design vars foothold
This commit is contained in:
spatialfree
parent
95b1bd3918
commit
519d3b7813
9 changed files with 264 additions and 145 deletions
66
app/Mono.cs
66
app/Mono.cs
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@ -67,7 +67,7 @@ public class Mono {
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matHolo = Material.Default.Copy();
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matHolo.Transparency = Transparency.Add;
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matHolo.DepthWrite = false;
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matHolo.DepthTest = DepthTest.Always;
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// matHolo.DepthTest = DepthTest.Always;
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matHolo.FaceCull = Cull.None;
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// matHolo.SetTexture("diffuse", Tex.DevTex);
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matHolo.Wireframe = true;
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@ -93,6 +93,8 @@ public class Mono {
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compositor.Frame();
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// Input.Subscribe(InputSource.Hand, BtnState.Any, Action<Hand, BtnState.Any, Pointer>);
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// -------------------------------------------------
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// // dof.Frame();
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@ -109,6 +111,8 @@ public class Mono {
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lwc.Demo(ltb.ori);
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rwc.Demo(rtb.ori);
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rtb.Demo();
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// rBlock.Step(); lBlock.Step();
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// cubicCon.Step();
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@ -123,9 +127,15 @@ public class Mono {
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ShowWindowButton();
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}
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Pose windowPoseButton = new Pose(0, 0, 0.75f, Quat.Identity);
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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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Vec2 fieldSize = new Vec2(6f * U.cm, 3f * U.cm);
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void ShowWindowButton() {
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UI.WindowBegin("Window Button", ref windowPoseButton);
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UI.WindowBegin("design vars", ref windowPoseButton);
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UI.SetThemeColor(UIColor.Background, new Color(0f, 0f, 0f));
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UI.SetThemeColor(UIColor.Primary, new Color(0.5f, 0.5f, 0.5f));
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UI.PushTextStyle(style);
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// if (UI.Button("Draw Oriel Axis")) { oriel.drawAxis = !oriel.drawAxis; }
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@ -139,29 +149,49 @@ 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("trail.length");
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// UI.HSlider("trail.length", ref trailLen, 0.1f, 1f, 0.1f);
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// UI.Label("trail.scale");
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// UI.HSlider("trail.str", ref trailScl, 0.1f, 2f, 0.1f);
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// UI.Label("str");
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// UI.HSlider("str", ref stretchStr, 0.1f, 1f, 0.1f);
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UI.Label("wavecursor.");
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UI.Input("wavecursor.reach", ref wcReach, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("reach");
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UI.Input("wavecursor.length", ref wcLength, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("length");
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UI.Input("wavecursor.scale", ref wcScale, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("scale");
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UI.Label("trackballer.");
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UI.Input("trackballer.compliance", ref tbCompliance, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("compliance");
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UI.Input("trackballer.x", ref tbX, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("x");
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UI.Input("trackballer.y", ref tbY, fieldSize, TextContext.Number);
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UI.SameLine(); UI.Label("y");
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UI.Input("trackballer.z", ref tbZ, 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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UI.WindowEnd();
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}
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public float trailLen = 0.666f;
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public float trailScl = 0.333f;
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public float stretchStr = 0.5f;
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public float playerY = 0;
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public string wcReach = "1.0";
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public string wcLength = "0.666";
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public string wcScale = "0.333";
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public string tbCompliance = "0.0";
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public string tbX = "1.0";
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public string tbY = "2.0";
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public string tbZ = "-4.0";
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// public float playerY = 0;
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}
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// convert into a class
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class Design {
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public string txt;
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public int integer;
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public float floating;
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}
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@ -67,6 +67,11 @@ public static class PullRequest {
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return (to * delta * to.Inverse).Normalized;
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}
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// ?
