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u/hand_tracking: Curl fingers based on joint, increase total curl angle

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When making a fist, different joints curl at different angles, reflect
this more directly in the code.

Also increase total curl to make it easier to hold ingame objects.
This commit is contained in:
Christoph Haag 2020-12-25 23:52:33 +01:00 committed by Jakob Bornecrantz
parent 679a1233ee
commit 3085e29c97
2 changed files with 112 additions and 28 deletions
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110
src/xrt/auxiliary/util/u_hand_tracking.c
View file

@ -94,21 +94,21 @@ static struct u_joint_curl_model
[XRT_HAND_JOINT_LITTLE_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, DEG_TO_RAD(20), 0},
.bone_length = 0.037,
.bone_length = 0.035,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_LITTLE_PROXIMAL},
[XRT_HAND_JOINT_LITTLE_INTERMEDIATE] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.02,
.bone_length = 0.028,
.radius = 0.009,
.joint_id = XRT_HAND_JOINT_LITTLE_INTERMEDIATE},
[XRT_HAND_JOINT_LITTLE_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.02,
.bone_length = 0.022,
.radius = 0.009,
.joint_id = XRT_HAND_JOINT_LITTLE_DISTAL},
@ -131,21 +131,21 @@ static struct u_joint_curl_model
[XRT_HAND_JOINT_RING_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, DEG_TO_RAD(10), 0},
.bone_length = 0.047,
.bone_length = 0.040,
.radius = 0.012,
.joint_id = XRT_HAND_JOINT_RING_PROXIMAL},
[XRT_HAND_JOINT_RING_INTERMEDIATE] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.027,
.bone_length = 0.031,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_RING_INTERMEDIATE},
[XRT_HAND_JOINT_RING_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.017,
.bone_length = 0.023,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_RING_DISTAL},
@ -153,35 +153,35 @@ static struct u_joint_curl_model
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0,
.radius = 0.012,
.radius = 0.013,
.joint_id = XRT_HAND_JOINT_RING_TIP},
[XRT_HAND_JOINT_MIDDLE_METACARPAL] =
{.position_offset = {.x = 0.00, .y = 0, .z = -0.039},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.055,
.bone_length = 0.045,
.radius = 0.012,
.joint_id = XRT_HAND_JOINT_MIDDLE_METACARPAL},
[XRT_HAND_JOINT_MIDDLE_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.05,
.bone_length = 0.042,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_MIDDLE_PROXIMAL},
[XRT_HAND_JOINT_MIDDLE_INTERMEDIATE] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.03,
.bone_length = 0.033,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_MIDDLE_INTERMEDIATE},
[XRT_HAND_JOINT_MIDDLE_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.02,
.bone_length = 0.024,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_MIDDLE_DISTAL},
@ -203,21 +203,21 @@ static struct u_joint_curl_model
[XRT_HAND_JOINT_INDEX_PROXIMAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, DEG_TO_RAD(-10), 0},
.bone_length = 0.048,
.bone_length = 0.040,
.radius = 0.011,
.joint_id = XRT_HAND_JOINT_INDEX_PROXIMAL},
[XRT_HAND_JOINT_INDEX_INTERMEDIATE] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.021,
.bone_length = 0.031,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_INDEX_INTERMEDIATE},
[XRT_HAND_JOINT_INDEX_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.021,
.bone_length = 0.023,
.radius = 0.01,
.joint_id = XRT_HAND_JOINT_INDEX_DISTAL},
@ -247,7 +247,7 @@ static struct u_joint_curl_model
[XRT_HAND_JOINT_THUMB_DISTAL] =
{.position_offset = {.x = 0, .y = 0, .z = 0},
.axis_angle_offset = {0, 0, 0},
.bone_length = 0.026,
.bone_length = 0.028,
.radius = 0.017,
.joint_id = XRT_HAND_JOINT_THUMB_DISTAL},
@ -266,6 +266,45 @@ quat_from_angle_vector_clockwise(float angle_rads,
math_quat_from_angle_vector(-angle_rads, vector, result);
}
bool
u_hand_joint_is_metacarpal(enum xrt_hand_joint joint)
{
return joint == XRT_HAND_JOINT_LITTLE_METACARPAL ||
joint == XRT_HAND_JOINT_RING_METACARPAL ||
joint == XRT_HAND_JOINT_MIDDLE_METACARPAL ||
joint == XRT_HAND_JOINT_INDEX_METACARPAL ||
joint == XRT_HAND_JOINT_THUMB_METACARPAL;
}
bool
u_hand_joint_is_proximal(enum xrt_hand_joint joint)
{
return joint == XRT_HAND_JOINT_LITTLE_PROXIMAL ||
joint == XRT_HAND_JOINT_RING_PROXIMAL ||
joint == XRT_HAND_JOINT_MIDDLE_PROXIMAL ||
joint == XRT_HAND_JOINT_INDEX_PROXIMAL ||
joint == XRT_HAND_JOINT_THUMB_PROXIMAL;
}
bool
u_hand_joint_is_intermediate(enum xrt_hand_joint joint)
{
return joint == XRT_HAND_JOINT_LITTLE_INTERMEDIATE ||
joint == XRT_HAND_JOINT_RING_INTERMEDIATE ||
joint == XRT_HAND_JOINT_MIDDLE_INTERMEDIATE ||
joint == XRT_HAND_JOINT_INDEX_INTERMEDIATE;
}
bool
u_hand_joint_is_distal(enum xrt_hand_joint joint)
{
return joint == XRT_HAND_JOINT_LITTLE_DISTAL ||
joint == XRT_HAND_JOINT_RING_DISTAL ||
joint == XRT_HAND_JOINT_MIDDLE_DISTAL ||
joint == XRT_HAND_JOINT_INDEX_DISTAL ||
joint == XRT_HAND_JOINT_THUMB_DISTAL;
}
bool
u_hand_joint_is_tip(enum xrt_hand_joint joint)
{
@ -277,13 +316,12 @@ u_hand_joint_is_tip(enum xrt_hand_joint joint)
}
bool
u_hand_joint_is_metacarpal(enum xrt_hand_joint joint)
u_hand_joint_is_thumb(enum xrt_hand_joint joint)
{
return joint == XRT_HAND_JOINT_LITTLE_METACARPAL ||
joint == XRT_HAND_JOINT_RING_METACARPAL ||
joint == XRT_HAND_JOINT_MIDDLE_METACARPAL ||
joint == XRT_HAND_JOINT_INDEX_METACARPAL ||
joint == XRT_HAND_JOINT_THUMB_METACARPAL;
return joint == XRT_HAND_JOINT_THUMB_METACARPAL ||
joint == XRT_HAND_JOINT_THUMB_PROXIMAL ||
joint == XRT_HAND_JOINT_THUMB_DISTAL ||
joint == XRT_HAND_JOINT_THUMB_TIP;
}
static void
@ -356,16 +394,32 @@ u_hand_joint_compute_next_by_curl(struct u_hand_tracking *set,
// proximal, intermediate, and distal joints (+ bones) will rotate
//! @todo make this tunable
const float full_curl_angle = -M_PI / 3.;
float curl_angle = curl_value * full_curl_angle;
if (u_hand_joint_is_metacarpal(out_joint->joint_id) ||
u_hand_joint_is_tip(out_joint->joint_id)) {
curl_angle = 0;
// full curl angle for this joint at 1.0 value
float full_curl_angle = 0;
if (u_hand_joint_is_thumb(out_joint->joint_id)) {
if (u_hand_joint_is_metacarpal(out_joint->joint_id)) {
full_curl_angle = DEG_TO_RAD(10);
} else if (u_hand_joint_is_proximal(out_joint->joint_id)) {
full_curl_angle = DEG_TO_RAD(30);
} else if (u_hand_joint_is_distal(out_joint->joint_id)) {
full_curl_angle = DEG_TO_RAD(80);
}
} else {
if (u_hand_joint_is_metacarpal(out_joint->joint_id)) {
full_curl_angle = DEG_TO_RAD(0);
} else if (u_hand_joint_is_proximal(out_joint->joint_id)) {
full_curl_angle = DEG_TO_RAD(70);
} else if (u_hand_joint_is_intermediate(out_joint->joint_id)) {
full_curl_angle = DEG_TO_RAD(90);
} else if (u_hand_joint_is_distal(out_joint->joint_id)) {
full_curl_angle = DEG_TO_RAD(65);
}
}
float curl_angle = curl_value * full_curl_angle;
struct xrt_quat curl_rotation;
math_quat_from_angle_vector(curl_angle, &x_axis, &curl_rotation);
math_quat_from_angle_vector(-curl_angle, &x_axis, &curl_rotation);
math_quat_rotate(&pose.orientation, &curl_rotation, &pose.orientation);
//! @todo: full relation with velocities

30
src/xrt/auxiliary/util/u_hand_tracking.h
View file

@ -113,6 +113,36 @@ u_hand_joint_is_tip(enum xrt_hand_joint joint);
bool
u_hand_joint_is_metacarpal(enum xrt_hand_joint joint);
/*!
* @ingroup aux_util
*/
bool
u_hand_joint_is_proximal(enum xrt_hand_joint joint);
/*!
* @ingroup aux_util
*/
bool
u_hand_joint_is_intermediate(enum xrt_hand_joint joint);
/*!
* @ingroup aux_util
*/
bool
u_hand_joint_is_distal(enum xrt_hand_joint joint);
/*!
* @ingroup aux_util
*/
bool
u_hand_joint_is_tip(enum xrt_hand_joint joint);
/*!
* @ingroup aux_util
*/
bool
u_hand_joint_is_thumb(enum xrt_hand_joint joint);
/*!
* Initializes a hand tracking set with default data.
*