380 lines
13 KiB
C#
380 lines
13 KiB
C#
/************************************************************************************
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Copyright : Copyright (c) Facebook Technologies, LLC and its affiliates. All rights reserved.
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Licensed under the Oculus SDK License Version 3.4.1 (the "License");
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you may not use the Oculus SDK except in compliance with the License,
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which is provided at the time of installation or download, or which
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otherwise accompanies this software in either electronic or hard copy form.
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You may obtain a copy of the License at
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https://developer.oculus.com/licenses/sdk-3.4.1
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Unless required by applicable law or agreed to in writing, the Oculus SDK
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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************************************************************************************/
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using System.Collections.Generic;
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using UnityEngine;
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/// <summary>
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/// Allows grabbing and throwing of objects with the OVRGrabbable component on them.
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/// </summary>
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[RequireComponent(typeof(Rigidbody))]
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public class OVRGrabber : MonoBehaviour
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{
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// Grip trigger thresholds for picking up objects, with some hysteresis.
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public float grabBegin = 0.55f;
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public float grabEnd = 0.35f;
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// Demonstrates parenting the held object to the hand's transform when grabbed.
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// When false, the grabbed object is moved every FixedUpdate using MovePosition.
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// Note that MovePosition is required for proper physics simulation. If you set this to true, you can
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// easily observe broken physics simulation by, for example, moving the bottom cube of a stacked
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// tower and noting a complete loss of friction.
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[SerializeField]
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protected bool m_parentHeldObject = false;
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// Child/attached transforms of the grabber, indicating where to snap held objects to (if you snap them).
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// Also used for ranking grab targets in case of multiple candidates.
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[SerializeField]
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protected Transform m_gripTransform = null;
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// Child/attached Colliders to detect candidate grabbable objects.
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[SerializeField]
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protected Collider[] m_grabVolumes = null;
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// Should be OVRInput.Controller.LTouch or OVRInput.Controller.RTouch.
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[SerializeField]
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protected OVRInput.Controller m_controller;
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[SerializeField]
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protected Transform m_parentTransform;
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protected bool m_grabVolumeEnabled = true;
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protected Vector3 m_lastPos;
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protected Quaternion m_lastRot;
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protected Quaternion m_anchorOffsetRotation;
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protected Vector3 m_anchorOffsetPosition;
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protected float m_prevFlex;
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protected OVRGrabbable m_grabbedObj = null;
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protected Vector3 m_grabbedObjectPosOff;
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protected Quaternion m_grabbedObjectRotOff;
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protected Dictionary<OVRGrabbable, int> m_grabCandidates = new Dictionary<OVRGrabbable, int>();
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protected bool operatingWithoutOVRCameraRig = true;
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/// <summary>
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/// The currently grabbed object.
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/// </summary>
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public OVRGrabbable grabbedObject
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{
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get { return m_grabbedObj; }
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}
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public void ForceRelease(OVRGrabbable grabbable)
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{
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bool canRelease = (
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(m_grabbedObj != null) &&
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(m_grabbedObj == grabbable)
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);
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if (canRelease)
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{
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GrabEnd();
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}
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}
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protected virtual void Awake()
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{
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m_anchorOffsetPosition = transform.localPosition;
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m_anchorOffsetRotation = transform.localRotation;
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// If we are being used with an OVRCameraRig, let it drive input updates, which may come from Update or FixedUpdate.
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OVRCameraRig rig = null;
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if (transform.parent != null && transform.parent.parent != null)
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rig = transform.parent.parent.GetComponent<OVRCameraRig>();
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if (rig != null)
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{
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rig.UpdatedAnchors += (r) => {OnUpdatedAnchors();};
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operatingWithoutOVRCameraRig = false;
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}
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}
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protected virtual void Start()
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{
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m_lastPos = transform.position;
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m_lastRot = transform.rotation;
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if(m_parentTransform == null)
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{
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if(gameObject.transform.parent != null)
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{
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m_parentTransform = gameObject.transform.parent.transform;
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}
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else
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{
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m_parentTransform = new GameObject().transform;
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m_parentTransform.position = Vector3.zero;
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m_parentTransform.rotation = Quaternion.identity;
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}
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}
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}
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void FixedUpdate()
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{
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if (operatingWithoutOVRCameraRig)
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OnUpdatedAnchors();
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}
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// Hands follow the touch anchors by calling MovePosition each frame to reach the anchor.
