Created
September 14, 2024 05:11
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RealityView that detects finger gun gestures and uses ray casting for hit detection
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| import SwiftUI | |
| import RealityKit | |
| import ARKit | |
| import HandVector | |
| struct HandTrackingRaycastView: View { | |
| @State var jointPositions: [HandSkeleton.JointName: SIMD3<Float>] = [:] | |
| @State var sphereEntity: ModelEntity? | |
| @State var laserBeamEntity: ModelEntity? | |
| @State var gunEntity: ModelEntity? | |
| let sphereRadius: Float = 0.1 | |
| 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 | |
| @State private var lastOnTargetTime: Date? = nil | |
| let onTargetValidityDuration: TimeInterval = 0.1 // 100 milliseconds | |
| var body: some View { | |
| RealityView { content in | |
| let sphere = createSphere() | |
| content.add(sphere) | |
| let cylinder = createCylinder() | |
| sphereEntity = sphere | |
| laserBeamEntity = cylinder | |
| content.add(cylinder) | |
| let gunEntity = try! await loadGunEntity() | |
| content.add(gunEntity) | |
| self.gunEntity = gunEntity | |
| } | |
| .task { | |
| await setupHandTracking() | |
| } | |
| } | |
| func createSphere() -> ModelEntity { | |
| let sphere = ModelEntity(mesh: .generateSphere(radius: sphereRadius), | |
| materials: [SimpleMaterial(color: .blue, isMetallic: false)]) | |
| sphere.collision = CollisionComponent(shapes: [.generateSphere(radius: sphereRadius)]) | |
| sphere.position = SIMD3<Float>(0.0, 1.3, -2.0) | |
| sphere.position.z = -2.0 | |
| return sphere | |
| } | |
| func createCylinder() -> ModelEntity { | |
| let cylinderMesh = MeshResource.generateCylinder(height: 1, radius: 0.002) | |
| let material = SimpleMaterial(color: .red, isMetallic: false) | |
| let entity = ModelEntity(mesh: cylinderMesh, materials: [material]) | |
| entity.components.set(OpacityComponent(opacity: 0.0)) | |
| return entity | |
| } | |
| 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 { | |
| updateJointPositions(for: handAnchor) | |
| updateForHandPosition() | |
| 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 { | |
| print("got trigger with average: \(triggerAverage!)") | |
| isReadyToFire = false | |
| didFire = true | |
| } | |
| } | |
| } | |
| } catch { | |
| print("Error setting up hand tracking: \(error)") | |
| } | |
| } | |
| 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 rayLength: Float = 10 // 10 meters long ray | |
| let rayEnd = wristPosition + rayDirection * rayLength | |
| updateSphere(rayStart: wristPosition, rayDirection: rayDirection) | |
| updateCylinder(rayStart: wristPosition, rayEnd: rayEnd) | |
| didFire = false | |
| } | |
| 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 updateSphere(rayStart: SIMD3<Float>, rayDirection: SIMD3<Float>) { | |
| guard let sphere = sphereEntity else { return } | |
| let intersection = rayIntersectsSphere(rayStart: rayStart, | |
| rayDirection: rayDirection, | |
| sphereCenter: sphere.position, | |
| sphereRadius: sphereRadius) | |
| if intersection { | |
| sphere.model?.materials = [SimpleMaterial(color: .green, isMetallic: false)] | |
| } else { | |
| sphere.model?.materials = [SimpleMaterial(color: .blue, isMetallic: false)] | |
| } | |
| if intersection { | |
| sphere.model?.materials = [SimpleMaterial(color: .green, isMetallic: false)] | |
| lastOnTargetTime = Date() | |
| } | |
| if didFire { | |
| let isRecentlyOnTarget = isRecentlyOnTarget() | |
| lastOnTargetTime = nil | |
| if isRecentlyOnTarget { | |
| // Hit detected, move the sphere | |
| sphere.position.y = Float.random(in: 0.25...1.75) | |
| sphere.position.x = Float.random(in: -1.0...1.0) | |
| sphere.position.z = Float.random(in: (-5.0)...(-2.0)) | |
| } | |
| // Reset didFire after processing | |
| didFire = false | |
| } | |
| } | |
| func isRecentlyOnTarget() -> Bool { | |
| guard let lastOnTargetTime = lastOnTargetTime else { return false } | |
| return Date().timeIntervalSince(lastOnTargetTime) <= onTargetValidityDuration | |
| } | |
| func updateCylinder(rayStart: SIMD3<Float>, rayEnd: SIMD3<Float>) { | |
| guard let debugCylinder = laserBeamEntity else { return } | |
| positionAndOrientCylinder(debugCylinder, from: rayStart, to: rayEnd) | |
| guard let gunEntity = gunEntity else { return } | |
| updateGunPosition(gunEntity, from: rayStart, to: rayEnd) | |
| } | |
| private func rayIntersectsSphere(rayStart: SIMD3<Float>, rayDirection: SIMD3<Float>, sphereCenter: SIMD3<Float>, sphereRadius: Float) -> Bool { | |
| let originToCenter = rayStart - sphereCenter | |
| let directionMagnitudeSquared = simd_dot(rayDirection, rayDirection) | |
| let originToCenterProjection = 2.0 * simd_dot(originToCenter, rayDirection) | |
| let perpDistanceSquared = simd_dot(originToCenter, originToCenter) - sphereRadius * sphereRadius | |
| let discriminant = originToCenterProjection * originToCenterProjection - 4 * directionMagnitudeSquared * perpDistanceSquared | |
| return discriminant > 0 | |
| } | |
| private func positionAndOrientCylinder(_ cylinder: ModelEntity, from start: SIMD3<Float>, to end: SIMD3<Float>) { | |
| let direction = end - start | |
| let distance = simd_length(direction) | |
| let midpoint = (start + end) / 2 | |
| cylinder.position = midpoint | |
| cylinder.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)) | |
| cylinder.transform.rotation = simd_quaternion(rotationMatrix) | |
| } | |
| 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("downloadedModel.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 updateGunPosition(_ entity: ModelEntity, from start: SIMD3<Float>, to end: SIMD3<Float>) { | |
| 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 rotationX = simd_quatf(angle: .pi*0.5, axis: [0, 0, 1]) | |
| let rotationY = simd_quatf(angle: -.pi*0.5, axis: [1, 0, 0]) | |
| let rotationMatrix = simd_float3x3(columns: (xAxis, yAxis, zAxis)) | |
| entity.transform.rotation = simd_quaternion(rotationMatrix) * rotationX * rotationY | |
| } | |
| } | |
| // 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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| |
| """ | |
| } |
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