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sdraw_mods_cvr/ml_lme/LeapTracked.cs
SDraw aebf6c2c4e
Removed Upright 
Leading hand option
Hands extension with `Q`/`E`
Joints fix
Update to LeapSDK 5.16
2023-11-26 19:24:11 +03:00

400 lines
20 KiB
C#
Raw Blame History

using ABI_RC.Core.Player;
using ABI_RC.Systems.IK;
using RootMotion.FinalIK;
using System.Reflection;
using UnityEngine;
namespace ml_lme
{
[DisallowMultipleComponent]
class LeapTracked : MonoBehaviour
{
static readonly float[] ms_tposeMuscles = typeof(ABI_RC.Systems.IK.SubSystems.BodySystem).GetField("TPoseMuscles", BindingFlags.Static | BindingFlags.NonPublic).GetValue(null) as float[];
static readonly Quaternion ms_offsetLeft = Quaternion.Euler(0f, 90f, 0f);
static readonly Quaternion ms_offsetRight = Quaternion.Euler(0f, 270f, 0f);
VRIK m_vrIK = null;
Vector4 m_vrIKWeights = Vector2.zero;
bool m_inVR = false;
Transform m_hips = null;
Transform m_origLeftHand = null;
Transform m_origRightHand = null;
Transform m_origLeftElbow = null;
Transform m_origRightElbow = null;
bool m_enabled = true;
bool m_fingersOnly = false;
bool m_trackElbows = true;
ArmIK m_leftArmIK = null;
ArmIK m_rightArmIK = null;
HumanPoseHandler m_poseHandler = null;
HumanPose m_pose;
Transform m_leftHandTarget = null;
Transform m_rightHandTarget = null;
bool m_leftTargetActive = false;
bool m_rightTargetActive = false;
// Unity events
void Start()
{
m_inVR = Utils.IsInVR();
m_leftHandTarget = new GameObject("RotationTarget").transform;
m_leftHandTarget.parent = LeapTracking.Instance.GetLeftHand();
m_leftHandTarget.localPosition = Vector3.zero;
m_leftHandTarget.localRotation = Quaternion.identity;
m_rightHandTarget = new GameObject("RotationTarget").transform;
m_rightHandTarget.parent = LeapTracking.Instance.GetRightHand();
m_rightHandTarget.localPosition = Vector3.zero;
m_rightHandTarget.localRotation = Quaternion.identity;
Settings.EnabledChange += this.OnEnabledChange;
Settings.FingersOnlyChange += this.OnFingersOnlyChange;
Settings.TrackElbowsChange += this.OnTrackElbowsChange;
OnEnabledChange(Settings.Enabled);
OnFingersOnlyChange(Settings.FingersOnly);
OnTrackElbowsChange(Settings.TrackElbows);
}
void OnDestroy()
{
Settings.EnabledChange -= this.OnEnabledChange;
Settings.FingersOnlyChange -= this.OnFingersOnlyChange;
Settings.TrackElbowsChange -= this.OnTrackElbowsChange;
}
void Update()
{
if(m_enabled)
{
LeapParser.LeapData l_data = LeapManager.Instance.GetLatestData();
if((m_leftArmIK != null) && (m_rightArmIK != null))
{
m_leftArmIK.solver.IKPositionWeight = Mathf.Lerp(m_leftArmIK.solver.IKPositionWeight, (l_data.m_leftHand.m_present && !m_fingersOnly) ? 1f : 0f, 0.25f);
m_leftArmIK.solver.IKRotationWeight = Mathf.Lerp(m_leftArmIK.solver.IKRotationWeight, (l_data.m_leftHand.m_present && !m_fingersOnly) ? 1f : 0f, 0.25f);
if(m_trackElbows)
m_leftArmIK.solver.arm.bendGoalWeight = Mathf.Lerp(m_leftArmIK.solver.arm.bendGoalWeight, (l_data.m_leftHand.m_present && !m_fingersOnly) ? 1f : 0f, 0.25f);
m_rightArmIK.solver.IKPositionWeight = Mathf.Lerp(m_rightArmIK.solver.IKPositionWeight, (l_data.m_rightHand.m_present && !m_fingersOnly) ? 1f : 0f, 0.25f);
m_rightArmIK.solver.IKRotationWeight = Mathf.Lerp(m_rightArmIK.solver.IKRotationWeight, (l_data.m_rightHand.m_present && !m_fingersOnly) ? 1f : 0f, 0.25f);
if(m_trackElbows)
m_rightArmIK.solver.arm.bendGoalWeight = Mathf.Lerp(m_rightArmIK.solver.arm.bendGoalWeight, (l_data.m_rightHand.m_present && !m_fingersOnly) ? 1f : 0f, 0.25f);
}
if((m_vrIK != null) && !m_fingersOnly)
{
m_leftTargetActive = l_data.m_leftHand.m_present;
m_rightTargetActive = l_data.m_rightHand.m_present;
}
}
}
void LateUpdate()
{
if(m_enabled && !m_inVR && (m_poseHandler != null))
{
