design reflection
This commit is contained in:
spatialfree
parent
510449eebb
commit
3fd6f272d0
5 changed files with 216 additions and 104 deletions
242
app/Mono.cs
242
app/Mono.cs
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@ -16,8 +16,6 @@ public class Mono {
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// -------------------------------------------------
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public dof[] dofs;
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int dofIndex = 0;
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dof dof => dofs[dofIndex];
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public ColorCube colorCube = new ColorCube();
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@ -43,24 +41,27 @@ public class Mono {
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Renderer.SetClip(0.02f, 1000f);
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dofs = new dof[] {
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// new StretchFinger(),
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new WaveCursor() { handed = Handed.Left },
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new WaveCursor() { handed = Handed.Right },
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new Trackballer() { handed = Handed.Left },
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new Trackballer() { handed = Handed.Right },
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// new StretchCursor() { },
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// new StretchCursor() { },
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new Chiral() {
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dofs = new dof[] {
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new WaveCursor() { handed = Handed.Left },
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new WaveCursor() { handed = Handed.Right }
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}
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},
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new Chiral() {
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dofs = new dof[] {
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new Trackballer() { handed = Handed.Left },
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new Trackballer() { handed = Handed.Right }
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}
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},
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};
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}
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public void Init() {
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compositor.Init();
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dofs[0].Init();
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dofs[1].Init();
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dofs[2].Init();
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dofs[3].Init();
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for (int i = 0; i < dofs.Length; i++) {
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dofs[i].Init();
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}
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matDev = Material.Default.Copy();
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matDev.SetTexture("diffuse", Tex.DevTex);
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@ -97,21 +98,29 @@ public class Mono {
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// -------------------------------------------------
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// // dof.Frame();
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dofs[0].Frame();
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dofs[1].Frame();
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dofs[2].Frame();
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dofs[3].Frame();
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for (int i = 0; i < dofs.Length; i++) {
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if (dofs[i].Active) {
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dofs[i].Frame();
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}
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}
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WaveCursor lwc = (WaveCursor)dofs[0];
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WaveCursor rwc = (WaveCursor)dofs[1];
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Trackballer ltb = (Trackballer)dofs[2];
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Trackballer rtb = (Trackballer)dofs[3];
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// <Heresy>
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WaveCursor lwc = (WaveCursor)((Chiral)dofs[0]).dofs[0];
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WaveCursor rwc = (WaveCursor)((Chiral)dofs[0]).dofs[1];
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Trackballer ltb = (Trackballer)((Chiral)dofs[1]).dofs[0];
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Trackballer rtb = (Trackballer)((Chiral)dofs[1]).dofs[1];
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lwc.Demo(ltb.ori);
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rwc.Demo(rtb.ori);
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if (lwc.Active) {
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lwc.Demo(ltb.ori);
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}
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if (rwc.Active) {
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rwc.Demo(rtb.ori);
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}
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rtb.Demo();
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if (rtb.Active) {
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rtb.Demo();
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}
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// </Heresy>
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// rBlock.Step(); lBlock.Step();
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@ -127,8 +136,10 @@ public class Mono {
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ShowWindowButton();
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}
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int dofIndex = 0;
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Pose windowPoseButton = new Pose(-0.5f, 1.3f, 0, Quat.FromAngles(0, -90f, 0));
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TextStyle style = Text.MakeStyle(Font.FromFile("add/fonts/DM-Mono.ttf"), 1f * U.cm, Color.White);
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TextStyle style2 = Text.MakeStyle(Font.FromFile("add/fonts/DM-Mono.ttf"), 1f * U.cm, new Color(0.5f, 0.5f, 0.5f));
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Vec2 fieldSize = new Vec2(6f * U.cm, 3f * U.cm);
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void ShowWindowButton() {
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UI.WindowBegin("design vars", ref windowPoseButton);
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@ -146,60 +157,128 @@ public class Mono {
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// UI.Label("pos.y");
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// UI.HSlider("pos.y", ref playerY, -1f, 1f, 0.1f);
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UI.Label("°wavecursor");
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UI.Input("wavecursor.reach", ref wcReach.str, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("reach");
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UI.Input("wavecursor.length", ref wcLength.str, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("length");
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UI.Input("wavecursor.scale", ref wcScale.str, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("scale");
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UI.Input("wavecursor.radius", ref wcRadius.str, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("radius");
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if (UI.Button("prev") && dofIndex > 0) {
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dofIndex--;
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}
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UI.SameLine();
