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Assets/Materials/com.gleechi.unity.virtualgrasp/Runtime/Scripts/VG_GraspEditor.cs Normal file
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// Copyright (C) 2014-2024 Gleechi Technology AB. All rights reserved.
using UnityEngine;
using UnityEngine.UI; // for Text UI
using System.Collections.Generic;
namespace VirtualGrasp.Scripts
{
/**
* VG_Highlighter exemplifies how you could enable runtime grasp editing into your application.
* The MonoBehavior provides a tutorial on the VG API functions for some of the VG_Controller event functions,
* such as EditGrasp, GetInteractionTypeForObject and SetInteractionTypeForObject.
*/
[LIBVIRTUALGRASP_UNITY_SCRIPT]
[HelpURL("https://docs.virtualgrasp.com/unity_component_vggraspannotator." + VG_Version.__VG_VERSION__ + ".html")]
public class VG_GraspEditor : MonoBehaviour
{
/// An enum to describe a hand interaction type allowed for grasp editing (adding primary grasps)
public enum VG_EditingInteractionType
{
TRIGGER_GRASP = 0, // Default, hand goes to object at grasp position
PREVIEW_GRASP = 1, // Grasp is always previewed once object is selected, trigger will pick up the object
JUMP_GRASP = 3, // Object jumps to hand when grasp is triggered
}
public Transform m_pad = null;
public Transform m_addGraspButton = null;
public Transform m_toggleInteractionButton = null;
public Transform m_stepGraspButton = null;
public Transform m_deleteGraspButton = null;
public Transform m_deleteAllGraspsButton = null;
[Tooltip("Interaction type used to add grasps.")]
public VG_EditingInteractionType m_editingInteractionType = VG_EditingInteractionType.TRIGGER_GRASP;
private bool m_sensorAvatarFound = false;
private int m_sensorAvatarIDLeft = 0;
private int m_sensorAvatarIDRight = 0;
private List<ButtonContainer> m_containers = new List<ButtonContainer>();
// Keep track of intersections
private Dictionary<Transform, bool> m_intersections = new Dictionary<Transform, bool>();
private delegate void EditFunction(VG_HandStatus hand);
private delegate bool ValidateFunction(VG_HandStatus hand, out string text);
private class ButtonContainer
{
public Transform m_root = null;
public EditFunction m_editFunction = null;
public ValidateFunction m_validateFunction = null;
private Text m_text = null;
private MeshRenderer m_renderer = null;
private VG_Articulation m_articulation = null;
public static HashSet<Transform> BUTTON_TRANSFORMS = new HashSet<Transform>();
public ButtonContainer(Transform button, ValidateFunction validateFunc, EditFunction editFunc)
{
m_root = button;
m_text = button.GetComponentInChildren<Text>();
m_renderer = button.GetComponentInChildren<MeshRenderer>();
m_articulation = button.GetComponentInChildren<VG_Articulation>();
BUTTON_TRANSFORMS.Add(m_articulation.transform);
m_editFunction = editFunc;
m_validateFunction = validateFunc;
}
public bool Validate(VG_HandStatus hand)
{
bool valid = m_validateFunction(hand, out string text);
if (m_text != null)
{
m_text.text = text;
m_text.color = (valid && hand.IsHolding()) ? Color.black : Color.grey;
}
return valid;
}
public bool Trigger(VG_HandStatus hand, bool hasIntersection)
{
if (m_renderer == null || !hand.IsHolding())
return hasIntersection;
VG_Controller.GetObjectJointState(m_root, out float state);
float threshold = m_articulation.m_min + (m_articulation.m_max - m_articulation.m_min) * 0.2f;
bool isIntersecting = state > threshold;
if (hasIntersection != isIntersecting)
