design vars foothold

app/Mono.cs

@@ -67,7 +67,7 @@ public class Mono {
 		matHolo = Material.Default.Copy();
 		matHolo.Transparency = Transparency.Add;
 		matHolo.DepthWrite = false;
-		matHolo.DepthTest = DepthTest.Always;
+		// matHolo.DepthTest = DepthTest.Always;
 		matHolo.FaceCull = Cull.None;
 		// matHolo.SetTexture("diffuse", Tex.DevTex);
 		matHolo.Wireframe = true;
@@ -93,6 +93,8 @@ public class Mono {
 
     compositor.Frame();
 
+		// Input.Subscribe(InputSource.Hand, BtnState.Any, Action<Hand, BtnState.Any, Pointer>);
+
 		// -------------------------------------------------
 
 		// // dof.Frame();    
@@ -109,6 +111,8 @@ public class Mono {
 		lwc.Demo(ltb.ori);
 		rwc.Demo(rtb.ori);
 
+		rtb.Demo();
+
 		// rBlock.Step(); lBlock.Step();
 
 		// cubicCon.Step();
@@ -123,9 +127,15 @@ public class Mono {
 		ShowWindowButton();
 	}
 
-	Pose windowPoseButton = new Pose(0, 0, 0.75f, Quat.Identity);
+	Pose windowPoseButton = new Pose(-0.5f, 1.3f, 0, Quat.FromAngles(0, -90f, 0));
+	TextStyle style = Text.MakeStyle(Font.FromFile("add/fonts/DM-Mono.ttf"), 1f * U.cm, Color.White);
+	Vec2 fieldSize = new Vec2(6f * U.cm, 3f * U.cm);
 	void ShowWindowButton() {
-		UI.WindowBegin("Window Button", ref windowPoseButton);
+		UI.WindowBegin("design vars", ref windowPoseButton);
+		UI.SetThemeColor(UIColor.Background, new Color(0f, 0f, 0f));
+		UI.SetThemeColor(UIColor.Primary, new Color(0.5f, 0.5f, 0.5f));
+		UI.PushTextStyle(style);
+
 
 		// if (UI.Button("Draw Oriel Axis")) { oriel.drawAxis = !oriel.drawAxis; }
 
@@ -139,29 +149,49 @@ public class Mono {
 		// UI.Label("pos.y");
 		// UI.HSlider("pos.y", ref playerY, -1f, 1f, 0.1f);
 
-		// UI.Label("trail.length");
+		UI.Label("wavecursor.");
-		// UI.HSlider("trail.length", ref trailLen, 0.1f, 1f, 0.1f);
+		UI.Input("wavecursor.reach", ref wcReach, fieldSize, TextContext.Number);
-
+		UI.SameLine(); UI.Label("reach"); 
-		// UI.Label("trail.scale");
+		UI.Input("wavecursor.length", ref wcLength, fieldSize, TextContext.Number);
-		// UI.HSlider("trail.str", ref trailScl, 0.1f, 2f, 0.1f);
+		UI.SameLine(); UI.Label("length"); 
-
+		UI.Input("wavecursor.scale", ref wcScale, fieldSize, TextContext.Number);
-		// UI.Label("str");
+		UI.SameLine(); UI.Label("scale");
-		// UI.HSlider("str", ref stretchStr, 0.1f, 1f, 0.1f);
-
 
+		UI.Label("trackballer.");
+		UI.Input("trackballer.compliance", ref tbCompliance, fieldSize, TextContext.Number);
+		UI.SameLine(); UI.Label("compliance");
+		UI.Input("trackballer.x", ref tbX, fieldSize, TextContext.Number);
+		UI.SameLine(); UI.Label("x");
+		UI.Input("trackballer.y", ref tbY, fieldSize, TextContext.Number);
+		UI.SameLine(); UI.Label("y");
+		UI.Input("trackballer.z", ref tbZ, fieldSize, TextContext.Number);
+		UI.SameLine(); UI.Label("z");
 
