Initial Commit

2025-07-04 20:33:06 +03:00
commit 8f09347ae0
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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ * All rights reserved.
+ *
+ * Licensed under the Oculus SDK License Agreement (the "License");
+ * you may not use the Oculus SDK except in compliance with the License,
+ * which is provided at the time of installation or download, or which
+ * otherwise accompanies this software in either electronic or hard copy form.
+ *
+ * You may obtain a copy of the License at
+ *
+ * https://developer.oculus.com/licenses/oculussdk/
+ *
+ * Unless required by applicable law or agreed to in writing, the Oculus SDK
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+using UnityEngine;
+
+namespace Oculus.Interaction.Input
+{
+    public class HandJointCache
+    {
+        private Pose[] _localPoses = new Pose[Constants.NUM_HAND_JOINTS];
+        private Pose[] _posesFromWrist = new Pose[Constants.NUM_HAND_JOINTS];
+        private Pose[] _worldPoses = new Pose[Constants.NUM_HAND_JOINTS];
+
+        private ReadOnlyHandJointPoses _posesFromWristCollection;
+        private ReadOnlyHandJointPoses _localPosesCollection;
+
+        private IReadOnlyHandSkeletonJointList _originalJoints;
+        private int _dirtyWorldJoints = 0;
+        private int _dirtyWristJoints = 0;
+
+        public int LocalDataVersion { get; private set; } = -1;
+
+        public HandJointCache(IReadOnlyHandSkeleton handSkeleton)
+        {
+            LocalDataVersion = -1;
+            _posesFromWrist[0] = Pose.identity;
+
+            _posesFromWristCollection = new ReadOnlyHandJointPoses(_posesFromWrist);
+            _localPosesCollection = new ReadOnlyHandJointPoses(_localPoses);
+
+            _originalJoints = handSkeleton.Joints;
+        }
+
+        public void Update(HandDataAsset data, int dataVersion)
+        {
+            _dirtyWorldJoints = _dirtyWristJoints = (1 << (int)HandJointId.HandEnd) - 1; //set all dirty
+            if (!data.IsDataValidAndConnected)
+            {
+                return;
+            }
+            LocalDataVersion = dataVersion;
+            UpdateAllLocalPoses(data);
+        }
+
+        public bool GetAllLocalPoses(out ReadOnlyHandJointPoses localJointPoses)
+        {
+            localJointPoses = _localPosesCollection;
+            return _posesFromWristCollection.Count > 0;
+        }
+
+        public bool GetAllPosesFromWrist(out ReadOnlyHandJointPoses jointPosesFromWrist)
+        {
+            UpdateAllPosesFromWrist();
+            jointPosesFromWrist = _posesFromWristCollection;
+            return _posesFromWristCollection.Count > 0;
+        }
+
+        public Pose LocalJointPose(HandJointId jointid)
+        {
+            return _localPoses[(int)jointid];
+        }
+
+        public Pose PoseFromWrist(HandJointId jointid)
+        {
+            Pose pose = _posesFromWrist[(int)jointid];
+            UpdateWristJoint(jointid, ref pose);
+            return pose;
+        }
+
+        public Pose WorldJointPose(HandJointId jointid, Pose rootPose, float handScale)
+        {
+            int jointIndex = (int)jointid;
+            if ((_dirtyWorldJoints & (1 << jointIndex)) != 0) //its dirty
+            {
+                Pose wristPose = Pose.identity;
+                UpdateWristJoint(jointid, ref wristPose);
+                PoseUtils.Multiply(_localPoses[0], wristPose, ref _worldPoses[jointIndex]);
+                _worldPoses[jointIndex].position *= handScale;
+                _worldPoses[jointIndex].Postmultiply(rootPose);
+
+                _dirtyWorldJoints = _dirtyWorldJoints & ~(1 << jointIndex); //set clean
+            }
+
+            return _worldPoses[jointIndex];
+        }
+
+        private void UpdateAllLocalPoses(HandDataAsset data)
+        {
+            for (int i = 0; i < Constants.NUM_HAND_JOINTS; ++i)
+            {
+                HandSkeletonJoint originalJoint = _originalJoints[i];
+                _localPoses[i].position = originalJoint.pose.position;
+                _localPoses[i].rotation = data.Joints[i];
+            }
+        }
+
+        private void UpdateAllPosesFromWrist()
+        {
+            if (_dirtyWristJoints == 0) //its completely clean
+            {
+                return;
+            }
+
+            for (int jointIndex = 0; jointIndex < Constants.NUM_HAND_JOINTS; ++jointIndex)
+            {
+                if ((_dirtyWristJoints & (1 << jointIndex)) == 0) //its clean
+                {
+                    continue;
+                }
+
+                HandSkeletonJoint originalJoint = _originalJoints[jointIndex];
+                if (originalJoint.parent >= 0)
+                {
+                    PoseUtils.Multiply(_posesFromWrist[originalJoint.parent],
+                        _localPoses[jointIndex], ref _posesFromWrist[jointIndex]);
+                }
+            }
+            _dirtyWristJoints = 0; //set all clean
+        }
+
+        private void UpdateWristJoint(HandJointId jointid, ref Pose pose)
+        {
+            int jointIndex = (int)jointid;
+            if ((_dirtyWristJoints & (1 << jointIndex)) != 0)// its dirty
+            {
+                if (jointid > HandJointId.HandWristRoot)
+                {
+                    UpdateWristJoint((HandJointId)_originalJoints[jointIndex].parent, ref pose);
+                    PoseUtils.Multiply(pose, _localPoses[jointIndex], ref _posesFromWrist[jointIndex]);
+                }
+                _dirtyWristJoints = _dirtyWristJoints & ~(1 << jointIndex); //set clean
+            }
+            pose.CopyFrom(_posesFromWrist[jointIndex]);
+        }
+    }
+}