From ba19eeb21d8e261130cb255d623b794ab1ac1af6 Mon Sep 17 00:00:00 2001
From: spatialfree <mail@ethanmerchant.com>
Date: Sat, 29 Apr 2023 09:58:29 -0400
Subject: [PATCH] flexion iteration

---
 Micro.bat                          | 10 ---------
 src/Mono.cs                        |  2 +-
 src/Rig/Rig.cs                     | 36 ++++++++++++++++++++++--------
 src/dofs/wave-cursor/WaveCursor.cs | 14 ------------
 4 files changed, 28 insertions(+), 34 deletions(-)
 delete mode 100644 Micro.bat

diff --git a/Micro.bat b/Micro.bat
deleted file mode 100644
index a9bded0..0000000
--- a/Micro.bat
+++ /dev/null
@@ -1,10 +0,0 @@
-@REM make console window active
-@REM powershell -window normal -command ""
-dotnet build
-pause
-cd bin/Debug
-@REM echo "zipping into dofdev site"
-@REM 7z u oriels.zip %cd%/netcoreapp3.1
-@REM Xcopy "oriels.zip" "C:/dofdev/Web Development/dofdev/res/oriels.zip" /F /Y
-cd net6.0
-oriels.exe
\ No newline at end of file
diff --git a/src/Mono.cs b/src/Mono.cs
index b194fcd..c55ff80 100644
--- a/src/Mono.cs
+++ b/src/Mono.cs
@@ -173,7 +173,7 @@ public class Mono {
 	}
 
 	int dofIndex = 0;
-	Pose windowPoseButton = new Pose(-0.5f, 1.3f, 0, Quat.FromAngles(0, -90f, 0));
+	Pose windowPoseButton = new Pose(0, 1f, -0.5f, Quat.FromAngles(0, 0, 0));
 	TextStyle style = Text.MakeStyle(Font.FromFile("add/fonts/DM-Mono.ttf"), 1f * U.cm, Color.White);
 	TextStyle style2 = Text.MakeStyle(Font.FromFile("add/fonts/DM-Mono.ttf"), 1f * U.cm, new Color(0.5f, 0.5f, 0.5f));
 	Vec2 fieldSize = new Vec2(6f * U.cm, 3f * U.cm);
diff --git a/src/Rig/Rig.cs b/src/Rig/Rig.cs
index bc749d7..925ed61 100644
--- a/src/Rig/Rig.cs
+++ b/src/Rig/Rig.cs
@@ -83,21 +83,39 @@ public class Rig {
     lWrist = new Pose(lCon.pos + lCon.ori * new Vec3(0, 0, 0.052f), lCon.ori);
   }
 
-	public float Flexion(Hand hand, FingerId finger, float deadzone = 0.15f) {
-		float flexion = (Vec3.Dot(
-			PullRequest.Direction(
-				hand.Get(finger, JointId.Tip).position,
-				hand.Get(finger, JointId.KnuckleMinor).position
+	public float Flexion(Hand hand, FingerId id) {
+		float fingerFlex = (Vec3.Dot(
+			Vec3.Direction(
+				hand.Get(id, JointId.Tip).position,
+				hand.Get(id, JointId.KnuckleMinor).position
 			),
-			PullRequest.Direction(
-				hand.Get(finger, JointId.KnuckleMid).position,
-				hand.Get(finger, JointId.KnuckleMajor).position
+			Vec3.Direction(
+				hand.Get(id, JointId.KnuckleMid).position,
+				hand.Get(id, JointId.KnuckleMajor).position
 			)
 		) + 1f) / 2;
 
-		flexion = Math.Max(flexion - deadzone, 0f) / (1 - deadzone);
+    float fingerTrim = 0.15f;
+		fingerFlex = Math.Max(fingerFlex - fingerTrim, 0f) / (1 - fingerTrim);
+
+    float knuckleFlex = (Vec3.Dot(
+      Vec3.Direction(
+        hand.Get(id, JointId.KnuckleMid).position,
+        hand.Get(id, JointId.KnuckleMajor).position
+      ),
+      Vec3.Direction(
+        hand.Get(id, JointId.KnuckleMajor).position,
+        hand.Get(id, JointId.Root).position
+      )
+    ) + 1f) / 2;
+
+    float knuckleTrim = 0.666f;
+    knuckleFlex = Math.Max(knuckleFlex - knuckleTrim, 0f) / (1 - knuckleTrim);
+
+    float flexion = knuckleFlex + fingerFlex;
 		return flexion * flexion;
 	}
+  
 
   public Vec3 Fullstick(bool chirality) {
     Controller con = Con(chirality).device;
diff --git a/src/dofs/wave-cursor/WaveCursor.cs b/src/dofs/wave-cursor/WaveCursor.cs
index 4b64746..3352a34 100644
--- a/src/dofs/wave-cursor/WaveCursor.cs
+++ b/src/dofs/wave-cursor/WaveCursor.cs
@@ -92,18 +92,4 @@ class WaveCursor : dof {
 /* 
 	COMMENTS
 
-	!uses a naive flexion method
-	that needs a refactor to 
-	to both track for 
-		finger & knuckle flexion
-	
-	as they are intertwined at the intersection
-	in way that can't be ignored and must be derived!
-	in order to have a principled wave-cursor 
-		(let alone a rolls-cursor)
-	
-
-	sidetest: may be useful for interactions!
-	where you can use the finger flexion for grabbing
-	and knuckle flexion for cursor extension
 */
\ No newline at end of file