 		// flipIndex
 		// flipGrip
 
-
-
 		UI.WindowEnd();
 	}
-	public float trailLen = 0.666f;
-	public float trailScl = 0.333f;
-	public float stretchStr = 0.5f;
-	public float playerY = 0;
 
+	public string wcReach  = "1.0";
+	public string wcLength = "0.666";
+	public string wcScale  = "0.333";
+
+	public string tbCompliance = "0.0";
+	public string tbX = "1.0";
+	public string tbY = "2.0";
+	public string tbZ = "-4.0";
+
+
+	// public float playerY = 0;
+
+}
+
+// convert into a class
+class Design {
+	public string txt;
+	public int integer;
+	public float floating;
 }
 
 

app/PullRequest.cs

@@ -67,6 +67,11 @@ public static class PullRequest {
 		return (to * delta * to.Inverse).Normalized;
 	}
 
+	// ?
+	public static Vec3 Relative(Quat to, Vec3 delta) {
+		return to * delta * to.Inverse;
+	}
+
 	// public static void LookDirection(this ref Quat q, Vec3 dir) {
 	//   Vec3 up = Vec3.Up;
 		
@@ -284,10 +289,27 @@ public static class PullRequest {
 		return MathF.Max(min, MathF.Min(max, v));
 	}
 
+	public static float ToFloat(
+			ref string s, 
+			float min = float.NegativeInfinity, 
+			float max = float.PositiveInfinity
+		) {
+		try {
+			float value = Clamp(float.Parse(s), min, max);
+			// if clamped, update string
+			if (value != float.Parse(s)) {
+				s = value.ToString();
+			}
+			return value;
+		} catch {
+			return 0;
+		}
+	}
+
 	public class PID {
 		public float p, i;
-		float integral = 0f;
+		public float value;
-		float value = 0f;
+		float integral;
 		// float scalar = 1f;
 
 		public PID(float p = 1, float i = 0.1f) {
@@ -303,6 +325,18 @@ public static class PullRequest {
 		}
 	}
 
+	public class Vec3PID {
+		public Vec3 value, integral;
+		// float scalar = 1f;
+
+		public Vec3 Update(Vec3 target, float p = 1, float i = 0.1f) {
+			Vec3 error = value - target;
+			integral += error;
+			Vec3 delta = ((p * error) + (i * integral));
+			return value -= delta * Time.Elapsedf;
+		}
+	}
+
 	public class Lerper {
 		public float t = 0;
 		public float spring = 1;

app/Rig/Rig.cs

@@ -5,13 +5,7 @@ public class Rig {
   public Vec3 pos = new Vec3(0, 0, 0);
   public Quat ori = Quat.Identity;
 
-  public Rig() {
+  public Rig() {}
-    if (World.HasBounds) {
-      // pos.XZ = World.BoundsPose.position.XZ;
-      // pos.y = World.BoundsPose.position.y;
-      // ori = World.BoundsPose.orientation;
-    }
-  }
 
   // public Vec3 center;
   // public void Recenter() {
@@ -44,12 +38,19 @@ public class Rig {
 
 
   public Vec3 LocalPos(Vec3 p) {
-    return ori.Inverse * (p - (pos + Vec3.Up * Mono.inst.playerY));
+    return ori.Inverse * (p - (pos));
   }
 
+	bool gotBounds = false;
+	public void Step() {
+		Matrix bounds = Matrix.T(0, 1.3f, 0);
+		if (!gotBounds && World.HasBounds) {
+			gotBounds = true;
+			bounds = World.BoundsPose.ToMatrix();
+			// Renderer.CameraRoot = World.BoundsPose.ToMatrix();
+		}
 
-  public void Step() {
+    Renderer.CameraRoot = Matrix.TR(pos, ori) * bounds;
-    Renderer.CameraRoot = Matrix.TR((pos + Vec3.Up * Mono.inst.playerY), ori);
 
     // Controllers
     rCon.Step(true);

app/Space.cs

@@ -76,7 +76,7 @@ public class Space {
     // World.BoundsPose.position.y
 
 
-    shed.Draw(Matrix.TRS(new Vec3(0, -1.6f, 0), Quat.Identity, Vec3.One));
+    shed.Draw(Matrix.Identity);
 