LeapParser.LeapData l_data = LeapManager.Instance.GetLatestData();
Vector3 l_hipsLocalPos = m_hips.localPosition;
Quaternion l_hipsLocalRot = m_hips.localRotation;
m_poseHandler.GetHumanPose(ref m_pose);
UpdateFingers(l_data);
m_poseHandler.SetHumanPose(ref m_pose);
m_hips.localPosition = l_hipsLocalPos;
m_hips.localRotation = l_hipsLocalRot;
}
}
// Tracking update
void UpdateFingers(LeapParser.LeapData p_data)
{
if(p_data.m_leftHand.m_present)
{
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb1Stretched, -0.5f - p_data.m_leftHand.m_bends[0]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb2Stretched, 0.7f - p_data.m_leftHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumb3Stretched, 0.7f - p_data.m_leftHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftThumbSpread, -p_data.m_leftHand.m_spreads[0]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex1Stretched, 0.5f - p_data.m_leftHand.m_bends[1]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex2Stretched, 0.7f - p_data.m_leftHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndex3Stretched, 0.7f - p_data.m_leftHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftIndexSpread, p_data.m_leftHand.m_spreads[1]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle1Stretched, 0.5f - p_data.m_leftHand.m_bends[2]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle2Stretched, 0.7f - p_data.m_leftHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddle3Stretched, 0.7f - p_data.m_leftHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftMiddleSpread, p_data.m_leftHand.m_spreads[2]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing1Stretched, 0.5f - p_data.m_leftHand.m_bends[3]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing2Stretched, 0.7f - p_data.m_leftHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRing3Stretched, 0.7f - p_data.m_leftHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftRingSpread, -p_data.m_leftHand.m_spreads[3]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle1Stretched, 0.5f - p_data.m_leftHand.m_bends[4]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle2Stretched, 0.7f - p_data.m_leftHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittle3Stretched, 0.7f - p_data.m_leftHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.LeftLittleSpread, -p_data.m_leftHand.m_spreads[4]);
}
if(p_data.m_rightHand.m_present)
{
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb1Stretched, -0.5f - p_data.m_rightHand.m_bends[0]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb2Stretched, 0.7f - p_data.m_rightHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumb3Stretched, 0.7f - p_data.m_rightHand.m_bends[0] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightThumbSpread, -p_data.m_rightHand.m_spreads[0]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex1Stretched, 0.5f - p_data.m_rightHand.m_bends[1]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex2Stretched, 0.7f - p_data.m_rightHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndex3Stretched, 0.7f - p_data.m_rightHand.m_bends[1] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightIndexSpread, p_data.m_rightHand.m_spreads[1]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle1Stretched, 0.5f - p_data.m_rightHand.m_bends[2]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle2Stretched, 0.7f - p_data.m_rightHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddle3Stretched, 0.7f - p_data.m_rightHand.m_bends[2] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightMiddleSpread, p_data.m_rightHand.m_spreads[2]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing1Stretched, 0.5f - p_data.m_rightHand.m_bends[3]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing2Stretched, 0.7f - p_data.m_rightHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRing3Stretched, 0.7f - p_data.m_rightHand.m_bends[3] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightRingSpread, -p_data.m_rightHand.m_spreads[3]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle1Stretched, 0.5f - p_data.m_rightHand.m_bends[4]);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle2Stretched, 0.7f - p_data.m_rightHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittle3Stretched, 0.7f - p_data.m_rightHand.m_bends[4] * 2f);
UpdatePoseMuscle(ref m_pose, (int)MuscleIndex.RightLittleSpread, -p_data.m_rightHand.m_spreads[4]);
}
}
// Game events
internal void OnAvatarClear()
{
m_vrIK = null;
m_origLeftHand = null;
m_origRightHand = null;
m_origLeftElbow = null;
m_origRightElbow = null;
m_hips = null;
m_vrIKWeights = Vector2.zero;
m_leftArmIK = null;
m_rightArmIK = null;
m_leftTargetActive = false;
m_rightTargetActive = false;
if(!m_inVR)
m_poseHandler?.Dispose();
m_poseHandler = null;
m_leftHandTarget.localPosition = Vector3.zero;
m_leftHandTarget.localRotation = Quaternion.identity;
m_rightHandTarget.localPosition = Vector3.zero;
m_rightHandTarget.localRotation = Quaternion.identity;
}
internal void OnAvatarSetup()
{
m_inVR = Utils.IsInVR();
m_vrIK = PlayerSetup.Instance._animator.GetComponent<VRIK>();
if(PlayerSetup.Instance._animator.isHuman)
{
Vector3 l_hipsPos = Vector3.zero;
m_hips = PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.Hips);
if(m_hips != null)
l_hipsPos = m_hips.localPosition;
if(!m_inVR)
{
// Force desktop avatar into T-Pose
m_poseHandler = new HumanPoseHandler(PlayerSetup.Instance._animator.avatar, PlayerSetup.Instance._avatar.transform);
m_poseHandler.GetHumanPose(ref m_pose);
HumanPose l_tPose = new HumanPose
{
bodyPosition = m_pose.bodyPosition,
bodyRotation = m_pose.bodyRotation,
muscles = new float[m_pose.muscles.Length]
};
for(int i = 0; i < l_tPose.muscles.Length; i++)
l_tPose.muscles[i] = ms_tposeMuscles[i];
m_poseHandler.SetHumanPose(ref l_tPose);
}
Transform l_hand = PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.LeftHand);
if(l_hand != null)
m_leftHandTarget.localRotation = ms_offsetLeft * (PlayerSetup.Instance._avatar.transform.GetMatrix().inverse * l_hand.GetMatrix()).rotation;
l_hand = PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.RightHand);
if(l_hand != null)
m_rightHandTarget.localRotation = ms_offsetRight * (PlayerSetup.Instance._avatar.transform.GetMatrix().inverse * l_hand.GetMatrix()).rotation;
if(m_vrIK == null)
{
Transform l_chest = PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.UpperChest);
if(l_chest == null)
l_chest = PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.Chest);
if(l_chest == null)
l_chest = PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.Spine);
m_leftArmIK = PlayerSetup.Instance._avatar.AddComponent<ArmIK>();
m_leftArmIK.solver.isLeft = true;
m_leftArmIK.solver.SetChain(
l_chest,
PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.LeftShoulder),
PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.LeftUpperArm),
PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.LeftLowerArm),
PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.LeftHand),
PlayerSetup.Instance._animator.transform
);
m_leftArmIK.solver.arm.target = m_leftHandTarget;
m_leftArmIK.solver.arm.bendGoal = LeapTracking.Instance.GetLeftElbow();
m_leftArmIK.solver.arm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
m_leftArmIK.enabled = (m_enabled && !m_fingersOnly);
m_rightArmIK = PlayerSetup.Instance._avatar.AddComponent<ArmIK>();
m_rightArmIK.solver.isLeft = false;
m_rightArmIK.solver.SetChain(
l_chest,
PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.RightShoulder),
PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.RightUpperArm),
PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.RightLowerArm),
PlayerSetup.Instance._animator.GetBoneTransform(HumanBodyBones.RightHand),
PlayerSetup.Instance._animator.transform
);
m_rightArmIK.solver.arm.target = m_rightHandTarget;
m_rightArmIK.solver.arm.bendGoal = LeapTracking.Instance.GetRightElbow();
m_rightArmIK.solver.arm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
m_rightArmIK.enabled = (m_enabled && !m_fingersOnly);
m_poseHandler?.SetHumanPose(ref m_pose);
}
else
{
m_origLeftHand = m_vrIK.solver.leftArm.target;
m_origRightHand = m_vrIK.solver.rightArm.target;
m_origLeftElbow = m_vrIK.solver.leftArm.bendGoal;
m_origRightElbow = m_vrIK.solver.rightArm.bendGoal;
m_vrIK.solver.OnPreUpdate += this.OnIKPreUpdate;
m_vrIK.solver.OnPostUpdate += this.OnIKPostUpdate;
}
if(m_hips != null)
m_hips.localPosition = l_hipsPos;
}
}
internal void OnCalibrate()
{
if(m_vrIK != null)
{
m_origLeftHand = m_vrIK.solver.leftArm.target;
m_origRightHand = m_vrIK.solver.rightArm.target;
m_origLeftElbow = m_vrIK.solver.leftArm.bendGoal;
m_origRightElbow = m_vrIK.solver.rightArm.bendGoal;
}
}
// IK updates
void OnIKPreUpdate()
{
m_vrIKWeights.Set(
m_vrIK.solver.leftArm.positionWeight,
m_vrIK.solver.leftArm.rotationWeight,
m_vrIK.solver.rightArm.positionWeight,
m_vrIK.solver.rightArm.rotationWeight
);
if(m_leftTargetActive)
{
m_vrIK.solver.leftArm.positionWeight = 1f;
m_vrIK.solver.leftArm.rotationWeight = 1f;
m_vrIK.solver.leftArm.target = m_leftHandTarget;
m_vrIK.solver.leftArm.bendGoal = LeapTracking.Instance.GetLeftElbow();
m_vrIK.solver.leftArm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
}
if(m_rightTargetActive)
{
m_vrIK.solver.rightArm.positionWeight = 1f;
m_vrIK.solver.rightArm.rotationWeight = 1f;
m_vrIK.solver.rightArm.target = m_rightHandTarget;
m_vrIK.solver.rightArm.bendGoal = LeapTracking.Instance.GetRightElbow();
m_vrIK.solver.rightArm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
}
}
void OnIKPostUpdate()
{
m_vrIK.solver.leftArm.positionWeight = m_vrIKWeights.x;
m_vrIK.solver.leftArm.rotationWeight = m_vrIKWeights.y;
m_vrIK.solver.leftArm.target = m_origLeftHand;
m_vrIK.solver.leftArm.bendGoal = m_origLeftElbow;
m_vrIK.solver.leftArm.bendGoalWeight = ((m_origLeftElbow != null) ? 1f : 0f);
m_vrIK.solver.rightArm.positionWeight = m_vrIKWeights.z;
m_vrIK.solver.rightArm.rotationWeight = m_vrIKWeights.w;
m_vrIK.solver.rightArm.target = m_origRightHand;
m_vrIK.solver.rightArm.bendGoal = m_origRightElbow;
m_vrIK.solver.rightArm.bendGoalWeight = ((m_origRightElbow != null) ? 1f : 0f);
}
// Settings
void OnEnabledChange(bool p_state)
{
m_enabled = p_state;
RefreshArmIK();
if(!m_enabled || m_fingersOnly)
RestoreVRIK();
}
void OnFingersOnlyChange(bool p_state)
{
m_fingersOnly = p_state;
RefreshArmIK();
if(!m_enabled || m_fingersOnly)
RestoreVRIK();
}
void OnTrackElbowsChange(bool p_state)
{
m_trackElbows = p_state;
if((m_leftArmIK != null) && (m_rightArmIK != null))
{
m_leftArmIK.solver.arm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
m_rightArmIK.solver.arm.bendGoalWeight = (m_trackElbows ? 1f : 0f);
}
RestoreVRIK();
}
// Arbitrary
void RestoreVRIK()
{
if(m_vrIK != null)
{
m_leftTargetActive = false;
m_rightTargetActive = false;
}
}
void RefreshArmIK()
{
if((m_leftArmIK != null) && (m_rightArmIK != null))
{
m_leftArmIK.enabled = (m_enabled && !m_fingersOnly);
m_rightArmIK.enabled = (m_enabled && !m_fingersOnly);
}
}
static void UpdatePoseMuscle(ref HumanPose p_pose, int p_index, float p_value)
{
if(p_pose.muscles.Length > p_index)
p_pose.muscles[p_index] = p_value;
}
}
}
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