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public static Vec3 Relative(Quat to, Vec3 delta) {
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return to * delta * to.Inverse;
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}
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// public static void LookDirection(this ref Quat q, Vec3 dir) {
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// Vec3 up = Vec3.Up;
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@ -284,10 +289,27 @@ public static class PullRequest {
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return MathF.Max(min, MathF.Min(max, v));
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}
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public static float ToFloat(
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ref string s,
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float min = float.NegativeInfinity,
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float max = float.PositiveInfinity
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) {
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try {
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float value = Clamp(float.Parse(s), min, max);
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// if clamped, update string
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if (value != float.Parse(s)) {
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s = value.ToString();
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}
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return value;
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} catch {
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return 0;
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}
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}
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public class PID {
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public float p, i;
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float integral = 0f;
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float value = 0f;
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public float value;
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float integral;
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// float scalar = 1f;
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public PID(float p = 1, float i = 0.1f) {
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@ -303,6 +325,18 @@ public static class PullRequest {
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}
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}
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public class Vec3PID {
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public Vec3 value, integral;
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// float scalar = 1f;
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public Vec3 Update(Vec3 target, float p = 1, float i = 0.1f) {
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Vec3 error = value - target;
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integral += error;
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Vec3 delta = ((p * error) + (i * integral));
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return value -= delta * Time.Elapsedf;
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}
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}
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public class Lerper {
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public float t = 0;
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public float spring = 1;
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@ -5,13 +5,7 @@ public class Rig {
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public Vec3 pos = new Vec3(0, 0, 0);
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public Quat ori = Quat.Identity;
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public Rig() {
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if (World.HasBounds) {
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// pos.XZ = World.BoundsPose.position.XZ;
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// pos.y = World.BoundsPose.position.y;
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// ori = World.BoundsPose.orientation;
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}
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}
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public Rig() {}
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// public Vec3 center;
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// public void Recenter() {
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@ -44,12 +38,19 @@ public class Rig {
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public Vec3 LocalPos(Vec3 p) {
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return ori.Inverse * (p - (pos + Vec3.Up * Mono.inst.playerY));
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return ori.Inverse * (p - (pos));
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}
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bool gotBounds = false;
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public void Step() {
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Renderer.CameraRoot = Matrix.TR((pos + Vec3.Up * Mono.inst.playerY), ori);
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Matrix bounds = Matrix.T(0, 1.3f, 0);
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if (!gotBounds && World.HasBounds) {
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gotBounds = true;
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bounds = World.BoundsPose.ToMatrix();
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// Renderer.CameraRoot = World.BoundsPose.ToMatrix();
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}
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Renderer.CameraRoot = Matrix.TR(pos, ori) * bounds;
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// Controllers
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rCon.Step(true);
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@ -76,7 +76,7 @@ public class Space {
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// World.BoundsPose.position.y
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shed.Draw(Matrix.TRS(new Vec3(0, -1.6f, 0), Quat.Identity, Vec3.One));
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shed.Draw(Matrix.Identity);
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// draw a grid of cube pillars spaced out evenly along the XZ plane
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@ -20,7 +20,7 @@ Renderer.ClearColor = new Color(0f, 0f, 0f);
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Oriels.Mono mono = Oriels.Mono.inst;
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mono.Init();
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while (SK.Step(() => {
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SK.Run(() => {
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mono.Frame();
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}));
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SK.Shutdown();
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});
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// SK.Shutdown();
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@ -32,7 +32,7 @@ class WaveCursor : dof {
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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 * Mono.inst.stretchStr;
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cursor.raw = hand.Get(FingerId.Index, JointId.Tip).position + dir * stretch * strength;
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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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@ -45,7 +45,9 @@ class WaveCursor : dof {
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}
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public float deadzone = 0.3f;
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public float strength = 3f;
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public float strength {
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get { return PullRequest.ToFloat(ref Mono.inst.wcReach, 0); } // 3f
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}
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public Handed handed = Handed.Left;
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@ -85,23 +87,24 @@ class WaveCursor : dof {
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}
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void Trail(Vec3[] points, Vec3 nextPos) {
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while (Vec3.Distance(points[0], nextPos) > 0.03f * Mono.inst.trailScl) {
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float scale = PullRequest.ToFloat(ref Mono.inst.wcScale, 0.001f);
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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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}
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points[0] += Vec3.Direction(nextPos, points[0]) * 0.02f * Mono.inst.trailScl;
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points[0] += Vec3.Direction(nextPos, points[0]) * 0.02f * scale;
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}
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// points[0] = nextPos;
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int len = (int)(points.Length * Mono.inst.trailLen);
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int len = (int)(points.Length * PullRequest.ToFloat(ref Mono.inst.wcLength, 0f, 1f));
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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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// if (points[i].v != points[i - 1].v) {
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// dir = PullRequest.Direction(points[i], points[i - 1]);
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// }
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// // points[i] = points[i - 1] + dir * 0.02f * Mono.inst.trailScl;
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// // points[i] = points[i - 1] + dir * 0.02f * scale;
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// }
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Vec3 from = i > 0 ? points[i - 1] : nextPos;
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@ -109,9 +112,9 @@ class WaveCursor : dof {
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Mesh.Cube.Draw(
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Mono.inst.matHolo,
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Matrix.TRS(
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points[i] + ori * new Vec3(0, 0, 0.01f) * Mono.inst.trailScl,
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points[i] + ori * new Vec3(0, 0, 0.01f) * scale,
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ori,
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new Vec3(0.01f, 0.01f, 0.02f) * Mono.inst.trailScl
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new Vec3(0.01f, 0.01f, 0.02f) * scale
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),
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Color.HSV(i / (float)len, 1, 1)
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);
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@ -4,10 +4,16 @@ class Trackballer : dof {
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// data
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public Btn btnIn, btnOut;
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bool onTheBall;
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public Quat ori = Quat.Identity;
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Quat momentum = Quat.Identity;
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Quat delta = Quat.Identity;
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Matrix oldMeshMatrix = Matrix.Identity;
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Matrix pad = Matrix.Identity;
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Matrix oldPad = Matrix.Identity;
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int lastClosestIndex;
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PullRequest.Vec3PID compliance = new PullRequest.Vec3PID();
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PullRequest.OneEuroFilter xF = new PullRequest.OneEuroFilter(0.0001f, 0.1f);
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PullRequest.OneEuroFilter yF = new PullRequest.OneEuroFilter(0.0001f, 0.1f);
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@ -23,115 +29,161 @@ class Trackballer : dof {
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public void Frame() {
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Hand hand = Input.Hand(handed);
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if (hand.tracked.IsActive() && !hand.tracked.IsJustActive()) {
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Vec3 anchor = hand.Get(FingerId.Index, JointId.KnuckleMajor).position;
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anchor = anchor + hand.palm.orientation * new Vec3(handed == Handed.Left ? -0.006f : 0.006f, 0.01f, -0.04f);
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Matrix mAnchor = Matrix.TR(anchor, hand.palm.orientation);
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Matrix mAnchorInv = mAnchor.Inverse;
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UpdateMomentum(hand);
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}
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Vec3 thumbTip = hand.Get(FingerId.Thumb, JointId.Tip).position;
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// Vec3 tipDelta = mAnchorInv.Transform(thumbTip) - mAnchorInv.Transform(oldTip);
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// oldTip = thumbTip;
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Vec3 thumbKnuckle = hand.Get(FingerId.Thumb, JointId.KnuckleMinor).position;
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Quat newOri = (momentum * ori).Normalized;
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if (new Vec3(newOri.x, newOri.y, newOri.z).LengthSq > 0) {
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ori = newOri;
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}
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}
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Quat thumbRot = hand.Get(FingerId.Thumb, JointId.Tip).orientation;
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Matrix mMesh = Matrix.TRS(
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thumbTip,
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thumbRot,
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public void UpdateMomentum(Hand hand) {
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// Thumb pad
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HandJoint thumbJoint = hand.Get(FingerId.Thumb, JointId.Tip);
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oldPad = pad;
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pad = Matrix.TRS(
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thumbJoint.position,
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thumbJoint.orientation,
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new Vec3(handed == Handed.Left ? -1f : 1f, 1f, 1f) * 0.1666f
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);
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mesh.Draw(Mono.inst.matHolo, mMesh, new Color(0, 1, 1));
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mesh.Draw(Mono.inst.matHolo, pad, new Color(0, 1, 1));
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// closest to anchor
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float closest = 100000f;
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int closestIndex = -1;
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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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PullRequest.ToFloat(ref Mono.inst.tbX, -10f, 10f) * U.cm * (handed == Handed.Left ? -1 : 1),
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PullRequest.ToFloat(ref Mono.inst.tbY, -10f, 10f) * U.cm,
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PullRequest.ToFloat(ref Mono.inst.tbZ, -10f, 10f) * U.cm
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);
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anchorPos += compliance.Update(
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Vec3.Zero,
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onTheBall ? 1f : 10f,
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onTheBall ? 0.1f : 1f // 10x less integral when on the ball?
