[XR Interaction Toolkit 2.4.3] Custom Hand Grab Pose

VR/XR Interaction Toolkit 2023. 12. 27. 15:59

핸드 모델 붙이기

https://youtube.com/playlist?list=PLTFRwWXfOIYBIPKhWi-ZO_ITXqtNuqj6j&si=XhyHS26tNDP6u7CA

XR Interaction Toolkit 2.4.3

XR Interaction Toolkit 2.4.3 OpenXR Oculus

www.youtube.com

새 씬을 만들고 메인 카메라를 지우고 XR Origin을 생성 합니다.

Left / Right Controller 오브젝트를 선택 하고 XR Controller를 제외한 나머지를 제거 합니다.

다음 구조로 만들어 주고

Left Controller Model을 넣어 줍니다.

오른손도 똑같이 해줍니다.

Offset설정을 해줍니다

오브젝트 잡기 만들기

총 프리팹을 가져와서 언팩 하고

Model을 선택해서 애니메이터를 제거 하고

다음 구조로 만들어 주고

Gun을 선택해서 Rigidbody와 XR Grab Interactable컴포넌트를 부착 하고 다음과 같이 설정 한다

Left / Right Controller 를 선택하고

XR Direct Interactor 컴포넌트를 부착 하고 Manager를 넣어준다

Gun을 선택 하고 Collider를 만들어주고 크기를 조절 한다

Is Trigger를 체크 한다

Left / Right Controller를 선택하고 Sphere Collider를 추가 한다 Radius의 값은 0.1로 설정 한다

Gun을 선택하고 XR Grab Interactable의 Colliders에 Collider를 넣어준다

Gun의 위치를 설정 하고

그랩이 잘 되는지 확인 한다
손의 Offset위치에 따라 잡는 위치가 달라지니 적당히 조절 한다

커스텀 핸드 포즈 만들기

Gun을 선택 하고
빈오브젝트를 만들고 (Hand Pose)
그 자식으로 핸드 프리팹을 넣어준다

Animator와 Hand컴포넌트는 제거 한다

쉽지 않겠지만 손의 포즈를 잡아 준다

스크립트 작성

HandData스크립트를 생성하고 다음과 같이 작성한다

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEditor;
using UnityEngine;
using UnityEngine.XR.Hands;

public class HandData : MonoBehaviour
{
    public enum HandType
    {
        Left, Right
    }

    public HandType handType;
    public Transform root;
    public Animator anim;
    public Transform[] bones;

}

핸드 프리팹에 부착 한다

프로퍼티에 오브젝트를 넣어주고

자물쇠로 잠그고

다음 오브젝트들을 선택하고

Bones에 넣어준다

HandPose 스크립트를 생성하고 다음과 같이 작성한다

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.XR.Interaction.Toolkit;

public class HandPose : MonoBehaviour
{
    public HandData leftHandData;
    void Start()
    {
        XRGrabInteractable grabInteractable = GetComponent<XRGrabInteractable>();
        
        grabInteractable.selectEntered.AddListener(this.SetupPose);
        
        //leftHandData.gameObject.SetActive(false);
    }

    private void SetupPose(SelectEnterEventArgs arg0)
    {
        Debug.LogFormat("SetupPose: <color=yellow>{0}</color>", arg0.interactorObject.transform.name);
        HandData handData = arg0.interactorObject.transform.GetComponentInChildren<HandData>();
        handData.anim.enabled = false;
        handData.gameObject.SetActive(false);
    }
}

Gun을 선택하고 HandPose 를 부착 한다

Hand Data에는 다음 오브젝트를 넣어준다

실행후 왼손으로 테스트 해본다

핸드의 값 적용하기

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.XR.Interaction.Toolkit;

public class HandPose : MonoBehaviour
{
    public HandData leftHandData;

    private Vector3 startingHandPosition;
    private Vector3 finalHandPosition;
    private Quaternion startingHandRotation;
    private Quaternion finalHandRotation;
    private Quaternion[] startingFingerRotaions;
    private Quaternion[] finalFingerRotations;
    
    void Start()
    {
        XRGrabInteractable grabInteractable = GetComponent<XRGrabInteractable>();
        
        grabInteractable.selectEntered.AddListener(this.SetupPose);
        
        //leftHandData.gameObject.SetActive(false);
    }

    private void SetupPose(SelectEnterEventArgs arg0)
    {
        Debug.LogFormat("SetupPose");
        
        if (arg0.interactorObject is XRDirectInteractor)
        {
            Debug.LogFormat("SetupPose: <color=yellow>{0}</color>", arg0.interactorObject.transform.name);
            HandData handData = arg0.interactorObject.transform.GetComponentInChildren<HandData>();
            handData.anim.enabled = false;
            //handData.gameObject.SetActive(false);
        
            SetHandDataValues(handData, leftHandData);
            SetHandData(handData, finalHandPosition, finalHandRotation, finalFingerRotations);
        }
        
    }

    public void SetHandDataValues(HandData h1, HandData h2)
    {
        startingHandPosition = h1.root.localPosition;
        finalHandPosition = h2.root.localPosition;

        startingHandRotation = h1.root.localRotation;
        finalHandRotation = h2.root.rotation;

        startingFingerRotaions = new Quaternion[h1.bones.Length];
        finalFingerRotations = new Quaternion[h2.bones.Length];

        for (int i = 0; i < h1.bones.Length; i++)
        {
            startingFingerRotaions[i] = h1.bones[i].localRotation;
            finalFingerRotations[i] = h2.bones[i].localRotation;
        }
    }

    public void SetHandData(HandData handData, Vector3 newPosition, Quaternion newRotation, Quaternion[] newBonesRotation)
    {
        handData.root.localPosition = newPosition;
        handData.root.localRotation = newRotation;
        for (int i = 0; i < newBonesRotation.Length; i++)
        {
            handData.bones[i].localRotation = newBonesRotation[i];
        }
    }
}

다음 코드로 수정 한다

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.XR.Interaction.Toolkit;

public class HandPose : MonoBehaviour
{
    public HandData leftHandData;

    private Vector3 initialHandPosition = Vector3.zero;
    private Vector3 targetHandPosition = Vector3.zero;
    private Quaternion initialHandRotation = Quaternion.identity;
    private Quaternion targetHandRotation = Quaternion.identity;
    private Quaternion[] initialFingerRotations;
    private Quaternion[] targetFingerRotations;

    private void Start()
    {
        XRGrabInteractable grabInteractable = GetComponent<XRGrabInteractable>();

        grabInteractable.selectEntered.AddListener(SetupPose);
        grabInteractable.selectExited.AddListener(UnSetPose);

        // leftHandData.gameObject.SetActive(false);
    }
    
    private void UnSetPose(SelectExitEventArgs arg0)
    {
        if (arg0.interactorObject is XRDirectInteractor)
        {
            Debug.LogFormat("<color=lime>[UnSetPose]</color> : {0}", arg0.interactorObject.transform.name);
            HandData handData = arg0.interactorObject.transform.GetComponentInChildren<HandData>();
            EnableHandDataAnimation(handData);
            SetHandData(handData, initialHandPosition, initialHandRotation, initialFingerRotations);
        }
    }

    private void SetupPose(SelectEnterEventArgs arg0)
    {
        if (arg0.interactorObject is XRDirectInteractor)
        {
            Debug.LogFormat("<color=yellow>[SetupPose]</color> : {0}", arg0.interactorObject.transform.name);
            HandData handData = arg0.interactorObject.transform.GetComponentInChildren<HandData>();
            DisableHandDataAnimation(handData);
            SetHandDataValues(handData, leftHandData);
            SetHandData(handData, targetHandPosition, targetHandRotation, targetFingerRotations);
        }
    }

    private Vector3 CorrectScale(Vector3 position, Vector3 scale)
    {
        return new Vector3(position.x / scale.x, position.y / scale.y, position.z / scale.z);
    }

    private void EnableHandDataAnimation(HandData handData)
    {
        handData.anim.enabled = true;
    }

    private void DisableHandDataAnimation(HandData handData)
    {
        handData.anim.enabled = false;
    }

    private void SetHandDataValues(HandData h1, HandData h2)
    {
        initialHandPosition = CorrectScale(h1.root.localPosition, h1.root.localScale);
        targetHandPosition = CorrectScale(h2.root.localPosition, h2.root.localScale);

        initialHandRotation = h1.root.localRotation;
        targetHandRotation = h2.root.rotation;

        initialFingerRotations = new Quaternion[h1.bones.Length];
        targetFingerRotations = new Quaternion[h2.bones.Length];

        for (int i = 0; i < h1.bones.Length; i++)
        {
            initialFingerRotations[i] = h1.bones[i].localRotation;
            targetFingerRotations[i] = h2.bones[i].localRotation;
        }
    }

    private void SetHandData(HandData handData, Vector3 newPosition, Quaternion newRotation, Quaternion[] newBonesRotation)
    {
        handData.root.localPosition = newPosition;
        handData.root.localRotation = newRotation;

        for (int i = 0; i < newBonesRotation.Length; i++)
        {
            handData.bones[i].localRotation = newBonesRotation[i];
        }
    }
}

