Description

Humanoid Control options for hand-related things

Sensors

See the list of supported devices to get information on the hand target of each device.

Sub Targets

Thumb and Finger Curl

The current curl value of the thumb and/or fingers is found here. It is possible to control the curl value of a finger of thumb directly using the slider during play if it is not directly controlled by input or hand poses. If it is controlled by input, the current curl value can be seen here.

Configuration

Bones

For Mecanim compatible avatars, the correct bones are detected automatically. For other avatars, the correct bone Transforms can be assigned manually using the Bone parameters. It is also possible to override the default bones from Mecanim with your own choice by manual assignment of the bone. To return to the default bone, it is sufficient to clear the applicable Bone parameter. For the thumb and finger bones, only the first, proximal bone is needed, other child bones will be detected automatically.

Limits

For the arm bones, it is possible to configure the limits of movement. The maximum angle can be set when Joint Limitations is enabled.

Hand Pose

Shows the currently detected hand pose. More information on hand poses can be found here.

Settings

Show Real Objects
Rotation Speed Limitation
Touch Interaction
Physics
Strength

Events

Pose Event
Touch Event
Grab Event

Buttons

Add Interaction Pointer: Adds a interaction pointer to the hand target. For more information about interaction see Interaction, Event System and UI.
Add Teleporter: Adds a preconfigured interaction pointer to the hand target which can teleport the avatar by pointing to new positions.

Inheritance diagram for Passer.Humanoid.HandTarget:

Public Types
enum	GrabType { HandGrab , Pinch }

enum	PoseMethod { Position , Rotation }

enum	GrabbingTechnique { TouchGrabbing , NearGrabbing , NoGrabbing }
	Grabbing techniques. More...

Public Member Functions
virtual void	StartInteraction ()

virtual HandSocket	CreateGrabSocket ()

Socket	CreatePinchSocket ()

void	OnNearing (GameObject obj)

virtual void	OnTouchStart (GameObject obj, Vector3 contactPoint)

virtual void	OnTouchEnd (GameObject obj)

void	GrabTouchedObject ()
	Try to grab the object we touch.

void	NearGrabCheck ()
	Check the hand for grabbing near objects.

void	GrabNearObject ()
	Try to grab an object near to the hand.

void	GrabCheck (GameObject obj)
	Try to take the object.

virtual bool	CanBeGrabbed (GameObject obj)

virtual void	Grab (GameObject obj, bool rangeCheck=true)
	Grab and object with the hand (non-networked)

void	GrabHandle (Handle handle, bool rangeCheck=false)

virtual void	LetGo ()

void	GrabOrLetGo (GameObject obj, bool rangeCheck=true)

override Transform	GetDefaultTarget (HumanoidControl humanoid)

Bone	GetBoneId (bool isLeft, ArmBones armBone)

TargetedBone	GetTargetBone (ArmBones boneID)

void	RetrieveBones ()

void	SetPose1 (Pose pose)

void	SetPose (Pose pose, float weight)

bool	TouchedStaticObject ()

bool	GrabbedStaticObject ()

Vector3	HandBoneRightAxis ()

Vector3	HandBoneOutwardAxis ()

void	InitTarget ()

override void	InitAvatar ()

override void	NewComponent (HumanoidControl _humanoid)

override void	InitComponent ()

override void	StartTarget ()

override void	MatchTargetsToAvatar ()

void	CopyBoneToTarget (ArmBones armBone, TargetedBone bone)

override void	InitializeTrackingConfidence ()

override void	UpdateTarget ()

void	SetTargets ()

override void	UpdateMovements (HumanoidControl humanoid)

override void	CopyTargetToRig ()

override void	CopyRigToTarget ()

void	UpdateSensorsFromTarget ()

float	GetFingerCurl (Finger fingerID)

float	GetFingerCurl (FingersTarget.TargetedFinger finger)

void	AddFingerCurl (Finger fingerID, float curlValue)

void	SetFingerCurl (Finger fingerID, float curlValue)

void	SetFingerGroupCurl (FingersTarget.FingerGroup fingerGroupID, float curlValue)

void	DetermineFingerCurl (Finger fingerID)

float	HandCurl ()

void	Vibrate (float strength)

void	OnDrawGizmos ()

void	OnDrawGizmosSelected ()

virtual void	DrawTensions ()

void	InitSensors ()

virtual void	StartSensors ()

virtual void	StopSensors ()

