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This commit is contained in:
ethan merchant 2023-07-19 19:18:51 -04:00
parent 8308529340
commit 99c99dde80
5 changed files with 82 additions and 59 deletions
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4
src/Glove.cs
View file

@ -58,7 +58,7 @@ public class Glove {
if (lift) {
pullPoint = con.pos + -direction * stretch;
} else {
direction = PR.Direction(con.pos, pullPoint);
direction = Vec3.Direction(con.pos, pullPoint);
}
} else {
pullPoint = con.pos;
@ -83,7 +83,7 @@ public class Glove {
case Pull.Backhanded:
pullPoint = otherCon.pos;
direction = PR.Direction(con.pos, otherCon.pos);
direction = Vec3.Direction(con.pos, otherCon.pos);
virtualGlove.orientation = con.ori;
break;
}

24
src/Interactions/rolls-cursor/RollsCursor.cs
View file

@ -8,6 +8,9 @@ class RollsCursor : Interaction {
// data
public Cursor cursor = new Cursor();
PR.Delta fIdelta = new PR.Delta();
PR.Delta fMdelta = new PR.Delta();
PR.Delta fRdelta = new PR.Delta();
public void Init() { }
@ -22,12 +25,23 @@ class RollsCursor : Interaction {
float stretch = (fI + fM + fR + fL) / 4f;
Vec3 to = Roll(hand, JointId.KnuckleMid, fI, fM, fR, fL);
Vec3 from = Roll(hand, JointId.KnuckleMajor, fI, fM, fR, fL);
// Vec3 to = Roll(hand, JointId.KnuckleMid, fI, fM, fR, fL);
// Vec3 from = Roll(hand, JointId.KnuckleMajor, fI, fM, fR, fL);
Vec3 dir = PR.Direction(to, from);
// Vec3 dir = Vec3.Direction(to, from);
cursor.raw = to + dir * stretch * reach.value;
// cursor.raw = to + dir * stretch * reach.value;
if (fL == 0.0f) {
cursor.raw = hand.Get(FingerId.Index, JointId.Tip).position;
}
fIdelta.Update(hand.Get(FingerId.Index, JointId.Tip).position);
fMdelta.Update(hand.Get(FingerId.Middle, JointId.Tip).position);
fRdelta.Update(hand.Get(FingerId.Ring, JointId.Tip).position);
Vec3 delta = (fIdelta.value + fMdelta.value + fRdelta.value) / 3f;
cursor.raw += delta * reach.value;
Mesh.Sphere.Draw(Mono.inst.matHoloframe, Matrix.TRS(cursor.raw, Quat.Identity, 0.01f), new Color(1, 0, 0));
Mesh.Sphere.Draw(Mono.inst.matHoloframe, Matrix.TRS(cursor.pos, Quat.Identity, 0.01f), new Color(0, 1, 0));
@ -36,7 +50,7 @@ class RollsCursor : Interaction {
}
// design
public Design reach = new Design { str = "1.0", term = "0+m", min = 0 };
public Design reach = new Design { str = "3.0", term = "0+m", min = 0 };
public Vec3 Roll(Hand hand, JointId jointId, float fI, float fM, float fR, float fL) {
Vec3 i = hand.Get(FingerId.Index, jointId).position;

