968 lines
33 KiB
Rust
968 lines
33 KiB
Rust
<<<<<<< HEAD
|
|
|
|
=======
|
|
use std::f32::consts::PI;
|
|
use std::ops::Mul;
|
|
>>>>>>> 68cdf19 (both hands work)
|
|
|
|
use bevy::diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin};
|
|
|
|
use bevy::prelude::*;
|
|
use bevy::transform::components::Transform;
|
|
<<<<<<< HEAD
|
|
<<<<<<< HEAD
|
|
|
|
use bevy_openxr::xr_input::{QuatConv, Vec3Conv};
|
|
use bevy_openxr::xr_input::hand::{OpenXrHandInput, HandInputDebugRenderer};
|
|
=======
|
|
use bevy_openxr::xr_input::{Vec3Conv, QuatConv, Hand};
|
|
use bevy_openxr::xr_input::debug_gizmos::OpenXrDebugRenderer;
|
|
>>>>>>> 68cdf19 (both hands work)
|
|
=======
|
|
use bevy::{gizmos, prelude::*};
|
|
use bevy_openxr::input::XrInput;
|
|
use bevy_openxr::resources::{XrFrameState, XrInstance, XrSession};
|
|
use bevy_openxr::xr_input::debug_gizmos::OpenXrDebugRenderer;
|
|
use bevy_openxr::xr_input::hand_poses::*;
|
|
use bevy_openxr::xr_input::oculus_touch::OculusController;
|
|
>>>>>>> 319a2dc (hand state resource is used to drive skeleton)
|
|
use bevy_openxr::xr_input::prototype_locomotion::{proto_locomotion, PrototypeLocomotionConfig};
|
|
use bevy_openxr::xr_input::trackers::{
|
|
OpenXRController, OpenXRLeftController, OpenXRRightController, OpenXRTracker,
|
|
};
|
|
use bevy_openxr::xr_input::{Hand, QuatConv, Vec3Conv};
|
|
use bevy_openxr::DefaultXrPlugins;
|
|
use openxr::{HandJoint, Posef, Quaternionf, Vector3f};
|
|
|
|
fn main() {
|
|
color_eyre::install().unwrap();
|
|
|
|
info!("Running `openxr-6dof` skill");
|
|
App::new()
|
|
.add_plugins(DefaultXrPlugins)
|
|
//.add_plugins(OpenXrDebugRenderer) //new debug renderer adds gizmos to
|
|
.add_plugins(LogDiagnosticsPlugin::default())
|
|
.add_plugins(FrameTimeDiagnosticsPlugin)
|
|
.add_systems(Startup, setup)
|
|
.add_systems(Update, proto_locomotion)
|
|
<<<<<<< HEAD
|
|
=======
|
|
.add_systems(Startup, spawn_controllers_example)
|
|
.add_systems(Update, draw_skeleton_hands)
|
|
<<<<<<< HEAD
|
|
>>>>>>> 68cdf19 (both hands work)
|
|
.insert_resource(PrototypeLocomotionConfig::default())
|
|
.add_systems(Startup, spawn_controllers_example)
|
|
.add_plugins(OpenXrHandInput)
|
|
.add_plugins(HandInputDebugRenderer)
|
|
=======
|
|
.add_systems(PreUpdate, update_hand_states)
|
|
.add_systems(PostUpdate, draw_hand_entities)
|
|
.add_systems(Startup, spawn_hand_entities)
|
|
.insert_resource(PrototypeLocomotionConfig::default())
|
|
.insert_resource(HandStatesResource::default())
|
|
>>>>>>> 319a2dc (hand state resource is used to drive skeleton)
|
|
.run();
|
|
}
|
|
|
|
/// set up a simple 3D scene
|
|
fn setup(
|
|
mut commands: Commands,
|
|
mut meshes: ResMut<Assets<Mesh>>,
|
|
mut materials: ResMut<Assets<StandardMaterial>>,
|
|
) {
|
|
// plane
|
|
commands.spawn(PbrBundle {
|
|
mesh: meshes.add(shape::Plane::from_size(5.0).into()),
|
|
material: materials.add(Color::rgb(0.3, 0.5, 0.3).into()),
|
|
..default()
|
|
});
|
|
// cube
|
|
commands.spawn(PbrBundle {
|
|
mesh: meshes.add(Mesh::from(shape::Cube { size: 0.1 })),
|
|
material: materials.add(Color::rgb(0.8, 0.7, 0.6).into()),
|
|
transform: Transform::from_xyz(0.0, 0.5, 0.0),
|
|
..default()
