/************************************************************************************
Copyright : Copyright (c) Facebook Technologies, LLC and its affiliates. All rights reserved.
Your use of this SDK or tool is subject to the Oculus SDK License Agreement, available at
https://developer.oculus.com/licenses/oculussdk/
Unless required by applicable law or agreed to in writing, the Utilities SDK distributed
under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF
ANY KIND, either express or implied. See the License for the specific language governing
permissions and limitations under the License.
************************************************************************************/
using System;
using System.Collections.Generic;
using UnityEngine;
[DefaultExecutionOrder(-80)]
public class OVRSkeleton : MonoBehaviour
{
public interface IOVRSkeletonDataProvider
{
SkeletonType GetSkeletonType();
SkeletonPoseData GetSkeletonPoseData();
}
public struct SkeletonPoseData
{
public OVRPlugin.Posef RootPose { get; set; }
public float RootScale { get; set; }
public OVRPlugin.Quatf[] BoneRotations { get; set; }
public bool IsDataValid { get; set; }
public bool IsDataHighConfidence { get; set; }
public int SkeletonChangedCount { get; set; }
}
public enum SkeletonType
{
None = OVRPlugin.SkeletonType.None,
HandLeft = OVRPlugin.SkeletonType.HandLeft,
HandRight = OVRPlugin.SkeletonType.HandRight,
}
public enum BoneId
{
Invalid = OVRPlugin.BoneId.Invalid,
// hand bones
Hand_Start = OVRPlugin.BoneId.Hand_Start,
Hand_WristRoot = OVRPlugin.BoneId.Hand_WristRoot, // root frame of the hand, where the wrist is located
Hand_ForearmStub = OVRPlugin.BoneId.Hand_ForearmStub, // frame for user's forearm
Hand_Thumb0 = OVRPlugin.BoneId.Hand_Thumb0, // thumb trapezium bone
Hand_Thumb1 = OVRPlugin.BoneId.Hand_Thumb1, // thumb metacarpal bone
Hand_Thumb2 = OVRPlugin.BoneId.Hand_Thumb2, // thumb proximal phalange bone
Hand_Thumb3 = OVRPlugin.BoneId.Hand_Thumb3, // thumb distal phalange bone
Hand_Index1 = OVRPlugin.BoneId.Hand_Index1, // index proximal phalange bone
Hand_Index2 = OVRPlugin.BoneId.Hand_Index2, // index intermediate phalange bone
Hand_Index3 = OVRPlugin.BoneId.Hand_Index3, // index distal phalange bone
Hand_Middle1 = OVRPlugin.BoneId.Hand_Middle1, // middle proximal phalange bone
Hand_Middle2 = OVRPlugin.BoneId.Hand_Middle2, // middle intermediate phalange bone
Hand_Middle3 = OVRPlugin.BoneId.Hand_Middle3, // middle distal phalange bone
Hand_Ring1 = OVRPlugin.BoneId.Hand_Ring1, // ring proximal phalange bone
Hand_Ring2 = OVRPlugin.BoneId.Hand_Ring2, // ring intermediate phalange bone
Hand_Ring3 = OVRPlugin.BoneId.Hand_Ring3, // ring distal phalange bone
Hand_Pinky0 = OVRPlugin.BoneId.Hand_Pinky0, // pinky metacarpal bone
Hand_Pinky1 = OVRPlugin.BoneId.Hand_Pinky1, // pinky proximal phalange bone
Hand_Pinky2 = OVRPlugin.BoneId.Hand_Pinky2, // pinky intermediate phalange bone
Hand_Pinky3 = OVRPlugin.BoneId.Hand_Pinky3, // pinky distal phalange bone
Hand_MaxSkinnable = OVRPlugin.BoneId.Hand_MaxSkinnable,
// Bone tips are position only. They are not used for skinning but are useful for hit-testing.
// NOTE: Hand_ThumbTip == Hand_MaxSkinnable since the extended tips need to be contiguous
Hand_ThumbTip = OVRPlugin.BoneId.Hand_ThumbTip, // tip of the thumb
Hand_IndexTip = OVRPlugin.BoneId.Hand_IndexTip, // tip of the index finger
Hand_MiddleTip = OVRPlugin.BoneId.Hand_MiddleTip, // tip of the middle finger
Hand_RingTip = OVRPlugin.BoneId.Hand_RingTip, // tip of the ring finger
Hand_PinkyTip = OVRPlugin.BoneId.Hand_PinkyTip, // tip of the pinky
Hand_End = OVRPlugin.BoneId.Hand_End,
// add new bones here
Max = OVRPlugin.BoneId.Max
}
[SerializeField]
protected SkeletonType _skeletonType = SkeletonType.None;
[SerializeField]
private IOVRSkeletonDataProvider _dataProvider;
[SerializeField]
private bool _updateRootPose = false;
[SerializeField]
private bool _updateRootScale = false;
[SerializeField]
private bool _enablePhysicsCapsules = false;
private GameObject _bonesGO;
private GameObject _bindPosesGO;
private GameObject _capsulesGO;
protected List<OVRBone> _bones;
private List<OVRBone> _bindPoses;
private List<OVRBoneCapsule> _capsules;
protected OVRPlugin.Skeleton2 _skeleton = new OVRPlugin.Skeleton2();
private readonly Quaternion wristFixupRotation = new Quaternion(0.0f, 1.0f, 0.0f, 0.0f);
public bool IsInitialized { get; private set; }
public bool IsDataValid { get; private set; }
public bool IsDataHighConfidence { get; private set; }
public IList<OVRBone> Bones { get; protected set; }
public IList<OVRBone> BindPoses { get; private set; }
public IList<OVRBoneCapsule> Capsules { get; private set; }
public SkeletonType GetSkeletonType() { return _skeletonType; }
public int SkeletonChangedCount { get; private set; }
private void Awake()
{
if (_dataProvider == null)
{
_dataProvider = GetComponent<IOVRSkeletonDataProvider>();
}
_bones = new List<OVRBone>();
Bones = _bones.AsReadOnly();
_bindPoses = new List<OVRBone>();
BindPoses = _bindPoses.AsReadOnly();
_capsules = new List<OVRBoneCapsule>();
Capsules = _capsules.AsReadOnly();
}
private void Start()
{
if (ShouldInitialize())
{
Initialize();
}
}
private bool ShouldInitialize()
{
if (IsInitialized)
{
return false;
}
if (_skeletonType == SkeletonType.None)
{
return false;
}
else if (_skeletonType == SkeletonType.HandLeft || _skeletonType == SkeletonType.HandRight)
{
#if UNITY_EDITOR
return OVRInput.IsControllerConnected(OVRInput.Controller.Hands);
#else
return true;
#endif
}
else
{
return true;
}
}
private void Initialize()
{
if (OVRPlugin.GetSkeleton2((OVRPlugin.SkeletonType)_skeletonType, ref _skeleton))
{
InitializeBones();
InitializeBindPose();
InitializeCapsules();
IsInitialized = true;
}
}
protected virtual void InitializeBones()
{
bool flipX = (_skeletonType == SkeletonType.HandLeft || _skeletonType == SkeletonType.HandRight);
if (!_bonesGO)
{
_bonesGO = new GameObject("Bones");
_bonesGO.transform.SetParent(transform, false);
_bonesGO.transform.localPosition = Vector3.zero;
_bonesGO.transform.localRotation = Quaternion.identity;
}
if (_bones == null || _bones.Count != _skeleton.NumBones)
{
_bones = new List<OVRBone>(new OVRBone[_skeleton.NumBones]);
Bones = _bones.AsReadOnly();
}
// pre-populate bones list before attempting to apply bone hierarchy
for (int i = 0; i < _bones.Count; ++i)
{
OVRBone bone = _bones[i] ?? (_bones[i] = new OVRBone());
bone.Id = (OVRSkeleton.BoneId)_skeleton.Bones[i].Id;
bone.ParentBoneIndex = _skeleton.Bones[i].ParentBoneIndex;
Transform trans = bone.Transform ??
(bone.Transform = new GameObject(BoneLabelFromBoneId(_skeletonType, bone.Id)).transform);
trans.localPosition = flipX ? _skeleton.Bones[i].Pose.Position.FromFlippedXVector3f() : _skeleton.Bones[i].Pose.Position.FromFlippedZVector3f();
trans.localRotation = flipX ? _skeleton.Bones[i].Pose.Orientation.FromFlippedXQuatf() : _skeleton.Bones[i].Pose.Orientation.FromFlippedZQuatf();
}
for (int i = 0; i < _bones.Count; ++i)
{
if ((BoneId)_bones[i].ParentBoneIndex == BoneId.Invalid)
{
_bones[i].Transform.SetParent(_bonesGO.transform, false);
}
else
{
_bones[i].Transform.SetParent(_bones[_bones[i].ParentBoneIndex].Transform, false);
}
}
}
private void InitializeBindPose()
{
if (!_bindPosesGO)
{
_bindPosesGO = new GameObject("BindPoses");
_bindPosesGO.transform.SetParent(transform, false);
_bindPosesGO.transform.localPosition = Vector3.zero;
_bindPosesGO.transform.localRotation = Quaternion.identity;
}
if (_bindPoses == null || _bindPoses.Count != _bones.Count)
{
_bindPoses = new List<OVRBone>(new OVRBone[_bones.Count]);
BindPoses = _bindPoses.AsReadOnly();
}
// pre-populate bones list before attempting to apply bone hierarchy
for (int i = 0; i < _bindPoses.Count; ++i)
{
OVRBone bone = _bones[i];
OVRBone bindPoseBone = _bindPoses[i] ?? (_bindPoses[i] = new OVRBone());
bindPoseBone.Id = bone.Id;
bindPoseBone.ParentBoneIndex = bone.ParentBoneIndex;
Transform trans = bindPoseBone.Transform ?? (bindPoseBone.Transform =
new GameObject(BoneLabelFromBoneId(_skeletonType, bindPoseBone.Id)).transform);
trans.localPosition = bone.Transform.localPosition;
trans.localRotation = bone.Transform.localRotation;
}
for (int i = 0; i < _bindPoses.Count; ++i)
{
if ((BoneId)_bindPoses[i].ParentBoneIndex == BoneId.Invalid)
{
_bindPoses[i].Transform.SetParent(_bindPosesGO.transform, false);
}
else
{
_bindPoses[i].Transform.SetParent(_bindPoses[_bindPoses[i].ParentBoneIndex].Transform, false);
}
}
}
private void InitializeCapsules()
{
bool flipX = (_skeletonType == SkeletonType.HandLeft || _skeletonType == SkeletonType.HandRight);
if (_enablePhysicsCapsules)
{
if (!_capsulesGO)
{
_capsulesGO = new GameObject("Capsules");
_capsulesGO.transform.SetParent(transform, false);
_capsulesGO.transform.localPosition = Vector3.zero;
_capsulesGO.transform.localRotation = Quaternion.identity;
}
if (_capsules == null || _capsules.Count != _skeleton.NumBoneCapsules)
{
_capsules = new List<OVRBoneCapsule>(new OVRBoneCapsule[_skeleton.NumBoneCapsules]);
Capsules = _capsules.AsReadOnly();
}
for (int i = 0; i < _capsules.Count; ++i)
{
OVRBone bone = _bones[_skeleton.BoneCapsules[i].BoneIndex];
OVRBoneCapsule capsule = _capsules[i] ?? (_capsules[i] = new OVRBoneCapsule());
capsule.BoneIndex = _skeleton.BoneCapsules[i].BoneIndex;
if (capsule.CapsuleRigidbody == null)
{
capsule.CapsuleRigidbody = new GameObject(BoneLabelFromBoneId(_skeletonType, bone.Id) + "_CapsuleRigidbody").AddComponent<Rigidbody>();
capsule.CapsuleRigidbody.mass = 1.0f;
capsule.CapsuleRigidbody.isKinematic = true;
capsule.CapsuleRigidbody.useGravity = false;
capsule.CapsuleRigidbody.collisionDetectionMode = CollisionDetectionMode.ContinuousSpeculative;
}
GameObject rbGO = capsule.CapsuleRigidbody.gameObject;
rbGO.transform.SetParent(_capsulesGO.transform, false);
rbGO.transform.position = bone.Transform.position;
rbGO.transform.rotation = bone.Transform.rotation;
if (capsule.CapsuleCollider == null)
{
capsule.CapsuleCollider = new GameObject(BoneLabelFromBoneId(_skeletonType, bone.Id) + "_CapsuleCollider").AddComponent<CapsuleCollider>();
capsule.CapsuleCollider.isTrigger = false;
}
var p0 = flipX ? _skeleton.BoneCapsules[i].StartPoint.FromFlippedXVector3f() : _skeleton.BoneCapsules[i].StartPoint.FromFlippedZVector3f();
var p1 = flipX ? _skeleton.BoneCapsules[i].EndPoint.FromFlippedXVector3f() : _skeleton.BoneCapsules[i].EndPoint.FromFlippedZVector3f();
var delta = p1 - p0;
var mag = delta.magnitude;
var rot = Quaternion.FromToRotation(Vector3.right, delta);
capsule.CapsuleCollider.radius = _skeleton.BoneCapsules[i].Radius;
capsule.CapsuleCollider.height = mag + _skeleton.BoneCapsules[i].Radius * 2.0f;
capsule.CapsuleCollider.direction = 0;
capsule.CapsuleCollider.center = Vector3.right * mag * 0.5f;
GameObject ccGO = capsule.CapsuleCollider.gameObject;
ccGO.transform.SetParent(rbGO.transform, false);
ccGO.transform.localPosition = p0;
ccGO.transform.localRotation = rot;
}
}
}
private void Update()
{
#if UNITY_EDITOR
if (ShouldInitialize())
{
Initialize();
}
#endif
if (!IsInitialized || _dataProvider == null)
{
IsDataValid = false;
IsDataHighConfidence = false;
return;
}
var data = _dataProvider.GetSkeletonPoseData();
IsDataValid = data.IsDataValid;
if (data.IsDataValid)
{
if (SkeletonChangedCount != data.SkeletonChangedCount)
{
SkeletonChangedCount = data.SkeletonChangedCount;
IsInitialized = false;
Initialize();
}
IsDataHighConfidence = data.IsDataHighConfidence;
if (_updateRootPose)
{
transform.localPosition = data.RootPose.Position.FromFlippedZVector3f();
transform.localRotation = data.RootPose.Orientation.FromFlippedZQuatf();
}
if (_updateRootScale)
{
transform.localScale = new Vector3(data.RootScale, data.RootScale, data.RootScale);
}
for (var i = 0; i < _bones.Count; ++i)
{
if (_bones[i].Transform != null)
{
if (_skeletonType == SkeletonType.HandLeft || _skeletonType == SkeletonType.HandRight)
{
_bones[i].Transform.localRotation = data.BoneRotations[i].FromFlippedXQuatf();
if (_bones[i].Id == BoneId.Hand_WristRoot)
{
_bones[i].Transform.localRotation *= wristFixupRotation;
}
}
else
{
_bones[i].Transform.localRotation = data.BoneRotations[i].FromFlippedZQuatf();
}
}
}
}
}
private void FixedUpdate()
{
if (!IsInitialized || _dataProvider == null)
{
IsDataValid = false;
IsDataHighConfidence = false;
return;
}
Update();
if (_enablePhysicsCapsules)
{
var data = _dataProvider.GetSkeletonPoseData();
IsDataValid = data.IsDataValid;
IsDataHighConfidence = data.IsDataHighConfidence;
for (int i = 0; i < _capsules.Count; ++i)
{
OVRBoneCapsule capsule = _capsules[i];
var capsuleGO = capsule.CapsuleRigidbody.gameObject;
if (data.IsDataValid && data.IsDataHighConfidence)
{
Transform bone = _bones[(int)capsule.BoneIndex].Transform;
if (capsuleGO.activeSelf)
{
capsule.CapsuleRigidbody.MovePosition(bone.position);
capsule.CapsuleRigidbody.MoveRotation(bone.rotation);
}
else
{
capsuleGO.SetActive(true);
capsule.CapsuleRigidbody.position = bone.position;
capsule.CapsuleRigidbody.rotation = bone.rotation;
}
}
else
{
if (capsuleGO.activeSelf)
{
capsuleGO.SetActive(false);
}
}
}
}
}
public BoneId GetCurrentStartBoneId()
{
switch (_skeletonType)
{
case SkeletonType.HandLeft:
case SkeletonType.HandRight:
return BoneId.Hand_Start;
case SkeletonType.None:
default:
return BoneId.Invalid;
}
}
public BoneId GetCurrentEndBoneId()
{
switch (_skeletonType)
{
case SkeletonType.HandLeft:
case SkeletonType.HandRight:
return BoneId.Hand_End;
case SkeletonType.None:
default:
return BoneId.Invalid;
}
}
private BoneId GetCurrentMaxSkinnableBoneId()
{
switch (_skeletonType)
{
case SkeletonType.HandLeft:
case SkeletonType.HandRight:
return BoneId.Hand_MaxSkinnable;
case SkeletonType.None:
default:
return BoneId.Invalid;
}
}
public int GetCurrentNumBones()
{
switch (_skeletonType)
{
case SkeletonType.HandLeft:
case SkeletonType.HandRight:
return GetCurrentEndBoneId() - GetCurrentStartBoneId();
case SkeletonType.None:
default:
return 0;
}
}
public int GetCurrentNumSkinnableBones()
{
switch (_skeletonType)
{
case SkeletonType.HandLeft:
case SkeletonType.HandRight:
return GetCurrentMaxSkinnableBoneId() - GetCurrentStartBoneId();
case SkeletonType.None:
default:
return 0;
}
}
// force aliased enum values to the more appropriate value
public static string BoneLabelFromBoneId(OVRSkeleton.SkeletonType skeletonType, BoneId boneId)
{
if (skeletonType == OVRSkeleton.SkeletonType.HandLeft || skeletonType == OVRSkeleton.SkeletonType.HandRight)
{
switch (boneId)
{
case OVRSkeleton.BoneId.Hand_WristRoot:
return "Hand_WristRoot";
case OVRSkeleton.BoneId.Hand_ForearmStub:
return "Hand_ForearmStub";
case OVRSkeleton.BoneId.Hand_Thumb0:
return "Hand_Thumb0";
case OVRSkeleton.BoneId.Hand_Thumb1:
return "Hand_Thumb1";
case OVRSkeleton.BoneId.Hand_Thumb2:
return "Hand_Thumb2";
case OVRSkeleton.BoneId.Hand_Thumb3:
return "Hand_Thumb3";
case OVRSkeleton.BoneId.Hand_Index1:
return "Hand_Index1";
case OVRSkeleton.BoneId.Hand_Index2:
return "Hand_Index2";
case OVRSkeleton.BoneId.Hand_Index3:
return "Hand_Index3";
case OVRSkeleton.BoneId.Hand_Middle1:
return "Hand_Middle1";
case OVRSkeleton.BoneId.Hand_Middle2:
return "Hand_Middle2";
case OVRSkeleton.BoneId.Hand_Middle3:
return "Hand_Middle3";
case OVRSkeleton.BoneId.Hand_Ring1:
return "Hand_Ring1";
case OVRSkeleton.BoneId.Hand_Ring2:
return "Hand_Ring2";
case OVRSkeleton.BoneId.Hand_Ring3:
return "Hand_Ring3";
case OVRSkeleton.BoneId.Hand_Pinky0:
return "Hand_Pinky0";
case OVRSkeleton.BoneId.Hand_Pinky1:
return "Hand_Pinky1";
case OVRSkeleton.BoneId.Hand_Pinky2:
return "Hand_Pinky2";
case OVRSkeleton.BoneId.Hand_Pinky3:
return "Hand_Pinky3";
case OVRSkeleton.BoneId.Hand_ThumbTip:
return "Hand_ThumbTip";
case OVRSkeleton.BoneId.Hand_IndexTip:
return "Hand_IndexTip";
case OVRSkeleton.BoneId.Hand_MiddleTip:
return "Hand_MiddleTip";
case OVRSkeleton.BoneId.Hand_RingTip:
return "Hand_RingTip";
case OVRSkeleton.BoneId.Hand_PinkyTip:
return "Hand_PinkyTip";
default:
return "Hand_Unknown";
}
}
else
{
return "Skeleton_Unknown";
}
}
}
public class OVRBone
{
public OVRSkeleton.BoneId Id { get; set; }
public short ParentBoneIndex { get; set; }
public Transform Transform { get; set; }
public OVRBone() { }
public OVRBone(OVRSkeleton.BoneId id, short parentBoneIndex, Transform trans)
{
Id = id;
ParentBoneIndex = parentBoneIndex;
Transform = trans;
}
}
public class OVRBoneCapsule
{
public short BoneIndex { get; set; }
public Rigidbody CapsuleRigidbody { get; set; }
public CapsuleCollider CapsuleCollider { get; set; }
public OVRBoneCapsule() { }
public OVRBoneCapsule(short boneIndex, Rigidbody capsuleRigidBody, CapsuleCollider capsuleCollider)
{
BoneIndex = boneIndex;
CapsuleRigidbody = capsuleRigidBody;
CapsuleCollider = capsuleCollider;
}
}