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// This is done instead of parenting to achieve workable physics. If you don't require physics on
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// your hands or held objects, you may wish to switch to parenting.
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void OnUpdatedAnchors()
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{
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Vector3 handPos = OVRInput.GetLocalControllerPosition(m_controller);
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Quaternion handRot = OVRInput.GetLocalControllerRotation(m_controller);
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Vector3 destPos = m_parentTransform.TransformPoint(m_anchorOffsetPosition + handPos);
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Quaternion destRot = m_parentTransform.rotation * handRot * m_anchorOffsetRotation;
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GetComponent<Rigidbody>().MovePosition(destPos);
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GetComponent<Rigidbody>().MoveRotation(destRot);
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if (!m_parentHeldObject)
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{
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MoveGrabbedObject(destPos, destRot);
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}
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m_lastPos = transform.position;
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m_lastRot = transform.rotation;
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float prevFlex = m_prevFlex;
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// Update values from inputs
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m_prevFlex = OVRInput.Get(OVRInput.Axis1D.PrimaryHandTrigger, m_controller);
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CheckForGrabOrRelease(prevFlex);
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}
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void OnDestroy()
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{
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if (m_grabbedObj != null)
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{
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GrabEnd();
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}
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}
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void OnTriggerEnter(Collider otherCollider)
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{
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// Get the grab trigger
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OVRGrabbable grabbable = otherCollider.GetComponent<OVRGrabbable>() ?? otherCollider.GetComponentInParent<OVRGrabbable>();
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if (grabbable == null) return;
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// Add the grabbable
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int refCount = 0;
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m_grabCandidates.TryGetValue(grabbable, out refCount);
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m_grabCandidates[grabbable] = refCount + 1;
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}
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void OnTriggerExit(Collider otherCollider)
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{
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OVRGrabbable grabbable = otherCollider.GetComponent<OVRGrabbable>() ?? otherCollider.GetComponentInParent<OVRGrabbable>();
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if (grabbable == null) return;
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// Remove the grabbable
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int refCount = 0;
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bool found = m_grabCandidates.TryGetValue(grabbable, out refCount);
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if (!found)
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{
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return;
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}
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if (refCount > 1)
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{
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m_grabCandidates[grabbable] = refCount - 1;
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}
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else
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{
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m_grabCandidates.Remove(grabbable);
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}
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}
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protected void CheckForGrabOrRelease(float prevFlex)
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{
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if ((m_prevFlex >= grabBegin) && (prevFlex < grabBegin))
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{
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GrabBegin();
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}
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else if ((m_prevFlex <= grabEnd) && (prevFlex > grabEnd))
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{
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GrabEnd();
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}
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}
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protected virtual void GrabBegin()
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{
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float closestMagSq = float.MaxValue;
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OVRGrabbable closestGrabbable = null;
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Collider closestGrabbableCollider = null;
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// Iterate grab candidates and find the closest grabbable candidate
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foreach (OVRGrabbable grabbable in m_grabCandidates.Keys)
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{
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bool canGrab = !(grabbable.isGrabbed && !grabbable.allowOffhandGrab);
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if (!canGrab)
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{
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continue;
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}
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for (int j = 0; j < grabbable.grabPoints.Length; ++j)
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{
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Collider grabbableCollider = grabbable.grabPoints[j];
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// Store the closest grabbable
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Vector3 closestPointOnBounds = grabbableCollider.ClosestPointOnBounds(m_gripTransform.position);
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float grabbableMagSq = (m_gripTransform.position - closestPointOnBounds).sqrMagnitude;
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if (grabbableMagSq < closestMagSq)
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{
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closestMagSq = grabbableMagSq;
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closestGrabbable = grabbable;
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closestGrabbableCollider = grabbableCollider;
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}
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}
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}
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// Disable grab volumes to prevent overlaps
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GrabVolumeEnable(false);
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if (closestGrabbable != null)
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{
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if (closestGrabbable.isGrabbed)
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{
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closestGrabbable.grabbedBy.OffhandGrabbed(closestGrabbable);
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}
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m_grabbedObj = closestGrabbable;
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m_grabbedObj.GrabBegin(this, closestGrabbableCollider);
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m_lastPos = transform.position;
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m_lastRot = transform.rotation;
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// Set up offsets for grabbed object desired position relative to hand.
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if(m_grabbedObj.snapPosition)
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{
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m_grabbedObjectPosOff = m_gripTransform.localPosition;
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if(m_grabbedObj.snapOffset)
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{
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Vector3 snapOffset = m_grabbedObj.snapOffset.position;
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if (m_controller == OVRInput.Controller.LTouch) snapOffset.x = -snapOffset.x;
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m_grabbedObjectPosOff += snapOffset;
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}
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}
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else
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{
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Vector3 relPos = m_grabbedObj.transform.position - transform.position;
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relPos = Quaternion.Inverse(transform.rotation) * relPos;
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m_grabbedObjectPosOff = relPos;
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}
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if (m_grabbedObj.snapOrientation)
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{
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m_grabbedObjectRotOff = m_gripTransform.localRotation;
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if(m_grabbedObj.snapOffset)
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{
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m_grabbedObjectRotOff = m_grabbedObj.snapOffset.rotation * m_grabbedObjectRotOff;
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}
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}
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else
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{
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Quaternion relOri = Quaternion.Inverse(transform.rotation) * m_grabbedObj.transform.rotation;
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m_grabbedObjectRotOff = relOri;
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}
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// Note: force teleport on grab, to avoid high-speed travel to dest which hits a lot of other objects at high
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// speed and sends them flying. The grabbed object may still teleport inside of other objects, but fixing that
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// is beyond the scope of this demo.
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MoveGrabbedObject(m_lastPos, m_lastRot, true);
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if(m_parentHeldObject)
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{
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m_grabbedObj.transform.parent = transform;
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}
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}
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}
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protected virtual void MoveGrabbedObject(Vector3 pos, Quaternion rot, bool forceTeleport = false)
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{
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if (m_grabbedObj == null)
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{
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return;
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}
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Rigidbody grabbedRigidbody = m_grabbedObj.grabbedRigidbody;
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Vector3 grabbablePosition = pos + rot * m_grabbedObjectPosOff;
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Quaternion grabbableRotation = rot * m_grabbedObjectRotOff;
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if (forceTeleport)
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{
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grabbedRigidbody.transform.position = grabbablePosition;
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grabbedRigidbody.transform.rotation = grabbableRotation;
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}
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else
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{
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grabbedRigidbody.MovePosition(grabbablePosition);
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grabbedRigidbody.MoveRotation(grabbableRotation);
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}
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}
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protected void GrabEnd()
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{
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if (m_grabbedObj != null)
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{
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OVRPose localPose = new OVRPose { position = OVRInput.GetLocalControllerPosition(m_controller), orientation = OVRInput.GetLocalControllerRotation(m_controller) };
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OVRPose offsetPose = new OVRPose { position = m_anchorOffsetPosition, orientation = m_anchorOffsetRotation };
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localPose = localPose * offsetPose;
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OVRPose trackingSpace = transform.ToOVRPose() * localPose.Inverse();
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Vector3 linearVelocity = trackingSpace.orientation * OVRInput.GetLocalControllerVelocity(m_controller);
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Vector3 angularVelocity = trackingSpace.orientation * OVRInput.GetLocalControllerAngularVelocity(m_controller);
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GrabbableRelease(linearVelocity, angularVelocity);
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}
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// Re-enable grab volumes to allow overlap events
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GrabVolumeEnable(true);
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}
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protected void GrabbableRelease(Vector3 linearVelocity, Vector3 angularVelocity)
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{
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m_grabbedObj.GrabEnd(linearVelocity, angularVelocity);
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if(m_parentHeldObject) m_grabbedObj.transform.parent = null;
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m_grabbedObj = null;
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}
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protected virtual void GrabVolumeEnable(bool enabled)
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{
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if (m_grabVolumeEnabled == enabled)
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{
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return;
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}
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m_grabVolumeEnabled = enabled;
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for (int i = 0; i < m_grabVolumes.Length; ++i)
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{
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Collider grabVolume = m_grabVolumes[i];
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grabVolume.enabled = m_grabVolumeEnabled;
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}
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if (!m_grabVolumeEnabled)
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{
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m_grabCandidates.Clear();
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}
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}
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protected virtual void OffhandGrabbed(OVRGrabbable grabbable)
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{
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if (m_grabbedObj == grabbable)
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{
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GrabbableRelease(Vector3.zero, Vector3.zero);
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}
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}
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}
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