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pull & push

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This commit is contained in:
spatialfree 2022-10-31 06:27:08 -04:00
parent 695b77894b
commit b47e68f898
3 changed files with 65 additions and 69 deletions
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13
app/Rig/Rig.cs
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@ -105,15 +105,15 @@ public class Con {
pose.position = pos = device.pose.position; pose.position = pos = device.pose.position;
pose.orientation = ori = Quat.Identity; // device.pose.orientation; pose.orientation = ori = Quat.Identity; // device.pose.orientation;
backhandDir = ori * (chirality ? Vec3.Right : -Vec3.Right); backhandDir = ori * (chirality ? Vec3.Right : -Vec3.Right);
gripBtn.Step(device.grip > 0.5f); gripBtn.Frame(device.grip > 0.5f);
triggerBtn.Step(device.trigger > 0.5f); triggerBtn.Frame(device.trigger > 0.5f);
} }
} }
public struct Btn { public struct Btn {
public bool frameDown, held, frameUp; public bool frameDown, held, frameUp;
public void Step(bool down, bool? sticky = null) { public void Frame(bool down, bool? sticky = null) {
if (sticky != null && held) { if (sticky != null && held) {
down = (bool)sticky; down = (bool)sticky;
} }
@ -122,11 +122,4 @@ public struct Btn {
frameUp = !down && held; frameUp = !down && held;
held = down; held = down;
} }
// public void Pinch(bool neg, bool pos) {
// bool pinch = held;
// if (pinch) {
// pinch = dist < 2 * U.cm;
// }
// }
} }

4
app/dofs/stretch-cursor/wave/WaveCursor.cs
View file

@ -50,7 +50,7 @@ class WaveCursor : dof {
// pinch is more than just the thumb and index finger // pinch is more than just the thumb and index finger
handBtn.Step( handBtn.Frame(
PinchStep(hand, FingerId.Little, littleBtn) || PinchStep(hand, FingerId.Little, littleBtn) ||
PinchStep(hand, FingerId.Ring, ringBtn) || PinchStep(hand, FingerId.Ring, ringBtn) ||
PinchStep(hand, FingerId.Middle, middleBtn) || PinchStep(hand, FingerId.Middle, middleBtn) ||
@ -104,7 +104,7 @@ class WaveCursor : dof {
HandJoint thumb = hand.Get(FingerId.Thumb, JointId.Tip); HandJoint thumb = hand.Get(FingerId.Thumb, JointId.Tip);
HandJoint fingy = hand.Get(finger, JointId.Tip); HandJoint fingy = hand.Get(finger, JointId.Tip);
float dist = Vec3.Distance(thumb.position, fingy.position); float dist = Vec3.Distance(thumb.position, fingy.position);
btn.Step(dist < 1 * U.cm, dist < 2 * U.cm); btn.Frame(dist < 1 * U.cm, dist < 2 * U.cm);
return btn.held; return btn.held;
} }