70
src/Mono.cs
View file

@ -20,7 +20,7 @@ public class Mono {
// -------------------------------------------------
public Interaction[] dofs;
public Interaction[] interactions;
public ColorCube colorCube = new ColorCube();
@ -32,7 +32,7 @@ public class Mono {
// public MonoNet net = new MonoNet();
public Mono() {
dofs = new Interaction[] {
interactions = new Interaction[] {
new Chiral(new Interaction[] {
new WaveCursor() { handed = Handed.Left },
new WaveCursor() { handed = Handed.Right }
@ -51,8 +51,8 @@ public class Mono {
public void Init() {
compositor.Init();
for (int i = 0; i < dofs.Length; i++) {
dofs[i].Init();
for (int i = 0; i < interactions.Length; i++) {
interactions[i].Init();
}
matDev = Material.Default.Copy();
@ -104,10 +104,10 @@ public class Mono {
// Input.HandClearOverride(Handed.Right);
// store hand pre override in rig
rig.Step();
Hand h = Input.Hand(Handed.Right);
if (h.pinch.IsActive()) {
Console.WriteLine($"{h.pinchPt}, {Input.Head.orientation * -Vec3.Forward}");
}
// Hand h = Input.Hand(Handed.Right);
// if (h.pinch.IsActive()) {
// Console.WriteLine($"{h.pinchPt}, {Input.Head.orientation * -Vec3.Forward}");
// }
// Hand hand = Input.Hand(Handed.Right);
// Controller con = Input.Controller(Handed.Right);
@ -125,30 +125,30 @@ public class Mono {
spatial.Frame();
// pinch-cursor?
{
float deadzone = 0.01f;
float strength = 6f;
// {
// float deadzone = 0.01f;
// float strength = 6f;
Hand hand = Input.Hand(Handed.Right);
Vec3 indexTip = hand.Get(FingerId.Index, JointId.Tip).position;
Vec3 thumbTip = hand.Get(FingerId.Thumb, JointId.Tip).position;
// Hand hand = Input.Hand(Handed.Right);
// Vec3 indexTip = hand.Get(FingerId.Index, JointId.Tip).position;
// Vec3 thumbTip = hand.Get(FingerId.Thumb, JointId.Tip).position;
Vec3 delta = indexTip - thumbTip;
float mag = delta.Magnitude;
float pinch = MathF.Max(mag - deadzone, 0);
// Vec3 delta = indexTip - thumbTip;
// float mag = delta.Magnitude;
// float pinch = MathF.Max(mag - deadzone, 0);
Vec3 dir = delta.Normalized;
// Vec3 dir = delta.Normalized;
cursor.raw = indexTip + dir * pinch * strength;
// cursor.raw = indexTip + dir * pinch * strength;
Lines.Add(indexTip, thumbTip, new Color(0, 0, 1), 0.002f);
Mesh.Sphere.Draw(matHolo, Matrix.TS(cursor.pos, 0.01f), new Color(0.5f, 0.5f, 0.5f));
// V.XYZ(0, 0, );
// Lines.Add(indexTip, thumbTip, new Color(0, 0, 1), 0.002f);
// Mesh.Sphere.Draw(matHolo, Matrix.TS(cursor.pos, 0.01f), new Color(0.5f, 0.5f, 0.5f));
// // V.XYZ(0, 0, );
drawerA.Frame(cursor, pinch);
drawerB.Frame(cursor, pinch);
drawerC.Frame(cursor, pinch);
}
// drawerA.Frame(cursor, pinch);
// drawerB.Frame(cursor, pinch);
// drawerC.Frame(cursor, pinch);
// }
@ -156,17 +156,17 @@ public class Mono {
// -------------------------------------------------
for (int i = 0; i < dofs.Length; i++) {
if (dofs[i].Active) {
dofs[i].Frame();
for (int i = 0; i < interactions.Length; i++) {
if (interactions[i].Active) {
interactions[i].Frame();
}
}
// <Heresy>
WaveCursor lwc = (WaveCursor)((Chiral)dofs[0]).dofs[0];
WaveCursor rwc = (WaveCursor)((Chiral)dofs[0]).dofs[1];
Trackballer ltb = (Trackballer)((Chiral)dofs[1]).dofs[0];
Trackballer rtb = (Trackballer)((Chiral)dofs[1]).dofs[1];
WaveCursor lwc = (WaveCursor)((Chiral)interactions[0]).dofs[0];
WaveCursor rwc = (WaveCursor)((Chiral)interactions[0]).dofs[1];
Trackballer ltb = (Trackballer)((Chiral)interactions[1]).dofs[0];
Trackballer rtb = (Trackballer)((Chiral)interactions[1]).dofs[1];
if (lwc.Active) {
lwc.Demo(ltb.ori);
@ -249,12 +249,12 @@ public class Mono {
dofIndex--;
}
UI.SameLine();
if (UI.Button("next") && dofIndex < dofs.Length - 1) {
if (UI.Button("next") && dofIndex < interactions.Length - 1) {
dofIndex++;
}
Interaction dof = dofs[dofIndex];
Interaction dof = interactions[dofIndex];
Type type = dof.GetType();
// active toggle
Color tint = dof.Active ? new Color(0, 1, 0) : new Color(1, 0, 0);

41
src/PR.cs
View file

@ -49,17 +49,17 @@ public static class PR {
}
}
// construct the quaternion that rotates one vector to another
// uses the usual trick to get the half angle
public static Quat Delta(Vec3 to, Vec3 from) {
Vec3 vec = Vec3.Cross(from, to);
return new Quat(
vec.x,
vec.y,
vec.z,
1 + Vec3.Dot(to, from )
).Normalized;
}
// // construct the quaternion that rotates one vector to another
// // uses the usual trick to get the half angle
// public static Quat Delta(Vec3 to, Vec3 from) {
// Vec3 vec = Vec3.Cross(from, to);
// return new Quat(
// vec.x,
// vec.y,
// vec.z,
// 1 + Vec3.Dot(to, from )
// ).Normalized;
// }
// Quat q;
// public static void Relative(Quat to) => q = to * q * to.Inverse;
@ -93,12 +93,8 @@ public static class PR {
return r.Next(min, max);
}
public static Vec3 Direction(Vec3 to, Vec3 from) {
return (to - from).Normalized;
}
public static Vec3 SnapToLine(this Vec3 v, Vec3 a, Vec3 b, bool clamp, out float t, float tMin = 0, float tMax = 1) {
Quat q = Quat.LookDir(Direction(b, a));
Quat q = Quat.LookDir(Vec3.Direction(b, a));
Vec3 lv = q.Inverse * (v - a);
lv.x = lv.y = 0;
Vec3 r = q * lv + a;
@ -306,6 +302,19 @@ public static class PR {
// }
// }
public class Delta {
public Vec3 value { get; private set; }
Vec3 last;
public Vec3 Update(Vec3 current) {
value = current - last;
last = current;
return value;
}
}
public class PID {
public float p, i;
public float value;

2
src/_Init.cs
View file

@ -7,7 +7,7 @@ SKSettings settings = new SKSettings {
assetsFolder = "add",
depthMode = DepthMode.D32,
disableUnfocusedSleep = true,
displayPreference = DisplayMode.Flatscreen,
// displayPreference = DisplayMode.Flatscreen,
// disableFlatscreenMRSim = true,
};
if (!SK.Initialize(settings))