손목 위치가 안맞는다

Offset을 변경해서 마춰준다

오른손도 해줍니다

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Serialization;
using UnityEngine.XR.Interaction.Toolkit;

public class HandPose : MonoBehaviour
{
    public HandData handDataRef;
    public XRGrabInteractable grabInteractable;
    
    private Vector3 startingHandPosition;
    private Vector3 finalHandPosition;
    private Quaternion startingHandRotation;
    private Quaternion finalHandRotation;
    private Quaternion[] startingFingerRotaions;
    private Quaternion[] finalFingerRotations;

    void Start()
    {
        grabInteractable.selectEntered.AddListener(this.SetupPose);
        grabInteractable.selectExited.AddListener(this.UnSetPose);
    }

    private void UnSetPose(SelectExitEventArgs arg0)
    {
        if (arg0.interactorObject is XRDirectInteractor)
        {
            Debug.LogFormat("UnSetPose: <color=yellow>{0}</color>", arg0.interactorObject.transform.name);
            HandData handData = arg0.interactorObject.transform.GetComponentInChildren<HandData>();
            handData.anim.enabled = true;
            //handData.gameObject.SetActive(false);

            //SetHandDataValues(handData, leftHandData);
            SetHandData(handData, startingHandPosition, startingHandRotation, startingFingerRotaions);
            
            handData.gameObject.transform.localPosition = Vector3.zero;
            handData.gameObject.transform.localRotation = Quaternion.identity;
        }
    }

    private void SetupPose(SelectEnterEventArgs arg0)
    {
        if (arg0.interactorObject is XRDirectInteractor)
        {
            
            Debug.LogFormat("SetupPose: <color=yellow>{0}</color>", arg0.interactorObject.transform.name);
            HandData handData = arg0.interactorObject.transform.GetComponentInChildren<HandData>();
            handData.anim.enabled = false;
            

            //handData.gameObject.SetActive(false);

            SetHandDataValues(handData, handDataRef);
            SetHandData(handData, finalHandPosition, finalHandRotation, finalFingerRotations);
            
            handData.gameObject.transform.localPosition = Vector3.zero;
            handData.gameObject.transform.localRotation = Quaternion.identity;

            
        }
    }

    public void SetHandDataValues(HandData h1, HandData h2)
    {
        // startingHandPosition = h1.root.localPosition;
        // finalHandPosition = h2.root.localPosition;

        startingHandPosition = new Vector3(h1.root.localPosition.x / h1.root.localScale.x,
            h1.root.localPosition.y / h1.root.localScale.y, h1.root.localPosition.z / h1.root.localScale.z);
        finalHandPosition = new Vector3(h2.root.localPosition.x / h2.root.localScale.x,
            h2.root.localPosition.y / h2.root.localScale.y, h2.root.localPosition.z / h2.root.localScale.z);

        startingHandRotation = h1.root.localRotation;
        finalHandRotation = h2.root.rotation;

        startingFingerRotaions = new Quaternion[h1.bones.Length];
        finalFingerRotations = new Quaternion[h2.bones.Length];

        for (int i = 0; i < h1.bones.Length; i++)
        {
            startingFingerRotaions[i] = h1.bones[i].localRotation;
            finalFingerRotations[i] = h2.bones[i].localRotation;
        }
    }

    public void SetHandData(HandData handData, Vector3 newPosition, Quaternion newRotation,
        Quaternion[] newBonesRotation)
    {
        handData.root.localPosition = newPosition;
        handData.root.localRotation = newRotation;
        for (int i = 0; i < newBonesRotation.Length; i++)
        {
            handData.bones[i].localRotation = newBonesRotation[i];
        }
    }
}

Offset의 위치를 잘 맞춰주면 댄다

using System.Collections.Generic;
using UnityEngine;
using UnityEngine.XR;

public class Hand : MonoBehaviour
{
    public InputDeviceCharacteristics inputDeviceCharacteristics;

    private InputDevice _targetDevice;
    [SerializeField] private Animator _handAnimator;

    private void Start()
    {
        InitializeHand();
    }

    private void InitializeHand()
    {
        List<InputDevice> devices = new List<InputDevice>();
        InputDevices.GetDevicesWithCharacteristics(inputDeviceCharacteristics, devices);

        if (devices.Count > 0)
        {
            _targetDevice = devices[0];
        }
    }

    private void Update()
    {
        if (!_targetDevice.isValid)
        {
            InitializeHand();
        }
        else
        {
            UpdateHand();
        }
    }

    private void UpdateHand()
    {
        SetAnimatorParameterValue(CommonUsages.grip, "Grip");
        SetAnimatorParameterValue(CommonUsages.trigger, "Trigger");
    }

    private void SetAnimatorParameterValue(InputFeatureUsage<float> feature, string parameterName)
    {
        if (_targetDevice.TryGetFeatureValue(feature, out float value))
        {
            _handAnimator.SetFloat(parameterName, value);
        }
        else
        {
            _handAnimator.SetFloat(parameterName, 0);
        }
    }
}

using System;
using System.Collections;
using System.Collections.Generic;
using UnityEditor;
using UnityEngine;
using UnityEngine.XR.Hands;

public class HandData : MonoBehaviour
{
    public enum HandType
    {
        Left, Right
    }

    public HandType handType;
    public Transform root;
    public Animator anim;
    public Transform[] bones;

}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Serialization;
using UnityEngine.XR.Interaction.Toolkit;

public class HandPose : MonoBehaviour
{
    public HandData handDataRef;
    public XRGrabInteractable grabInteractable;
    
    private Vector3 startingHandPosition;
    private Vector3 finalHandPosition;
    private Quaternion startingHandRotation;
    private Quaternion finalHandRotation;
    private Quaternion[] startingFingerRotaions;
    private Quaternion[] finalFingerRotations;

    void Start()
    {
        grabInteractable.selectEntered.AddListener(this.SetupPose);
        grabInteractable.selectExited.AddListener(this.UnSetPose);
    }

    private void UnSetPose(SelectExitEventArgs arg0)
    {
        if (arg0.interactorObject is XRDirectInteractor)
        {
            Debug.LogFormat("UnSetPose: <color=yellow>{0}</color>", arg0.interactorObject.transform.name);
            HandData handData = arg0.interactorObject.transform.GetComponentInChildren<HandData>();
            handData.anim.enabled = true;
            //handData.gameObject.SetActive(false);

            //SetHandDataValues(handData, leftHandData);
            SetHandData(handData, startingHandPosition, startingHandRotation, startingFingerRotaions);
            
            handData.gameObject.transform.localPosition = Vector3.zero;
            handData.gameObject.transform.localRotation = Quaternion.identity;
        }
    }

    private void SetupPose(SelectEnterEventArgs arg0)
    {
        if (arg0.interactorObject is XRDirectInteractor)
        {
            
            Debug.LogFormat("SetupPose: <color=yellow>{0}</color>", arg0.interactorObject.transform.name);
            HandData handData = arg0.interactorObject.transform.GetComponentInChildren<HandData>();
            handData.anim.enabled = false;
            

            //handData.gameObject.SetActive(false);

            SetHandDataValues(handData, handDataRef);
            SetHandData(handData, finalHandPosition, finalHandRotation, finalFingerRotations);
            
            handData.gameObject.transform.localPosition = Vector3.zero;
            handData.gameObject.transform.localRotation = Quaternion.identity;

            
        }
    }

    public void SetHandDataValues(HandData h1, HandData h2)
    {
        // startingHandPosition = h1.root.localPosition;
        // finalHandPosition = h2.root.localPosition;

        startingHandPosition = new Vector3(h1.root.localPosition.x / h1.root.localScale.x,
            h1.root.localPosition.y / h1.root.localScale.y, h1.root.localPosition.z / h1.root.localScale.z);
        finalHandPosition = new Vector3(h2.root.localPosition.x / h2.root.localScale.x,
            h2.root.localPosition.y / h2.root.localScale.y, h2.root.localPosition.z / h2.root.localScale.z);

        startingHandRotation = h1.root.localRotation;
        finalHandRotation = h2.root.rotation;

        startingFingerRotaions = new Quaternion[h1.bones.Length];
        finalFingerRotations = new Quaternion[h2.bones.Length];

        for (int i = 0; i < h1.bones.Length; i++)
        {
            startingFingerRotaions[i] = h1.bones[i].localRotation;
            finalFingerRotations[i] = h2.bones[i].localRotation;
        }
    }

    public void SetHandData(HandData handData, Vector3 newPosition, Quaternion newRotation,
        Quaternion[] newBonesRotation)
    {
        handData.root.localPosition = newPosition;
        handData.root.localRotation = newRotation;
        for (int i = 0; i < newBonesRotation.Length; i++)
        {
            handData.bones[i].localRotation = newBonesRotation[i];
        }
    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
//This will allow us to get InputDevice
using UnityEngine.XR;

public class InputReader : MonoBehaviour
{
//Creating a List of Input Devices to store our Input Devices in
    List<InputDevice> inputDevices = new List<InputDevice>();

// Start is called before the first frame update
    void Start()
    {
//We will try to Initialize the InputReader here, but all components may not be loaded
        InitializeInputReader();
    }

//This will try to initialize the InputReader by getting all the devices and printing them to the debugger.
    void InitializeInputReader()
    {
        InputDevices.GetDevices(inputDevices);

        foreach (var inputDevice in inputDevices)
        {
            Debug.Log(inputDevice.name + " " + inputDevice.characteristics);
        }
    }

// Update is called once per frame
    void Update()
    {
//We should have a total of 3 Input Devices. If it’s less, then we try to initialize them again.
        if (inputDevices.Count < 2)
        {
            InitializeInputReader();
        }
    }
}

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