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Preserve crouch and prone

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Code simplification and possible pose copying fix
Reworked finger tracking
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SDraw 2023-08-05 21:58:29 +03:00
parent 4608f9f7bf
commit 1efcb8aaee
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19 changed files with 194 additions and 206 deletions
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ml_lme/LeapParser.cs Normal file
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using UnityEngine;
namespace ml_lme
{
static class LeapParser
{
readonly static Vector2[] ms_bendLimits =
{
new Vector2(0f, 90f),
new Vector2(0f, 180f),
new Vector2(0f, 180f),
new Vector2(0f, 180f),
new Vector2(0f, 180f)
};
readonly static Vector2[] ms_spreadLimits =
{
new Vector2(-25f, 25f), // Unity's default limits
new Vector2(-20f, 20f),
new Vector2(-7.5f, 7.5f),
new Vector2(-7.5f, 7.5f),
new Vector2(-20f, 20f)
};
public class HandData
{
public bool m_present = false;
public Vector3 m_position = Vector3.zero;
public Quaternion m_rotation = Quaternion.identity;
public Vector3 m_elbowPosition = Vector3.zero;
public readonly float[] m_spreads = null;
public readonly float[] m_bends = null;
public float m_grabStrength = 0f;
public Vector3[] m_fingerPosition;
public Quaternion[] m_fingerRotation;
public HandData()
{
m_spreads = new float[5];
m_bends = new float[5];
m_fingerPosition = new Vector3[20];
m_fingerRotation = new Quaternion[20];
}
public void Reset()
{
m_present = false;
for(int i = 0; i < 5; i++)
{
m_bends[i] = 0f;
m_spreads[i] = 0f;
}
for(int i = 0; i < 20; i++)
{
m_fingerPosition[i].Set(0f, 0f, 0f);
m_fingerRotation[i].Set(0f, 0f, 0f, 1f);
}
m_grabStrength = 0f;
}
}
public class LeapData
{
public readonly HandData m_leftHand = null;
public readonly HandData m_rightHand = null;
public LeapData()
{
m_leftHand = new HandData();
m_rightHand = new HandData();
}
public void Reset()
{
m_leftHand.Reset();
m_rightHand.Reset();
}
}
public static void ParseFrame(Leap.Frame p_frame, LeapData p_data)
{
p_data.Reset();
// Fill hands data
foreach(Leap.Hand l_hand in p_frame.Hands)
{
if(l_hand.IsLeft && !p_data.m_leftHand.m_present)
FillHandData(l_hand, p_data.m_leftHand);
if(l_hand.IsRight && !p_data.m_rightHand.m_present)
FillHandData(l_hand, p_data.m_rightHand);
}
}
static void FillHandData(Leap.Hand p_hand, HandData p_data)
{
// Unity's IK and FinalIK move hand bones to target, therefore - wrist
p_data.m_present = true;
p_data.m_position = p_hand.WristPosition;
p_data.m_rotation = p_hand.Rotation;
p_data.m_elbowPosition = p_hand.Arm.ElbowPosition;
// Bends
foreach(Leap.Finger l_finger in p_hand.Fingers)
{
Quaternion l_parentRot = Quaternion.identity;
float l_angle = 0f;
foreach(Leap.Bone l_bone in l_finger.bones)
{
int l_index = (int)l_finger.Type * 4 + (int)l_bone.Type;
p_data.m_fingerPosition[l_index] = l_bone.PrevJoint;
p_data.m_fingerRotation[l_index] = l_bone.Rotation;
if(l_bone.Type == Leap.Bone.BoneType.TYPE_METACARPAL)
{
l_parentRot = l_bone.Rotation;
continue;
}
Quaternion l_localRot = Quaternion.Inverse(l_parentRot) * l_bone.Rotation;
float l_angleDiff = l_localRot.eulerAngles.x;
if(l_angleDiff > 180f)
l_angleDiff -= 360f;
l_angle += l_angleDiff;
l_parentRot = l_bone.Rotation;
}
p_data.m_bends[(int)l_finger.Type] = Utils.InverseLerpUnclamped(ms_bendLimits[(int)l_finger.Type].x, ms_bendLimits[(int)l_finger.Type].y, l_angle);
}
// Spreads
foreach(Leap.Finger l_finger in p_hand.Fingers)
{
Leap.Bone l_parent = l_finger.Bone(Leap.Bone.BoneType.TYPE_METACARPAL);
Leap.Bone l_child = l_finger.Bone(Leap.Bone.BoneType.TYPE_PROXIMAL);
Quaternion l_diff = Quaternion.Inverse(l_parent.Rotation) * l_child.Rotation;
// Spread - local Y rotation
float l_angle = l_diff.eulerAngles.y;
if(l_angle > 180f)
l_angle -= 360f;
if(p_hand.IsRight)
l_angle *= -1f;
p_data.m_spreads[(int)l_finger.Type] = Utils.InverseLerpUnclamped(ms_spreadLimits[(int)l_finger.Type].x, ms_spreadLimits[(int)l_finger.Type].y, l_angle) * 2f - 1f;
if((l_finger.Type != Leap.Finger.FingerType.TYPE_THUMB) && (p_data.m_bends[(int)l_finger.Type] >= 0.8f))
p_data.m_spreads[(int)l_finger.Type] = Mathf.Lerp(p_data.m_spreads[(int)l_finger.Type], 0f, (p_data.m_bends[(int)l_finger.Type] - 0.8f) * 5f);
}
p_data.m_grabStrength = Mathf.Clamp01((p_data.m_bends[1] + p_data.m_bends[2] + p_data.m_bends[3] + p_data.m_bends[4]) * 0.25f);
}
}
}