{
VG_Controller.OnObjectCollided.Invoke(hand); // just to trigger haptics
if (isIntersecting) m_editFunction(hand);
}
return isIntersecting;
}
}
private void Start()
{
m_containers.Add(new ButtonContainer(m_addGraspButton, ValidateAddGrasp, AddGrasp));
m_containers.Add(new ButtonContainer(m_toggleInteractionButton, ValidateToggleInteraction, ToggleInteraction));
m_containers.Add(new ButtonContainer(m_stepGraspButton, ValidateStepGrasp, StepGrasp));
m_containers.Add(new ButtonContainer(m_deleteGraspButton, ValidateDeleteGrasp, DeleteGrasp));
m_containers.Add(new ButtonContainer(m_deleteAllGraspsButton, ValidateDeleteAllGrasp, DeleteAllGrasp));
if (VG_Controller.GetSensorControlledAvatarID(out m_sensorAvatarIDLeft, out m_sensorAvatarIDRight) == VG_ReturnCode.SUCCESS)
m_sensorAvatarFound = true;
}
#region ContainerFunctions
private bool IsValidObject(VG_HandStatus hand)
{
return hand != null && hand.m_selectedObject != null && hand.m_selectedObject.TryGetComponent<MeshRenderer>(out _);
}
private void AddGrasp(VG_HandStatus hand)
{
VG_Controller.EditGrasp(hand.m_avatarID, hand.m_side, VG_EditorAction.ADD_CURRENT);
}
private bool ValidateAddGrasp(VG_HandStatus hand, out string text)
{
if (!IsValidObject(hand))
{
text = "Add Grasp";
return false;
}
if (VG_Controller.GetInteractionTypeForObject(hand.m_selectedObject) == VG_InteractionType.JUMP_PRIMARY_GRASP)
{
text = "No add grasp\ninteraction is JUMP_PRIMARY_GRASP!";
return false;
}
text = "Add Grasp\n(" + hand.GetNumGraspsInDB() + ")";
return true;
}
private void ToggleInteraction(VG_HandStatus hand)
{
VG_InteractionType current_type = VG_Controller.GetInteractionTypeForObject(hand.m_selectedObject);
// Initially if object has non ideal grasp editing interaction type, first toggle allow switch to ideal editing interaction type
if (current_type != (VG_InteractionType)m_editingInteractionType && current_type != VG_InteractionType.JUMP_PRIMARY_GRASP)
VG_Controller.SetInteractionTypeForObject(hand.m_selectedObject, (VG_InteractionType)m_editingInteractionType);
// Then later will always toggle between the ideal editing type and jump primary grasp type
else
VG_Controller.SetInteractionTypeForObject(hand.m_selectedObject, current_type != VG_InteractionType.JUMP_PRIMARY_GRASP ?
VG_InteractionType.JUMP_PRIMARY_GRASP : (VG_InteractionType)m_editingInteractionType);
}
private void StepGrasp(VG_HandStatus hand)
{
VG_Controller.TogglePrimaryGraspOnObject(hand.m_avatarID, hand.m_side, hand.m_selectedObject);
}
private bool ValidateToggleInteraction(VG_HandStatus hand, out string text)
{
if (!IsValidObject(hand))
{
text = "Toggle interaction";
return false;
}
VG_InteractionType current_type = VG_Controller.GetInteractionTypeForObject(hand.m_selectedObject);
if (current_type == (VG_InteractionType)m_editingInteractionType && hand.GetNumPrimaryGraspsInDB() == 0)
{
text = "No toggle interaction\nno grasp!";
return false;
}
VG_InteractionType target_type = (current_type == (VG_InteractionType)m_editingInteractionType) ? VG_InteractionType.JUMP_PRIMARY_GRASP : (VG_InteractionType)m_editingInteractionType;
text = "Toggle interaction To\n" + target_type + "";
return true;
}
private bool ValidateStepGrasp(VG_HandStatus hand, out string text)
{
if (!IsValidObject(hand))
{
text = "Step grasp";
return false;
}
if (hand.GetNumGraspsInDB() == 0)
{
text = "No step grasp\nno grasp!";
return false;
}
