Add ultimate xr

2024-08-06 21:58:35 +02:00
parent 864033bf10
commit 7165bacd9d
3952 changed files with 2162037 additions and 35 deletions
--- a/Assets/UltimateXR/Runtime/Scripts/Avatar/Rig/UxrWristTorsionInfo.cs
+++ b/Assets/UltimateXR/Runtime/Scripts/Avatar/Rig/UxrWristTorsionInfo.cs
@@ -0,0 +1,118 @@
+// --------------------------------------------------------------------------------------------------------------------
+// <copyright file="UxrWristTorsionInfo.cs" company="VRMADA">
+//   Copyright (c) VRMADA, All rights reserved.
+// </copyright>
+// --------------------------------------------------------------------------------------------------------------------
+using UnityEngine;
+
+namespace UltimateXR.Avatar.Rig
+{
+    /// <summary>
+    ///     Stores information about wrist torsion. Updated by <see cref="UxrAvatarRig" />.
+    /// </summary>
+    public class UxrWristTorsionInfo
+    {
+        #region Public Types & Data
+
+        /// <summary>
+        ///     The wrist rotation along the elbow->hand axis.
+        /// </summary>
+        public float WristTorsionAngle { get; private set; }
+
+        #endregion
+
+        #region Constructors & Finalizer
+
+        /// <summary>
+        ///     Constructor.
+        /// </summary>
+        public UxrWristTorsionInfo()
+        {
+            _wristTorsionMinAngle = WristTorsionLimitSideLong;
+            _wristTorsionMaxAngle = -WristTorsionLimitSideShort;
+        }
+
+        #endregion
+
+        #region Public Methods
+
+        /// <summary>
+        ///     Updates the wrist torsion information to the current frame.
+        /// </summary>
+        /// <param name="forearm">Forearm bone</param>
+        /// <param name="hand">Hand bone</param>
+        /// <param name="armInfo">Arm information</param>
+        public void UpdateInfo(Transform forearm, Transform hand, UxrAvatarArmInfo armInfo)
+        {
+            if (hand && forearm && armInfo.ForearmUniversalLocalAxes != null && armInfo.HandUniversalLocalAxes != null)
+            {
+                Vector3 currentHandForwardInForearm = forearm.InverseTransformDirection(armInfo.HandUniversalLocalAxes.WorldForward);
+                Vector3 currentHandUpInForearm      = forearm.InverseTransformDirection(armInfo.HandUniversalLocalAxes.WorldUp);
+                Vector3 currentHandRightInForearm   = forearm.InverseTransformDirection(armInfo.HandUniversalLocalAxes.WorldRight);
+
+                currentHandUpInForearm    = Vector3.ProjectOnPlane(currentHandUpInForearm,    armInfo.ForearmUniversalLocalAxes.LocalForward);
+                currentHandRightInForearm = Vector3.ProjectOnPlane(currentHandRightInForearm, armInfo.ForearmUniversalLocalAxes.LocalForward);
+
+                float angleRight = Vector3.SignedAngle(armInfo.ForearmUniversalLocalAxes.LocalRight, currentHandRightInForearm, armInfo.ForearmUniversalLocalAxes.LocalForward);
+                float angle      = angleRight; // Works better than angleUp because of hand movement constraints
+
+                // Check for twists greater than 180 degrees, to know which way to turn to
+
+                if (WristTorsionAngle > WristTorsionOvershootAngleThreshold && angle < -WristTorsionOvershootAngleThreshold)
+                {
+                    _wristTorsionOvershoot++;
+                }
+                else if (WristTorsionAngle < -WristTorsionOvershootAngleThreshold && angle > WristTorsionOvershootAngleThreshold)
+                {
+                    _wristTorsionOvershoot--;
+                }
+
+                // Compute the overshoot if necessary
+
+                float finalAngle = angle;
+
+                if (_wristTorsionOvershoot > 0)
+                {
+                    finalAngle = 180.0f + 360.0f * (_wristTorsionOvershoot - 1) + (angle + 180.0f);
+                }
+                else if (_wristTorsionOvershoot < 0)
+                {
+                    finalAngle = -180.0f - -360.0f * (_wristTorsionOvershoot + 1) - (180.0f - angle);
+                }
+
+                if (finalAngle > _wristTorsionMinAngle && _wristTorsionOvershoot != 0)
+                {
+                    _wristTorsionOvershoot = 0;
+                    finalAngle             = finalAngle + 360.0f;
+                }
+                else if (finalAngle < _wristTorsionMaxAngle && _wristTorsionOvershoot != 0)
+                {
+                    _wristTorsionOvershoot = 0;
+                    finalAngle             = finalAngle - 360.0f;
+                }
+
+                // Rotation
+
+                WristTorsionAngle = finalAngle;
+            }
+        }
+
+        #endregion
+
+        #region Private Types & Data
+
+        // Constants
+
+        private const float WristTorsionOvershootAngleThreshold = 150.0f;
+        private const float WristTorsionLimitSideShort          = 200.0f;
+        private const float WristTorsionLimitSideLong           = 300.0f;
+
+        // Internal vars
+
+        private readonly float _wristTorsionMinAngle;
+        private readonly float _wristTorsionMaxAngle;
+        private          int   _wristTorsionOvershoot;
+
+        #endregion
+    }
+}