AppExperiments

/******************************************************************************
 * Copyright (C) Ultraleap, Inc. 2011-2020.                                   *
 * Ultraleap proprietary and confidential.                                    *
 *                                                                            *
 * Use subject to the terms of the Leap Motion SDK Agreement available at     *
 * https://developer.leapmotion.com/sdk_agreement, or another agreement       *
 * between Ultraleap and you, your company or other organization.             *
 ******************************************************************************/

using UnityEngine;
using System.Collections.Generic;

namespace Leap.Unity.Interaction {

  /// <summary>
  /// Contact Bones store data for the colliders and rigidbodies in each
  /// bone of the contact-related representation of an InteractionController.
  /// They also notify the InteractionController of collisions for further
  /// processing.
  /// 
  /// To correctly initialize a newly-constructed ContactBone, you must
  /// set its interactionController, body, and collider.
  /// </summary>
  [AddComponentMenu("")]
  public class ContactBone : MonoBehaviour {

    /// <summary>
    /// ContactBones minimally require references to their InteractionControllerBase,
    /// their Rigidbody, and strictly one (1) collider.
    /// </summary>
    public InteractionController interactionController;

    /// <summary>
    /// The Rigidbody of this ContactBone. This field must not be null for the ContactBone
    /// to work correctly.
    /// </summary>
    public
    #if UNITY_EDITOR
    new
    #endif
    Rigidbody rigidbody;

    /// <summary>
    /// The Collider of this ContactBone. This field must not be null for the ContactBone
    /// to work correctly.
    /// </summary>
    #if UNITY_EDITOR
    new
    #endif
    public Collider collider;

    /// <summary>
    /// Soft contact logic requires knowing the "width" of a ContactBone along its axis.
    /// </summary>
    public float width {
      get {
        Vector3 scale = collider.transform.lossyScale;
        if (collider is SphereCollider) {
          SphereCollider sphere = collider as SphereCollider;
          return Mathf.Min(sphere.radius * scale.x,
                 Mathf.Min(sphere.radius * scale.y,
                           sphere.radius * scale.z)) * 2F;
        }
        else if (collider is CapsuleCollider) {
          CapsuleCollider capsule = collider as CapsuleCollider;
          return Mathf.Min(capsule.radius * scale.x,
                 Mathf.Min(capsule.radius * scale.y,
                           capsule.radius * scale.z)) * 1F;
        }
        else if (collider is BoxCollider) {
          BoxCollider box = collider as BoxCollider;
          return Mathf.Min(box.size.x * scale.x,
                 Mathf.Min(box.size.y * scale.y,
                           box.size.z * scale.z));
        }
        else {
          return Mathf.Min(collider.bounds.size.x * scale.x,
                 Mathf.Min(collider.bounds.size.y * scale.y,
                           collider.bounds.size.z * scale.z));
        }
      }
    }

    /// <summary>
    /// InteractionHands use ContactBones to store additional, hand-specific data.
    /// Other InteractionControllerBase implementors need not set this field.
    /// </summary>
    public InteractionHand interactionHand;

    /// <summary>
    /// InteractionHands use ContactBones to store additional, hand-specific data.
    /// Other InteractionControllerBase implementors need not set this field.
    /// </summary>
    public FixedJoint joint;

    /// <summary>
    /// InteractionHands use ContactBones to store additional, hand-specific data.
    /// Other InteractionControllerBase implementors need not set this field.
    /// </summary>
    public FixedJoint metacarpalJoint;

    /// <summary>
    /// ContactBones remember their last target position; interaction controllers
    /// use this to know when to switch to soft contact mode.
    /// </summary>
    public Vector3 lastTargetPosition;

    public float _lastObjectTouchedAdjustedMass;

    Dictionary<IInteractionBehaviour, float> contactingInteractionBehaviours = new Dictionary<IInteractionBehaviour, float>();

    void Start() {
      interactionController.manager.contactBoneBodies[rigidbody] = this;
    }

    void OnDestroy() {
      interactionController.manager.contactBoneBodies.Remove(rigidbody);
    }

    void OnCollisionEnter(Collision collision) {
      #if UNITY_EDITOR
      bool hitNonInteractionObject = false;
      #endif

      if (collision.rigidbody == null) {
        #if UNITY_EDITOR
        hitNonInteractionObject = true;
        #endif
      }
      else {
        IInteractionBehaviour interactionObj;
        if (interactionController.manager.interactionObjectBodies.TryGetValue(collision.rigidbody, out interactionObj)) {
          _lastObjectTouchedAdjustedMass = collision.rigidbody.mass;
          if (interactionObj is InteractionBehaviour) {
            switch ((interactionObj as InteractionBehaviour).contactForceMode) {
              case ContactForceMode.UI:
                _lastObjectTouchedAdjustedMass *= 2F;
                break;
              case ContactForceMode.Object:
              default:
                if (interactionHand != null) {
                  _lastObjectTouchedAdjustedMass *= 0.2F;
                }
                else {
                  _lastObjectTouchedAdjustedMass *= 3F;
                }
                break;
            }
          }

          if (collision.impulse.magnitude > 0f) {
            if (!contactingInteractionBehaviours.ContainsKey(interactionObj)) {
              interactionController.NotifyContactBoneCollisionEnter(this, interactionObj);
              contactingInteractionBehaviours.Add(interactionObj, Time.fixedTime);
            }
          }
        }
        else {
          #if UNITY_EDITOR
          hitNonInteractionObject = true;
          #endif
        }
      }

      #if UNITY_EDITOR
      if (hitNonInteractionObject) {
        // If we hit something that isn't an Interaction Behaviour, there's probably an issue.
        Debug.LogError("Contact bone collided with something that's not an Interaction"
                     + "Behaviour! This is liable to cause contact bones to build unstable "
                     + "velocities and produce bad behavior. Please check your layer "
                     + "settings in the Interaction Manager, and avoid placing any non-"
                     + "Interaction objects in layers that contain Interaction objects.",
                     this);
      }
      #endif
    }

    private void OnCollisionStay(Collision collision) {
      if (collision.rigidbody == null) { return; }

      IInteractionBehaviour interactionObj;
      float timeEntered = 0;
      if (interactionController.manager.interactionObjectBodies.TryGetValue(collision.rigidbody, out interactionObj)) {
        if (collision.impulse.magnitude > 0f && !contactingInteractionBehaviours.ContainsKey(interactionObj)) {
          interactionController.NotifyContactBoneCollisionEnter(this, interactionObj);
          contactingInteractionBehaviours.Add(interactionObj, Time.fixedTime);
        } else if (contactingInteractionBehaviours.TryGetValue(interactionObj, out timeEntered) && Time.fixedTime - timeEntered > Time.fixedDeltaTime * 10f) {
          interactionController.NotifyContactBoneCollisionExit(this, interactionObj);
          contactingInteractionBehaviours.Remove(interactionObj);
        }
      }
    }

    void OnCollisionExit(Collision collision) {
      if (collision.rigidbody == null) { return; }

      IInteractionBehaviour interactionObj;
      if (interactionController.manager.interactionObjectBodies.TryGetValue(collision.rigidbody, out interactionObj)) {
        if (contactingInteractionBehaviours.ContainsKey(interactionObj)) {
          interactionController.NotifyContactBoneCollisionExit(this, interactionObj);
          contactingInteractionBehaviours.Remove(interactionObj);
        }
      }
    }

    void OnTriggerEnter(Collider collider) {
      if (collider.attachedRigidbody == null) { return; }

      IInteractionBehaviour interactionObj;
      if (interactionController.manager.interactionObjectBodies.TryGetValue(collider.attachedRigidbody, out interactionObj)) {
        interactionController.NotifyContactBoneCollisionEnter(this, interactionObj);

        interactionController.NotifySoftContactCollisionEnter(this, interactionObj, collider);
      }
    }

    void OnTriggerExit(Collider collider) {
      if (collider.attachedRigidbody == null) { return; }

      IInteractionBehaviour interactionObj;
      if (interactionController.manager.interactionObjectBodies.TryGetValue(collider.attachedRigidbody, out interactionObj)) {
        interactionController.NotifyContactBoneCollisionExit(this, interactionObj);

        interactionController.NotifySoftContactCollisionExit(this, interactionObj, collider);
      }
    }

  }

}