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naive roll

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This commit is contained in:
spatialfree 2022-11-09 23:04:31 -05:00
parent 097377a89e
commit 0384bc6494
5 changed files with 183 additions and 106 deletions
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60
app/Mono.cs
View file

@ -44,18 +44,18 @@ public class Mono {
Renderer.SetClip(0.02f, 1000f);
dofs = new dof[] {
new Chiral() {
dofs = new dof[] {
new Chiral(new dof[] {
new RollsCursor() { handed = Handed.Left },
new RollsCursor() { handed = Handed.Right }
}),
new Chiral(new dof[] {
new WaveCursor() { handed = Handed.Left },
new WaveCursor() { handed = Handed.Right }
}
},
new Chiral() {
dofs = new dof[] {
}),
new Chiral(new dof[] {
new Trackballer() { handed = Handed.Left },
new Trackballer() { handed = Handed.Right }
}
},
}),
};
}
@ -122,30 +122,31 @@ public class Mono {
}
// <Heresy>
WaveCursor lwc = (WaveCursor)((Chiral)dofs[0]).dofs[0];
WaveCursor rwc = (WaveCursor)((Chiral)dofs[0]).dofs[1];
Trackballer ltb = (Trackballer)((Chiral)dofs[1]).dofs[0];
Trackballer rtb = (Trackballer)((Chiral)dofs[1]).dofs[1];
// WaveCursor lwc = (WaveCursor)((Chiral)dofs[0]).dofs[0];
// WaveCursor rwc = (WaveCursor)((Chiral)dofs[0]).dofs[1];
// Trackballer ltb = (Trackballer)((Chiral)dofs[1]).dofs[0];
// Trackballer rtb = (Trackballer)((Chiral)dofs[1]).dofs[1];
if (lwc.Active) {
lwc.Demo(ltb.ori);
}
if (rwc.Active) {
rwc.Demo(rtb.ori);
}
// if (lwc.Active) {
// lwc.Demo(ltb.ori);
// }
// if (rwc.Active) {
// rwc.Demo(rtb.ori);
// }
if (rtb.Active) {
rtb.Demo();
}
// if (rtb.Active) {
// rtb.Demo();
// }
// if (!shapeHeld) {
// shapeHeld = rtb.btnPush.frameDown;
// }
// if (shapeHeld) {
// shape.position = rwc.cursor.smooth;
// shape.orientation = rtb.ori;
// shapeHeld = !rtb.btnPull.frameDown;
// }
if (!shapeHeld) {
shapeHeld = rtb.btnPush.frameDown;
}
if (shapeHeld) {
shape.position = rwc.cursor.smooth;
shape.orientation = rtb.ori;
shapeHeld = !rtb.btnPull.frameDown;
}
// I'd rather have it be pose.pos & pose.ori
// as it's a bit of space hog
@ -261,6 +262,7 @@ public class Mono {
// Chiral : handedness implies symmetry
public class Chiral : dof {
public Chiral(dof[] dofs) => this.dofs = dofs;
private bool active;
public bool Active {
get { return this.active; }

15
app/Rig/Rig.cs
View file

@ -83,6 +83,21 @@ public class Rig {
lWrist = new Pose(lCon.pos + lCon.ori * new Vec3(0, 0, 0.052f), lCon.ori);
}
public float Flexion(Hand hand, FingerId finger, float deadzone = 0.3f) {
float flexion = (Vec3.Dot(
PullRequest.Direction(
hand.Get(finger, JointId.Tip).position,
hand.Get(finger, JointId.KnuckleMinor).position
),
PullRequest.Direction(
hand.Get(finger, JointId.KnuckleMid).position,
hand.Get(finger, JointId.KnuckleMajor).position
)
) + 1f) / 2;
return Math.Max(flexion - deadzone, 0f) / (1 - deadzone);
}
public Vec3 Fullstick(bool chirality) {
Controller con = Con(chirality).device;
Quat rot = Quat.FromAngles(con.stick.y * -90, 0, con.stick.x * 90);

17
app/Space.cs
View file

@ -183,14 +183,20 @@ public class Space {
float r; // damage
float g; // resources
float b; // peak
Vec3 pos;
float angle;
// color(r, max(g, b), b)
// height = b
public void Frame() {
}
}
}
/*
/*
COMMENTS
sapling
e
@ -214,7 +220,7 @@ public class Space {
g -= e
if g > 1 - r
seed(g)
seed(g, pos + Quat.FromAngles(0, noise.value * 360f, 0) * b)
g = 0
tilt towards best spot
@ -226,9 +232,4 @@ public class Space {
if b > 1
poof
seed
g = what was passed down
pos = parent.pos + Quat.FromAngles(0, noise.value * 360f, 0) * parent.r // lol
*/
}
}
*/

73
app/dofs/rolls-cursor/RollsCursor.cs Normal file
View file

@ -0,0 +1,73 @@
namespace Oriels;
class RollsCursor : dof {
public bool Active { get; set; }
// input
public Handed handed = Handed.Left;
// data
public Cursor cursor = new Cursor();
public void Init() { }
public void Frame() {
Rig rig = Mono.inst.rig;
Hand hand = Input.Hand(handed);
if (hand.tracked.IsActive() && !hand.tracked.IsJustActive()) {
float fI = rig.Flexion(hand, FingerId.Index);
float fM = rig.Flexion(hand, FingerId.Middle);
float fR = rig.Flexion(hand, FingerId.Ring);
float fL = rig.Flexion(hand, FingerId.Little);
// Biased by finger length
float stretch = (fI + fI + fM + fM + fM + fR + fR + fL) / 8f;
Vec3 to = Roll(hand, JointId.Tip, fI, fM, fR, fL);
Vec3 from = Roll(hand, JointId.KnuckleMajor, fI, fM, fR, fL);
Vec3 dir = PullRequest.Direction(to, from);
cursor.raw = to + dir * stretch * reach.value;
Mesh.Sphere.Draw(Mono.inst.matHoloframe, Matrix.TRS(cursor.raw, Quat.Identity, 0.01f), new Color(1, 0, 0));
Mesh.Sphere.Draw(Mono.inst.matHoloframe, Matrix.TRS(cursor.pos, Quat.Identity, 0.01f), new Color(0, 1, 0));
Mesh.Sphere.Draw(Mono.inst.matHoloframe, Matrix.TRS(cursor.smooth, Quat.Identity, 0.01f), new Color(0, 0, 1));
}
}
// design
public Design reach = new Design { str = "1.0", term = "0+m", min = 0 };
// Roll
// based on flexion
// with a "recursive" lerp
// i - m - r - l
// im - mr - rl
// imr - mrl
// imrl
public Vec3 Roll(Hand hand, JointId jointId, float fI, float fM, float fR, float fL) {
Vec3 i = hand.Get(FingerId.Index, jointId).position;
Vec3 m = hand.Get(FingerId.Middle, jointId).position;
Vec3 r = hand.Get(FingerId.Ring, jointId).position;
Vec3 l = hand.Get(FingerId.Little, jointId).position;
Vec3 im = Vec3.Lerp(i , m , fM / (fM + fI));
Vec3 mr = Vec3.Lerp( m , r , fR / (fR + fM));
Vec3 rl = Vec3.Lerp( r, l, fL / (fL + fR));
Vec3 imr = Vec3.Lerp(im , mr , fR / (fR + fM + fI));
Vec3 mrl = Vec3.Lerp( mr, rl, fL / (fL + fR + fM));
Vec3 imrl = Vec3.Lerp(imr, mrl, fL / (fL + fR + fM + fI));
return imrl;
}
}
/*
COMMENTS
*/

34
app/dofs/stretch-cursor/wave/WaveCursor.cs
View file

@ -12,22 +12,23 @@ class WaveCursor : dof {
public void Init() {}
public void Frame() {
Rig rig = Mono.inst.rig;
Hand hand = Input.Hand(handed);
if (hand.tracked.IsActive() && !hand.tracked.IsJustActive()) {
float fI = Flexion(hand, FingerId.Index);
float fM = Flexion(hand, FingerId.Middle);
float fR = Flexion(hand, FingerId.Ring);
float fL = Flexion(hand, FingerId.Little);
float fI = rig.Flexion(hand, FingerId.Index);
float fM = rig.Flexion(hand, FingerId.Middle);
float fR = rig.Flexion(hand, FingerId.Ring);
float fL = rig.Flexion(hand, FingerId.Little);
// Biased by finger length
float stretch = (fI + fI + fM + fM + fM + fR + fR + fL) / 8f;
Vec3 dir = PullRequest.Direction(
hand.Get(FingerId.Index, JointId.Tip).position,
hand.Get(FingerId.Index, JointId.KnuckleMajor).position
);
Vec3 to = hand.Get(FingerId.Index, JointId.Tip).position;
Vec3 from = hand.Get(FingerId.Index, JointId.KnuckleMajor).position;
cursor.raw = hand.Get(FingerId.Index, JointId.Tip).position + dir * stretch * reach.value;
Vec3 dir = PullRequest.Direction(to, from);
cursor.raw = to + dir * stretch * reach.value;
Mesh.Sphere.Draw(Mono.inst.matHoloframe, Matrix.TRS(cursor.raw, Quat.Identity, 0.01f), new Color(1, 0, 0));
Mesh.Sphere.Draw(Mono.inst.matHoloframe, Matrix.TRS(cursor.pos, Quat.Identity, 0.01f), new Color(0, 1, 0));
@ -36,23 +37,8 @@ class WaveCursor : dof {
}
// design
public Design deadzone = new Design { str="0.3", term="0+1t", min=0, max=1 };
public Design reach = new Design { str="1.0", term="0+m", min=0 };
float Flexion(Hand hand, FingerId finger) {
float flexion = (Vec3.Dot(
PullRequest.Direction(
hand.Get(finger, JointId.Tip).position,
hand.Get(finger, JointId.KnuckleMinor).position
),
PullRequest.Direction(
hand.Get(finger, JointId.KnuckleMid).position,
hand.Get(finger, JointId.KnuckleMajor).position
)
) + 1f) / 2;
return Math.Max(flexion - deadzone.value, 0f) / (1 - deadzone.value);
}
// demo
public Design snakeLength = new Design { str="0.5", term="0+1t", min=0, max=1 };