Static Public Member Functions
static HandTarget	CreateTarget (HandTarget oldTarget)

static HandTarget	SetTarget (HumanoidControl humanoid, Transform targetTransform, bool isLeft)

static void	ClearBones (HandTarget handTarget)

static void	TmpDisableCollisions (HandTarget handTarget, float duration)

static bool	IsInitialized (HumanoidControl humanoid)

static void	DetermineTarget (HumanoidControl humanoid, bool isLeft)
	Checks whether the humanoid has an HandTarget and adds one if none has been found.

static Vector	ToVector (Vector3 vector3)

static Vector3	ToVector3 (Vector position)

static Rotation	ToRotation (Quaternion quaternion)

static Quaternion	ToQuaternion (Rotation orientation)

static void	SetRotation (Transform transform, Rotation orientation)

static void	DrawTarget (Confidence confidence, Transform target, Vector3 direction, float length)

static void	DrawTargetBone (TargetedBone bone, Vector3 direction)

static void	DrawTargetBone (TargetTransform target, Vector3 direction)

static void	DrawAvatarBone (TargetedBone bone, Vector3 direction)

static void	DrawAvatarBone (BoneTransform bone, Vector3 direction)

static void	GetDefaultBone (Animator rig, ref Transform boneTransform, Bone boneId, params string[] boneNames)

static void	GetDefaultBone (Animator rig, ref Transform boneTransform, HumanBodyBones boneID, params string[] boneNames)

static void	GetDefaultBone (Animator rig, ref Transform boneTransform, params string[] boneNames)

static void	GetDefaultTargetBone (Animator rig, ref Transform boneTransform, Bone boneID, params string[] boneNames)

static List< Collider >	SetColliderToTrigger (GameObject obj)

static List< Collider >	SetColliderToTrigger (Rigidbody rb)

static void	UnsetColliderToTrigger (List< Collider > colliders)

static void	UnsetColliderToTrigger (List< Collider > colliders, Collider collider)

Public Attributes
bool	isLeft
	Is this the left hand?

Side	side
	Left or right hand side hand.

Vector3	outward
	Vector pointing toward the outward direction of the hand. In general this is the index finger pointing direction.

Vector3	up
	Vector3 pointing toward the up direction of the hand. This is the opposite side of the palm of the hand.

FingersTarget	fingers = null

bool	rotationSpeedLimitation = false
	Limits the maximum rotation speed of the joints. This can result in more natural movements with optical tracking solutions.

UnityXRController	unity

ArmAnimator	armAnimator = new ArmAnimator()

UnityXRHand	unityXR = new UnityXRHand()

ViveTrackerArm	viveTracker = new ViveTrackerArm()

WindowsMRHand	mixedReality = new WindowsMRHand()

WaveVRHand	waveVR = new WaveVRHand()

LeapHand	leap = new LeapHand()

Kinect1Arm	kinect1 = new Kinect1Arm()

Kinect2Arm	kinect2 = new Kinect2Arm()

Kinect4Arm	kinect4 = new Kinect4Arm()

AstraArm	astra = new AstraArm()

RazerHydraHand	hydra = new RazerHydraHand()

OptitrackArm	optitrack = new OptitrackArm()

AntilatencyHand	antilatency = new AntilatencyHand()

Hi5Hand	hi5 = new Hi5Hand()

CustomArm	custom = new CustomArm()

Transform	stretchlessTarget

TargetedShoulderBone	shoulder

TargetedUpperArmBone	upperArm

TargetedForearmBone	forearm

TargetedHandBone	hand

PoseMethod	poseMethod

bool	physics = true
	Enables physics for this hand.

