init thumb trackballer
This commit is contained in:
spatialfree
parent
3291571152
commit
673efeba58
7 changed files with 189 additions and 225 deletions
13
app/Mono.cs
13
app/Mono.cs
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@ -42,9 +42,11 @@ public class Mono {
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dofs = new dof[] {
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// new StretchFinger(),
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// new Trackballer(rGlove.virtualGlove, anchor),
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new StretchCursor() { handId = 0, deadzone = 0.01f, strength = 3f }, // can override design variables
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new StretchCursor() { handId = 1, deadzone = 0.01f, strength = 3f }, // can override design variables
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// new Trackballer(),
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new WaveCursor() { handId = 0, deadzone = 0.01f, strength = 3f },
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new WaveCursor() { handId = 1, deadzone = 0.01f, strength = 3f },
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// new StretchCursor() { deadzone = 0.01f, strength = 3f },
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// new StretchCursor() { deadzone = 0.01f, strength = 3f },
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};
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}
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Pose anchor = Pose.Identity;
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@ -77,6 +79,11 @@ public class Mono {
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// -------------------------------------------------
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// THE BACK BREAKING PROBLEM WITH THE CURRENT DOF SYSTEM
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// is that I can't pass input to it in a dynamic way
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// a pointer would solve this problem but c# doesn't have pointers
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// except for unsafe code, which opens up a whole new can of worms
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// dof.Frame();
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dofs[0].Frame();
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dofs[1].Frame();
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@ -49,15 +49,31 @@ public static class PullRequest {
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}
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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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// using AxisAngle
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Vec3 axis = Vec3.Cross(up, dir);
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float angle = MathF.Atan2(Vec3.Dot(up, dir), axis.Length);
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q = FromAxisAngle(axis.Normalized, angle);
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// construct the quaternion that rotates one vector to another
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// uses the usual trick to get the half angle
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public static Quat Delta(Vec3 to, Vec3 from) {
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Vec3 vec = Vec3.Cross(from, to);
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return new Quat(
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vec.x,
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vec.y,
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vec.z,
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1 + Vec3.Dot(to, from )
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).Normalized;
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}
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public static Quat Relative(Quat to, Quat delta) {
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return (to * delta * to.Inverse).Normalized;
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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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// // using AxisAngle
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// Vec3 axis = Vec3.Cross(up, dir);
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// float angle = MathF.Atan2(Vec3.Dot(up, dir), axis.Length);
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// q = FromAxisAngle(axis.Normalized, angle);
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// }
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public static Quat FromAxisAngle(Vec3 axis, float angle) {
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float halfAngle = angle * 0.5f;
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float sin = (float)Math.Sin(halfAngle);
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@ -1,12 +0,0 @@
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namespace Oriels;
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class StretchFinger : dof {
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// Pose p0, p1
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public void Init() {
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}
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public void Frame() {
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}
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}
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@ -11,122 +11,18 @@ class StretchCursor : dof {
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}
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bool isTracking = false;
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public void Frame() {
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Hand hand = Input.Hand(handId);
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Vec3 vec = p0.position - p1.position;
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float len = vec.Length;
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float stretch = Math.Max(len - deadzone, 0f);
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Vec3 dir = backhand ? vec / len : p0.orientation * Vec3.Forward;
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if (hand.tracked.IsActive() && !hand.tracked.IsJustActive()) {
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p0.position = hand.Get(FingerId.Index, JointId.KnuckleMajor).position;
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p1.position = hand.Get(FingerId.Index, JointId.Tip).position;
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isTracking = true;
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}
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// Vec3 vec = p0.position - p1.position;
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// float len = vec.Length;
