349 lines
10 KiB
C#
349 lines
10 KiB
C#
/*******************************************************************************
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Copyright © 2015-2022 PICO Technology Co., Ltd.All rights reserved.
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NOTICE：All information contained herein is, and remains the property of
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PICO Technology Co., Ltd. The intellectual and technical concepts
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contained herein are proprietary to PICO Technology Co., Ltd. and may be
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covered by patents, patents in process, and are protected by trade secret or
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copyright law. Dissemination of this information or reproduction of this
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material is strictly forbidden unless prior written permission is obtained from
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PICO Technology Co., Ltd.
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*******************************************************************************/
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using System.Runtime.InteropServices;
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using UnityEngine;
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namespace Unity.XR.PXR
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{
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public enum HandType
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{
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HandLeft = 0,
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HandRight = 1,
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}
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/// <summary>
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/// The current active input device.
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/// </summary>
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public enum ActiveInputDevice
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{
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/// <summary>
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/// HMD
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/// </summary>
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HeadActive = 0,
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/// <summary>
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/// Controllers
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/// </summary>
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ControllerActive = 1,
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/// <summary>
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/// Hands
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/// </summary>
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HandTrackingActive = 2,
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}
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public struct Vector3f
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{
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public float x;
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public float y;
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public float z;
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public Vector3 ToVector3()
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{
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return new Vector3() { x = x, y = y, z = -z };
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}
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}
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public struct Quatf
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{
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public float x;
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public float y;
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public float z;
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public float w;
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public Quaternion ToQuat()
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{
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return new Quaternion() { x = x, y = y, z = -z, w = -w };
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}
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}
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/// <summary>
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/// The location of hand joint.
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/// </summary>
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public struct Posef
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{
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/// <summary>
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/// The orientation of hand joint.
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/// </summary>
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public Quatf Orientation;
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/// <summary>
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/// The position of hand joint.
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/// </summary>
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public Vector3f Position;
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public override string ToString()
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{
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return string.Format("Orientation :{0}, {1}, {2}, {3} Position: {4}, {5}, {6}",
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Orientation.x, Orientation.y, Orientation.z, Orientation.w,
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Position.x, Position.y, Position.z);
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}
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}
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/// <summary>
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/// The status of ray and fingers.
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/// </summary>
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public enum HandAimStatus : ulong
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{
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/// <summary>
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/// Whether the data is valid.
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/// </summary>
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AimComputed = 0x00000001,
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/// <summary>
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/// Whether the ray appears.
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/// </summary>
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AimRayValid = 0x00000002,
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/// <summary>
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/// Whether the index finger pinches.
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/// </summary>
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AimIndexPinching = 0x00000004,
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/// <summary>
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/// Whether the middle finger pinches.
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/// </summary>
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AimMiddlePinching = 0x00000008,
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/// <summary>
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/// Whether the ring finger pinches.
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/// </summary>
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AimRingPinching = 0x00000010,
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/// <summary>
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/// Whether the little finger pinches.
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/// </summary>
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AimLittlePinching = 0x00000020,
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/// <summary>
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/// Whether the ray touches.
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/// </summary>
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AimRayTouched = 0x00000200
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}
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/// <summary>
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/// The data about the poses of ray and fingers.
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/// </summary>
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public struct HandAimState
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{
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/// <summary>
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/// The status of hand tracking. If it is not `tracked`, confidence will be `0`.
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/// </summary>
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public HandAimStatus aimStatus;
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/// <summary>
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/// The pose of the ray.
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/// </summary>
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public Posef aimRayPose;
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/// <summary>
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/// The strength of index finger's pinch.
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/// </summary>
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private float pinchStrengthIndex;
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/// <summary>
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/// The strength of middle finger's pinch.
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/// </summary>
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private float pinchStrengthMiddle;
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/// <summary>
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/// The strength of ring finger's pinch.
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/// </summary>
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private float pinchStrengthRing;
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/// <summary>
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/// The strength of little finger's pinch.
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/// </summary>
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private float pinchStrengthLittle;
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/// <summary>
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/// The strength of ray's touch.
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/// </summary>
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public float touchStrengthRay;
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}
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/// <summary>
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/// The data about the status of hand joint location.
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/// </summary>
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public enum HandLocationStatus : ulong
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{
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/// <summary>
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/// Whether the joint's orientation is valid.
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/// </summary>
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OrientationValid = 0x00000001,
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/// <summary>
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/// Whether the joint's position is valid.
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/// </summary>
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PositionValid = 0x00000002,
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/// <summary>
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/// Whether the joint's orientation is being tracked.
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/// </summary>
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OrientationTracked = 0x00000004,
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/// <summary>
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/// Whether the joint's position is being tracked.
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/// </summary>
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PositionTracked = 0x00000008
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}
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public enum HandJoint
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{
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JointPalm = 0,
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JointWrist = 1,
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JointThumbMetacarpal = 2,
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JointThumbProximal = 3,
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JointThumbDistal = 4,
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JointThumbTip = 5,
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JointIndexMetacarpal = 6,
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JointIndexProximal = 7,
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JointIndexIntermediate = 8,
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JointIndexDistal = 9,
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JointIndexTip = 10,
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JointMiddleMetacarpal = 11,
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JointMiddleProximal = 12,
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JointMiddleIntermediate = 13,
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JointMiddleDistal = 14,
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JointMiddleTip = 15,
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JointRingMetacarpal = 16,
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JointRingProximal = 17,
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JointRingIntermediate = 18,
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JointRingDistal = 19,
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JointRingTip = 20,
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JointLittleMetacarpal = 21,
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JointLittleProximal = 22,
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JointLittleIntermediate = 23,
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JointLittleDistal = 24,
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JointLittleTip = 25,
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JointMax = 26
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}
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/// <summary>
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/// The data about the location of hand joint.
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/// </summary>
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public struct HandJointLocation
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{
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/// <summary>
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/// The status of hand joint location.
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/// </summary>
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public HandLocationStatus locationStatus;
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/// <summary>
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/// The orientation and position of hand joint.
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/// </summary>
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public Posef pose;
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/// <summary>
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/// The radius of hand joint.
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/// </summary>
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public float radius;
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}
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/// <summary>
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/// The data about hand tracking.
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/// </summary>
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public struct HandJointLocations
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{
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/// <summary>
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/// The quality level of hand tracking:
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/// `0`: low
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/// `1`: high
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/// </summary>
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public uint isActive;
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/// <summary>
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/// The number of hand joints that the SDK supports. Currenty returns `26`.
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/// </summary>
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public uint jointCount;
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/// <summary>
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/// The scale of the hand.
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/// </summary>
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public float handScale;
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/// <summary>
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/// The locations (orientation and position) of hand joints.
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/// </summary>
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = (int)HandJoint.JointMax)]
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public HandJointLocation[] jointLocations;
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}
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public enum HandFinger
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{
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Thumb = 0,
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Index = 1,
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Middle = 2,
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Ring = 3,
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Pinky = 4
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}
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public static class PXR_HandTracking
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{
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/// <summary>Gets whether hand tracking is enabled or disabled.</summary>
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/// <returns>
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/// * `true`: enabled
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/// * `false`: disabled
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/// </returns>
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public static bool GetSettingState()
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{
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return PXR_Plugin.HandTracking.UPxr_GetHandTrackerSettingState();
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}
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/// <summary>Gets the current active input device.</summary>
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/// <returns>The current active input device:
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/// * `HeadActive`: HMD
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/// * `ControllerActive`: controllers
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/// * `HandTrackingActive`: hands
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/// </returns>
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public static ActiveInputDevice GetActiveInputDevice()
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{
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return PXR_Plugin.HandTracking.UPxr_GetHandTrackerActiveInputType();
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}
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/// <summary>Gets the data about the pose of a specified hand, including the status of the ray and fingers, the strength of finger pinch and ray touch.</summary>
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/// <param name="hand">The hand to get data for:
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/// * `HandLeft`: left hand
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/// * `HandRight`: right hand
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/// </param>
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/// <param name="aimState">`HandAimState` contains the data about the poses of ray and fingers.
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/// If you use PICO hand prefabs without changing any of their default settings, you will get the following data:
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/// ```csharp
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/// public class PXR_Hand
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/// {
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/// // Whether the data is valid.
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/// public bool Computed { get; private set; }
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///
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/// // The ray pose.
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/// public Posef RayPose { get; private set; }
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/// // Whether the ray was displayed.
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/// public bool RayValid { get; private set; }
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/// // Whether the ray touched.
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/// public bool RayTouched { get; private set; }
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/// // The strength of ray touch.
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/// public float TouchStrengthRay { get; private set; }
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/// ```
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/// </param>
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/// <returns>
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/// * `true`: success
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/// * `false`: failure
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/// </returns>
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public static bool GetAimState(HandType hand, ref HandAimState aimState)
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{
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if (!PXR_ProjectSetting.GetProjectConfig().handTracking) return false;
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return PXR_Plugin.HandTracking.UPxr_GetHandTrackerAimState(hand, ref aimState);
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}
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/// <summary>Gets the locations of joints for a specified hand.</summary>
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/// <param name="hand">The hand to get joint locations for:
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/// * `HandLeft`: left hand
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/// * `HandRight`: right hand
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/// </param>
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/// <param name="jointLocations">Contains data about the locations of the joints in the specified hand.</param>
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/// <returns>
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/// * `true`: success
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/// * `false`: failure
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/// </returns>
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public static bool GetJointLocations(HandType hand, ref HandJointLocations jointLocations)
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{
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if (!PXR_ProjectSetting.GetProjectConfig().handTracking) return false;
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return PXR_Plugin.HandTracking.UPxr_GetHandTrackerJointLocations(hand, ref jointLocations);
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}
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}
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}
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