Add ultimate xr

Assets/UltimateXR/Runtime/Scripts/Manipulation/UxrGrabber.PhysicsSample.cs

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+// --------------------------------------------------------------------------------------------------------------------
+// <copyright file="UxrGrabber.PhysicsSample.cs" company="VRMADA">
+//   Copyright (c) VRMADA, All rights reserved.
+// </copyright>
+// --------------------------------------------------------------------------------------------------------------------
+using UnityEngine;
+
+namespace UltimateXR.Manipulation
+{
+    public partial class UxrGrabber
+    {
+        #region Private Types & Data
+
+        /// <summary>
+        ///     Stores physics data of a frame to perform smooth throw computations.
+        /// </summary>
+        private class PhysicsSample
+        {
+            #region Public Types & Data
+
+            /// <summary>
+            ///     Gets the sampled center of mass world position.
+            /// </summary>
+            public Vector3 CenterOfMass { get; }
+
+            /// <summary>
+            ///     Gets the sampled finger tip world position.
+            /// </summary>
+            public Vector3 Tip { get; }
+
+            /// <summary>
+            ///     Gets the sampled rotation.
+            /// </summary>
+            public Quaternion Rotation { get; }
+
+            /// <summary>
+            ///     Gets the sampled angular speed in Euler angles.
+            /// </summary>
+            public Vector3 EulerSpeed { get; }
+
+            /// <summary>
+            ///     Gets the sampled linear velocity in world space.
+            /// </summary>
+            public Vector3 Velocity { get; }
+
+            /// <summary>
+            ///     Gets the sampled total velocity in world space. It is the result of combining the linear velocity plus the velocity
+            ///     due to the throw axis angular speed. This should be used to compute throw release velocity.
+            /// </summary>
+            public Vector3 TotalVelocity { get; }
+
+            /// <summary>
+            ///     Gets the elapsed time in seconds with respect to the previous sample.
+            /// </summary>
+            public float DeltaTime { get; }
+
+            /// <summary>
+            ///     Gets or sets the sample age in seconds.
+            /// </summary>
+            public float Age { get; set; }
+
+            #endregion
+
+            #region Constructors & Finalizer
+
+            /// <summary>
+            ///     Constructor.
+            /// </summary>
+            /// <param name="lastSample">Last frame data, to compute velocities</param>
+            /// <param name="sampledTransform">Transform, from the grabbed object if there is one currently being grabbed, otherwise from the grabber</param>
+            /// <param name="centerOfMass">World position of the throwing center of mass</param>
+            /// <param name="tip">World position of the finger tip approximation, to account for angular velocity in the throw</param>
+            /// <param name="deltaTime">Time in seconds since last frame</param>
+            public PhysicsSample(PhysicsSample lastSample, Transform sampledTransform, Vector3 centerOfMass, Vector3 tip, float deltaTime)
+            {
+                Age             = 0.0f;
+                Rotation        = sampledTransform.rotation;
+                DeltaTime       = deltaTime;
+                CenterOfMass    = centerOfMass;
+                Tip             = tip;
+
+                if (lastSample != null)
+                {
+                    // Angular
+
+                    Vector3 v1           = lastSample.Tip - lastSample.CenterOfMass;
+                    Vector3 v2           = tip - centerOfMass;
+                    Vector3 rotationAxis = Vector3.Cross(v2, v1);
+
+                    Quaternion relative = Quaternion.Inverse(lastSample.Rotation) * sampledTransform.rotation;
+                    relative.ToAngleAxis(out float angle, out Vector3 axis);
+                    EulerSpeed = (angle * sampledTransform.TransformDirection(axis)) / deltaTime;
+
+                    // Linear. TODO: Improve using a mix of linear and angular components?
+
+                    Velocity      = ((tip - lastSample.Tip) / deltaTime);
+                    TotalVelocity = Velocity;
+                }
+                else
+                {
+                    EulerSpeed    = Vector3.zero;
+                    Velocity      = Vector3.zero;
+                    TotalVelocity = Velocity;
+                }
+            }
+
+            #endregion
+        }
+
+        #endregion
+    }
+}