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// float stretch = Math.Max(len - deadzone, 0f);
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// Vec3 dir = backhand ? vec / len : p0.orientation * Vec3.Forward;
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float fI = Flexion(hand, FingerId.Index);
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float fM = Flexion(hand, FingerId.Middle);
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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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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.position = hand.Get(FingerId.Index, JointId.Tip).position + dir * stretch * strength * Mono.inst.stretchStr;
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cursor.position = p0.position + dir * stretch * strength; // * Mono.inst.stretchStr;
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Mesh.Cube.Draw(Material.Default, Matrix.TS(cursor.position, 0.01f));
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// thumb trackballer
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float d = Vec3.Distance(
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hand.Get(FingerId.Index, JointId.KnuckleMid).position,
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hand.Get(FingerId.Index, JointId.KnuckleMajor).position
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);
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Vec3 anchor = hand.Get(FingerId.Index, JointId.KnuckleMajor).position;
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anchor = anchor + hand.palm.orientation * Vec3.Forward * d;
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Mesh.Cube.Draw(Material.Default, Matrix.TS(anchor, 0.01f));
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if (isTracking) { Demo(); }
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}
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public bool backhand = true;
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public float deadzone = 0.1f;
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public float strength = 3f;
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public int handId = 0;
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float Flexion(Hand hand, FingerId finger) {
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float flexion = (Vec3.Dot(
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PullRequest.Direction(
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hand.Get(finger, JointId.Tip).position,
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hand.Get(finger, JointId.KnuckleMinor).position
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),
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PullRequest.Direction(
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hand.Get(finger, JointId.KnuckleMid).position,
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hand.Get(finger, JointId.KnuckleMajor).position
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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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}
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Vec3 smoothPos;
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Vec3[] points = new Vec3[64];
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void Demo() {
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smoothPos = Vec3.Lerp(smoothPos, cursor.position, Time.Elapsedf * 6f);
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// while (Vec3.Distance(points[0], smoothPos) > 0.03f) {
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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] += PullRequest.Direction(smoothPos, points[0]) * 0.02f;
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// }
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points[0] = smoothPos;
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int len = (int)(points.Length * Mono.inst.trailLen);
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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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}
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Vec3 from = i > 0 ? points[i - 1] : smoothPos;
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Mesh.Cube.Draw(
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Material.Default,
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Matrix.TRS(points[i], Quat.LookDir(PullRequest.Direction(points[i], from)), 0.01f * Mono.inst.trailScl),
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Color.HSV(i / (float)len, 1, 1)
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);
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}
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}
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}
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133
app/dofs/stretch-cursor/wave/WaveCursor.cs
Normal file
133
app/dofs/stretch-cursor/wave/WaveCursor.cs
Normal file
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@ -0,0 +1,133 @@
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namespace Oriels;
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class WaveCursor : dof {
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public WaveCursor() {
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}
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Vec3 oldLocalPad;
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public Pose cursor = Pose.Identity;
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public void Init() {
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}
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bool isTracking = false;
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public void Frame() {
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Hand hand = Input.Hand(handId);
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if (hand.tracked.IsActive() && !hand.tracked.IsJustActive()) {
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// p0.position = hand.Get(FingerId.Index, JointId.KnuckleMajor).position;
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// p1.position = hand.Get(FingerId.Index, JointId.Tip).position;
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isTracking = true;
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}
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float fI = Flexion(hand, FingerId.Index);
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float fM = Flexion(hand, FingerId.Middle);
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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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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.position = hand.Get(FingerId.Index, JointId.Tip).position + dir * stretch * strength * Mono.inst.stretchStr;
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// thumb trackballer
