first commit

2026-04-07 03:14:32 +03:00
commit b3992fec6b
1026 changed files with 366769 additions and 0 deletions
--- a/Assets/Materials/com.gleechi.unity.virtualgrasp/Runtime/Scripts/VG_HintVisualizer.cs
+++ b/Assets/Materials/com.gleechi.unity.virtualgrasp/Runtime/Scripts/VG_HintVisualizer.cs
@@ -0,0 +1,115 @@
+// Copyright (C) 2014-2024 Gleechi Technology AB. All rights reserved.
+
+using System.Linq;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace VirtualGrasp.Scripts
+{
+    /** 
+     * VG_HintVisualizer provides a tool to visualize some hints such as a selection sphere to debug object selection or a push sphere to guide pushing interactions.
+     * The MonoBehavior provides a tutorial on the VG API functions for accessing the push state (GetPushCircle).
+     */
+    [LIBVIRTUALGRASP_UNITY_SCRIPT]
+    [HelpURL("https://docs.virtualgrasp.com/unity_component_vghintvisualizer." + VG_Version.__VG_VERSION__ + ".html")]
+    public class VG_HintVisualizer : MonoBehaviour
+    {
+        [Tooltip("Enable push hint visualization. For each hand, a circular hint will appear when the hand is in PUSHING mode.")]
+        public bool m_enablePushHints = true;
+        [Tooltip("Enable grasp hint visualization. For each hand, a sphere will appear as a hint of the current selection state.")]
+        public bool m_enableGraspHints = true;
+
+        [Tooltip("A push hint visualization (e.g. put a sphere here) when push mode is PUSHING.")]
+        public List<Transform> pushHints = new List<Transform> { };
+        [Tooltip("A selection hint visualization (e.g. put a sphere here) where the grasp selector is placed.")]
+        public List<Transform> graspHints = new List<Transform> { };
+
+        /// Add a collider-less sphere as a marker
+        private void AddHintObject(List<Transform> hintList, string name)
+        {
+            GameObject go = GameObject.CreatePrimitive(PrimitiveType.Sphere);
+            DestroyImmediate(go.GetComponent<Collider>());
+            go.name = name;
+            go.transform.localScale = Vector3.zero;
+            go.transform.SetParent(transform);
+            hintList.Add(go.transform);
+        }
+
+        private void RemoveHintObjects()
+        {
+            foreach (var hint in pushHints)
+                DestroyImmediate(hint.gameObject);
+            foreach (var hint in graspHints)
+                DestroyImmediate(hint.gameObject);
+            pushHints.Clear();
+            graspHints.Clear();
+        }
+
+        private void OnEnable()
+        {
+            VG_Controller.OnPostUpdate.AddListener(HintUpdate);
+            if (pushHints.Count == 0) AddHintObject(pushHints, "PushHint");
+            if (graspHints.Count == 0) AddHintObject(graspHints, "SelectionHint");
+        }
+
+        private void OnDisable()
+        {
+            VG_Controller.OnPostUpdate.RemoveListener(HintUpdate);
+            RemoveHintObjects();
+        }
+
+        void HintUpdate()
+        {
+            if (m_enablePushHints)
+            {
+                // Fill up the push hints assuming each avatar has 2 hands
+                while (pushHints.Count < VG_Controller.GetHands().Count())
+                {
+                    pushHints.Add(GameObject.Instantiate(pushHints.Last()));
+                    pushHints.Last().SetParent(transform);
+                }
+
+                int num = 0;
+                foreach (VG_HandStatus hand in VG_Controller.GetHands())
+                {
+                    Transform t = VG_Controller.GetPushCircle(hand.m_avatarID, hand.m_side, out Vector3 p, out Quaternion q, out float radius, out bool inContact);
+                    Transform hint = pushHints[num];
+                    hint.gameObject.SetActive(t != null);
+                    if (t != null)
+                    {
+                        hint.SetPositionAndRotation(p + q * new Vector3(0, 0, -0.001f), q);
+                        hint.localScale = new Vector3(2 * radius, 2 * radius, 0.001f);
+                        if (inContact) VG_Controller.OnObjectCollided.Invoke(hand);
+                    }
+                    num++;
+                }
+            }
+
+            if (m_enableGraspHints)
+            {
+                // Fill up the push hints assuming each avatar has 2 hands
+                while (graspHints.Count < VG_Controller.GetHands().Count())
+                {
+                    graspHints.Add(GameObject.Instantiate(graspHints.Last()));
+                    graspHints.Last().SetParent(transform);
+                }
+
+                int num = 0;
+                foreach (VG_HandStatus hand in VG_Controller.GetHands())
+                {
+                    Transform t = VG_Controller.GetBone(hand.m_avatarID, hand.m_side, VG_BoneType.APPROACH, out _, out Matrix4x4 m);
+                    Transform hint = graspHints[num];
+                    hint.gameObject.SetActive(t != null);
+                    if (t != null)
+                    {
+                        hint.SetPositionAndRotation(m.GetColumn(3), Quaternion.LookRotation(m.GetColumn(2), m.GetColumn(1)));
+                        if (m.GetRow(3) != new Vector4(0, 0, 0, 1)) hint.localScale = m.GetRow(3);
+                        hint.GetComponent<Renderer>().material.SetColor("_Color",
+                            VG_Controller.GetHand(hand.m_avatarID, hand.m_side).m_selectedObject == null ? Color.red : Color.green);
+                    }
+                    num++;
+                }
+            }
+        }
+    }
+}