|
|
});
|
|
// cube
|
|
commands.spawn(PbrBundle {
|
|
mesh: meshes.add(Mesh::from(shape::Cube { size: 0.1 })),
|
|
material: materials.add(Color::rgb(0.8, 0.0, 0.0).into()),
|
|
transform: Transform::from_xyz(0.0, 0.5, 1.0),
|
|
..default()
|
|
});
|
|
// light
|
|
commands.spawn(PointLightBundle {
|
|
point_light: PointLight {
|
|
intensity: 1500.0,
|
|
shadows_enabled: true,
|
|
..default()
|
|
},
|
|
transform: Transform::from_xyz(4.0, 8.0, 4.0),
|
|
..default()
|
|
});
|
|
// camera
|
|
commands.spawn((Camera3dBundle {
|
|
transform: Transform::from_xyz(0.25, 1.25, 0.0).looking_at(
|
|
Vec3 {
|
|
x: -0.548,
|
|
y: -0.161,
|
|
z: -0.137,
|
|
},
|
|
Vec3::Y,
|
|
),
|
|
..default()
|
|
},));
|
|
}
|
|
|
|
pub fn spawn_hand_entities(mut commands: Commands) {
|
|
let hands = [Hand::Left, Hand::Right];
|
|
let bones = [
|
|
HandBone::PALM,
|
|
HandBone::WRIST,
|
|
HandBone::THUMB_METACARPAL,
|
|
HandBone::THUMB_PROXIMAL,
|
|
HandBone::THUMB_DISTAL,
|
|
HandBone::THUMB_TIP,
|
|
HandBone::INDEX_METACARPAL,
|
|
HandBone::INDEX_PROXIMAL,
|
|
HandBone::INDEX_INTERMEDIATE,
|
|
HandBone::INDEX_DISTAL,
|
|
HandBone::INDEX_TIP,
|
|
HandBone::MIDDLE_METACARPAL,
|
|
HandBone::MIDDLE_PROXIMAL,
|
|
HandBone::MIDDLE_INTERMEDIATE,
|
|
HandBone::MIDDLE_DISTAL,
|
|
HandBone::MIDDLE_TIP,
|
|
HandBone::RING_METACARPAL,
|
|
HandBone::RING_PROXIMAL,
|
|
HandBone::RING_INTERMEDIATE,
|
|
HandBone::RING_DISTAL,
|
|
HandBone::RING_TIP,
|
|
HandBone::LITTLE_METACARPAL,
|
|
HandBone::LITTLE_PROXIMAL,
|
|
HandBone::LITTLE_INTERMEDIATE,
|
|
HandBone::LITTLE_DISTAL,
|
|
HandBone::LITTLE_TIP,
|
|
];
|
|
|
|
for hand in hands.iter() {
|
|
for bone in bones.iter() {
|
|
commands.spawn((
|
|
SpatialBundle::default(),
|
|
bone.clone(),
|
|
OpenXRTracker,
|
|
hand.clone(),
|
|
));
|
|
}
|
|
}
|
|
}
|
|
|
|
pub fn update_hand_states(
|
|
oculus_controller: Res<OculusController>,
|
|
hand_states_option: Option<ResMut<HandStatesResource>>,
|
|
frame_state: Res<XrFrameState>,
|
|
xr_input: Res<XrInput>,
|
|
instance: Res<XrInstance>,
|
|
session: Res<XrSession>,
|
|
) {
|
|
match hand_states_option {
|
|
Some(mut hands) => {
|
|
//lock frame
|
|
let frame_state = *frame_state.lock().unwrap();
|
|
//get controller
|
|
let controller =
|
|
oculus_controller.get_ref(&instance, &session, &frame_state, &xr_input);
|
|
|
|
//right hand
|
|
let squeeze = controller.squeeze(Hand::Right);
|
|
let trigger_state = controller.trigger(Hand::Right);
|
|
let calc_trigger_state = match controller.trigger_touched(Hand::Right) {
|
|
true => match trigger_state > 0.0 {
|
|
true => TriggerState::PULLED,
|
|
false => TriggerState::TOUCHED,
|
|
},
|
|
false => TriggerState::OFF,
|
|
};
|
|
//button a
|
|
let mut a_state = ButtonState::OFF;
|
|
if controller.a_button_touched() {
|
|
a_state = ButtonState::TOUCHED;
|
|
}
|
|
if controller.a_button() {
|
|
a_state = ButtonState::PRESSED;
|
|
}
|
|
|
|
//button b
|
|
let mut b_state = ButtonState::OFF;
|
|
if controller.b_button_touched() {
|
|
b_state = ButtonState::TOUCHED;
|
|
}
|
|
if controller.b_button() {
|
|
b_state = ButtonState::PRESSED;
|
|
}
|
|
|
|
let thumbstick_state = controller.thumbstick(Hand::Right);
|
|
