul;
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use bevy::diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin};
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use bevy::math::vec3;
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use bevy::transform::components::Transform;
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use bevy::{gizmos, prelude::*};
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use bevy_openxr::input::XrInput;
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use bevy_openxr::resources::{XrFrameState, XrInstance, XrSession};
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use bevy_openxr::xr_input::debug_gizmos::OpenXrDebugRenderer;
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use bevy_openxr::xr_input::hand_poses::*;
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use bevy_openxr::xr_input::oculus_touch::OculusController;
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use bevy_openxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig};
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use bevy_openxr::xr_input::trackers::{
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OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker,
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};
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use bevy_openxr::xr_input::{Hand, QuatConv, Vec3Conv};
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use bevy_openxr::DefaultXrPlugins;
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use openxr::{HandJoint, Posef, Quaternionf, Vector3f};
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fn main() {
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color_eyre::install().unwrap();
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info!("Running `openxr-6dof` skill");
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App::new()
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.add_plugins(DefaultXrPlugins)
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//.add_plugins(OpenXrDebugRenderer) //new debug renderer adds gizmos to
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.add_plugins(LogDiagnosticsPlugin::default())
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.add_plugins(FrameTimeDiagnosticsPlugin)
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.add_systems(Startup, setup)
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.add_systems(Update, proto_locomotion)
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.add_systems(Startup, spawn_controllers_example)
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.add_systems(Update, update_emulated_hand_skeletons)
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.add_systems(PreUpdate, update_hand_states)
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.add_systems(PostUpdate, draw_hand_entities)
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.add_systems(Startup, spawn_hand_entities)
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.insert_resource(PrototypeLocomotionConfig::default())
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.insert_resource(HandStatesResource::default())
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.run();
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}
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/// set up a simple 3D scene
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fn setup(
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mut commands: Commands,
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mut meshes: ResMut<Assets<Mesh>>,
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mut materials: ResMut<Assets<StandardMaterial>>,
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) {
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// plane
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commands.spawn(PbrBundle {
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mesh: meshes.add(shape::Plane::from_size(5.0).into()),
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material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
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..default()
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});
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// cube
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commands.spawn(PbrBundle {
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mesh: meshes.add(Mesh::from(shape::Cube { size: 0.1 })),
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material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
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transform: Transform::from_xyz(0.0, 0.5, 0.0),
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..default()
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});
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// cube
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commands.spawn(PbrBundle {
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mesh: meshes.add(Mesh::from(shape::Cube { size: 0.1 })),
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material: materials.add(Color::rgb(0.8, 0.0, 0.0).into()),
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transform: Transform::from_xyz(0.0, 0.5, 1.0),
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..default()
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});
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// light
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commands.spawn(PointLightBundle {
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point_light: PointLight {
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intensity: 1500.0,
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shadows_enabled: true,
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..default()
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},
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transform: Transform::from_xyz(4.0, 8.0, 4.0),
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..default()
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});
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// camera
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commands.spawn((Camera3dBundle {
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transform: Transform::from_xyz(0.25, 1.25, 0.0).looking_at(
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Vec3 {
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x: -0.548,
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y: -0.161,
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z: -0.137,
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},
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Vec3::Y,
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),
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..default()
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},));
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}
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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::THUMB_METACARPAL,
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HandBone::THUMB_PROXIMAL,
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HandBone::THUMB_DISTAL,
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HandBone::THUMB_TIP,