AdvancedHandPhysics.PhysicsMode	physicsMode = AdvancedHandPhysics.PhysicsMode.HybridKinematic

float	strength = 100
	The strength of the arm when interacting with physics.

GrabbingTechnique	grabbingTechnique = GrabbingTechnique.TouchGrabbing
	The GrabbingType used to grab objects.

bool	touchInteraction = true
	Enables touch interaction with the envrionment.

Pose	detectedPose

PoseMixer	poseMixer = new PoseMixer()

HandSocket	grabSocket
	The Socket for holding objects with the whole hand.

Socket	pinchSocket
	The Socket for holding objects between the thumb and index finger.

InteractionModule	inputModule

GameObject	touchedObject = null

GameObject	grabbedPrefab

GameObject	grabbedObject

Handle	grabbedHandle = null

Vector3	targetToHandle

bool	grabbedRigidbody

bool	grabbedKinematicRigidbody

List< Collider >	colliders

bool	twoHandedGrab = false

Vector3	targetToSecondaryHandle

IntEventHandlers	poseEvent
	Use to call functions based on the defined poses of the hand.

GameObjectEventHandlers	touchEvent
	Use to call functions based on the hand touching objects.

GameObjectEventHandlers	grabEvent
	Use to call functions based on the hand grabbing objects.

Transform	handPalm

Rigidbody	handRigidbody

AdvancedHandPhysics	handPhysics

HandMovements	handMovements = new HandMovements()

ArmMovements	armMovements = new ArmMovements()

bool	grabbedChanged

bool	directFingerMovements = true

HumanoidControl	humanoid

Static Public Attributes
static float	maxGrabbingMass = 10
	The maximum mass of object you can grab.

const float	maxShoulderAngle = 30

const float	maxUpperArmAngle = 120

const float	maxForearmAngle = 130

const float	maxHandAngle = 100

static readonly Vector3	minLeftShoulderAngles = new Vector3(0, 0, -45)

static readonly Vector3	maxLeftShoulderAngles = new Vector3(0, 45, 0)

static readonly Vector3	minRightShoulderAngles = new Vector3(0, -45, 0)

static readonly Vector3	maxRightShoulderAngles = new Vector3(0, 0, 45)

static readonly Vector3	minLeftUpperArmAngles = new Vector3(-180, -45, -180)

static readonly Vector3	maxLeftUpperArmAngles = new Vector3(60, 130, 45)

static readonly Vector3	minRightUpperArmAngles = new Vector3(-180, -130, -45)

static readonly Vector3	maxRightUpperArmAngles = new Vector3(60, 45, 180)

static readonly Vector3	minLeftForearmAngles = new Vector3(0, 0, 0)

static readonly Vector3	maxLeftForearmAngles = new Vector3(0, 150, 0)

static readonly Vector3	minRightForearmAngles = new Vector3(0, -150, 0)

static readonly Vector3	maxRightForearmAngles = new Vector3(0, 0, 0)

static readonly Vector3	minLeftHandAngles = new Vector3(-180, -50, -70)

static readonly Vector3	maxLeftHandAngles = new Vector3(90, 20, 90)

static readonly Vector3	minRightHandAngles = new Vector3(-90, -20, -70)

static readonly Vector3	maxRightHandAngles = new Vector3(45, 50, 70)

Protected Member Functions
void	MoveToPalm (Transform t)

void	DeterminePalmPosition ()

void	LerpToGrab (GameObject obj)

virtual GameObject	DetermineGrabObject ()

bool	GrabbedWithOtherHand (GameObject obj)

bool	SecondHandGrab (GameObject obj, bool rangeCheck)

virtual bool	GrabHandle (Rigidbody objRigidbody, Handle handle, bool rangeCheck)

virtual bool	GrabRigidbody (Rigidbody objRigidbody, bool rangeCheck=true)

virtual bool	GrabRigidbodyHandle (Rigidbody objRigidbody, Handle handle, bool rangeCheck)

virtual bool	GrabRigidbodyWithoutHandle (Rigidbody objRigidbody)

virtual bool	GrabRigidbodyParenting (Rigidbody objRigidbody)

virtual bool	GrabStaticWithoutHandle (GameObject obj)

virtual void	CheckLetGo ()

virtual bool	PulledLoose ()
	summary>Let go the object the hand is holding (if any)

virtual void	LetGoRigidbodyWithoutHandle ()

virtual void	LetGoStaticWithoutHandle ()

virtual void	LetGoRigidbody (Rigidbody grabbedRigidbody)

virtual void	LetGoHandle (Handle handle)

void	LetGoPinch ()

void	InitSubTargets ()

virtual void	UpdateEvents ()

void	CheckRigidbody ()

void	UpdateUsingTrackedRigidbody (TrackedRigidbody trackedRigidbody)

void	UpdateTwoHanded2 ()

Vector3	Orthagonal (Transform primaryTransform, Transform secondaryTransform)

override void	DrawTargetRig (HumanoidControl humanoid)

override void	DrawAvatarRig (HumanoidControl humanoid)

void	CheckColliders ()

virtual void	GenerateColliders ()

virtual void	DrawTensionGizmo (TargetedBone targetedBone)

virtual void	UpdateSensors ()

Static Protected Member Functions
static void	DebugLog (string s)

Protected Attributes
bool	grabChecking = false

bool	letGoChecking = false

float	letGoCheckStart

ArmSensor[]	sensors

List< SensorComponent >	sensorComponents = new List<SensorComponent>()

List< TrackedRigidbody >	trackedRigidbodies = new List<TrackedRigidbody>()

bool	_showRealObjects = true

Properties
override Passer.Sensor	animator `[get]`

bool	isTrackingHand `[get, protected set]`
	Is this hand currently using hand tracking?

override TargetedBone	main `[get]`

int	detectedPoseIx `[get, protected set]`

HandTarget	otherHand `[get]`

Vector3	localPalmPosition `[get]`

Vector3	palmPosition `[get]`

Quaternion	palmRotation `[get]`

virtual bool	showRealObjects `[get, set]`
	show the target meshes

Member Enumeration Documentation

◆ GrabbingTechnique

enum Passer.Humanoid.HandTarget.GrabbingTechnique

Grabbing techniques.

Enumerator
TouchGrabbing	try to grab the object when you touch it and you close the hand
NearGrabbing	try to grab an object near to your hand when you close the hand
NoGrabbing	do not try to grab objects when you close the hand

Member Function Documentation

◆ NearGrabCheck()

void Passer.Humanoid.HandTarget.NearGrabCheck ( )

Check the hand for grabbing near objects.

This function will grab a near object if the hand is grabbing

◆ GrabCheck()

void Passer.Humanoid.HandTarget.GrabCheck ( GameObject obj )

Try to take the object.

Parameters

obj	The object to take

Depending on the hand pose the object may be grabbed, pinched or not

◆ Grab()

virtual void Passer.Humanoid.HandTarget.Grab	(	GameObject	obj,
		bool	rangeCheck = `true`
	)

virtual

Grab and object with the hand (non-networked)

Parameters

handTarget	The hand to grab with
obj	The gameObject to grab
rangeCheck	check wither the hand is in range of the handle

◆ NewComponent()

override void Passer.Humanoid.HandTarget.NewComponent ( HumanoidControl _humanoid )

virtual

Reimplemented from Passer.Humanoid.HumanoidTarget.

◆ InitComponent()

override void Passer.Humanoid.HandTarget.InitComponent ( )

virtual

Reimplemented from Passer.Target.