 
     // draw a grid of cube pillars spaced out evenly along the XZ plane

app/_Init.cs

@@ -20,7 +20,7 @@ Renderer.ClearColor = new Color(0f, 0f, 0f);
 
 Oriels.Mono mono = Oriels.Mono.inst;
 mono.Init();
-while (SK.Step(() => {
+SK.Run(() => {
   mono.Frame();
-}));
+});
-SK.Shutdown();
+// SK.Shutdown();

app/dofs/stretch-cursor/wave/WaveCursor.cs

@@ -31,8 +31,8 @@ class WaveCursor : dof {
 				hand.Get(FingerId.Index, JointId.Tip).position,
 				hand.Get(FingerId.Index, JointId.KnuckleMajor).position
 			);
- 
+
-			cursor.raw = hand.Get(FingerId.Index, JointId.Tip).position + dir * stretch * strength * Mono.inst.stretchStr;
+			cursor.raw = hand.Get(FingerId.Index, JointId.Tip).position + dir * stretch * strength;
 			cursor.pos.x = (float)xF.Filter(cursor.raw.x, (double)Time.Elapsedf);
 			cursor.pos.y = (float)yF.Filter(cursor.raw.y, (double)Time.Elapsedf);
 			cursor.pos.z = (float)zF.Filter(cursor.raw.z, (double)Time.Elapsedf);
@@ -45,7 +45,9 @@ class WaveCursor : dof {
   }
 
   public float deadzone = 0.3f;
-  public float strength = 3f;
+  public float strength { 
+		get { return PullRequest.ToFloat(ref Mono.inst.wcReach, 0); } // 3f
+	}
   public Handed handed  = Handed.Left;
 
 
@@ -85,23 +87,24 @@ class WaveCursor : dof {
 	}
 
 	void Trail(Vec3[] points, Vec3 nextPos) {
-		while (Vec3.Distance(points[0], nextPos) > 0.03f * Mono.inst.trailScl) {
+		float scale = PullRequest.ToFloat(ref Mono.inst.wcScale, 0.001f);
+		while (Vec3.Distance(points[0], nextPos) > 0.03f * scale) {
 			for (int i = points.Length - 1; i > 0; i--) {
 				points[i] = points[i - 1];
 			}
-			points[0] += Vec3.Direction(nextPos, points[0]) * 0.02f * Mono.inst.trailScl;
+			points[0] += Vec3.Direction(nextPos, points[0]) * 0.02f * scale;
 		}
 
 
 		// points[0] = nextPos;
-    int len = (int)(points.Length * Mono.inst.trailLen);
+    int len = (int)(points.Length * PullRequest.ToFloat(ref Mono.inst.wcLength, 0f, 1f));
     for (int i = 0; i < len; i++) {
       // if (i > 0) {
       //   Vec3 dir = Vec3.Forward;
       //   if (points[i].v != points[i - 1].v) {
       //     dir = PullRequest.Direction(points[i], points[i - 1]);
       //   }
-      //   // points[i] = points[i - 1] + dir * 0.02f * Mono.inst.trailScl;
+      //   // points[i] = points[i - 1] + dir * 0.02f * scale;
       // }
 
       Vec3 from = i > 0 ? points[i - 1] : nextPos;
@@ -109,9 +112,9 @@ class WaveCursor : dof {
       Mesh.Cube.Draw(
         Mono.inst.matHolo,
         Matrix.TRS(
-					points[i] + ori * new Vec3(0, 0, 0.01f) * Mono.inst.trailScl,
+					points[i] + ori * new Vec3(0, 0, 0.01f) * scale,
 					ori,
-					new Vec3(0.01f, 0.01f, 0.02f) * Mono.inst.trailScl
+					new Vec3(0.01f, 0.01f, 0.02f) * scale
 				),
         Color.HSV(i / (float)len, 1, 1)
       );

app/dofs/trackballer/Trackballer.cs

@@ -4,10 +4,16 @@ class Trackballer : dof {
 
   // data
   public Btn btnIn, btnOut;
+	bool onTheBall;
   public Quat ori = Quat.Identity;
+
   Quat momentum = Quat.Identity;
-  Quat delta = Quat.Identity;
+  Quat delta    = Quat.Identity;
-	Matrix oldMeshMatrix = Matrix.Identity;
+	Matrix pad    = Matrix.Identity;
+	Matrix oldPad = Matrix.Identity;
+	int lastClosestIndex;
+
+	PullRequest.Vec3PID compliance = new PullRequest.Vec3PID();
 