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HandBone::INDEX_METACARPAL,
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HandBone::INDEX_PROXIMAL,
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HandBone::INDEX_INTERMEDIATE,
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HandBone::INDEX_DISTAL,
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HandBone::INDEX_TIP,
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HandBone::MIDDLE_METACARPAL,
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HandBone::MIDDLE_PROXIMAL,
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HandBone::MIDDLE_INTERMEDIATE,
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HandBone::MIDDLE_DISTAL,
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HandBone::MIDDLE_TIP,
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HandBone::RING_METACARPAL,
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HandBone::RING_PROXIMAL,
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HandBone::RING_INTERMEDIATE,
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HandBone::RING_DISTAL,
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HandBone::RING_TIP,
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HandBone::LITTLE_METACARPAL,
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HandBone::LITTLE_PROXIMAL,
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HandBone::LITTLE_INTERMEDIATE,
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HandBone::LITTLE_DISTAL,
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HandBone::LITTLE_TIP,
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];
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for hand in hands.iter() {
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for bone in bones.iter() {
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commands.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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}
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}
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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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THUMB_METACARPAL,
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THUMB_PROXIMAL,
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THUMB_DISTAL,
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THUMB_TIP,
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INDEX_METACARPAL,
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INDEX_PROXIMAL,
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INDEX_INTERMEDIATE,
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INDEX_DISTAL,
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INDEX_TIP,
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MIDDLE_METACARPAL,
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MIDDLE_PROXIMAL,
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MIDDLE_INTERMEDIATE,
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MIDDLE_DISTAL,
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MIDDLE_TIP,
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RING_METACARPAL,
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RING_PROXIMAL,
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RING_INTERMEDIATE,
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RING_DISTAL,
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RING_TIP,
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LITTLE_METACARPAL,
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LITTLE_PROXIMAL,
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LITTLE_INTERMEDIATE,
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LITTLE_DISTAL,
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LITTLE_TIP,
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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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pub fn get_thumb_curl(&self) -> f32 {
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match self.thumbstick {
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ThumbstickState::OFF => (),
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ThumbstickState::TOUCHED => return 0.25,
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ThumbstickState::PRESSED => return 0.25,
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};
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match self.a_button {
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ButtonState::OFF => (),
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ButtonState::TOUCHED => return 0.25,
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ButtonState::PRESSED => return 0.25,
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};
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match self.b_button {
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ButtonState::OFF => (),
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ButtonState::TOUCHED => return 0.25,
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ButtonState::PRESSED => return 0.25,
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};
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//if no thumb actions taken return open position
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return 0.0;
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}
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}
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fn draw_hand_entities(mut gizmos: Gizmos, query: Query<(&Transform, &HandBone)>) {
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for (transform, hand_bone) in query.iter() {
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let (radius, color) = get_bone_gizmo_style(hand_bone);
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gizmos.sphere(transform.translation, transform.rotation, radius, color);
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}
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}
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fn get_bone_gizmo_style(hand_bone: &HandBone) -> (f32, Color) {
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match hand_bone {
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HandBone::PALM => (0.01, Color::WHITE),
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HandBone::WRIST => (0.01, Color::GRAY),
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HandBone::THUMB_METACARPAL => (0.01, Color::RED),
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HandBone::THUMB_PROXIMAL => (0.008, Color::RED),
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HandBone::THUMB_DISTAL => (0.006, Color::RED),
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HandBone::THUMB_TIP => (0.004, Color::RED),
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HandBone::INDEX_METACARPAL => (0.01, Color::ORANGE),
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HandBone::INDEX_PROXIMAL => (0.008, Color::ORANGE),
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HandBone::INDEX_INTERMEDIATE => (0.006, Color::ORANGE),
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HandBone::INDEX_DISTAL => (0.004, Color::ORANGE),
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HandBone::INDEX_TIP => (0.002, Color::ORANGE),
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HandBone::MIDDLE_METACARPAL => (0.01, Color::YELLOW),
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HandBone::MIDDLE_PROXIMAL => (0.008, Color::YELLOW),
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HandBone::MIDDLE_INTERMEDIATE => (0.006, Color::YELLOW),
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HandBone::MIDDLE_DISTAL => (0.004, Color::YELLOW),
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HandBone::MIDDLE_TIP => (0.002, Color::YELLOW),
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HandBone::RING_METACARPAL => (0.01, Color::GREEN),
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HandBone::RING_PROXIMAL => (0.008, Color::GREEN),
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HandBone::RING_INTERMEDIATE => (0.006, Color::GREEN),
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HandBone::RING_DISTAL => (0.004, Color::GREEN),
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HandBone::RING_TIP => (0.002, Color::GREEN),
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HandBone::LITTLE_METACARPAL => (0.01, Color::BLUE),
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HandBone::LITTLE_PROXIMAL => (0.008, Color::BLUE),
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HandBone::LITTLE_INTERMEDIATE => (0.006, Color::BLUE),
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HandBone::LITTLE_DISTAL => (0.004, Color::BLUE),
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HandBone::LITTLE_TIP => (0.002, Color::BLUE),
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}
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}
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fn update_hand_bones_emulated(
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controller_transform: Transform,
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hand: Hand,
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hand_state: HandState,
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hand_bone_query: &mut Query<(&mut Transform, &HandBone, &Hand)>,
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) {
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let left_hand_rot = Quat::from_rotation_y(180.0 * PI / 180.0);
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let hand_translation: Vec3 = match hand {
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Hand::Left => controller_transform.translation,
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Hand::Right => controller_transform.translation,
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};
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let controller_quat: Quat = match hand {
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Hand::Left => controller_transform.rotation.mul_quat(left_hand_rot),
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Hand::Right => controller_transform.rotation,
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};
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let splay_direction = match hand {
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Hand::Left => -1.0,
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Hand::Right => 1.0,
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};
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//lets make a structure to hold our calculated transforms for now
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let mut calc_transforms = [Transform::default(); 26];
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//curl represents how closed the hand is from 0 to 1;
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let grip_curl = hand_state.grip;
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let index_curl = hand_state.get_index_curl();
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let thumb_curl = hand_state.get_thumb_curl();
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//get palm quat
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let y = Quat::from_rotation_y(-90.0 * PI / 180.0);
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let x = Quat::from_rotation_x(-90.0 * PI / 180.0);
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let palm_quat = controller_quat.mul_quat(y).mul_quat(x);
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//get simulated bones
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let hand_transform_array: [Transform; 26] = get_simulated_open_hand_transforms(hand);
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//palm
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let palm = hand_transform_array[HandJoint::PALM];
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calc_transforms[HandJoint::PALM] = Transform {
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translation: hand_translation + palm.translation,
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..default()
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};
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//wrist
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let wrist = hand_transform_array[HandJoint::WRIST];
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calc_transforms[HandJoint::WRIST] = Transform {
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translation: hand_translation + palm.translation + palm_quat.mul_vec3(wrist.translation),
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..default()
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};
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|
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//thumb
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|
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::THUMB_METACARPAL => HandJoint::THUMB_METACARPAL,
|
|
HandBone::THUMB_PROXIMAL => HandJoint::THUMB_PROXIMAL,
|
|
HandBone::THUMB_DISTAL => HandJoint::THUMB_DISTAL,
|
|
HandBone::THUMB_TIP => HandJoint::THUMB_TIP,
|
|
HandBone::INDEX_METACARPAL => HandJoint::INDEX_METACARPAL,
|
|
HandBone::INDEX_PROXIMAL => HandJoint::INDEX_PROXIMAL,
|
|
HandBone::INDEX_INTERMEDIATE => HandJoint::INDEX_INTERMEDIATE,
|
|
HandBone::INDEX_DISTAL => HandJoint::INDEX_DISTAL,
|
|
HandBone::INDEX_TIP => HandJoint::INDEX_TIP,
|
|
HandBone::MIDDLE_METACARPAL => HandJoint::MIDDLE_METACARPAL,
|
|
HandBone::MIDDLE_PROXIMAL => HandJoint::MIDDLE_PROXIMAL,
|
|
HandBone::MIDDLE_INTERMEDIATE => HandJoint::MIDDLE_INTERMEDIATE,
|
|
HandBone::MIDDLE_DISTAL => HandJoint::MIDDLE_DISTAL,
|
|
HandBone::MIDDLE_TIP => HandJoint::MIDDLE_TIP,
|
|
HandBone::RING_METACARPAL => HandJoint::RING_METACARPAL,
|
|
HandBone::RING_PROXIMAL => HandJoint::RING_PROXIMAL,
|
|
HandBone::RING_INTERMEDIATE => HandJoint::RING_INTERMEDIATE,
|
|
HandBone::RING_DISTAL => HandJoint::RING_DISTAL,
|
|
HandBone::RING_TIP => HandJoint::RING_TIP,
|
|
HandBone::LITTLE_METACARPAL => HandJoint::LITTLE_METACARPAL,
|
|
HandBone::LITTLE_PROXIMAL => HandJoint::LITTLE_PROXIMAL,
|
|
HandBone::LITTLE_INTERMEDIATE => HandJoint::LITTLE_INTERMEDIATE,
|
|
HandBone::LITTLE_DISTAL => HandJoint::LITTLE_DISTAL,
|
|
HandBone::LITTLE_TIP => 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) {
|
|
//left hand
|
|
commands.spawn((
|
|
OpenXRLeftController,
|
|
OpenXRController,
|
|
OpenXRTracker,
|
|
SpatialBundle::default(),
|
|
));
|
|
//right hand
|
|
commands.spawn((
|
|
OpenXRRightController,
|
|
OpenXRController,
|
|
OpenXRTracker,
|
|
SpatialBundle::default(),
|
|
));
|
|
}
|