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if (UI.Button("next") && dofIndex < dofs.Length - 1) {
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dofIndex++;
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}
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UI.Label("°trackballer");
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UI.Input("trackballer.compliance", ref tbCompliance.str, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("compliance");
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UI.Input("trackballer.x", ref tbX.str, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("x");
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UI.Input("trackballer.y", ref tbY.str, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("y");
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UI.Input("trackballer.z", ref tbZ.str, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("z");
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// flipIndex
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// flipGrip
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dof dof = dofs[dofIndex];
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Type type = dof.GetType();
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// active toggle
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Color tint = dof.Active ? new Color(0, 1, 0) : new Color(1, 0, 0);
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UI.PushTint(tint);
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if (UI.Button(dof.Active ? "on" : "off")) {
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dof.Active = !dof.Active;
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}
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UI.PopTint();
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if (type == typeof(Chiral)) {
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Chiral chiral = (Chiral)dof;
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System.Reflection.FieldInfo[] fields = typeof(Chiral).GetFields();
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foreach (System.Reflection.FieldInfo field in fields) {
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if (field.FieldType == typeof(Handed)) {
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Handed handed = (Handed)field.GetValue(chiral);
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if (UI.Button("<") && (int)handed > 0) {
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handed = (Handed)((int)handed - 1);
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field.SetValue(chiral, handed);
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}
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UI.SameLine();
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if (UI.Button(">") && (int)handed < 2) {
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handed = (Handed)((int)handed + 1);
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field.SetValue(chiral, handed);
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}
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UI.SameLine(); UI.Label(handed.ToString());
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}
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}
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RenderDof(chiral.dofs[0]);
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} else {
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RenderDof(dof);
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}
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UI.WindowEnd();
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}
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public Design wcReach = new Design("1.0", 0);
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public Design wcLength = new Design("0.666", 0f, 1f);
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public Design wcScale = new Design("0.333", 0.001f);
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public Design wcRadius = new Design("4", 0);
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void RenderDof(dof dof) {
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Type type = dof.GetType();
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UI.Label("°" + type.Name);
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System.Reflection.FieldInfo[] fields = type.GetFields();
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for (int j = 0; j < fields.Length; j++) {
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System.Reflection.FieldInfo field = fields[j];
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if (field.FieldType == typeof(Design)) {
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Design design = (Design)field.GetValue(dof);
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UI.Input(field.Name, ref design.str, fieldSize, TextContext.Number);
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public Design tbCompliance = new Design("0.0", 0f, 1f);
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public Design tbX = new Design("1.0", -10f, 10f);
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public Design tbY = new Design("2.0", -10f, 10f);
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public Design tbZ = new Design("-4.0", -10f, 10f);
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// public float playerY = 0;
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UI.SameLine();
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UI.PushTextStyle(style2);
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UI.Label(design.term, new Vec2(4f * U.cm, 3f * U.cm));
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UI.PopTextStyle();
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UI.SameLine(); UI.Label(field.Name);
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}
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}
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}
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}
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// Chiral : handedness implies symmetry
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public class Chiral : dof {
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private bool active;
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public bool Active {
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get { return this.active; }
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set {
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this.active = value;
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for (int i = 0; i < this.dofs.Length; i++) {
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dof dof = this.dofs[i];
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if ((int)this.handed == 2 || i == (int)this.handed) {
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dof.Active = value;
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} else {
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dof.Active = false;
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}
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}
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}
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}
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public dof[] dofs = new dof[2];
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// public Design handed = new Design { str = "2", min = 0, max = 2};
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public Handed handed = Handed.Max;
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public void Init() {
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dofs[0].Init();
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dofs[1].Init();
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}
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public void Frame() {
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// sync the left design variables to the right
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System.Reflection.FieldInfo[] fields = dofs[0].GetType().GetFields();
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foreach (System.Reflection.FieldInfo field in fields) {
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if (field.FieldType == typeof(Design)) {
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Design design = (Design)field.GetValue(dofs[0]); // define type?