 	PullRequest.OneEuroFilter xF = new PullRequest.OneEuroFilter(0.0001f, 0.1f);
 	PullRequest.OneEuroFilter yF = new PullRequest.OneEuroFilter(0.0001f, 0.1f);
@@ -23,115 +29,161 @@ class Trackballer : dof {
   public void Frame() {
     Hand hand = Input.Hand(handed);
     if (hand.tracked.IsActive() && !hand.tracked.IsJustActive()) {
-			Vec3 anchor = hand.Get(FingerId.Index, JointId.KnuckleMajor).position;
+			UpdateMomentum(hand);
-			anchor = anchor + hand.palm.orientation * new Vec3(handed == Handed.Left ? -0.006f : 0.006f, 0.01f, -0.04f);
-			Matrix mAnchor = Matrix.TR(anchor, hand.palm.orientation);
-			Matrix mAnchorInv = mAnchor.Inverse;
-
-      Vec3 thumbTip = hand.Get(FingerId.Thumb, JointId.Tip).position;
-			// Vec3 tipDelta = mAnchorInv.Transform(thumbTip) - mAnchorInv.Transform(oldTip);
-			// oldTip = thumbTip;
-			Vec3 thumbKnuckle = hand.Get(FingerId.Thumb, JointId.KnuckleMinor).position;
-
-			Quat thumbRot = hand.Get(FingerId.Thumb, JointId.Tip).orientation;
-			Matrix mMesh = Matrix.TRS(
-				thumbTip,
-				thumbRot,
-				new Vec3(handed == Handed.Left ? -1f : 1f, 1f, 1f) * 0.1666f
-			);
-			mesh.Draw(Mono.inst.matHolo, mMesh, new Color(0, 1, 1));
-
-			// closest to anchor
-			float closest = 100000f;
-			int closestIndex = -1;
-			Vertex[] verts = mesh.GetVerts();
-			for (int i = 0; i < verts.Length; i++) {
-				Vec3 v = mMesh.Transform(verts[i].pos);
-				float d = (v - anchor).LengthSq;
-				if (d < closest) {
-					closest = d;
-					closestIndex = i;
-				}
-			}
-
-      Vec3 localPad = mAnchorInv.Transform(mMesh.Transform(verts[closestIndex].pos));
-			Vec3 oldPad   = mAnchorInv.Transform(oldMeshMatrix.Transform(verts[closestIndex].pos));
-
-			oldMeshMatrix = mMesh;
-
-			// 
-			// Vec3 pad = anchor.SnapToLine(
-			// 	thumbKnuckle, thumbTip,
-			// 	true,
-			// 	out float t, 0f, 1f
-			// );
-			// // t = 1 - t;
-			// // scale to 0.666f - 1f
-			// // t = (t - 0.666f) / 0.334f;
-			// t = t * t;
-			// t = 1 - t;
-      // pad += hand.Get(FingerId.Thumb, JointId.Tip).orientation * -Vec3.Up * 0.00666f * t;
-
-
-      // Vec3 localPad = mAnchorInv.Transform(pad);
-      // Vec3 localPad = mAnchorInv.Transform(thumbTip);
-
-			// ?
-			// localPad.x = (float)xF.Filter(localPad.x, (double)Time.Elapsedf);
-			// localPad.y = (float)yF.Filter(localPad.y, (double)Time.Elapsedf);
-			// localPad.z = (float)zF.Filter(localPad.z, (double)Time.Elapsedf);
-
-			
-
-			// Lines.Add(thumbTip, thumbKnuckle, Color.White, 0.002f);
-      Mesh.Sphere.Draw(Mono.inst.matHolo, Matrix.TRS(mAnchor.Transform(localPad), hand.palm.orientation, 0.002f), new Color(0, 1, 1));
-
-      
-      // if (btnIn.held) {
-      //   btnIn.Step(localPad.Length < layer[1]);
-			// } else {
-      // 	btnIn.Step(localPad.Length < layer[0]);
-			// }
-			float inT = btnIn.held ? 1 : 0.333f;
-
-      if (btnOut.held) {
-        btnOut.Step(localPad.Length > layer[1]);
-      } else {
-				btnOut.Step(localPad.Length > layer[2]);
-			}
-      float outT = btnOut.held ? 1 : 0.333f;
-
-      if (btnIn.held) {
-				delta = momentum = Quat.Identity;
-			} else {
-				if (localPad.Length < layer[1]) {
-					delta = PullRequest.Relative(
-						hand.palm.orientation,
-						Quat.Delta(
-							oldPad.Normalized,
-							localPad.Normalized
-						)
-					).Normalized;
-
-					momentum = Quat.Slerp(momentum, delta, Time.Elapsedf * 10f);
-				}
-			}
-
-			// Draw
-			Mesh.Sphere.Draw(Mono.inst.matHolo, Matrix.TRS(anchor, ori, layer[1] * 2), new Color(inT, 0, 0));
-			// Mesh.Cube.Draw(Mono.inst.matHolo, Matrix.TRS(anchor, ori, 0.04f), new Color(0, outT * 0.2f, 0));
     }
 
-		Quat newOri = momentum * ori;
+		Quat newOri = (momentum * ori).Normalized;
 		if (new Vec3(newOri.x, newOri.y, newOri.z).LengthSq > 0) {
 			ori = newOri;
 		}
   }
 
+	public void UpdateMomentum(Hand hand) {
+		// Thumb pad
+		HandJoint thumbJoint = hand.Get(FingerId.Thumb, JointId.Tip);
+		oldPad = pad;
+		pad = Matrix.TRS(
+			thumbJoint.position,
+			thumbJoint.orientation,
+			new Vec3(handed == Handed.Left ? -1f : 1f, 1f, 1f) * 0.1666f
+		);
+		mesh.Draw(Mono.inst.matHolo, pad, new Color(0, 1, 1));
+
+		// Ball anchor
+		HandJoint ballJoint = hand.Get(FingerId.Index, JointId.KnuckleMajor);
+		Vec3 anchorPos = ballJoint.position + hand.palm.orientation * new Vec3(
+			PullRequest.ToFloat(ref Mono.inst.tbX, -10f, 10f) * U.cm * (handed == Handed.Left ? -1 : 1),
+			PullRequest.ToFloat(ref Mono.inst.tbY, -10f, 10f) * U.cm,
+			PullRequest.ToFloat(ref Mono.inst.tbZ, -10f, 10f) * U.cm
+		);
+		anchorPos += compliance.Update(
+			Vec3.Zero, 
+			onTheBall ? 1f   : 10f, 
+			onTheBall ? 0.1f : 1f // 10x less integral when on the ball?
+		);
+		// compliance;
+		// compliance = Vec3.Lerp(compliance, Vec3.Zero, Time.Elapsedf * 10f);
+		Matrix anchor = Matrix.TR(anchorPos, hand.palm.orientation);
+		Matrix anchorInv = anchor.Inverse;
+
+		// Traction delta mesh matrix
+		Vertex[] verts = mesh.GetVerts();
+		float oldClosest = (
+			pad.Transform(verts[lastClosestIndex].pos) - anchorPos
+		).LengthSq;
+		float closest = 100000f;
+		int closestIndex = lastClosestIndex;
+		for (int i = 0; i < verts.Length; i++) {
+			Vec3 v = pad.Transform(verts[i].pos);
+			float d = (v - anchorPos).LengthSq;
+			if (d < closest && d < oldClosest - 0.00002f) {
+				closest = d;
+				closestIndex = i;
+			}
+		}
+		lastClosestIndex = closestIndex;
+
+		Vec3 point = anchorInv.Transform(
+			pad.Transform(verts[closestIndex].pos)
+		);
+		Vec3 oldPoint = anchorInv.Transform(
+			oldPad.Transform(verts[closestIndex].pos)
+		);
+
+		// ?
+		// localPad.x = (float)xF.Filter(localPad.x, (double)Time.Elapsedf);
+		// localPad.y = (float)yF.Filter(localPad.y, (double)Time.Elapsedf);
+		// localPad.z = (float)zF.Filter(localPad.z, (double)Time.Elapsedf);
+
+		// Lines.Add(thumbTip, thumbKnuckle, Color.White, 0.002f);
+		Mesh.Sphere.Draw(
+			Mono.inst.matHolo,
+			Matrix.TRS(anchor.Transform(point), hand.palm.orientation, 0.002f),