77
app/dofs/trackballer/Trackballer.cs
View file

@ -7,7 +7,8 @@ class Trackballer : dof {
public Handed handed = Handed.Left; public Handed handed = Handed.Left;
// data // data
public Btn btnIn, btnOut; public Btn btnPull = new Btn();
public Btn btnPush = new Btn();
bool onTheBall; bool onTheBall;
public Quat ori = Quat.Identity; public Quat ori = Quat.Identity;
@ -19,10 +20,6 @@ class Trackballer : dof {
PullRequest.Vec3PID compliance = new PullRequest.Vec3PID(); 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);
PullRequest.OneEuroFilter zF = new PullRequest.OneEuroFilter(0.0001f, 0.1f);
Model model = Model.FromFile("thumb_pad.glb"); Model model = Model.FromFile("thumb_pad.glb");
Mesh mesh; Mesh mesh;
@ -55,15 +52,15 @@ class Trackballer : dof {
// Ball anchor // Ball anchor
HandJoint ballJoint = hand.Get(FingerId.Index, JointId.KnuckleMajor); HandJoint ballJoint = hand.Get(FingerId.Index, JointId.KnuckleMajor);
Vec3 anchorPos = ballJoint.position + hand.palm.orientation * new Vec3( Vec3 anchorOrigin = ballJoint.position + hand.palm.orientation * new Vec3(
aX.value * (handed == Handed.Left ? -1 : 1), aX.value * (handed == Handed.Left ? -1 : 1),
aY.value, aY.value,
aZ.value aZ.value
); );
anchorPos += compliance.Update( Vec3 anchorPos = anchorOrigin + compliance.Update(
Vec3.Zero, Vec3.Zero,
onTheBall ? 1f : 10f, onTheBall ? 1f : 10f,
onTheBall ? 0.1f : 1f // 10x less integral when on the ball? onTheBall ? 0.5f : 5f // 10x less integral when on the ball?
); );
// compliance; // compliance;
// compliance = Vec3.Lerp(compliance, Vec3.Zero, Time.Elapsedf * 10f); // compliance = Vec3.Lerp(compliance, Vec3.Zero, Time.Elapsedf * 10f);
@ -94,31 +91,38 @@ class Trackballer : dof {
oldPad.Transform(verts[closestIndex].pos) 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); // Pull
Mesh.Sphere.Draw( float pull = point.Length / pullClick.value;
Mono.inst.matHolo, btnPull.Frame(pull > 1f, pull > 0.333f); // magic sticky var
Matrix.TRS(anchor.Transform(point), hand.palm.orientation, 0.002f),
float pullScalar = btnPull.held ? MathF.Max((pull - 0.333f) / 0.666f, 0) : MathF.Max(1 - pull, 0);
Mesh.Sphere.Draw(Mono.inst.matHolo,
Matrix.TRS(anchorPos, thumbJoint.orientation, pullScalar * radius.value),
new Color(0, 1, 1) * (btnPull.held ? 1f : 0.0666f)
);
Lines.Add(
anchor.Transform(point), anchorPos,
new Color(0, 1, 1), 1f * U.mm
);
Mesh.Sphere.Draw(Mono.inst.matHolo,
Matrix.TRS(anchor.Transform(point), thumbJoint.orientation, 2f * U.mm),
new Color(0, 1, 1) 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]); } // Push
else { btnOut.Step(dist > layer[2]); } float push = compliance.value.Length / pushClick.value;
float outT = btnOut.held ? 1 : 0.333f; btnPush.Frame(push > 1f, push > 0.333f); // magic sticky var
if (btnIn.held) { float pushScalar = btnPush.held ? MathF.Max((MathF.Min(push, 1f) - 0.333f) / 0.666f, 0) : MathF.Max(1 - push, 0);
delta = momentum = Quat.Identity; Mesh.Sphere.Draw(Mono.inst.matHolo,
} else { Matrix.TRS(anchorPos, ori, (radius.value * 2) * pushScalar),
onTheBall = dist < layer[1]; new Color(1, 0, 0) * (btnPush.held ? 1f : 0.2f)
);
onTheBall = point.Length < radius.value;
if (onTheBall) { if (onTheBall) {
delta = Quat.Delta( delta = Quat.Delta(
oldPoint.Normalized, oldPoint.Normalized,
@ -127,12 +131,11 @@ class Trackballer : dof {
momentum = Quat.Slerp(momentum, delta, Time.Elapsedf * 10f); momentum = Quat.Slerp(momentum, delta, Time.Elapsedf * 10f);
Vec3 contact = point.Normalized * layer[1]; Vec3 contact = point.Normalized * radius.value;
Vec3 offset = point - contact; Vec3 offset = point - contact;
// no z axis // no z axis
// offset.z = 0; // offset.z = 0;
offset = hand.palm.orientation * offset; offset = hand.palm.orientation * offset;
compliance.value += offset * compliant.value; compliance.value += offset * compliant.value;
compliance.integral = Vec3.Zero; compliance.integral = Vec3.Zero;
@ -142,24 +145,24 @@ class Trackballer : dof {
momentum = Quat.Slerp(momentum, Quat.Identity, Time.Elapsedf * 10f); momentum = Quat.Slerp(momentum, Quat.Identity, Time.Elapsedf * 10f);
} }
} }
}
// Draw // Draw ball result
Mesh.Sphere.Draw( Mesh.Sphere.Draw(
Mono.inst.matHolo, Mono.inst.matHolo,
Matrix.TRS(anchorPos, ori, layer[1] * 2), Matrix.TRS(anchorPos, ori, radius.value * 2),
new Color(inT, 0, 0) new Color(0.8f, 0, 0)
); );
} }
// design // design
public Design stop = new Design { str="0.05", term="0+", min=0 }; public Design radius = new Design { str="2", term=">0cm", unit=U.cm, min=0.5f };
public Design compliant = new Design { str="0.2", term="0+1t", min=0, max=1 }; public Design pullClick = new Design { str="6.66", term=">0cm", unit=U.cm, min=0.1f };
public Design pushClick = new Design { str="1.5", term=">0cm", unit=U.cm, min=0.1f };
public Design aX = new Design { str=" 1.0", term="-0+cm", unit=U.cm, min=-10f, max=10f }; 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 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 Design aZ = new Design { str="-4.0", term="-0+cm", unit=U.cm, min=-10f, max=10f };
public Design compliant = new Design { str="0.2", term="0+1t", min=0, max=1 };
public float[] layer = new float[] { 0.00333f, 0.02f, 0.0666f }; public Design stop = new Design { str="0.05", term="0+", min=0 };
Vec3 cursorPos = new Vec3(0f, 0f, 0f); Vec3 cursorPos = new Vec3(0f, 0f, 0f);