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field.SetValue(dofs[1], design);
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}
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}
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for (int i = 0; i < dofs.Length; i++) {
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dof dof = dofs[i];
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if ((int)handed == 2 || i == (int)handed) {
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dof.Frame();
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dof.Active = true;
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}
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else {
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dof.Active = false;
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}
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}
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}
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}
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// convert into a class
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// which also simplifies injection and persistence
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public class Design {
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public string str;
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float min, max;
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public Design(string str,
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float min = float.NegativeInfinity,
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float max = float.PositiveInfinity
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) {
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this.str = str;
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this.min = min;
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this.max = max;
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}
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public string term;
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public float min = float.NegativeInfinity;
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public float max = float.PositiveInfinity;
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public float unit = U.m;
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public float value {
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get {
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@ -207,21 +286,44 @@ public class Design {
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float value = PullRequest.Clamp(float.Parse(str), min, max);
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// if clamped, update string
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if (value != float.Parse(str)) {
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// if (str.Contains(".")) {
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// str = "";
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// }
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str = value.ToString();
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}
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return value;
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return value * unit;
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} catch {
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return 0;
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}
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}
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}
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// public int integer;
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// public int integer {};
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}
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/*
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COMMENTS
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ranges
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0+1
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1-0
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1-0+1
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-0+
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0+&&-
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0+||-
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units
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m
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cm
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mm
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t
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demo
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virtual shapes -> that can be slotted
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physics boxes
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debug bool
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rendering the raw output
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particularly for hand tracking dofs (so Moses can better test them!)
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@ -2,4 +2,5 @@ public interface dof { // <T> ?
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void Init();
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void Frame();
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// void Drop();
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bool Active { get; set; }
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}
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@ -1,6 +1,8 @@
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namespace Oriels;
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class StretchCursor : dof {
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public bool Active { get; set; }
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// input
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Vec3 vTo;
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Vec3 vFrom;
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@ -1,6 +1,10 @@
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namespace Oriels;
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class WaveCursor : dof {
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public bool Active { get; set; }
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// input
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public Handed handed = Handed.Left;
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public class Cursor
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{
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@ -25,14 +29,15 @@ class WaveCursor : dof {
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float fR = Flexion(hand, FingerId.Ring);
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float fL = Flexion(hand, FingerId.Little);
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float stretch = (fI + fI + fM + fM + fM + fR + fR + fL) / 8f; // based on finger length
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// Biased by finger length
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float stretch = (fI + fI + fM + fM + fM + fR + fR + fL) / 8f;
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Vec3 dir = PullRequest.Direction(
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hand.Get(FingerId.Index, JointId.Tip).position,
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hand.Get(FingerId.Index, JointId.KnuckleMajor).position
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);
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cursor.raw = hand.Get(FingerId.Index, JointId.Tip).position + dir * stretch * strength;
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cursor.raw = hand.Get(FingerId.Index, JointId.Tip).position + dir * stretch * reach.value;
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cursor.pos.x = (float)xF.Filter(cursor.raw.x, (double)Time.Elapsedf);
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cursor.pos.y = (float)yF.Filter(cursor.raw.y, (double)Time.Elapsedf);
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cursor.pos.z = (float)zF.Filter(cursor.raw.z, (double)Time.Elapsedf);
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@ -44,11 +49,14 @@ class WaveCursor : dof {
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}
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}
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public float deadzone = 0.3f;
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public float strength {
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get { return Mono.inst.wcReach.value; } // 1f
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}
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public Handed handed = Handed.Left;
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// design
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public Design deadzone = new Design { str="0.3", term="0+1t", min=0, max=1 };
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public Design reach = new Design { str="1.0", term="0+m", min=0 };
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// demo
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public Design snakeLength = new Design { str="0.5", term="0+1t", min=0, max=1 };
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public Design snakeScale = new Design { str="0.333", term="0+", min=0 };
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public Design snakeRadius = new Design { str="4", term="0+cm", unit=U.cm, min=0 };
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float Flexion(Hand hand, FingerId finger) {
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@ -63,34 +71,19 @@ class WaveCursor : dof {
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)
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) + 1f) / 2;
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return Math.Max(flexion - deadzone, 0f) / (1 - deadzone);
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return Math.Max(flexion - deadzone.value, 0f) / (1 - deadzone.value);
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}
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Vec3[] mm = new Vec3[81];
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Vec3[] xL = new Vec3[81];
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Vec3[] xR = new Vec3[81];
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Vec3[] yL = new Vec3[81];
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Vec3[] yR = new Vec3[81];
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Vec3[] zL = new Vec3[81];
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Vec3[] zR = new Vec3[81];
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Vec3[] mm = new Vec3[128];
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public void Demo(Quat ori) {
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Trail(
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mm,
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cursor.smooth + ori * new Vec3(0, 0, Mono.inst.wcRadius.value * U.cm)
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);
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// Trail(xL, smoothPos + cursor.orientation * new Vec3(-1, 0, 0) * 0.1f);
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// Trail(xR, smoothPos + cursor.orientation * new Vec3( 1, 0, 0) * 0.1f);
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// Trail(yL, smoothPos + cursor.orientation * new Vec3(0, -1, 0) * 0.1f);
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// Trail(yR, smoothPos + cursor.orientation * new Vec3(0, 1, 0) * 0.1f);
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// Trail(zL, smoothPos + cursor.orientation * new Vec3(0, 0, -1) * 0.1f);
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// Trail(zR, smoothPos + cursor.orientation * new Vec3(0, 0, 1) * 0.1f);
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Vec3 tPos = cursor.smooth + ori * Vec3.Forward * snakeRadius.value;
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Lines.Add(cursor.smooth, tPos, Color.White, 0.001f);
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Trail(mm, tPos);
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}
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void Trail(Vec3[] points, Vec3 nextPos) {
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float scale = Mono.inst.wcScale.value;
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float scale = snakeScale.value;
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while (Vec3.Distance(points[0], nextPos) > 0.03f * scale) {
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for (int i = points.Length - 1; i > 0; i--) {
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points[i] = points[i - 1];
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@ -100,7 +93,7 @@ class WaveCursor : dof {
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// points[0] = nextPos;
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int len = (int)(points.Length * Mono.inst.wcLength.value);
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int len = (int)(points.Length * snakeLength.value);
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for (int i = 0; i < len; i++) {
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// if (i > 0) {
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// Vec3 dir = Vec3.Forward;
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@ -1,6 +1,10 @@
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namespace Oriels;
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class Trackballer : dof {
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public bool Active { get; set; }
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// input
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public Handed handed = Handed.Left;
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// data
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public Btn btnIn, btnOut;
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@ -52,9 +56,9 @@ class Trackballer : dof {
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// Ball anchor
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HandJoint ballJoint = hand.Get(FingerId.Index, JointId.KnuckleMajor);
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Vec3 anchorPos = ballJoint.position + hand.palm.orientation * new Vec3(
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Mono.inst.tbX.value * U.cm * (handed == Handed.Left ? -1 : 1),
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Mono.inst.tbY.value * U.cm,
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Mono.inst.tbZ.value * U.cm
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aX.value * (handed == Handed.Left ? -1 : 1),
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aY.value,
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aZ.value
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);
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anchorPos += compliance.Update(
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||||
Vec3.Zero,
|
||||
|
|
@ -130,8 +134,13 @@ class Trackballer : dof {
|
|||
// offset.z = 0;
|
||||
|
||||
offset = hand.palm.orientation * offset;
|
||||
compliance.value += offset * Mono.inst.tbCompliance.value;
|
||||
compliance.value += offset * compliant.value;
|
||||
compliance.integral = Vec3.Zero;
|
||||
} else {
|
||||
PullRequest.ToAxisAngle(momentum, out Vec3 axis, out float angle);
|
||||
if (angle < stop.value) {
|
||||
momentum = Quat.Slerp(momentum, Quat.Identity, Time.Elapsedf * 10f);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -144,7 +153,12 @@ class Trackballer : dof {
|
|||
}
|
||||
|
||||
// design
|
||||
public Handed handed = Handed.Left;
|
||||
public Design stop = new Design { str="0.05", term="0+", min=0 };
|
||||
public Design compliant = new Design { str="0.2", term="0+1t", min=0, max=1 };
|
||||
public Design aX = new Design { str=" 1.0", term="-0+cm", unit=U.cm, min=-10f, max=10f };
|
||||
public Design aY = new Design { str=" 2.0", term="-0+cm", unit=U.cm, min=-10f, max=10f };
|
||||
public Design aZ = new Design { str="-4.0", term="-0+cm", unit=U.cm, min=-10f, max=10f };
|
||||
|
||||
public float[] layer = new float[] { 0.00333f, 0.02f, 0.0666f };
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue