class PositionAdapter:
def __init__(self,
tip_names=[
"thumbTip_IK",
"indexTip_IK",
"middleTip_IK",
"ringTip_IK",
"littleTip_IK",
],
arm_name="arm",
hand_name="hand"):
ctrl = bge.logic.getCurrentController()
self._ob = ctrl.owner
self._bone_channels = [self._ob.channels[tip] for tip in tip_names]
self._bone_channels.append(self._ob.channels[arm_name])
self._hand_name = hand_name
self._hand_channel = self._ob.channels[hand_name]
self._transformer = Transformer()
def translate(self, matrix):
# TODO: query arm lenght instead fix value
matrix[5][1] -= 2.41533 # modify arm position with arm lenght
# translate finger and arm
for i in range(len(matrix) - 1):
loc = matrix[i]
self._transformer.translate(self._bone_channels[i], self._ob, loc)
# rotate hand
rotation = matrix[-1]
self._transformer.rotate(self._hand_channel, rotation)
# update
self._ob.update()
class PositionAdapter:
def __init__(self,
tip_names=[
"thumbTip_IK",
"indexTip_IK",
"middleTip_IK",
"ringTip_IK",
"littleTip_IK",
],
arm_name="arm",
hand_name="hand"):
ctrl = bge.logic.getCurrentController()
self._ob = ctrl.owner
self._finger_channels = [self._ob.channels[tip] for tip in tip_names]
self._arm_channels = self._ob.channels[arm_name]
self._hand_name = hand_name
self._hand_channel = self._ob.channels[hand_name]
self._transformer = Transformer()
def translate(self, matrix):
# TODO: query arm lenght instead fix value
# matrix[5][1] -= 2.41533 # modify arm position with arm lenght
print("update 0", self._finger_channels[0].location)
# translate arm
self._transformer.translate(self._arm_channels, self._ob, matrix[-2])
# rotate hand
rotation = matrix[-1]
self._transformer.rotate(self._arm_channels, rotation)
# update
self._ob.update()
print('f1', self._finger_channels[0].location)
print('f1', self._finger_channels[0].rotation_quaternion)
# translate finger
for i in range(len(matrix) - 2):
loc = matrix[i]
self._transformer.translate(self._finger_channels[i], self._ob,
loc)
# update
self._ob.update()
print('f2', self._finger_channels[0].location)