import SwiftUI
import RealityKit
import ARKit
import HandVector
struct TargetPracticeView: View {
@State var jointPositions: [HandSkeleton.JointName: SIMD3<Float>] = [:]
@State var targets: [Target] = []
@State var laserBeamEntity: ModelEntity?
let defaultRayLength: Float = 10 // 10 meters long ray default ray length when no target is hit
@State var gunEntity: ModelEntity?
// used to set scale and sphereRadius of target
let targetScale: Float = 0.25
let numberOfTargets: Int = 3 // Adjust this to change the number of targets
var latestHandTracking: HandVectorManager = .init(left: nil, right: nil)
let fingerGunReadyHandInfo = String.gunReadyPosition.toModel(HVHandJsonModel.self)!.convertToHVHandInfo()
let fingerGunFiredTriggerHandInfo = String.gunTriggerFiredPosition.toModel(HVHandJsonModel.self)!.convertToHVHandInfo()
let thresholdForFingerGunDetection: Float = 0.95
let thresholdForTriggerFingerDetection: Float = 0.9
@State private var isShowingGun: Bool = false
@State private var isReadyToFire: Bool = false
@State private var didFire: Bool = false
@State private var lastFingerGunDetectionTime: Date = Date()
let fingerGunDebounceInterval: TimeInterval = 0.125 // 125 milliseconds
let onTargetValidityDuration: TimeInterval = 0.1 // 100 milliseconds
@State var gunshotAudioResource: AudioResource?
static let defaultLaserOpacity: Float = 0.25
@State private var laserOpacity: Float = defaultLaserOpacity
let laserFlashDuration: TimeInterval = 0.25 // Duration of the flash effect
@State private var isInCooldown: Bool = false
var body: some View {
RealityView { content in
let skybox = createSkybox()
content.add(skybox)
gunshotAudioResource = try! await loadGunShotAudioResource()
let gunEntity = await createGun()
content.add(gunEntity)
self.gunEntity = gunEntity
let laserBeam = createLaserBeam()
laserBeamEntity = laserBeam
content.add(laserBeam)
let targets = try! await createTargets()
targets.forEach({ content.add($0.entity) })
self.targets = targets
}
.task {
await setupHandTracking()
}
}
private func setupHandTracking() async {
let session = ARKitSession()
let handTracking = HandTrackingProvider()
do {
try await session.run([handTracking])
for await update in handTracking.anchorUpdates {
let handAnchor = update.anchor
if handAnchor.chirality == .right {
await updateForHandAnchor(handAnchor)
}
}
} catch {
print("Error setting up hand tracking: \(error)")
}
}
}
// MARK: creation entities
extension TargetPracticeView {
func createGun() async -> ModelEntity {
let entity = try! await loadGunEntity()
await removeEntityLighting(entity)
return entity
}
func createSkybox() -> ModelEntity {
let radius: Float = 1E3
let skyboxMeshResource = MeshResource.generateSphere(radius: radius)
let entity = ModelEntity(mesh: skyboxMeshResource, materials: [UnlitMaterial(color: .white)])
entity.scale *= .init(x: -1, y: 1, z: 1)
entity.transform.translation += SIMD3<Float>(0.0, 200.0, 0.0)
return entity
}
func createTargets() async throws -> [Target] {
let targetEntity = try await loadTargetEntity()
await removeEntityLighting(targetEntity)
var targets = [Target]()
for _ in 0..<numberOfTargets {
let clonedTarget = targetEntity.clone(recursive: true)
clonedTarget.scale = [targetScale, targetScale, targetScale]
clonedTarget.position = randomPosition()
targets.append(Target(entity: clonedTarget))
}
return targets
}
func removeEntityLighting(_ entity: ModelEntity) async {
let material = entity.model?.materials.first as! PhysicallyBasedMaterial
let baseColorTexture = material.baseColor.texture!.resource
let originalTexture = try! copyTextureResourceToLowLevelTexture(from: baseColorTexture)
let newMaterial = await UnlitMaterial(texture: try! .init(from: originalTexture))
entity.model?.materials = [newMaterial]
}
func copyTextureResourceToLowLevelTexture(from textureResource: TextureResource) throws -> LowLevelTexture {
var descriptor = LowLevelTexture.Descriptor()
descriptor.textureType = .type2D
descriptor.pixelFormat = .rgba16Float // Use a high precision format
descriptor.width = textureResource.width
descriptor.height = textureResource.height
descriptor.mipmapLevelCount = 1
descriptor.textureUsage = [.shaderRead, .shaderWrite]
let texture = try LowLevelTexture(descriptor: descriptor)
try textureResource.copy(to: texture.read())
return texture
}
// TODO: make this an array of cylinders create a glow effect
func createLaserBeam() -> ModelEntity {
let cylinderMesh = MeshResource.generateCylinder(height: 1, radius: 0.002)
let material = UnlitMaterial(color: .red)
let entity = ModelEntity(mesh: cylinderMesh, materials: [material])
entity.components.set(OpacityComponent(opacity: 0.0))
return entity
}
func randomPosition() -> SIMD3<Float> {
SIMD3<Float>(
Float.random(in: -1.0...1.0),
Float.random(in: 0.25...1.75),
Float.random(in: -5.0...(-2.0))
)
}
}
// MARK: hand updates
extension TargetPracticeView {
func updateForHandAnchor(_ handAnchor: HandAnchor) async {
updateJointPositions(for: handAnchor)
updateForHandPosition()
await checkForHandGestures(for: handAnchor)
}
func updateJointPositions(for handAnchor: HandAnchor) {
jointPositions = Dictionary(uniqueKeysWithValues:
HandSkeleton.JointName.allCases.compactMap { jointName in
guard let joint = handAnchor.handSkeleton?.joint(jointName) else { return nil }
let worldPosition = handAnchor.originFromAnchorTransform * joint.anchorFromJointTransform.columns.3
return (jointName, SIMD3<Float>(worldPosition.x, worldPosition.y, worldPosition.z))
}
)
}
func updateForHandPosition() {
guard let wristPosition = jointPositions[.wrist],
let palmPosition = calculatePalmPosition() else {
return
}
var rayDirection = simd_normalize(palmPosition - wristPosition)
rayDirection.y -= .pi * 0.05
let closestHitTarget = updateTargets(rayStart: wristPosition, rayDirection: rayDirection)
let rayLength: Float
let rayEnd: SIMD3<Float>
if let hitTarget = closestHitTarget {
rayLength = simd_distance(wristPosition, hitTarget.entity.position)
rayEnd = wristPosition + rayDirection * rayLength
} else {
rayLength = defaultRayLength
rayEnd = wristPosition + rayDirection * rayLength
}
updateLaser(from: wristPosition, to: rayEnd)
updateGun(from: wristPosition, to: rayEnd)
didFire = false
}
func updateTargets(rayStart: SIMD3<Float>, rayDirection: SIMD3<Float>) -> Target? {
var closestHit: (target: Target, distance: Float, position: SIMD3<Float>)? = nil
for index in targets.indices {
if let intersectionPoint = rayIntersectsSphere(rayStart: rayStart,
rayDirection: rayDirection,
sphereCenter: targets[index].entity.position,
sphereRadius: targetScale) {
targets[index].lastOnTargetTime = Date()
let distance = simd_distance(rayStart, intersectionPoint)
if closestHit == nil || distance < closestHit!.distance {
closestHit = (targets[index], distance, intersectionPoint)
}
} else {
targets[index].lastOnTargetTime = nil
}
if didFire {
let isRecentlyOnTarget = isRecentlyOnTarget(for: targets[index])
targets[index].lastOnTargetTime = nil
if isRecentlyOnTarget && !targets[index].isHit {
// Hit detected, move the sphere
targets[index].entity.position = randomPosition()
targets[index].isHit = true
}
}
}
// Reset didFire after processing all targets
if didFire {
didFire = false
// Reset all targets' hit status for the next round
for index in targets.indices {
targets[index].isHit = false
}
}
return closestHit?.target
}
private func rayIntersectsSphere(rayStart: SIMD3<Float>,
rayDirection: SIMD3<Float>,
sphereCenter: SIMD3<Float>,
sphereRadius: Float) -> SIMD3<Float>? {
let originToCenter = rayStart - sphereCenter
let a = simd_dot(rayDirection, rayDirection)
let b = 2.0 * simd_dot(originToCenter, rayDirection)
let c = simd_dot(originToCenter, originToCenter) - sphereRadius * sphereRadius
let discriminant = b * b - 4 * a * c
if discriminant < 0 {
return nil // No intersection
}
let t = (-b - sqrt(discriminant)) / (2 * a)
if t < 0 {
return nil // Intersection behind the ray start
}
let intersectionPoint = rayStart + t * rayDirection
return intersectionPoint
}
func isRecentlyOnTarget(for target: Target) -> Bool {
guard let lastOnTargetTime = target.lastOnTargetTime else { return false }
return Date().timeIntervalSince(lastOnTargetTime) <= onTargetValidityDuration
}
func updateLaser(from start: SIMD3<Float>, to end: SIMD3<Float>) {
guard let entity = laserBeamEntity else { return }
let direction = end - start
let distance = simd_length(direction)
let midpoint = (start + end) / 2
entity.position = midpoint
entity.scale = [1, distance, 1]
let yAxis = simd_normalize(direction)
let xAxis = simd_normalize(simd_cross([0, 1, 0], yAxis))
let zAxis = simd_cross(xAxis, yAxis)
let rotationMatrix = simd_float3x3(columns: (xAxis, yAxis, zAxis))
entity.transform.rotation = simd_quaternion(rotationMatrix)
// Update the opacity
entity.components.set(OpacityComponent(opacity: laserOpacity))
}
func flashLaserBeam() {
laserOpacity = 1.0
isInCooldown = true
// Schedule a task to reset opacity after the flash duration
Task {
try? await Task.sleep(nanoseconds: UInt64(laserFlashDuration * 1_000_000_000))
laserOpacity = TargetPracticeView.defaultLaserOpacity
isInCooldown = false
}
}
func updateGun(from start: SIMD3<Float>, to end: SIMD3<Float>) {
guard let entity = gunEntity else { return }
let direction = end - start
entity.position = start
entity.scale = [0.1, 0.1, 0.1]
let yAxis = simd_normalize(direction)
let xAxis = simd_normalize(simd_cross([0, 1, 0], yAxis))
let zAxis = simd_cross(xAxis, yAxis)
// fix how the source is not oriented forward
let rotationZ = simd_quatf(angle: .pi*0.5, axis: [0, 0, 1])
let rotationX = simd_quatf(angle: -.pi*0.5, axis: [1, 0, 0])
let rotationMatrix = simd_float3x3(columns: (xAxis, yAxis, zAxis))
entity.transform.rotation = simd_quaternion(rotationMatrix) * rotationZ * rotationX
}
func calculatePalmPosition() -> SIMD3<Float>? {
guard let middleFingerBase = jointPositions[.middleFingerMetacarpal],
let ringFingerBase = jointPositions[.ringFingerMetacarpal],
let indexFingerBase = jointPositions[.indexFingerMetacarpal] else {
return nil
}
// Calculate the average position of these three joints to estimate the palm center
return (middleFingerBase + ringFingerBase + indexFingerBase) / 3
}
func checkForHandGestures(for handAnchor: HandAnchor) async {
let handInfo = latestHandTracking.generateHandInfo(from: handAnchor)
if let handInfo {
await latestHandTracking.updateHandSkeletonEntity(from: handInfo)
}
let averageAndEachRightScores = latestHandTracking.rightHandVector?.averageAndEachSimilarities(of: .fiveFingers, to: fingerGunReadyHandInfo!)
let average = averageAndEachRightScores?.0
if thresholdForFingerGunDetection < average! {
lastFingerGunDetectionTime = Date()
if !isReadyToFire {
print("got the finger gun with average: \(average!)")
isReadyToFire = true
}
if !isShowingGun {
guard let debugCylinder = laserBeamEntity else { return }
debugCylinder.components.set(OpacityComponent(opacity: 1.0))
isShowingGun = true
}
} else {
// Debounced task
Task {
try await Task.sleep(nanoseconds: UInt64(fingerGunDebounceInterval * 1_000_000_000))
if Date().timeIntervalSince(lastFingerGunDetectionTime) >= fingerGunDebounceInterval {
if isShowingGun {
print("got no finger gun with average: \(average!)")
guard let debugCylinder = laserBeamEntity else { return }
debugCylinder.components.set(OpacityComponent(opacity: 0.0))
isShowingGun = false
isReadyToFire = false
}
}
}
}
let triggerScores = latestHandTracking.rightHandVector?.averageAndEachSimilarities(of: .fiveFingers, to: fingerGunFiredTriggerHandInfo!)
let triggerAverage = triggerScores?.0
if thresholdForTriggerFingerDetection < triggerAverage! {
if isReadyToFire && !isInCooldown {
print("got trigger with average: \(triggerAverage!)")
isReadyToFire = false
didFire = true
if let gunshotAudioResource {
gunEntity?.playAudio(gunshotAudioResource)
}
flashLaserBeam()
}
}
}
}
// MARK: loading entities
extension TargetPracticeView {
func loadGunEntity(url: URL = URL(string: "https://matt54.github.io/Resources/laser_gun.usdz")!) async throws -> ModelEntity {
let (downloadedURL, _) = try await URLSession.shared.download(from: url)
let documentsDirectory = FileManager.default.urls(for: .documentDirectory, in: .userDomainMask).first!
let destinationURL = documentsDirectory.appendingPathComponent("downloadedLaserGunModel.usdz")
if FileManager.default.fileExists(atPath: destinationURL.path) {
try FileManager.default.removeItem(at: destinationURL)
}
try FileManager.default.moveItem(at: downloadedURL, to: destinationURL)
let entity = try await ModelEntity.init(contentsOf: destinationURL)
return entity
}
func loadTargetEntity(url: URL = URL(string: "https://matt54.github.io/Resources/target.usdz")!) async throws -> ModelEntity {
let (downloadedURL, _) = try await URLSession.shared.download(from: url)
let documentsDirectory = FileManager.default.urls(for: .documentDirectory, in: .userDomainMask).first!
let destinationURL = documentsDirectory.appendingPathComponent("downloadedTargetModel.usdz")
if FileManager.default.fileExists(atPath: destinationURL.path) {
try FileManager.default.removeItem(at: destinationURL)
}
try FileManager.default.moveItem(at: downloadedURL, to: destinationURL)
let entity = try await ModelEntity.init(contentsOf: destinationURL)
let rotationX = simd_quatf(angle: .pi, axis: [0, 1, 0])
entity.transform.rotation = rotationX
return entity
}
func loadGunShotAudioResource(url: URL = URL(string: "https://matt54.github.io/Resources/laser_gun_shot.wav")!) async throws -> AudioFileResource {
let (downloadedURL, _) = try await URLSession.shared.download(from: url)
let documentsDirectory = FileManager.default.urls(for: .documentDirectory, in: .userDomainMask).first!
let destinationURL = documentsDirectory.appendingPathComponent("downloadedSound.wav")
if FileManager.default.fileExists(atPath: destinationURL.path) {
try FileManager.default.removeItem(at: destinationURL)
}
try FileManager.default.moveItem(at: downloadedURL, to: destinationURL)
let audioResource = try AudioFileResource.load(contentsOf: destinationURL)
return audioResource
}
}
struct Target {
let entity: ModelEntity
var isHit: Bool = false
var lastOnTargetTime: Date?
}
// TODO: make pull request with HandVector library to make this extension public
extension String {
func toModel<T>(_ type: T.Type, using encoding: String.Encoding = .utf8) -> T? where T : Decodable {
guard let data = self.data(using: encoding) else { return nil }
do {
return try JSONDecoder().decode(T.self, from: data)
} catch {
print(error)
}
return nil
}
}
extension String {
static let gunReadyPosition: String = """
{"transform":[[0.03681829,-0.35651627,0.9335633,0],[0.9981043,-0.03298368,-0.051959727,0],[0.049316857,0.9337067,0.35462606,0],[0.119505,1.058816,-0.3033591,1]],"name":"right","joints":[{"transform":[[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]],"name":"wrist","isTracked":true},{"isTracked":true,"transform":[[0.7483124,0.08903434,-0.6573445,0],[0.6232275,0.24503177,0.7426623,0],[0.22719273,-0.96541846,0.12787166,0],[-0.023037225,-0.011565208,0.019217536,1]],"name":"thumbKnuckle"},{"isTracked":true,"transform":[[0.9145838,0.03962274,-0.40245014,0],[0.3839136,0.22763534,0.8948699,0],[0.1270691,-0.9729398,0.19297989,0],[-0.06262271,-0.016338525,0.053467937,0.9999999]],"name":"thumbIntermediateBase"},{"transform":[[0.55769247,-0.09324432,-0.8247935,0],[0.82048357,0.21233602,0.5307732,0],[0.12564181,-0.97273785,0.19492361,0],[-0.09256029,-0.017590031,0.06606347,0.9999999]],"name":"thumbIntermediateTip","isTracked":true},{"isTracked":true,"transform":[[0.5576926,-0.09324434,-0.8247935,0],[0.8204833,0.21233588,0.5307733,0],[0.12564164,-0.9727376,0.1949236,0],[-0.10933509,-0.014713061,0.09040629,0.9999999]],"name":"thumbTip"},{"isTracked":true,"name":"indexFingerMetacarpal","transform":[[0.9873512,0.0007703505,-0.15854767,0],[-0.00018403005,0.99999326,0.0037125493,0],[0.15854947,-0.003636434,0.9873445,0],[-0.02504237,8.650124e-05,0.016333118,1]]},{"name":"indexFingerKnuckle","isTracked":true,"transform":[[0.9271389,0.1894835,0.3232792,0],[-0.20793396,0.9778683,0.023180438,0],[-0.31173214,-0.08871223,0.94601953,0],[-0.09699588,0.00033357737,0.02648428,1]]},{"isTracked":true,"transform":[[0.9415803,0.10521732,0.3199318,0],[-0.12780455,0.9905191,0.050381172,0],[-0.31159747,-0.08832667,0.94610006,0],[-0.13916928,-0.008303657,0.011948585,0.99999994]],"name":"indexFingerIntermediateBase"},{"transform":[[0.94819283,0.034945816,0.31576785,0],[-0.060861282,0.9955039,0.072583534,0],[-0.31181157,-0.08804125,0.9460563,0],[-0.16357674,-0.010998578,0.0036838902,0.99999994]],"isTracked":true,"name":"indexFingerIntermediateTip"},{"transform":[[0.94819283,0.0349457,0.315768,0],[-0.060861256,0.9955037,0.07258351,0],[-0.3118117,-0.08804125,0.9460561,0],[-0.18628134,-0.011772217,-0.0039144484,0.99999994]],"name":"indexFingerTip","isTracked":true},{"isTracked":true,"transform":[[0.9999436,0.00029446578,0.010613574,0],[-0.00033532665,0.9999925,0.0038510533,0],[-0.0106123155,-0.0038544233,0.99993616,0],[-0.027172834,0.0001347065,0.0036730468,1]],"name":"middleFingerMetacarpal"},{"isTracked":true,"name":"middleFingerKnuckle","transform":[[0.31107935,0.9494624,0.0418443,0],[-0.94966394,0.312256,-0.025200296,0],[-0.036992837,-0.031898756,0.99880624,0],[-0.095856436,0.00042155385,0.0019043083,0.99999994]]},{"transform":[[-0.97067386,0.23868601,-0.028664839,0],[-0.23642187,-0.9694015,-0.06607428,0],[-0.04355868,-0.057359572,0.99740297,0],[-0.10820865,-0.04728632,0.0028083322,0.9999999]],"name":"middleFingerIntermediateBase","isTracked":true},{"isTracked":true,"transform":[[-0.98711973,-0.1526101,-0.048010733,0],[0.1551362,-0.98640466,-0.05421107,0],[-0.039084814,-0.06096107,0.9973746,0],[-0.07775817,-0.05483128,0.004591465,0.9999999]],"name":"middleFingerIntermediateTip"},{"name":"middleFingerTip","isTracked":true,"transform":[[-0.98711985,-0.15260991,-0.04801078,0],[0.15513599,-0.9864048,-0.054211125,0],[-0.039084826,-0.06096117,0.99737483,0],[-0.055462185,-0.051387776,0.005703509,0.9999999]]},{"isTracked":true,"transform":[[0.9876838,0.00039916535,0.15646292,0],[-0.001013631,0.999992,0.0038470975,0],[-0.15646014,-0.00395833,0.98767626,0],[-0.02746223,-0.0013832152,-0.00899744,1]],"name":"ringFingerMetacarpal"},{"transform":[[-0.0012533537,0.9747956,-0.22309683,0],[-0.9960826,-0.020943103,-0.08591284,0],[-0.088419706,0.22211517,0.9710031,0],[-0.094665445,-0.0011133702,-0.020322772,0.99999994]],"isTracked":true,"name":"ringFingerKnuckle"},{"name":"ringFingerIntermediateBase","isTracked":true,"transform":[[-0.9931481,0.042646114,-0.10880357,0],[-0.0667791,-0.97115594,0.22890316,0],[-0.09590343,0.23460054,0.96734947,0],[-0.09184222,-0.04280009,-0.008270023,0.9999999]]},{"isTracked":true,"name":"ringFingerIntermediateTip","transform":[[-0.87231886,-0.48775947,0.033920035,0],[0.47993666,-0.84094685,0.24993832,0],[-0.093384825,0.23430538,0.9676676,0],[-0.06364327,-0.044113144,-0.004825471,0.9999999]]},{"transform":[[-0.8723191,-0.4877596,0.03391996,0],[0.4799366,-0.84094703,0.24993841,0],[-0.093384914,0.23430541,0.96766764,0],[-0.044957124,-0.033260565,-0.00605893,0.9999999]],"isTracked":true,"name":"ringFingerTip"},{"transform":[[0.9754438,0.0007679999,0.22024716,0],[-0.0016250212,0.9999917,0.003710361,0],[-0.22024249,-0.003977161,0.9754369,0],[-0.026689336,-0.0029354095,-0.023558915,1]],"isTracked":true,"name":"littleFingerMetacarpal"},{"name":"littleFingerKnuckle","transform":[[-0.021861674,0.9597742,-0.2799214,0],[-0.9730536,-0.08471092,-0.21445592,0],[-0.2295416,0.26769006,0.9357632,0],[-0.08487275,-0.0027343482,-0.037119243,1]],"isTracked":true},{"name":"littleFingerIntermediateBase","transform":[[-0.95487165,0.1191173,-0.2720872,0],[-0.18119034,-0.9594734,0.21582665,0],[-0.23535168,0.2553863,0.9377566,0],[-0.082020074,-0.035506573,-0.025537848,1]],"isTracked":true},{"name":"littleFingerIntermediateTip","transform":[[-0.8006587,-0.59837437,-0.029901683,0],[0.5545437,-0.75905365,0.34105653,0],[-0.22677635,0.25648803,0.93956715,0],[-0.06307931,-0.037934672,-0.01993567,1]],"isTracked":true},{"name":"littleFingerTip","isTracked":true,"transform":[[-0.8006587,-0.59837437,-0.029901683,0],[0.55454355,-0.7590536,0.3410568,0],[-0.22677657,0.2564883,0.93956715,0],[-0.04816789,-0.026222985,-0.020020342,1]]},{"isTracked":true,"transform":[[-0.83367807,-0.33506683,0.4389886,0],[-0.36958972,0.92916626,0.007321467,0],[-0.41034657,-0.15614182,-0.8984629,0],[-2.9802322e-08,1.4901161e-08,-2.9802322e-08,1]],"name":"forearmWrist"},{"name":"forearmArm","transform":[[-0.833678,-0.3350668,0.4389886,0],[-0.36958975,0.92916626,0.0073214276,0],[-0.41034657,-0.15614179,-0.89846283,0],[0.22288692,0.083471484,-0.107541226,1]],"isTracked":true}],"chirality":"right"}
"""
static var gunTriggerFiredPosition: String = """
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"""
}