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Update to Ultraleap Gemini v5.12

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Update to Ultraleap Unity Plugin v6.9.0
Unclamped spreads and curls
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SDraw 2023-07-04 11:51:58 +03:00
parent 176d6530cb
commit db93926f61
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GPG key ID: BB95B4DAB2BB8BB5
41 changed files with 1001 additions and 2573 deletions
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46
ml_lme/GestureMatcher.cs
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@ -86,9 +86,9 @@ namespace ml_lme
{
// Unity's IK and FinalIK move hand bones to target, therefore - wrist
p_data.m_present = true;
p_data.m_position.Set(p_hand.WristPosition.x, p_hand.WristPosition.y, p_hand.WristPosition.z);
p_data.m_rotation.Set(p_hand.Rotation.x, p_hand.Rotation.y, p_hand.Rotation.z, p_hand.Rotation.w);
p_data.m_elbowPosition.Set(p_hand.Arm.ElbowPosition.x, p_hand.Arm.ElbowPosition.y, p_hand.Arm.ElbowPosition.z);
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)
@ -98,44 +98,36 @@ namespace ml_lme
float l_angle = 0f;
foreach(Leap.Bone l_bone in l_finger.bones)
{
p_data.m_fingerPosition[(int)l_finger.Type * 4 + (int)l_bone.Type].Set(l_bone.PrevJoint.x, l_bone.PrevJoint.y, l_bone.PrevJoint.z);
p_data.m_fingerRotation[(int)l_finger.Type * 4 + (int)l_bone.Type].Set(l_bone.Rotation.x, l_bone.Rotation.y, l_bone.Rotation.z, l_bone.Rotation.w);
p_data.m_fingerPosition[(int)l_finger.Type * 4 + (int)l_bone.Type] = l_bone.PrevJoint;
p_data.m_fingerRotation[(int)l_finger.Type * 4 + (int)l_bone.Type] = l_bone.Rotation;
if(l_bone.Type == Leap.Bone.BoneType.TYPE_METACARPAL)
{
l_prevSegment = new Quaternion(l_bone.Rotation.x, l_bone.Rotation.y, l_bone.Rotation.z, l_bone.Rotation.w);
l_prevSegment = l_bone.Rotation;
continue;
}
Quaternion l_curSegment = new Quaternion(l_bone.Rotation.x, l_bone.Rotation.y, l_bone.Rotation.z, l_bone.Rotation.w);
Quaternion l_diff = Quaternion.Inverse(l_prevSegment) * l_curSegment;
l_prevSegment = l_curSegment;
Quaternion l_diff = Quaternion.Inverse(l_prevSegment) * l_bone.Rotation;
l_prevSegment = l_bone.Rotation;
// Bend - local X rotation
float l_curAngle = 360f - l_diff.eulerAngles.x;
if(l_curAngle > 180f)
l_curAngle -= 360f;
l_angle += l_curAngle;
float l_angleDiff = l_diff.eulerAngles.x;
if(l_angleDiff > 180f)
l_angleDiff -= 360f;
l_angle += l_angleDiff;
}
p_data.m_bends[(int)l_finger.Type] = Mathf.InverseLerp(0f, (l_finger.Type == Leap.Finger.FingerType.TYPE_THUMB) ? 90f : 180f, l_angle);
p_data.m_bends[(int)l_finger.Type] = Utils.InverseLerpUnclamped(0f, (l_finger.Type == Leap.Finger.FingerType.TYPE_THUMB) ? 90f : 180f, l_angle);
}
// Spreads
foreach(Leap.Finger l_finger in p_hand.Fingers)
{
float l_angle = 0f;
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_parentRot = new Quaternion(l_parent.Rotation.x, l_parent.Rotation.y, l_parent.Rotation.z, l_parent.Rotation.w);
Quaternion l_childRot = new Quaternion(l_child.Rotation.x, l_child.Rotation.y, l_child.Rotation.z, l_child.Rotation.w);
Quaternion l_diff = Quaternion.Inverse(l_parentRot) * l_childRot;
Quaternion l_diff = Quaternion.Inverse(l_parent.Rotation) * l_child.Rotation;
// Spread - local Y rotation, but thumb is obnoxious
l_angle = l_diff.eulerAngles.y;
float l_angle = 360f - l_diff.eulerAngles.y;
if(l_angle > 180f)
l_angle -= 360f;
@ -146,15 +138,15 @@ namespace ml_lme
if(l_finger.Type != Leap.Finger.FingerType.TYPE_THUMB)
{
if(l_angle < 0f)
p_data.m_spreads[(int)l_finger.Type] = 0.5f * Mathf.InverseLerp(ms_fingerLimits[(int)l_finger.Type].x, 0f, l_angle);
p_data.m_spreads[(int)l_finger.Type] = 0.5f * Utils.InverseLerpUnclamped(ms_fingerLimits[(int)l_finger.Type].x, 0f, l_angle);
else
p_data.m_spreads[(int)l_finger.Type] = 0.5f + 0.5f * Mathf.InverseLerp(0f, ms_fingerLimits[(int)l_finger.Type].y, l_angle);
p_data.m_spreads[(int)l_finger.Type] = 0.5f + 0.5f * Utils.InverseLerpUnclamped(0f, ms_fingerLimits[(int)l_finger.Type].y, l_angle);
}
else
p_data.m_spreads[(int)l_finger.Type] = Mathf.InverseLerp(ms_fingerLimits[(int)l_finger.Type].x, ms_fingerLimits[(int)l_finger.Type].y, l_angle);
p_data.m_spreads[(int)l_finger.Type] = Utils.InverseLerpUnclamped(ms_fingerLimits[(int)l_finger.Type].x, ms_fingerLimits[(int)l_finger.Type].y, l_angle);
}
p_data.m_grabStrength = (p_data.m_bends[1] + p_data.m_bends[2] + p_data.m_bends[3] + p_data.m_bends[4]) * 0.25f;
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);
}
}
}