VG_InteractionType currentInteractionType = VG_Controller.GetInteractionTypeForObject(hand.m_selectedObject);
if (currentInteractionType != VG_InteractionType.JUMP_PRIMARY_GRASP)
{
text = "No step grasp\ninteraction is not JUMP_PRIMARY_GRASP!";
return false;
}
text = "Step grasp";
return true;
}
private bool ValidateDeleteGrasp(VG_HandStatus hand, out string text)
{
if (!IsValidObject(hand))
{
text = "Delete grasp";
return false;
}
int numGrasps = hand.GetNumGraspsInDB();
if (numGrasps == 0)
{
text = "No delete grasp";
return false;
}
text = "Delete grasp\n(" + numGrasps + ")";
return true;
}
private bool ValidateDeleteAllGrasp(VG_HandStatus hand, out string text)
{
if (!IsValidObject(hand))
{
text = "Delete all grasps";
return false;
}
int numGrasps = hand.GetNumGraspsInDB();
if (numGrasps == 0)
{
text = "No delete all grasps";
return false;
}
text = "Delete all grasps\n(" + numGrasps + ")";
return true;
}
private void DeleteGrasp(VG_HandStatus hand)
{
VG_Controller.EditGrasp(hand.m_avatarID, hand.m_side, VG_EditorAction.DELETE_CURRENT);
if (hand.GetNumGraspsInDB() == 0)
VG_Controller.SetInteractionTypeForObject(hand.m_selectedObject, (VG_InteractionType)m_editingInteractionType);
}
private void DeleteAllGrasp(VG_HandStatus hand)
{
VG_Controller.EditGrasp(hand.m_avatarID, hand.m_side, VG_EditorAction.DELETE_ALL_HAND_GRASPS);
if (VG_Controller.GetNumGraspsInDB(hand.m_selectedObject, hand.m_avatarID, hand.m_side) == 0)
VG_Controller.SetInteractionTypeForObject(hand.m_selectedObject, (VG_InteractionType)m_editingInteractionType);
else
Debug.LogError("After remove all hand grasp, num grasps still non zero");
}
#endregion // ContainerFunctions
void Update()
{
if (!m_sensorAvatarFound)
{
if (VG_Controller.GetSensorControlledAvatarID(out m_sensorAvatarIDLeft, out m_sensorAvatarIDRight) == VG_ReturnCode.SUCCESS)
m_sensorAvatarFound = true;
}
if (!m_sensorAvatarFound)
return;
// Find selected object for left and right hand, but ignore if selected object is the pad or a button for this annotator
Transform leftSelected = null;
Transform rightSelected = null;
VG_HandStatus status = VG_Controller.GetHand(m_sensorAvatarIDLeft, VG_HandSide.LEFT);
if (status != null)
leftSelected = ButtonContainer.BUTTON_TRANSFORMS.Contains(status.m_selectedObject) || status.m_selectedObject == m_pad ? null : status.m_selectedObject;
status = VG_Controller.GetHand(m_sensorAvatarIDRight, VG_HandSide.RIGHT);
if (status != null)
rightSelected = ButtonContainer.BUTTON_TRANSFORMS.Contains(status.m_selectedObject) || status.m_selectedObject == m_pad ? null : status.m_selectedObject;
// If no object selected or if both hand selected different objects, not allow annotating
if ((leftSelected == null && rightSelected == null) ||
(leftSelected != null && rightSelected != null && leftSelected != rightSelected))
{
foreach (ButtonContainer container in m_containers)
if (!container.Validate(null)) continue;
return;
}
bool hasIntersection;
VG_HandStatus hand = VG_Controller.GetHand((leftSelected != null) ? m_sensorAvatarIDLeft : m_sensorAvatarIDRight,
(leftSelected != null) ? VG_HandSide.LEFT : VG_HandSide.RIGHT);
foreach (ButtonContainer container in m_containers)
{
if (!container.Validate(hand)) continue;
// cache intersecting value in map so function only triggers in entering/exiting frame
hasIntersection = (m_intersections.ContainsKey(container.m_root)) ? m_intersections[container.m_root] : false;
m_intersections[container.m_root] = container.Trigger(hand, hasIntersection);
}
}
}
}