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);
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// compliance;
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// compliance = Vec3.Lerp(compliance, Vec3.Zero, Time.Elapsedf * 10f);
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Matrix anchor = Matrix.TR(anchorPos, hand.palm.orientation);
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Matrix anchorInv = anchor.Inverse;
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// Traction delta mesh matrix
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Vertex[] verts = mesh.GetVerts();
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float oldClosest = (
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pad.Transform(verts[lastClosestIndex].pos) - anchorPos
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).LengthSq;
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float closest = 100000f;
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int closestIndex = lastClosestIndex;
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for (int i = 0; i < verts.Length; i++) {
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Vec3 v = mMesh.Transform(verts[i].pos);
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float d = (v - anchor).LengthSq;
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if (d < closest) {
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Vec3 v = pad.Transform(verts[i].pos);
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float d = (v - anchorPos).LengthSq;
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if (d < closest && d < oldClosest - 0.00002f) {
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closest = d;
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closestIndex = i;
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}
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}
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lastClosestIndex = closestIndex;
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Vec3 localPad = mAnchorInv.Transform(mMesh.Transform(verts[closestIndex].pos));
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Vec3 oldPad = mAnchorInv.Transform(oldMeshMatrix.Transform(verts[closestIndex].pos));
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oldMeshMatrix = mMesh;
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//
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// Vec3 pad = anchor.SnapToLine(
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// thumbKnuckle, thumbTip,
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// true,
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// out float t, 0f, 1f
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// );
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// // t = 1 - t;
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// // scale to 0.666f - 1f
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// // t = (t - 0.666f) / 0.334f;
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// t = t * t;
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// t = 1 - t;
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// pad += hand.Get(FingerId.Thumb, JointId.Tip).orientation * -Vec3.Up * 0.00666f * t;
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// Vec3 localPad = mAnchorInv.Transform(pad);
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// Vec3 localPad = mAnchorInv.Transform(thumbTip);
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Vec3 point = anchorInv.Transform(
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pad.Transform(verts[closestIndex].pos)
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);
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Vec3 oldPoint = anchorInv.Transform(
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oldPad.Transform(verts[closestIndex].pos)
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);
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// ?
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// localPad.x = (float)xF.Filter(localPad.x, (double)Time.Elapsedf);
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// localPad.y = (float)yF.Filter(localPad.y, (double)Time.Elapsedf);
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// localPad.z = (float)zF.Filter(localPad.z, (double)Time.Elapsedf);
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// Lines.Add(thumbTip, thumbKnuckle, Color.White, 0.002f);
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Mesh.Sphere.Draw(Mono.inst.matHolo, Matrix.TRS(mAnchor.Transform(localPad), hand.palm.orientation, 0.002f), new Color(0, 1, 1));
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Mesh.Sphere.Draw(
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Mono.inst.matHolo,
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Matrix.TRS(anchor.Transform(point), hand.palm.orientation, 0.002f),
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new Color(0, 1, 1)
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);
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|
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// if (btnIn.held) {
|
||||
// btnIn.Step(localPad.Length < layer[1]);
|
||||
// } else {
|
||||
// btnIn.Step(localPad.Length < layer[0]);
|
||||
// }
|
||||
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(localPad.Length > layer[1]);
|
||||
} else {
|
||||
btnOut.Step(localPad.Length > layer[2]);
|
||||
}
|
||||
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 {
|
||||
if (localPad.Length < layer[1]) {
|
||||
delta = PullRequest.Relative(
|
||||
hand.palm.orientation,
|
||||
Quat.Delta(
|
||||
oldPad.Normalized,
|
||||
localPad.Normalized
|
||||
)
|
||||
).Normalized;
|
||||
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(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;
|
||||
if (new Vec3(newOri.x, newOri.y, newOri.z).LengthSq > 0) {
|
||||
ori = newOri;
|
||||
}
|
||||
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 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)
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -13,7 +13,6 @@
|
|||
<ItemGroup>
|
||||
<None Include="add/**">
|
||||
<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
|
||||
<!-- <Link>add/%(RecursiveDir)%(Filename)%(Extension)</Link> -->
|
||||
</None>
|
||||
</ItemGroup>
|
||||
|
||||
|
|
|
|||
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Add table
Reference in a new issue