feat(proxyHandModule):Hand scaling support

README.md

@@ -1,4 +1,4 @@
-# HPTK [![](https://img.shields.io/badge/unity-2019.4%20or%20later-green.svg)](https://unity3d.com/es/get-unity/download/archive) [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://github.com/jorgejgnz/HPTK/blob/master/LICENSE.md) [![version](https://img.shields.io/badge/version-0.2.0-blue)](https://github.com/jorgejgnz/HPTK/releases) [![](https://img.shields.io/twitter/follow/jorgejgnz.svg?label=Follow&style=social)](https://twitter.com/intent/follow?screen_name=jorgejgnz)
+# HPTK [![](https://img.shields.io/badge/unity-2019.4%20or%20later-green.svg)](https://unity3d.com/es/get-unity/download/archive) [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://github.com/jorgejgnz/HPTK/blob/master/LICENSE.md) [![version](https://img.shields.io/badge/version-0.4.0-blue)](https://github.com/jorgejgnz/HPTK/releases) [![](https://img.shields.io/twitter/follow/jorgejgnz.svg?label=Follow&style=social)](https://twitter.com/intent/follow?screen_name=jorgejgnz)
 
 Hand Physics Toolkit (HPTK) is a toolkit to build physical hand-driven interactions in a modular and scalable way. Hand physics and hover/touch/grab detection are modules included. This toolkit can be combined with [MRTK-Quest](https://github.com/provencher/MRTK-Quest) for UI interactions. Only Oculus Quest is supported at the moment.
 
@@ -16,7 +16,6 @@ Hand Physics Toolkit (HPTK) is a toolkit to build physical hand-driven interacti
 
 # Supported versions
 - Unity 2019.4.4f1 LTS, 2019.3.15f1
-- [Oculus Integration 20.0](https://developer.oculus.com/downloads/package/unity-integration/)
 
 # Supported target devices
 - Oculus Quest - Android

Runtime/Helpers/PhysHelpers.cs

@@ -8,6 +8,67 @@
 
 namespace HPTK.Helpers
 {
+    [Serializable]
+    public class CustomJointDrive
+    {
+        public static CustomJointDrive zero = new CustomJointDrive();
+
+        public float spring;
+        public float damper;
+        public float maxForce;
+
+        public static CustomJointDrive ScaledCopy(CustomJointDrive normalizedDrive, float scale)
+        {
+            CustomJointDrive drive = new CustomJointDrive();
+            drive.spring = normalizedDrive.spring; // * scale;
+            drive.damper = normalizedDrive.damper; // * scale;
+            drive.maxForce = normalizedDrive.maxForce * scale;
+
+            return drive;
+        }
+
+        public JointDrive toJointDrive()
+        {
+            JointDrive jDrive = new JointDrive();
+            jDrive.positionSpring = spring;
+            jDrive.positionDamper = damper;
+            jDrive.maximumForce = maxForce;
+
+            return jDrive;
+        }
+
+        public SoftJointLimitSpring toSoftJointLimitSpring()
+        {
+            SoftJointLimitSpring lSpring = new SoftJointLimitSpring();
+            lSpring.spring = spring;
+            lSpring.damper = damper;
+
+            return lSpring;
+        }
+
+        public CustomJointDrive()
+        {
+            spring = 0.0f;
+            damper = 0.0f;
+            maxForce = 0.0f;
+        }
+
+        public CustomJointDrive(float spring, float damper, float maxForce)
+        {
+            this.spring = spring;
+            this.damper = damper;
+            this.maxForce = maxForce;
+        }
+
+        public CustomJointDrive(CustomJointDrive drive)
+        {
+            this.spring = drive.spring;
+            this.damper = drive.damper;
+            this.maxForce = drive.maxForce;
+        }
+
+    }
+
     public static class PhysHelpers
     {
         public static Vector3 GetDesiredWorldPos(Transform slave, Transform master, Space space)
@@ -129,7 +190,7 @@ public static bool ToggleLockJoints(SlaveBoneModel[] bones, bool toggleValue)
             return toggleValue;
         }
 
-        public static ConfigurableJoint CreateSnapJoint(Rigidbody body, Rigidbody connectedBody, Vector3 pointPosition, Quaternion pointRotation, Vector3 destinationPosition, Quaternion destinationRotation, bool matchRotation, bool enableCollisions)
+        public static ConfigurableJoint CreateSnapJoint(Rigidbody body, Rigidbody connectedBody, Vector3 pointPosition, Quaternion pointRotation, Vector3 destinationPosition, Quaternion destinationRotation, bool matchRotation, bool enableCollisions, float massScale)
         {
             // Initial configuration
             ConfigurableJoint joint = body.gameObject.AddComponent<ConfigurableJoint>();
@@ -140,7 +201,7 @@ public static ConfigurableJoint CreateSnapJoint(Rigidbody body, Rigidbody connec
             joint.anchor = joint.transform.InverseTransformPoint(pointPosition);
             joint.connectedAnchor = joint.connectedBody.transform.InverseTransformPoint(destinationPosition);
 
-            joint.massScale = 1.6f;
+            joint.massScale = massScale;
 
             joint.enableCollision = enableCollisions;
 

Runtime/Input/InputDataProvider.cs

@@ -120,6 +120,9 @@ public class InputDataProvider : MonoBehaviour
         [Range(0.0f, 1.0f)]
         public float confidence = 0.0f;
 
+        [Range(0.5f, 2.0f)]
+        public float scale = 1.0f;
+
         // Replaceable by inherited classes
         public virtual void InitData()
         {

Runtime/Input/RelativeSkeletonTracker.cs

@@ -31,6 +31,8 @@ public override void UpdateData()
 
             confidence = 1.0f;
 
+            scale = referenceHand.extraScale;
+
             UpdateFingers();
         }
     }

Runtime/Modules/HandPhysics/HandPhysicsConfiguration.cs → Runtime/Modules/HandPhysics/HandPhysicsConfigurationAsset.cs

@@ -1,54 +1,12 @@
 using System.Collections;
 using System.Collections.Generic;
+using HPTK.Helpers;
 using UnityEngine;
 using System;
+using UnityEditor;
 
 namespace HPTK.Settings
 {
-    [Serializable]
-    public class CustomJointDrive
-    {
-        public static CustomJointDrive zero = new CustomJointDrive();
-
-        public float spring;
-        public float damper;
-        public float maxForce;
-
-        public JointDrive toJointDrive()
-        {
-            JointDrive jDrive = new JointDrive();
-            jDrive.positionSpring = spring;
-            jDrive.positionDamper = damper;
-            jDrive.maximumForce = maxForce;
-
-            return jDrive;
-        }
-
-        public SoftJointLimitSpring toSoftJointLimitSpring()
-        {
-            SoftJointLimitSpring lSpring = new SoftJointLimitSpring();
-            lSpring.spring = spring;
-            lSpring.damper = damper;
-
-            return lSpring;
-        }
-
-        public CustomJointDrive()
-        {
-            spring = 0.0f;
-            damper = 0.0f;
-            maxForce = 0.0f;
-        }
-
-        public CustomJointDrive(float spring, float damper, float maxForce)
-        {
-            this.spring = spring;
-            this.damper = damper;
-            this.maxForce = maxForce;
-        }
-
-    }
-
     [Serializable]
     public class SlaveBoneConfiguration
     {
@@ -107,14 +65,29 @@ public SlaveBoneConfiguration(SlaveBoneConfiguration conf)
         }
     }
 
-    [CreateAssetMenu(menuName = "HPTK/HandPhysicsConfiguration Asset", order = 2)]
-    public class HandPhysicsConfiguration : ScriptableObject
+    [Serializable]
+    public class HandPhysicsConfiguration
     {
         public string alias;
 
         public SlaveBoneConfiguration fingers;
         public SlaveBoneConfiguration wrist;
         public SlaveBoneConfiguration specials;
+
+        public HandPhysicsConfiguration(HandPhysicsConfiguration conf)
+        {
+            this.alias = conf.alias;
+            this.fingers = new SlaveBoneConfiguration(conf.fingers);
+            this.wrist = new SlaveBoneConfiguration(conf.wrist);
+            this.specials = new SlaveBoneConfiguration(conf.specials);
+        }
+    }
+
+    [CreateAssetMenu(menuName = "HPTK/HandPhysicsConfiguration Asset", order = 2)]
+    public class HandPhysicsConfigurationAsset : ScriptableObject
+    {
+        [Header("For normalized scale")]
+        public HandPhysicsConfiguration configuration;
     }
 
 }

Runtime/Modules/HandPhysics/HandPhysicsController.cs

@@ -35,8 +35,11 @@ private void Start()
             slaveBones = AvatarHelpers.GetSlaveHandBones(model.proxyHand.slave);
 
             // Set default configuration if needed
-            if (model.configuration == null)
-                model.configuration = BasicHelpers.FindScriptableObject<HandPhysicsConfiguration>(core.model.defaultConfAssets);
+            if (model.asset == null)
+                model.asset = BasicHelpers.FindScriptableObject<HandPhysicsConfigurationAsset>(core.model.defaultConfAssets);
+
+            // Make configuration editable
+            model.configuration = new HandPhysicsConfiguration(model.asset.configuration);
 
             for (int i = 0; i < slaveBones.Length; i++)
             {
@@ -48,8 +51,13 @@ private void Start()
 
                 if (slaveBones[i].jointRef)
                 {
-                    // Get initial connected body local rotations
-                    if (slaveBones[i].jointRef.connectedBody != null) slaveBones[i].initialConnectedBodyLocalRotation = slaveBones[i].jointRef.connectedBody.transform.localRotation;
+                    // Get initial connected body local rotations and conn anchors
+                    if (slaveBones[i].jointRef.connectedBody != null)
+                    {
+                        slaveBones[i].initialConnectedBodyLocalRotation = slaveBones[i].jointRef.connectedBody.transform.localRotation;
+                        slaveBones[i].initialConnectedAnchor = slaveBones[i].jointRef.connectedAnchor;
+                        slaveBones[i].jointRef.autoConfigureConnectedAnchor = false;
+                    }
                     else slaveBones[i].initialConnectedBodyLocalRotation = slaveBones[i].jointRef.transform.rotation;
 
                     // Set initial joint configurations
@@ -60,6 +68,7 @@ private void Start()
                     else
                         PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.fingers);
 
+                    // Initial built-in velocity clamps
                     slaveBones[i].rigidbodyRef.maxDepenetrationVelocity = model.configuration.fingers.maxLinearVelocity;
                     slaveBones[i].rigidbodyRef.maxAngularVelocity = model.configuration.fingers.maxAngularVelocity;
                 }
@@ -72,6 +81,45 @@ private void Update()
 
             if (model.proxyHand.error > core.model.configuration.maxErrorAllowed && !decoupled)
                 StartCoroutine(RecoverFromError());
+
+            for (int i = 0; i < slaveBones.Length; i++)
+            {
+                if (model.updateConfFromScale)
+                {
+                    model.configuration.fingers.positionDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.fingers.positionDrive, model.proxyHand.slave.extraScale);
+                    model.configuration.fingers.rotationDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.fingers.rotationDrive, model.proxyHand.slave.extraScale);
+                    model.configuration.fingers.rigidbodyMass = model.asset.configuration.fingers.rigidbodyMass * model.proxyHand.slave.extraScale;
+
+                    model.configuration.wrist.positionDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.wrist.positionDrive, model.proxyHand.slave.extraScale);
+                    model.configuration.wrist.rotationDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.wrist.rotationDrive, model.proxyHand.slave.extraScale);
+                    model.configuration.wrist.rigidbodyMass = model.asset.configuration.wrist.rigidbodyMass * model.proxyHand.slave.extraScale;
+
+                    model.configuration.specials.positionDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.specials.positionDrive, model.proxyHand.slave.extraScale);
+                    model.configuration.specials.rotationDrive = CustomJointDrive.ScaledCopy(model.asset.configuration.specials.rotationDrive, model.proxyHand.slave.extraScale);
+                    model.configuration.specials.rigidbodyMass = model.asset.configuration.specials.rigidbodyMass * model.proxyHand.slave.extraScale;
+                }
+
+                if (model.applyConfOnUpdate && slaveBones[i].jointRef)
+                {
+                    // Update joint configurations
+                    if (slaveBones[i] == model.proxyHand.slave.wrist)
+                        PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.wrist);
+                    else if (slaveBones[i].isSpecial)
+                        PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.specials);
+                    else
+                        PhysHelpers.SetSlaveBoneConfiguration(slaveBones[i].jointRef, model.configuration.fingers);
+
+                    // Update built-in velocity clamps
+                    slaveBones[i].rigidbodyRef.maxDepenetrationVelocity = model.configuration.fingers.maxLinearVelocity;
+                    slaveBones[i].rigidbodyRef.maxAngularVelocity = model.configuration.fingers.maxAngularVelocity;
+
+                    // NO-PROD
+                    if (slaveBones[i].jointRef.connectedBody)
+                    {
+                        slaveBones[i].jointRef.connectedAnchor = slaveBones[i].initialConnectedAnchor;
+                    }
+                }
+            }
         }
 
         private void FixedUpdate()

Runtime/Modules/HandPhysics/HandPhysicsModel.cs

@@ -8,7 +8,13 @@ namespace HPTK.Models.Avatar
     public class HandPhysicsModel : HPTKModel
     {
         public ProxyHandModel proxyHand;
+
+        public HandPhysicsConfigurationAsset asset;
+        [HideInInspector]
         public HandPhysicsConfiguration configuration;
+
         public bool isActive = true;
+        public bool applyConfOnUpdate = false;
+        public bool updateConfFromScale = true;
     }
 }

Runtime/Modules/Input/InputController.cs

@@ -7,6 +7,7 @@
 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
+using static HPTK.Views.Handlers.ProxyHandHandler;
 
 namespace HPTK.Controllers.Input
 {
@@ -314,6 +315,7 @@ void Update()
                 }
             }
 
+            // If we need to record and confidence is good enough to record
             if (conf.usePredictiveTrackingWhenLost && model.inputDataProvider.confidence > conf.saveHandHistoricOverConfidence)
             {
                 // Before updating wristVelocityDirection and wristPosition
@@ -332,7 +334,12 @@ void Update()
                 // Update timeOfLastRecord
                 timeOfLastRecord = Time.timeSinceLevelLoad;
             }
-
+
+            // Hand scaling
+            if (model.updateRealScale)
+            {
+                model.proxyHand.realScale = model.inputDataProvider.scale;
+            }
         }
 
         void UpdateMasterBonePos(MasterBoneModel masterBone, AbstractTsf inputData, float maxSpeed)

Runtime/Modules/Input/InputModel.cs

@@ -80,6 +80,9 @@ public class InputModel : HPTKModel
         public MasterBoneModel pinky2;
         public MasterBoneModel pinky3;
 
+        [Header("Scaling")]
+        public bool updateRealScale = true;
+
         [Header("Updated by Controller")]
         public bool handIsTracked = false;
         public bool fingersAreTracked = false;

Runtime/Modules/ProxyHand/Hand/HandModel.cs

@@ -40,6 +40,10 @@ public class HandModel : HPTKModel
 
         public Transform ray;
 
+        [Header("Scaling")]
+        public float extraScale = 1.0f;
+        public float totalScale;
+
         [Header("Components")]
         public SkinnedMeshRenderer skinnedMR;
 

Runtime/Modules/ProxyHand/Hand/Slave/SlaveBoneModel.cs

@@ -21,5 +21,8 @@ public class SlaveBoneModel : BoneModel
 
         [HideInInspector]
         public Quaternion minLocalRot = Quaternion.identity;
+
+        [HideInInspector]
+        public Vector3 initialConnectedAnchor;
     }
 }