Introduces simpler rigger and origin hands
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extends Node3D
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@export var tracking : UltraleapDeviceNode
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@export var handedness : UltraleapTypes.Chirality = UltraleapTypes.Chirality.Left
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@export var skeleton : Skeleton3D
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@export var ex_map : RigMap
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@export var rig_settings : RigSettings
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@export var use_interpolation : bool = true
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var root_transform : Transform3D = Transform3D.IDENTITY
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func _ready():
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if skeleton == null:
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return
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func _process(_delta):
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if tracking == null:
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skeleton.hide()
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return
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if Engine.is_editor_hint() and not tracking.run_in_editor:
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skeleton.reset_bone_poses()
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skeleton.show()
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return
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var frame : UltraleapFrame = tracking.get_last_frame()
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if frame == null:
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skeleton.hide()
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return
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if use_interpolation:
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var interpolated_frame : UltraleapFrame = tracking.get_interpolated_frame(Time.get_ticks_usec())
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if interpolated_frame != null:
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frame = interpolated_frame
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if handedness == UltraleapTypes.Chirality.Left:
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if frame.is_left_hand_visible:
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skeleton.show()
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set_hand(frame.left_hand)
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else:
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skeleton.hide()
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else:
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if frame.is_right_hand_visible:
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skeleton.show()
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set_hand(frame.right_hand)
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else:
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skeleton.hide()
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func set_hand(hand : UltraleapHand):
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root_transform = set_wrist(hand)
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return
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set_finger(hand.thumb)
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set_finger(hand.index)
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set_finger(hand.middle)
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set_finger(hand.ring)
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set_finger(hand.pinky)
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return
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set_palm(hand)
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func set_palm(hand : UltraleapHand):
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var palm_name : String = ex_map.get("palm")
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var bone_idx : int = skeleton.find_bone(palm_name)
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skeleton.set_bone_pose_rotation(bone_idx, hand.palm.orientation)
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skeleton.set_bone_pose_position(bone_idx, hand.palm.position)
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#skeleton.set_bone_pose_scale(bone_idx, global_bone_scale)
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func set_wrist(hand : UltraleapHand):
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var wrist_name : String = ex_map.get("wrist")
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var bone_idx : int = skeleton.find_bone(wrist_name)
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var wrist_transform : Transform3D = hand.wrist * rig_settings.bone_transform
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skeleton.set_bone_pose_rotation(bone_idx, wrist_transform.basis.get_rotation_quaternion())
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skeleton.set_bone_pose_position(bone_idx, wrist_transform.origin)
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#skeleton.set_bone_pose_scale(bone_idx, global_bone_scale)
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return Transform3D(
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Basis.IDENTITY,
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hand.palm.position - hand.arm.next_joint
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)
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func set_finger(finger : UltraleapDigit):
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if finger.type != UltraleapDigit.FingerType.Thumb:
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set_bone(finger, finger.metacarpal)
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set_bone(finger, finger.proximal)
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#return
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set_bone(finger, finger.intermediate)
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set_bone(finger, finger.distal)
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func set_bone(finger : UltraleapDigit, bone : UltraleapBone):
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var bone_name : String = bone_name_from_type(bone.type)
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var finger_name : String = finger_name_from_type(finger.type)
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if (
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finger.get(bone_name) == null
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or ex_map.get(finger_name + "_" + bone_name) == ""
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):
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return
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var yo : Transform3D = root_transform if bone_name == "metacarpal" else Transform3D.IDENTITY
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var t : Transform3D = Transform3D(
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Basis(bone.rotation),
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bone.translation
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) * rig_settings.bone_transform
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#t.origin = t.origin - yo.origin
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#t = t * rig_settings.bone_transform
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#set_bone_rotation(ex_map.get(finger_name + "_" + bone_name), t.basis.get_rotation_quaternion())
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if rig_settings.set_joints_positions:
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set_bone_position(ex_map.get(finger_name + "_" + bone_name), t.origin)
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func set_bone_rotation(bone_name : String, bone_rotation : Quaternion):
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var bone_idx : int = skeleton.find_bone(bone_name)
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if bone_idx == -1:
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return
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skeleton.set_bone_pose_rotation(bone_idx, bone_rotation)
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func set_bone_position(bone_name : String, bone_position : Vector3):
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var bone_idx : int = skeleton.find_bone(bone_name)
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if bone_idx == -1:
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return
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skeleton.set_bone_pose_position(bone_idx, bone_position)
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func finger_name_from_type(finger_type: UltraleapDigit.FingerType) -> String:
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return {
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UltraleapDigit.FingerType.Thumb: "thumb",
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UltraleapDigit.FingerType.Index: "index",
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UltraleapDigit.FingerType.Middle: "middle",
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UltraleapDigit.FingerType.Ring: "ring",
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UltraleapDigit.FingerType.Pinky: "pinky"
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}[finger_type] if finger_type != UltraleapDigit.FingerType.None else null
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func bone_name_from_type(bone_type : UltraleapBone.BoneType) -> String:
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return {
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UltraleapBone.BoneType.Metacarpal: "metacarpal",
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UltraleapBone.BoneType.Proximal: "proximal",
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UltraleapBone.BoneType.Intermediate: "intermediate",
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UltraleapBone.BoneType.Distal: "distal",
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UltraleapBone.BoneType.Arm: "arm"
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}[bone_type] if bone_type != UltraleapBone.BoneType.None else null
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@ -0,0 +1,57 @@
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extends Node3D
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class_name TreeHands
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@export var tracking : UltraleapDeviceNode
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var bones : Array[Node3D] = []
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var gizmo : PackedScene
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func _ready():
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gizmo = preload("res://models/Origin.tscn")
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spawn_finger_gizmos(UltraleapDigit.new(), "thumb")
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spawn_finger_gizmos(UltraleapDigit.new(), "index")
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spawn_finger_gizmos(UltraleapDigit.new(), "middle")
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spawn_finger_gizmos(UltraleapDigit.new(), "ring")
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spawn_finger_gizmos(UltraleapDigit.new(), "pinky")
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func _process(_delta):
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if tracking == null:
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return
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var frame : UltraleapFrame = tracking.get_last_frame()
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# Dirty hack to check if the device is initialised.
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# Should implement something like a flag later
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if frame == null:
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return
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if frame.is_left_hand_visible:
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self.show()
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set_hand(frame.left_hand)
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else:
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self.hide()
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func spawn_finger_gizmos(finger : UltraleapDigit, fname : String):
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var parent : Node3D = self as Node3D
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if fname != "thumb":
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parent = spawn_bone_gizmo(finger.metacarpal, parent, fname, "metacarpal")
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parent = spawn_bone_gizmo(finger.proximal, parent, fname, "proximal")
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parent = spawn_bone_gizmo(finger.intermediate, parent, fname, "intermediate")
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parent = spawn_bone_gizmo(finger.distal, parent, fname, "distal")
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func spawn_bone_gizmo(bone : UltraleapBone, parent : Node3D, fname : String, bname : String):
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var instance : Node3D = gizmo.instantiate()
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parent.add_child(instance)
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instance.owner = parent
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instance.name = fname + "_" + bname
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bones.append(instance)
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return instance
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func set_hand(hand : UltraleapHand):
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position = hand.palm.position
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quaternion = hand.palm.orientation
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for bone in bones:
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var splitted : PackedStringArray = bone.name.split("_")
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bone.position = hand.get(splitted[0]).get(splitted[1]).translation
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bone.quaternion = hand.get(splitted[0]).get(splitted[1]).rotation
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