let calc_thumbstick_state = match controller.thumbstick_touch(Hand::Right) {
|
|
true => match thumbstick_state.x > 0.0 || thumbstick_state.y > 0.0 {
|
|
true => ThumbstickState::PRESSED,
|
|
false => ThumbstickState::TOUCHED,
|
|
},
|
|
false => ThumbstickState::OFF,
|
|
};
|
|
|
|
let right_state = HandState {
|
|
grip: squeeze,
|
|
trigger_state: calc_trigger_state,
|
|
a_button: a_state,
|
|
b_button: b_state,
|
|
thumbstick: calc_thumbstick_state,
|
|
};
|
|
|
|
//left
|
|
let squeeze = controller.squeeze(Hand::Left);
|
|
let trigger_state = controller.trigger(Hand::Left);
|
|
let calc_trigger_state = match controller.trigger_touched(Hand::Left) {
|
|
true => match trigger_state > 0.0 {
|
|
true => TriggerState::PULLED,
|
|
false => TriggerState::TOUCHED,
|
|
},
|
|
false => TriggerState::OFF,
|
|
};
|
|
//button a
|
|
let mut a_state = ButtonState::OFF;
|
|
if controller.x_button_touched() {
|
|
a_state = ButtonState::TOUCHED;
|
|
}
|
|
if controller.x_button() {
|
|
a_state = ButtonState::PRESSED;
|
|
}
|
|
|
|
//button b
|
|
let mut b_state = ButtonState::OFF;
|
|
if controller.y_button_touched() {
|
|
b_state = ButtonState::TOUCHED;
|
|
}
|
|
if controller.y_button() {
|
|
b_state = ButtonState::PRESSED;
|
|
}
|
|
|
|
let thumbstick_state = controller.thumbstick(Hand::Left);
|
|
let calc_thumbstick_state = match controller.thumbstick_touch(Hand::Left) {
|
|
true => match thumbstick_state.x > 0.0 || thumbstick_state.y > 0.0 {
|
|
true => ThumbstickState::PRESSED,
|
|
false => ThumbstickState::TOUCHED,
|
|
},
|
|
false => ThumbstickState::OFF,
|
|
};
|
|
|
|
let left_state = HandState {
|
|
grip: squeeze,
|
|
trigger_state: calc_trigger_state,
|
|
a_button: a_state,
|
|
b_button: b_state,
|
|
thumbstick: calc_thumbstick_state,
|
|
};
|
|
|
|
hands.left = left_state;
|
|
hands.right = right_state;
|
|
}
|
|
None => info!("hand states resource not init yet"),
|
|
}
|
|
}
|
|
|
|
fn update_emulated_hand_skeletons(
|
|
right_controller_query: Query<(&GlobalTransform, With<OpenXRRightController>)>,
|
|
left_controller_query: Query<(&GlobalTransform, With<OpenXRLeftController>)>,
|
|
hand_states_option: Option<ResMut<HandStatesResource>>,
|
|
mut hand_bone_query: Query<(&mut Transform, &HandBone, &Hand)>,
|
|
) {
|
|
match hand_states_option {
|
|
Some(hands) => {
|
|
let left_hand_transform = left_controller_query
|
|
.get_single()
|
|
.unwrap()
|
|
.0
|
|
.compute_transform();
|
|
update_hand_bones_emulated(
|
|
left_hand_transform,
|
|
Hand::Left,
|
|
hands.left,
|
|
&mut hand_bone_query,
|
|
);
|
|
let right_hand_transform = right_controller_query
|
|
.get_single()
|
|
.unwrap()
|
|
.0
|
|
.compute_transform();
|
|
update_hand_bones_emulated(
|
|
right_hand_transform,
|
|
Hand::Right,
|
|
hands.right,
|
|
&mut hand_bone_query,
|
|
);
|
|
}
|
|
None => info!("hand states resource not initialized yet"),
|
|
}
|
|
}
|
|
|
|
#[derive(Component, Debug, Clone, Copy)]
|
|
pub enum HandBone {
|
|
PALM,
|
|
WRIST,
|
|
THUMB_METACARPAL,
|
|
THUMB_PROXIMAL,
|
|
THUMB_DISTAL,
|
|
THUMB_TIP,
|
|
INDEX_METACARPAL,
|
|
INDEX_PROXIMAL,
|
|
INDEX_INTERMEDIATE,
|
|
INDEX_DISTAL,
|
|
INDEX_TIP,
|
|
MIDDLE_METACARPAL,
|
|
MIDDLE_PROXIMAL,
