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Diffstat (limited to 'Runtime/mecanim/human/hand.cpp')
| -rw-r--r-- | Runtime/mecanim/human/hand.cpp | 351 |
1 files changed, 351 insertions, 0 deletions
diff --git a/Runtime/mecanim/human/hand.cpp b/Runtime/mecanim/human/hand.cpp new file mode 100644 index 0000000..dd5e062 --- /dev/null +++ b/Runtime/mecanim/human/hand.cpp @@ -0,0 +1,351 @@ +#include "UnityPrefix.h" +#include "Runtime/mecanim/skeleton/skeleton.h" +#include "Runtime/mecanim/human/hand.h" + +namespace mecanim +{ + +namespace hand +{ + const static int32_t Phalange2DoF[hand::kLastPhalange][3] = + { + { kProximalDownUp, kProximalInOut, -1 }, // kProximal + { kIntermediateCloseOpen, -1, -1 }, // kIntermediate + { kDistalCloseOpen, -1, -1 } // kDistal + }; + + const static int32_t DoF2Bone[s_DoFCount] = + { + kThumb * kLastPhalange + kProximal, + kThumb * kLastPhalange + kProximal, + kThumb * kLastPhalange + kIntermediate, + kThumb * kLastPhalange + kDistal, + + kIndex * kLastPhalange + kProximal, + kIndex * kLastPhalange + kProximal, + kIndex * kLastPhalange + kIntermediate, + kIndex * kLastPhalange + kDistal, + + kMiddle * kLastPhalange + kProximal, + kMiddle * kLastPhalange + kProximal, + kMiddle * kLastPhalange + kIntermediate, + kMiddle * kLastPhalange + kDistal, + + kRing * kLastPhalange + kProximal, + kRing * kLastPhalange + kProximal, + kRing * kLastPhalange + kIntermediate, + kRing * kLastPhalange + kDistal, + + kLittle * kLastPhalange + kProximal, + kLittle * kLastPhalange + kProximal, + kLittle * kLastPhalange + kIntermediate, + kLittle * kLastPhalange + kDistal + }; + + + + skeleton::SetupAxesInfo const& GetAxeInfo(uint32_t index) + { + const static skeleton::SetupAxesInfo setupAxesInfoArray[s_BoneCount] = + { + {{0,0.125,0.125f,1},{0,1,0,0},{0,-25,-20},{0,25,20},{-1,-1,1,-1},math::kZYRoll,0}, // kThumb.kProximal + {{0,-0.2f,0,1},{0,1,0,0},{0,0,-40},{0,0,35},{-1,1,1,-1},math::kZYRoll,0}, // kThumb.kIntermediate + {{0,-0.2f,0,1},{0,1,0,0},{0,0,-40},{0,0,35},{-1,1,1,-1},math::kZYRoll,0}, // kThumb.kDistal + {{0,0.08f,0.3f,1},{0,0,1,0},{0,-20,-50},{0,20,50},{-1,-1,-1,-1},math::kZYRoll,0}, // kIndex.kProximal + {{0,0,0.33f,1},{0,0,1,0},{0,0,-45},{0,0,45},{-1,1,-1,-1},math::kZYRoll,0}, // kIndex.kIntermediate + {{0,0,0.33f,1},{0,0,1,0},{0,0,-45},{0,0,45},{-1,1,-1,-1},math::kZYRoll,0}, // kIndex.kDistal + {{0,0.04f,0.3f,1},{0,0,1,0},{0,-7.5f,-50},{0,7.5f,50},{-1,-1,-1,-1},math::kZYRoll,0}, // kMiddle.kProximal + {{0,0,0.33f,1},{0,0,1,0},{0,0,-45},{0,0,45},{-1,1,-1,-1},math::kZYRoll,0}, // kMiddle.kIntermediate + {{0,0,0.33f,1},{0,0,1,0},{0,0,-45},{0,0,45},{-1,1,-1,-1},math::kZYRoll,0}, // kMiddle.kDistal + {{0,-0.04f,0.3f,1},{0,0,1,0},{0,-7.5f,-50},{0,7.5f,50},{-1,1,-1,-1},math::kZYRoll,0}, // kRing.kProximal + {{0,0,0.33f,1},{0,0,1,0},{0,0,-45},{0,0,45},{-1,1,-1,-1},math::kZYRoll,0}, // kRing.kIntermediate + {{0,0,0.33f,1},{0,0,1,0},{0,0,-45},{0,0,45},{-1,1,-1,-1},math::kZYRoll,0}, // kRing.kDistal + {{0,-0.08f,0.3f,1},{0,0,1,0},{0,-20,-50},{0,20,50},{-1,1,-1,-1},math::kZYRoll,0}, // kLittle.kProximal + {{0,0,0.33f,1},{0,0,1,0},{0,0,-45},{0,0,45},{-1,1,-1,-1},math::kZYRoll,0}, // kLittle.kIntermediate + {{0,0,0.33f,1},{0,0,1,0},{0,0,-45},{0,0,45},{-1,1,-1,-1},math::kZYRoll,0} // kLittle.kDistal + }; + + return setupAxesInfoArray[index]; + } + + + const char* FingerName(uint32_t aFinger) + { + const static char* fingerName[kLastFinger] = { + "Thumb", + "Index", + "Middle", + "Ring", + "Little" + }; + + return fingerName[aFinger]; + } + + const char* PhalangeName(uint32_t aFinger) + { + const static char* phalangeName[kLastPhalange] = { + "Proximal", + "Intermediate", + "Distal" + }; + return phalangeName[aFinger]; + } + + const char* FingerDoFName(uint32_t aFinger) + { + const static char* fingerDoFName[kLastFingerDoF] = { + "1 Stretched", + "Spread", + "2 Stretched", + "3 Stretched" + }; + return fingerDoFName[aFinger]; + } + + Hand::Hand() + { + memset(m_HandBoneIndex, -1, sizeof(int32_t)*s_BoneCount); + } + + int32_t MuscleFromBone(int32_t aBoneIndex, int32_t aDoFIndex) + { + int32_t ret = -1; + int32_t findex = GetFingerIndex(aBoneIndex); + int32_t pindex = GetPhalangeIndex(aBoneIndex); + + if(Phalange2DoF[pindex][2-aDoFIndex] != -1) + { + ret = findex * kLastFingerDoF + Phalange2DoF[pindex][2-aDoFIndex]; + } + + return ret; + } + + int32_t BoneFromMuscle(int32_t aDoFIndex) + { + return DoF2Bone[aDoFIndex]; + } + + Hand* CreateHand(memory::Allocator& arAlloc) + { + Hand* hand = arAlloc.Construct<Hand>(); + memset(hand->m_HandBoneIndex,-1,sizeof(int32_t)*kLastFinger*kLastPhalange); + + return hand; + } + + void DestroyHand(Hand *apHand, memory::Allocator& arAlloc) + { + if(apHand) + { + arAlloc.Deallocate(apHand); + } + } + + HandPose::HandPose() + { + int32_t i; + + for(i = 0; i < s_DoFCount; i++) + { + m_DoFArray[i]= 0; + } + + m_Override = 0; + m_CloseOpen = 0; + m_InOut = 0; + m_Grab = 0; + m_GrabX = math::xformIdentity(); + } + + void HandPoseCopy(HandPose const *apHandPoseSrc,HandPose *apHandPoseDst) + { + int32_t i; + + for(i = 0; i < s_DoFCount; i++) + { + apHandPoseDst->m_DoFArray[i] = apHandPoseSrc->m_DoFArray[i]; + } + + apHandPoseDst->m_Override = apHandPoseDst->m_Override; + apHandPoseDst->m_CloseOpen = apHandPoseDst->m_CloseOpen; + apHandPoseDst->m_InOut = apHandPoseDst->m_InOut; + apHandPoseDst->m_Grab = apHandPoseDst->m_Grab; + apHandPoseDst->m_GrabX = apHandPoseDst->m_GrabX; + } + + void HandSetupAxes(Hand const *apHand, skeleton::SkeletonPose const *apSkeletonPose, skeleton::Skeleton *apSkeleton, bool aLeft) + { + int32_t f,p,b; + + for(f = 0; f < kLastFinger; f++) + { + for(p = 0; p < kLastPhalange; p++) + { + float len = 1.0f; + int32_t skAxisBoneId = -1; + + b = GetBoneIndex(f,p); + int32_t skBoneIndex = apHand->m_HandBoneIndex[b]; + + if(p < kLastPhalange-1 && apHand->m_HandBoneIndex[GetBoneIndex(f,p+1)] >= 0) + { + skAxisBoneId = apHand->m_HandBoneIndex[GetBoneIndex(f,p+1)]; + } + else if(p > 0 && apHand->m_HandBoneIndex[GetBoneIndex(f,p-1)] >= 0) + { + skAxisBoneId = apHand->m_HandBoneIndex[GetBoneIndex(f,p-1)]; + len = -0.75f; + } + + if(skBoneIndex >= 0) + { + skeleton::SetupAxes(apSkeleton,apSkeletonPose, GetAxeInfo(b), skBoneIndex,skAxisBoneId,aLeft,len); + } + } + } + } + + void HandCopyAxes(Hand const *apSrcHand, skeleton::Skeleton const *apSrcSkeleton, Hand const *apHand, skeleton::Skeleton *apSkeleton) + { + int32_t i; + + for(i = 0; i < s_BoneCount; i++) + { + skeleton::Node const *srcNode = apSrcHand->m_HandBoneIndex[i] >= 0 ? &apSrcSkeleton->m_Node[apSrcHand->m_HandBoneIndex[i]] : 0; + skeleton::Node const *node = apHand->m_HandBoneIndex[i] >= 0 ? &apSkeleton->m_Node[apHand->m_HandBoneIndex[i]] : 0; + + if(srcNode != 0 && node != 0 && srcNode->m_AxesId != -1 && node->m_AxesId != -1) + { + apSkeleton->m_AxesArray[node->m_AxesId] = apSrcSkeleton->m_AxesArray[srcNode->m_AxesId]; + } + } + } + + void HandPoseSolve(HandPose const* apHandPoseIn,HandPose* apHandPoseOut) + { + int32_t f; + + for(f = 0; f < kLastFinger; f++) + { + int32_t i = f*kLastFingerDoF; + apHandPoseOut->m_DoFArray[i+kProximalDownUp] = (1-apHandPoseIn->m_Override) * apHandPoseIn->m_DoFArray[i+kProximalDownUp] + apHandPoseIn->m_CloseOpen; + apHandPoseOut->m_DoFArray[i+kProximalInOut] = (1-apHandPoseIn->m_Override) * apHandPoseIn->m_DoFArray[i+kProximalInOut] + apHandPoseIn->m_InOut; + apHandPoseOut->m_DoFArray[i+kIntermediateCloseOpen] = (1-apHandPoseIn->m_Override) * apHandPoseIn->m_DoFArray[i+kIntermediateCloseOpen] + apHandPoseIn->m_CloseOpen; + apHandPoseOut->m_DoFArray[i+kDistalCloseOpen] = (1-apHandPoseIn->m_Override) * apHandPoseIn->m_DoFArray[i+kDistalCloseOpen] + apHandPoseIn->m_CloseOpen; + } + } + + void Hand2SkeletonPose(Hand const *apHand, skeleton::Skeleton const *apSkeleton, HandPose const *apHandPose, skeleton::SkeletonPose *apSkeletonPose) + { + int32_t f,p; + + for(f = 0; f < kLastFinger; f++) + { + for(p = 0; p < kLastPhalange; p++) + { + int32_t i = GetBoneIndex(f,p); + + if(apHand->m_HandBoneIndex[i] >= 0) + { + math::float4 xyz = math::cond( math::bool4(Phalange2DoF[p][2] != -1,Phalange2DoF[p][1] != -1,Phalange2DoF[p][0] != -1,false), + math::float4(apHandPose->m_DoFArray[GetDoFIndex(f,Phalange2DoF[p][2])],apHandPose->m_DoFArray[GetDoFIndex(f,Phalange2DoF[p][1])],apHandPose->m_DoFArray[GetDoFIndex(f,Phalange2DoF[p][0])],0), + math::float4::zero()); + + skeleton::SkeletonSetDoF(apSkeleton,apSkeletonPose,xyz,apHand->m_HandBoneIndex[i]); + } + } + } + } + + void Skeleton2HandPose(Hand const *apHand, skeleton::Skeleton const *apSkeleton,skeleton::SkeletonPose const *apSkeletonPose, HandPose *apHandPose, float aOffset) + { + int32_t f,p; + + for(f = 0; f < kLastFinger; f++) + { + for(p = 0; p < kLastPhalange; p++) + { + int32_t i = GetBoneIndex(f,p); + + if(apHand->m_HandBoneIndex[i] >= 0) + { + const math::float4 xyz = skeleton::SkeletonGetDoF(apSkeleton,apSkeletonPose,apHand->m_HandBoneIndex[i]); + + if(Phalange2DoF[p][2] != -1) apHandPose->m_DoFArray[GetDoFIndex(f,Phalange2DoF[p][2])] = xyz.x().tofloat() + aOffset; + if(Phalange2DoF[p][1] != -1) apHandPose->m_DoFArray[GetDoFIndex(f,Phalange2DoF[p][1])] = xyz.y().tofloat() + aOffset; + if(Phalange2DoF[p][0] != -1) apHandPose->m_DoFArray[GetDoFIndex(f,Phalange2DoF[p][0])] = xyz.z().tofloat() + aOffset; + } + } + } + } + + void FingerLengths(Hand const *apHand, skeleton::Skeleton const *apSkeleton, float *apLengthArray) + { + int32_t f,p; + + for(f = 0; f < kLastFinger; f++) + { + apLengthArray[f] = 0.0f; + + for(p = 0; p < kLastPhalange; p++) + { + int32_t i = GetBoneIndex(f,p); + + if(apHand->m_HandBoneIndex[i] >= 0) + { + apLengthArray[f] += apSkeleton->m_AxesArray[apHand->m_HandBoneIndex[i]].m_Length; + } + } + } + } + + void FingerBaseFromPose(Hand const *apHand,skeleton::SkeletonPose const *apSkeletonPose,math::float4 *apPositionArray) + { + int32_t f; + + for(f = 0; f < kLastFinger; f++) + { + int32_t i = GetBoneIndex(f,kProximal); + + if(apHand->m_HandBoneIndex[i] >= 0) + { + apPositionArray[f] = apSkeletonPose->m_X[apHand->m_HandBoneIndex[i]].t; + } + } + } + + void FingerTipsFromPose(Hand const *apHand,skeleton::Skeleton const *apSkeleton, skeleton::SkeletonPose const *apSkeletonPose,math::float4 *apPositionArray) + { + int32_t f; + + for(f = 0; f < kLastFinger; f++) + { + int32_t i = GetBoneIndex(f,kDistal); + + if(apHand->m_HandBoneIndex[i] >= 0) + { + apPositionArray[f] = skeleton::SkeletonNodeEndPoint(apSkeleton,apHand->m_HandBoneIndex[i],apSkeletonPose); + } + } + } + + void FingersIKSolve(Hand const *apHand, skeleton::Skeleton const *apSkeleton,math::float4 const *apPositionArray, float *apWeightArray, skeleton::SkeletonPose *apSkeletonPose, skeleton::SkeletonPose *apSkeletonPoseWorkspace) + { + int32_t f; + + for(f = 0; f < kLastFinger; f++) + { + int32_t topIndex = apHand->m_HandBoneIndex[hand::GetBoneIndex(f,hand::kProximal)]; + int32_t midIndex = apHand->m_HandBoneIndex[hand::GetBoneIndex(f,hand::kIntermediate)]; + int32_t endIndex = apHand->m_HandBoneIndex[hand::GetBoneIndex(f,hand::kDistal)]; + + if(topIndex >= 0 && midIndex >= 0 && endIndex >= 0) + { + skeleton::Skeleton3BoneIK(apSkeleton,topIndex,midIndex,endIndex,apPositionArray[f],apWeightArray[f],apSkeletonPose,apSkeletonPoseWorkspace); + } + } + } +} +} |