+			new Color(0, 1, 1)
+		);
+
+		float dist = point.Length;
+		// if (btnIn.held)  { btnIn.Step(dist < layer[1]); } 
+		// else             { btnIn.Step(dist < layer[0]); }
+		float inT = btnIn.held ? 1 : 0.333f;
+
+		if (btnOut.held) { btnOut.Step(dist > layer[1]); } 
+		else             { btnOut.Step(dist > layer[2]); }
+		float outT = btnOut.held ? 1 : 0.333f;
+
+		if (btnIn.held) {
+			delta = momentum = Quat.Identity;
+		} else {
+			onTheBall = dist < layer[1];
+			if (onTheBall) {
+				delta = Quat.Delta(
+					oldPoint.Normalized,
+					point.Normalized
+				).Relative(hand.palm.orientation);
+
+				momentum = Quat.Slerp(momentum, delta, Time.Elapsedf * 10f);
+
+				Vec3 contact = point.Normalized * layer[1];
+				Vec3 offset  = point - contact;
+
+				// no z axis
+				// offset.z = 0; 
+
+				offset = hand.palm.orientation * offset;
+				compliance.value += offset * PullRequest.ToFloat(ref Mono.inst.tbCompliance, 0f, 1f);
+				compliance.integral = Vec3.Zero;
+			}
+		}
+
+		// Draw
+		Mesh.Sphere.Draw(
+			Mono.inst.matHolo,
+			Matrix.TRS(anchorPos, ori, layer[1] * 2),
+			new Color(inT, 0, 0)
+		);
+	}
+
 	// design
-  public Handed handed = Handed.Left;
+	public Handed handed = Handed.Left;
   public float[] layer = new float[] { 0.00333f, 0.02f, 0.0666f };
 	
+
+	Vec3 cursorPos = new Vec3(0f, 0f, 0f);
+	public void Demo() {
+		Matrix panel = Matrix.TR(
+			new Vec3(
+				1.47f, 
+				1.145f, //  - World.BoundsPose.position.y, 
+				1.08f),
+			Quat.FromAngles(-3.2f, 90f, 0)
+		);
+
+		float width  = 52 * U.cm;
+		float height = 29f * U.cm;
+		Mesh.Quad.Draw(
+			Mono.inst.matHolo,
+			Matrix.S(new Vec3(width, height, 1)) * panel,
+			new Color(1, 1, 1)
+		);
+
+
+		cursorPos.x = PullRequest.Clamp(
+			cursorPos.x + (delta * Vec3.Right).z * 0.1f,
+			width / -2f, 
+			width / 2f
+		);
+		cursorPos.y = PullRequest.Clamp(
+			cursorPos.y + (delta * Vec3.Right).y * -0.1f,
+			height / -2f, 
+			height / 2f
+		);
+
+		Mesh.Quad.Draw(
+			Material.Unlit,
+			Matrix.TS(cursorPos, 1 * U.cm) * panel,
+			new Color(1, 1, 1)
+		);
+	}
 }
 
 

oriels.csproj

@@ -13,7 +13,6 @@
 	<ItemGroup>
 		<None Include="add/**">
 			<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-			<!-- <Link>add/%(RecursiveDir)%(Filename)%(Extension)</Link> -->
 		</None>
 	</ItemGroup>