|
|
MIDDLE_INTERMEDIATE,
|
|
MIDDLE_DISTAL,
|
|
MIDDLE_TIP,
|
|
RING_METACARPAL,
|
|
RING_PROXIMAL,
|
|
RING_INTERMEDIATE,
|
|
RING_DISTAL,
|
|
RING_TIP,
|
|
LITTLE_METACARPAL,
|
|
LITTLE_PROXIMAL,
|
|
LITTLE_INTERMEDIATE,
|
|
LITTLE_DISTAL,
|
|
LITTLE_TIP,
|
|
}
|
|
|
|
#[derive(Clone, Copy)]
|
|
pub enum ButtonState {
|
|
OFF,
|
|
TOUCHED,
|
|
PRESSED,
|
|
}
|
|
|
|
impl Default for ButtonState {
|
|
fn default() -> Self {
|
|
ButtonState::OFF
|
|
}
|
|
}
|
|
#[derive(Clone, Copy)]
|
|
pub enum ThumbstickState {
|
|
OFF,
|
|
TOUCHED,
|
|
PRESSED,
|
|
}
|
|
|
|
impl Default for ThumbstickState {
|
|
fn default() -> Self {
|
|
ThumbstickState::OFF
|
|
}
|
|
}
|
|
#[derive(Clone, Copy)]
|
|
pub enum TriggerState {
|
|
OFF,
|
|
TOUCHED,
|
|
PULLED,
|
|
}
|
|
|
|
impl Default for TriggerState {
|
|
fn default() -> Self {
|
|
TriggerState::OFF
|
|
}
|
|
}
|
|
|
|
#[derive(Default, Resource)]
|
|
pub struct HandStatesResource {
|
|
pub left: HandState,
|
|
pub right: HandState,
|
|
}
|
|
|
|
#[derive(Clone, Copy)]
|
|
pub struct HandState {
|
|
grip: f32,
|
|
trigger_state: TriggerState,
|
|
a_button: ButtonState,
|
|
b_button: ButtonState,
|
|
thumbstick: ThumbstickState,
|
|
}
|
|
|
|
impl Default for HandState {
|
|
fn default() -> Self {
|
|
Self {
|
|
grip: Default::default(),
|
|
trigger_state: Default::default(),
|
|
a_button: Default::default(),
|
|
b_button: Default::default(),
|
|
thumbstick: Default::default(),
|
|
}
|
|
}
|
|
}
|
|
|
|
impl HandState {
|
|
pub fn get_index_curl(&self) -> f32 {
|
|
match self.trigger_state {
|
|
TriggerState::OFF => 0.0,
|
|
TriggerState::TOUCHED => 0.50,
|
|
TriggerState::PULLED => 1.0,
|
|
}
|
|
}
|
|
|
|
pub fn get_thumb_curl(&self) -> f32 {
|
|
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::THUMB_METACARPAL => (0.01, Color::RED),
|
|
HandBone::THUMB_PROXIMAL => (0.008, Color::RED),
|
|
HandBone::THUMB_DISTAL => (0.006, Color::RED),
|
|
HandBone::THUMB_TIP => (0.004, Color::RED),
|
|
HandBone::INDEX_METACARPAL => (0.01, Color::ORANGE),
|
|
HandBone::INDEX_PROXIMAL => (0.008, Color::ORANGE),
|
|
HandBone::INDEX_INTERMEDIATE => (0.006, Color::ORANGE),
|
|
HandBone::INDEX_DISTAL => (0.004, Color::ORANGE),
|
|
HandBone::INDEX_TIP => (0.002, Color::ORANGE),
|
|
HandBone::MIDDLE_METACARPAL => (0.01, Color::YELLOW),
|
|
HandBone::MIDDLE_PROXIMAL => (0.008, Color::YELLOW),
|
|
HandBone::MIDDLE_INTERMEDIATE => (0.006, Color::YELLOW),
|
|
HandBone::MIDDLE_DISTAL => (0.004, Color::YELLOW),
|
|
HandBone::MIDDLE_TIP => (0.002, Color::YELLOW),
|
|
HandBone::RING_METACARPAL => (0.01, Color::GREEN),
|
|
HandBone::RING_PROXIMAL => (0.008, Color::GREEN),
|
|
HandBone::RING_INTERMEDIATE => (0.006, Color::GREEN),
|
|
HandBone::RING_DISTAL => (0.004, Color::GREEN),
|
|
HandBone::RING_TIP => (0.002, Color::GREEN),
|
|
HandBone::LITTLE_METACARPAL => (0.01, Color::BLUE),
|
|
HandBone::LITTLE_PROXIMAL => (0.008, Color::BLUE),
|
|
HandBone::LITTLE_INTERMEDIATE => (0.006, Color::BLUE),
|
|
HandBone::LITTLE_DISTAL => (0.004, Color::BLUE),
|
|
HandBone::LITTLE_TIP => (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::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(),
|
|
));
|
|
} |