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float d = Vec3.Distance(
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hand.Get(FingerId.Index, JointId.KnuckleMid).position,
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hand.Get(FingerId.Index, JointId.KnuckleMajor).position
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);
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Vec3 anchor = hand.Get(FingerId.Index, JointId.KnuckleMajor).position;
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anchor = anchor + hand.palm.orientation * Vec3.Forward * d;
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Matrix mAnchor = Matrix.TR(anchor, hand.palm.orientation);
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Matrix mAnchorInv = mAnchor.Inverse;
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Vec3 pad = Vec3.Lerp(
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hand.Get(FingerId.Thumb, JointId.Tip).position,
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hand.Get(FingerId.Thumb, JointId.KnuckleMinor).position,
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0.5f
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);
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Color color = Color.White;
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if (Vec3.Distance(pad, anchor) < 0.02f) {
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color = new Color(1, 0, 0);
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}
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Vec3 localPad = mAnchorInv.Transform(pad);
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if (Vec3.Distance(pad, anchor) < 0.04f && Time.Totalf > 3f) { // localPad.Length < 0.04f
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cursor.orientation = PullRequest.Relative(
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hand.palm.orientation,
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PullRequest.Delta(localPad.Normalized, oldLocalPad.Normalized)
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) * cursor.orientation;
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}
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// Lines.Add(
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// mAnchor.Transform(padIn),
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// mAnchor.Transform(padOut),
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// new Color(1, 1, 1), 0.004f
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// );
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oldLocalPad = localPad;
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Mesh.Sphere.Draw(Material.Default, Matrix.TS(anchor, 0.02f), color);
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Mesh.Cube.Draw(Material.Default, Matrix.TRS(anchor, cursor.orientation, 0.02f));
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if (isTracking) { Demo(); }
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}
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public bool backhand = true;
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public float deadzone = 0.1f;
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public float strength = 3f;
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public int handId = 0;
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float Flexion(Hand hand, FingerId finger) {
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float flexion = (Vec3.Dot(
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PullRequest.Direction(
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hand.Get(finger, JointId.Tip).position,
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hand.Get(finger, JointId.KnuckleMinor).position
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),
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PullRequest.Direction(
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hand.Get(finger, JointId.KnuckleMid).position,
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hand.Get(finger, JointId.KnuckleMajor).position
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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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}
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Vec3 smoothPos;
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Vec3[] points = new Vec3[64];
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void Demo() {
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points[0] = smoothPos = Vec3.Lerp(smoothPos, cursor.position, Time.Elapsedf * 6f);
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int len = (int)(points.Length * Mono.inst.trailLen);
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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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}
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Vec3 from = i > 0 ? points[i - 1] : smoothPos;
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Mesh.Cube.Draw(
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Material.Default,
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Matrix.TRS(points[i], Quat.LookDir(PullRequest.Direction(points[i], from)), 0.01f * Mono.inst.trailScl),
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Color.HSV(i / (float)len, 1, 1)
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);
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}
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}
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}
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@ -1,109 +1,34 @@
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namespace Oriels;
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class Trackballer : dof {
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public Pose p0, anchor = Pose.Identity;
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public Trackballer(Pose p0, Pose anchor) {
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this.p0 = p0;
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this.anchor = anchor;
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}
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Pose anchor = Pose.Identity;
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Quat ori = Quat.Identity;
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Quat qDelta = Quat.Identity;
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Vec2 oldMouse;
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Vec3 pos = new Vec3(0, 0, -1);
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Vec3 vel = new Vec3(0, 0, 0);
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public Quat ori = Quat.Identity;
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public void Init() {
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}
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// Vec3 pos, oldPos;
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Quat qDelta = Quat.Identity;
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public void Frame() {
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p0 = Mono.inst.rGlove.virtualGlove;
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// Vec3 vA = PullRequest.Direction(oldPos, anchor.position);
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// Vec3 vB = PullRequest.Direction(p0.position, anchor.position);
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// if (Vec3.Distance(p0.position, oldPos) > 0.2f) { // (p0.position.v != oldPos.v) {
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// // Vec3 delta = (p0.position - oldPos);
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// float angle = Vec3.AngleBetween(vA, vB);
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// Console.WriteLine("angle: " + angle);
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// if (angle > 1f) {
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// Vec3 v = PullRequest.Slerp(vA, vB, 1 / angle).Normalized;
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// // Vec3 delta -> Quat delta
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// Quat a = Quat.LookDir(vA).Normalized;
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// Quat b = Quat.LookDir(v).Normalized;
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// // when converting from vec to quat, the up axis can get flipped causing issues with reliably scaling the qDelta by vector angle
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// qDelta = Quat.Difference(a, b).Normalized;
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// // qDelta scaled to one degree
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// // qDelta = Quat.Slerp(Quat.Identity, qDelta, 1 / angle).Normalized;
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// // ori = Quat.Slerp(Quat.Identity, Quat.FromAngles(1, 0, 0), 6 * Time.Elapsedf) * ori;
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// // and use the velocity magnitude
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// float test = MathF.Tau * 0.05f;
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// }
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// oldPos = p0.position;
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// }
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// ori = Quat.Slerp(Quat.Identity, qDelta, 60 * Time.Elapsedf).Normalized * ori;
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// ori.Normalize();
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// Vec3 newPos = pos + vel * Time.Elapsedf;
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// if (newPos.v != pos) {
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// newPos = PullRequest.Direction(newPos, anchor.position).Normalized * 1f;
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// vel = PullRequest.Direction(newPos, pos) * vel.Length;
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// pos = newPos;
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// }
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if (Input.Key(Key.Space).IsJustActive()) {
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fromMouse = Input.Mouse.pos;
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}
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if (Input.Key(Key.Space).IsJustInactive()) {
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Vec2 delta = (Input.Mouse.pos - fromMouse) / 32f;
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vel = new Vec3(delta.x, -delta.y, 0);
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pos = new Vec3(0, 0, 1);
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// ori = (Quat.LookDir(pos).Normalized * ori).Normalized;
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}
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// ori.LookDirection(pos);
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// ori = Quat.FromAngles(0, MathF.Sin(Time.Totalf) * 180, 0);
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// float angle; Vec3 axis;
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// ori.ToAxisAngle(out axis, out angle);
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// ori = PullRequest.FromAxisAngle(axis, angle);
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// pivot to just Quat.FromAngles(x, 0, 0) * Quat.FromAngles(0, y, 0) for the delta
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Quat qDelta = (
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Quat.FromAngles(-vel.y * 60 * Time.Elapsedf, 0, 0)
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* Quat.FromAngles(0, vel.x * 60 * Time.Elapsedf, 0)
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// * Quat.FromAngles(0, 0, -vel.z * 60 * Time.Elapsedf)
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);
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// apply the qDelta to the current orientation relative to the head orientation
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Quat headOri = Input.Head.orientation;
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ori = (headOri * qDelta * headOri.Inverse * ori).Normalized;
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// ori = qDelta * ori;
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// Quat headOri = Input.Head.orientation;
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// ori = (headOri * qDelta * headOri.Inverse * ori).Normalized;
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// PullRequest.Relative(headOri, qDelta) * ori;
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Vec2 mouse = Input.Mouse.pos;
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mouse = new Vec2(
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(mouse.x / 1280 * 2) - 1f,
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(mouse.y / 720 * 2) - 1f
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) * 4f;
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ori = PullRequest.Delta(
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new Vec3(mouse.x, mouse.y, 1).Normalized,
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new Vec3(oldMouse.x, oldMouse.y, 1).Normalized
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) * ori;
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oldMouse = mouse;
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// Lines.Add(anchor.position, pos, new Color(1, 0, 0), 0.01f);
|
||||
|
||||
Lines.Add(
|
||||
anchor.position - ori * new Vec3(-1, 0, 0) * 0.1f,
|
||||
|
|
@ -121,7 +46,6 @@ class Trackballer : dof {
|
|||
new Color(0, 0, 1), 0.002f
|
||||
);
|
||||
Mesh.Cube.Draw(Material.Default, Matrix.TRS(anchor.position, ori, 0.04f));
|
||||
// Mesh.Cube.Draw(Material.Default, Matrix.TS(p0.position, new Vec3(0.04f, 0.01f, 0.04f)));
|
||||
}
|
||||
|
||||
Vec2 fromMouse = new Vec2(0, 0);
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue