feat(input): hand

src/nodes/input/hand.rs

@@ -0,0 +1,84 @@
+use crate::nodes::fields::Field;
+use crate::nodes::spatial::Spatial;
+use glam::{vec3a, Mat4};
+use libstardustxr::schemas::input_hand::HandT;
+use libstardustxr::schemas::{common::JointT, input::InputDataRaw};
+use std::sync::Arc;
+
+use super::{DistanceLink, InputSpecialization};
+
+impl InputSpecialization for HandT {
+	fn distance(&self, space: &Arc<Spatial>, field: &Field) -> f32 {
+		let mut min_distance = f32::MAX;
+
+		for tip in [
+			&self.thumb.tip.position,
+			&self.index.tip.position,
+			&self.middle.tip.position,
+			&self.ring.tip.position,
+			&self.little.tip.position,
+		] {
+			min_distance = min_distance.min(field.distance(space, vec3a(tip.x, tip.y, tip.z)));
+		}
+
+		min_distance
+	}
+	fn serialize(
+		&self,
+		fbb: &mut flatbuffers::FlatBufferBuilder,
+		_distance_link: &DistanceLink,
+		local_to_handler_matrix: Mat4,
+	) -> (
+		InputDataRaw,
+		flatbuffers::WIPOffset<flatbuffers::UnionWIPOffset>,
+	) {
+		let mut hand = self.clone();
+		let mut joints: Vec<&mut JointT> = Vec::new();
+
+		joints.extend([&mut hand.palm, &mut hand.wrist]);
+		if let Some(elbow) = &mut hand.elbow {
+			joints.push(elbow);
+		}
+		for finger in [
+			&mut hand.index,
+			&mut hand.middle,
+			&mut hand.ring,
+			&mut hand.little,
+		] {
+			joints.extend([
+				&mut finger.tip,
+				&mut finger.distal,
+				&mut finger.intermediate,
+				&mut finger.proximal,
+				&mut finger.metacarpal,
+			]);
+		}
+		joints.extend([
+			&mut hand.thumb.tip,
+			&mut hand.thumb.distal,
+			&mut hand.thumb.proximal,
+			&mut hand.thumb.metacarpal,
+		]);
+
+		for joint in joints {
+			let rotation: mint::Quaternion<f32> = joint.rotation.clone().into();
+			let position: mint::Vector3<f32> = joint.position.clone().into();
+			let joint_matrix = Mat4::from_rotation_translation(rotation.into(), position.into())
+				* local_to_handler_matrix;
+			let (_, rotation, position) = joint_matrix.to_scale_rotation_translation();
+			let rotation: mint::Quaternion<f32> = rotation.into();
+			let position: mint::Vector3<f32> = position.into();
+			joint.position = position.into();
+			joint.rotation = rotation.into();
+		}
+
+		(InputDataRaw::Hand, hand.pack(fbb).as_union_value())
+	}
+	fn serialize_datamap(&self) -> Vec<u8> {
+		let mut fbb = flexbuffers::Builder::default();
+		let mut map = fbb.start_map();
+		map.push("right", self.right);
+		map.end_map();
+		fbb.view().to_vec()
+	}
+}