◆ DetermineTarget()

static void Passer.Humanoid.HandTarget.DetermineTarget	(	HumanoidControl	humanoid,
		bool	isLeft
	)

static

Checks whether the humanoid has an HandTarget and adds one if none has been found.

Parameters

humanoid	The humanoid to check
isLeft	Is this the left hand?

◆ DrawTargetRig()

override void Passer.Humanoid.HandTarget.DrawTargetRig ( HumanoidControl humanoid )

protectedvirtual

Reimplemented from Passer.Humanoid.HumanoidTarget.

◆ DrawAvatarRig()

override void Passer.Humanoid.HandTarget.DrawAvatarRig ( HumanoidControl humanoid )

protectedvirtual

Reimplemented from Passer.Humanoid.HumanoidTarget.

Member Data Documentation

◆ physics

bool Passer.Humanoid.HandTarget.physics = true

Enables physics for this hand.

See Physics.

◆ touchInteraction

bool Passer.Humanoid.HandTarget.touchInteraction = true

Enables touch interaction with the envrionment.

See Interaction

◆ poseEvent

IntEventHandlers Passer.Humanoid.HandTarget.poseEvent

Initial value:

= new IntEventHandlers() {
            id = 1,
            label = "Pose Event",
            tooltip =
                "Call functions based on recognized poses" +
                "Parameter: the index of the recognized pose",
            eventTypeLabels = new string[] {
                "Never",
                "On Pose Recognized",
                "On No Pose Recongnized",
                "While Pose Recognized",
                "While No Pose Recognized",
                "When Pose Changes",
                "Always",
            },
            fromEventLabel = "poseMixer.detectedPoseIx",
        }

Use to call functions based on the defined poses of the hand.

◆ touchEvent

GameObjectEventHandlers Passer.Humanoid.HandTarget.touchEvent

Initial value:

= new GameObjectEventHandlers() {
            id = 2,
            label = "Touch Event",
            tooltip =
                "Call funtions based on touched objects" +
                "Parameter: the touched object",
            eventTypeLabels = new string[] {
                "Never",
                "On Touch Start",
                "On Touch End",
                "While Touching",
                "While not Touching",
                "On Touched Object Changes",
                "Always",
            },
            fromEventLabel = "touchedObject",
        }

Use to call functions based on the hand touching objects.

◆ grabEvent

GameObjectEventHandlers Passer.Humanoid.HandTarget.grabEvent

Initial value:

= new GameObjectEventHandlers() {
            id = 3,
            label = "Grab Event",
            tooltip =
                "Call functions based on grabbed objects" +
                "Parameter: the grabbed object",
            eventTypeLabels = new string[] {
                "Never",
                "On Grab Start",
                "On Grab End",
                "While Holding Object",
                "While not Holding Object",
                "On Grabbed Object Changes",
                "Always",
            },
            fromEventLabel = "grabbedObject",
        }

Use to call functions based on the hand grabbing objects.

The documentation for this class was generated from the following files:

d:/Unity/Humanoid4/Humanoid4_Pro/Assets/humanoidcontrol4_pro/Runtime/HumanoidControl/Scripts/Interaction/HandInteraction.cs
d:/Unity/Humanoid4/Humanoid4_Pro/Assets/humanoidcontrol4_pro/Runtime/HumanoidControl/Scripts/Targets/HandTarget.cs

Description

Sensors

Sub Targets

Thumb and Finger Curl

Configuration

Bones

Limits

Hand Pose

Settings

Events

Buttons

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Properties

Member Enumeration Documentation

◆ GrabbingTechnique

Member Function Documentation

◆ NearGrabCheck()

◆ GrabCheck()

◆ Grab()

◆ NewComponent()

◆ InitComponent()

◆ DetermineTarget()

◆ DrawTargetRig()

◆ DrawAvatarRig()

Member Data Documentation

◆ physics

◆ touchInteraction

◆ poseEvent

◆ touchEvent

◆ grabEvent