235 lines
No EOL
6.3 KiB
C#
235 lines
No EOL
6.3 KiB
C#
namespace Oriels;
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class Trackballer : dof {
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public bool Active { get; set; }
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// input
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public Handed handed = Handed.Left;
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// data
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public Btn btnPull = new Btn();
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public Btn btnPush = new Btn();
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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 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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Model model = Model.FromFile("thumb_pad.glb");
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Mesh mesh;
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public void Init() {
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mesh = model.GetMesh("Pad");
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}
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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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UpdateMomentum(hand);
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}
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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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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.matHoloframe, pad, new Color(0, 1, 1));
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// Ball anchor
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HandJoint ballJoint = hand.Get(FingerId.Index, JointId.KnuckleMajor);
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Vec3 anchorOrigin = ballJoint.position + hand.palm.orientation * new Vec3(
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aX.value * (handed == Handed.Left ? -1 : 1),
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aY.value,
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aZ.value
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);
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Vec3 anchorPos = anchorOrigin + compliance.Update(
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Vec3.Zero,
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onTheBall ? 1f : 10f,
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onTheBall ? 0.5f : 5f // 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 = 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 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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// Pull
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float pull = point.Length / pullClick.value;
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btnPull.Frame(pull > 1f, pull > 0.333f); // magic sticky var
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float pullScalar = btnPull.held ? MathF.Max((pull - 0.333f) / 0.666f, 0) : MathF.Max(1 - pull, 0);
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Mesh.Sphere.Draw(Mono.inst.matHoloframe,
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Matrix.TRS(anchorPos, thumbJoint.orientation, pullScalar * radius.value),
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new Color(0, 1, 1) * (btnPull.held ? 1f : 0.0666f)
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);
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Lines.Add(
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anchor.Transform(point), anchorPos,
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new Color(0, 1, 1), 1f * U.mm
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);
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Mesh.Sphere.Draw(Mono.inst.matHoloframe,
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Matrix.TRS(anchor.Transform(point), thumbJoint.orientation, 2f * U.mm),
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new Color(0, 1, 1)
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);
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// Push
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float push = compliance.value.Length / pushClick.value;
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btnPush.Frame(push > 1f, push > 0.333f); // magic sticky var
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float pushScalar = btnPush.held ? MathF.Max((MathF.Min(push, 1f) - 0.333f) / 0.666f, 0) : MathF.Max(1 - push, 0);
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Mesh.Sphere.Draw(Mono.inst.matHoloframe,
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Matrix.TRS(anchorPos, ori, (radius.value * 2) * pushScalar),
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new Color(1, 0, 0) * (btnPush.held ? 1f : 0.2f)
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);
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onTheBall = point.Length < radius.value;
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if (onTheBall) {
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delta = Quat.Delta(
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oldPoint.Normalized,
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point.Normalized
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).Relative(hand.palm.orientation);
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momentum = Quat.Slerp(momentum, delta, Time.Elapsedf * 10f);
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Vec3 contact = point.Normalized * radius.value;
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Vec3 offset = point - contact;
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// no z axis
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// offset.z = 0;
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offset = hand.palm.orientation * offset;
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compliance.value += offset * compliant.value;
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compliance.integral = Vec3.Zero;
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} else {
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PullRequest.ToAxisAngle(momentum, out Vec3 axis, out float angle);
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if (angle < stop.value) {
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momentum = Quat.Slerp(momentum, Quat.Identity, Time.Elapsedf * 10f);
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}
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}
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// Draw ball result
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Mesh.Sphere.Draw(
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Mono.inst.matHoloframe,
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Matrix.TRS(anchorPos, ori, radius.value * 2),
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new Color(0.8f, 0, 0)
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);
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}
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// design
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public Design radius = new Design { str="2", term=">0cm", unit=U.cm, min=0.5f };
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public Design pullClick = new Design { str="6.66", term=">0cm", unit=U.cm, min=0.1f };
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public Design pushClick = new Design { str="1.5", term=">0cm", unit=U.cm, min=0.1f };
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public Design aX = new Design { str=" 1.0", term="-0+cm", unit=U.cm, min=-10f, max=10f };
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public Design aY = new Design { str=" 2.0", term="-0+cm", unit=U.cm, min=-10f, max=10f };
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public Design aZ = new Design { str="-4.0", term="-0+cm", unit=U.cm, min=-10f, max=10f };
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public Design compliant = new Design { str="0.2", term="0+1t", min=0, max=1 };
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public Design stop = new Design { str="0.05", term="0+", min=0 };
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Vec3 cursorPos = new Vec3(0f, 0f, 0f);
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public void Demo() {
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Matrix panel = Matrix.TR(
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new Vec3(
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1.47f,
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1.145f, // - World.BoundsPose.position.y,
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1.08f),
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Quat.FromAngles(-3.2f, 90f, 0)
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);
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float width = 52 * U.cm;
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float height = 29f * U.cm;
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Mesh.Quad.Draw(
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Mono.inst.matHoloframe,
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Matrix.S(new Vec3(width, height, 1)) * panel,
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new Color(1, 1, 1)
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);
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cursorPos.x = PullRequest.Clamp(
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cursorPos.x + (momentum * Vec3.Right).z * 0.1f,
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width / -2f,
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width / 2f
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);
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cursorPos.y = PullRequest.Clamp(
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cursorPos.y + (momentum * Vec3.Right).y * -0.1f,
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height / -2f,
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height / 2f
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);
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Mesh.Quad.Draw(
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Material.Unlit,
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Matrix.TS(cursorPos, 1 * U.cm) * panel,
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new Color(1, 1, 1)
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);
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}
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}
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/*
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COMMENTS
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press in is not reliable
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full thumb mesh and contact point lerp
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pullbtn mouse click scale anim
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thumb inside instead
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so the natural thumb position doesn't affect the trackballer
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sens for cursor
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be able to stop it easily without jittering
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use another fingers flexion to be able to brake the trackballer
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finger gun interaction (on the other hand) to move the trackballer
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distinct interactions to account for (relative to palm orientation)
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y swipe (move x)
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z swipe (move y)
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x spin (scroll)
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how reliable is the provided palm orientation?
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more boolean visual and audio feeback
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*/ |