mixedreality/com.microsoft.mixedreality.toolkit.foundation/Core/Providers/Hands/HandJointService.cs

// Copyright (c) Microsoft Corporation.
// Licensed under the MIT License.

using Microsoft.MixedReality.Toolkit.Utilities;
using System.Collections.Generic;
using UnityEngine;

namespace Microsoft.MixedReality.Toolkit.Input
{
    [MixedRealityDataProvider(
        typeof(IMixedRealityInputSystem),
        (SupportedPlatforms)(-1), // All platforms supported by Unity
        "Hand Joint Service")]
    [HelpURL("https://docs.microsoft.com/windows/mixed-reality/mrtk-unity/features/input/hand-tracking")]
    public class HandJointService : BaseInputDeviceManager, IMixedRealityHandJointService
    {
        private IMixedRealityHand leftHand;
        private IMixedRealityHand rightHand;

        private Dictionary<TrackedHandJoint, Transform> leftHandFauxJoints = new Dictionary<TrackedHandJoint, Transform>();
        private Dictionary<TrackedHandJoint, Transform> rightHandFauxJoints = new Dictionary<TrackedHandJoint, Transform>();

        #region BaseInputDeviceManager Implementation

        /// <summary>
        /// Constructor.
        /// </summary>
        /// <param name="registrar">The <see cref="IMixedRealityServiceRegistrar"/> instance that loaded the data provider.</param>
        /// <param name="inputSystem">The <see cref="Microsoft.MixedReality.Toolkit.Input.IMixedRealityInputSystem"/> instance that receives data from this provider.</param>
        /// <param name="name">Friendly name of the service.</param>
        /// <param name="priority">Service priority. Used to determine order of instantiation.</param>
        /// <param name="profile">The service's configuration profile.</param>
        [System.Obsolete("This constructor is obsolete (registrar parameter is no longer required) and will be removed in a future version of the Microsoft Mixed Reality Toolkit.")]
        public HandJointService(
            IMixedRealityServiceRegistrar registrar,
            IMixedRealityInputSystem inputSystem,
            string name,
            uint priority,
            BaseMixedRealityProfile profile) : this(inputSystem, name, priority, profile)
        {
            Registrar = registrar;
        }

        /// <summary>
        /// Constructor.
        /// </summary>
        /// <param name="inputSystem">The <see cref="Microsoft.MixedReality.Toolkit.Input.IMixedRealityInputSystem"/> instance that receives data from this provider.</param>
        /// <param name="name">Friendly name of the service.</param>
        /// <param name="priority">Service priority. Used to determine order of instantiation.</param>
        /// <param name="profile">The service's configuration profile.</param>
        public HandJointService(
            IMixedRealityInputSystem inputSystem,
            string name,
            uint priority,
            BaseMixedRealityProfile profile) : base(inputSystem, name, priority, profile) { }

        /// <inheritdoc />
        public override void LateUpdate()
        {
            base.LateUpdate();

            leftHand = null;
            rightHand = null;

            foreach (var detectedController in Service.DetectedControllers)
            {
                if (detectedController is IMixedRealityHand hand)
                {
                    if (detectedController.ControllerHandedness == Handedness.Left)
                    {
                        if (leftHand == null)
                        {
                            leftHand = hand;
                        }
                    }
                    else if (detectedController.ControllerHandedness == Handedness.Right)
                    {
                        if (rightHand == null)
                        {
                            rightHand = hand;
                        }
                    }
                }
            }

            if (leftHand != null)
            {
                foreach (var fauxJoint in leftHandFauxJoints)
                {
                    if (leftHand.TryGetJoint(fauxJoint.Key, out MixedRealityPose pose))
                    {
                        fauxJoint.Value.SetPositionAndRotation(pose.Position, pose.Rotation);
                    }
                }
            }

            if (rightHand != null)
            {
                foreach (var fauxJoint in rightHandFauxJoints)
                {
                    if (rightHand.TryGetJoint(fauxJoint.Key, out MixedRealityPose pose))
                    {
                        fauxJoint.Value.SetPositionAndRotation(pose.Position, pose.Rotation);
                    }
                }
            }
        }

        /// <inheritdoc />
        public override void Disable()
        {
            base.Disable();

            // Check existence of fauxJoints before destroying. This avoids a (harmless) race
            // condition when the service is getting destroyed at the same time that the gameObjects
            // are being destroyed at shutdown.
            if (leftHandFauxJoints != null)
            {
                foreach (var fauxJoint in leftHandFauxJoints.Values)
                {
                    if (fauxJoint != null)
                    {
                        Object.Destroy(fauxJoint.gameObject);
                    }
                }
                leftHandFauxJoints.Clear();
            }

            if (rightHandFauxJoints != null)
            {
                foreach (var fauxJoint in rightHandFauxJoints.Values)
                {
                    if (fauxJoint != null)
                    {
                        Object.Destroy(fauxJoint.gameObject);
                    }
                }
                rightHandFauxJoints.Clear();
            }
        }

        #endregion BaseInputDeviceManager Implementation

        #region IMixedRealityHandJointService Implementation

        public Transform RequestJointTransform(TrackedHandJoint joint, Handedness handedness)
        {
            IMixedRealityHand hand = null;
            Dictionary<TrackedHandJoint, Transform> fauxJoints = null;
            if (handedness == Handedness.Left)
            {
                hand = leftHand;
                fauxJoints = leftHandFauxJoints;
            }
            else if (handedness == Handedness.Right)
            {
                hand = rightHand;
                fauxJoints = rightHandFauxJoints;
            }
            else
            {
                return null;
            }

            Transform jointTransform = null;
            if (fauxJoints != null && !fauxJoints.TryGetValue(joint, out jointTransform))
            {
                jointTransform = new GameObject().transform;
                // Since this service survives scene loading and unloading, the fauxJoints it manages need to as well.
                Object.DontDestroyOnLoad(jointTransform.gameObject);
                jointTransform.name = string.Format("Joint Tracker: {1} {0}", joint, handedness);

                if (hand != null && hand.TryGetJoint(joint, out MixedRealityPose pose))
                {
                    jointTransform.SetPositionAndRotation(pose.Position, pose.Rotation);
                }

                fauxJoints.Add(joint, jointTransform);
            }

            return jointTransform;
        }

        public bool IsHandTracked(Handedness handedness)
        {
            return handedness == Handedness.Left ? leftHand != null : handedness == Handedness.Right && rightHand != null;
        }

        #endregion IMixedRealityHandJointService Implementation
    }
}