alternative velocity calculation for released actors based on the hand's cached position history

Source/SenseGlove/Private/SenseGlove/GameFramework/SGPawn.cpp

@@ -91,7 +91,7 @@ struct ASGPawn::FImpl
     void SetLeftHandGrabbedActor(AActor* Actor) const;
     void SetRightHandGrabbedActor(AActor* Actor) const;
 
-    void RecordGrabbedActorVelocity(FSGGrabState& GrabState, const float DeltaSeconds) const;
+    void RecordHandVelocity(FSGGrabState& GrabState, const float DeltaSeconds) const;
 
     void Release(FSGGrabState& GrabState) const;
 };
@@ -443,12 +443,12 @@ ASGPawn::ASGPawn(const FObjectInitializer& ObjectInitializer)
     RightPinkyFingertipTouchCollider->SetCollisionResponseToChannel(ECC_Vehicle, ECR_Overlap);
     RightPinkyFingertipTouchCollider->SetCollisionResponseToChannel(ECC_Destructible, ECR_Overlap);
 
-    MaxNumberOfReleaseVelocities = 10;
+    MaxNumberOfHandVelocitySamples = 10;
 
-    LeftHandGrabState = FSGGrabState(HandLeft, nullptr, nullptr, nullptr, nullptr, FVector::Zero(), {});
+    LeftHandGrabState = FSGGrabState(HandLeft, FVector::Zero(), {}, nullptr, nullptr, nullptr, nullptr);
     LeftHandTouchState = FSGTouchState(HandLeft, nullptr, nullptr, nullptr, nullptr, nullptr);
 
-    RightHandGrabState = FSGGrabState(HandRight, nullptr, nullptr, nullptr, nullptr, FVector::Zero(), {});
+    RightHandGrabState = FSGGrabState(HandRight, FVector::Zero(), {}, nullptr, nullptr, nullptr, nullptr);
     RightHandTouchState = FSGTouchState(HandRight, nullptr, nullptr, nullptr, nullptr, nullptr);
 }
 
@@ -499,15 +499,8 @@ void ASGPawn::Tick(const float DeltaSeconds)
 {
     Super::Tick(DeltaSeconds);
 
-    if (IsValid(LeftHandGrabState.GrabbedActor))
+    Pimpl->RecordHandVelocity(LeftHandGrabState, DeltaSeconds);
-    {
+    Pimpl->RecordHandVelocity(RightHandGrabState, DeltaSeconds);
-        Pimpl->RecordGrabbedActorVelocity(LeftHandGrabState, DeltaSeconds);
-    }
-
-    if (IsValid(RightHandGrabState.GrabbedActor))
-    {
-        Pimpl->RecordGrabbedActorVelocity(RightHandGrabState, DeltaSeconds);
-    }
 }
 
 void ASGPawn::PreInitializeComponents()
@@ -1457,17 +1450,15 @@ void ASGPawn::FImpl::ApplyHandVelocityToGrabbedActor(const FSGGrabState& GrabSta
         return;
     }
 
-    FVector ActorVelocity{UKismetMathLibrary::GetVectorArrayAverage(GrabState.ReleaseVelocities)};
+    FVector HandVelocity{UKismetMathLibrary::GetVectorArrayAverage(GrabState.HandVelocityHistory)};
 
-    ActorRootComponent->SetPhysicsLinearVelocity(ActorVelocity);
+    ActorRootComponent->SetPhysicsLinearVelocity(HandVelocity);
-    ActorRootComponent->AddImpulse(MoveTemp(ActorVelocity), NAME_None, true);
+    ActorRootComponent->AddImpulse(MoveTemp(HandVelocity), NAME_None, true);
 }
 
 void ASGPawn::FImpl::SetGrabbedActor(FSGGrabState& GrabState, AActor* Actor) const
 {
     GrabState.GrabbedActor = Actor;
-    GrabState.PreviousLocation = IsValid(Actor) ? Actor->GetActorLocation() : FVector::Zero();
-    GrabState.ReleaseVelocities.Empty();
 }
 
 void ASGPawn::FImpl::SetLeftHandGrabbedActor(AActor* Actor) const
@@ -1480,31 +1471,31 @@ void ASGPawn::FImpl::SetRightHandGrabbedActor(AActor* Actor) const
     SetGrabbedActor(Owner->RightHandGrabState, Actor);
 }
 
-void ASGPawn::FImpl::RecordGrabbedActorVelocity(FSGGrabState& GrabState, const float DeltaSeconds) const
+void ASGPawn::FImpl::RecordHandVelocity(FSGGrabState& GrabState, const float DeltaSeconds) const
 {
-    if (!IsValid(GrabState.GrabbedActor))
+    if (!IsValid(GrabState.Hand))
     {
         return;
     }
 
-    FVector ActorVelocity{
+    FVector HandVelocity{
-        (GrabState.GrabbedActor->GetActorLocation() - GrabState.PreviousLocation) / DeltaSeconds
+        (GrabState.Hand->GetComponentLocation() - GrabState.PreviousHandLocation) / DeltaSeconds
     };
 
-    if (GrabState.ReleaseVelocities.Num() >= Owner->MaxNumberOfReleaseVelocities)
+    if (GrabState.HandVelocityHistory.Num() >= Owner->MaxNumberOfHandVelocitySamples)
     {
-        if (GrabState.ReleaseVelocities.IsValidIndex(0))
+        if (GrabState.HandVelocityHistory.IsValidIndex(0))
         {
-            GrabState.ReleaseVelocities.RemoveAt(0, 1, false);
+            GrabState.HandVelocityHistory.RemoveAt(0, 1, false);
-            GrabState.ReleaseVelocities.Emplace(MoveTemp(ActorVelocity));
+            GrabState.HandVelocityHistory.Emplace(MoveTemp(HandVelocity));
         }
     }
     else
     {
-        GrabState.ReleaseVelocities.Emplace(MoveTemp(ActorVelocity));
+        GrabState.HandVelocityHistory.Emplace(MoveTemp(HandVelocity));
     }
 
-    GrabState.PreviousLocation = GrabState.GrabbedActor->GetActorLocation();
+    GrabState.PreviousHandLocation = GrabState.Hand->GetComponentLocation();
 }
 
 void ASGPawn::FImpl::Release(FSGGrabState& GrabState) const

Source/SenseGlove/Private/SenseGlove/GameFramework/SGVirtualHandActor.cpp

@@ -249,7 +249,7 @@ ASGVirtualHandActor::ASGVirtualHandActor(const FObjectInitializer& ObjectInitial
 
     WristTracker->SetRight(VirtualHand->IsRight());
 
-    GrabState = FSGGrabState(VirtualHand, nullptr, nullptr, nullptr, nullptr, FVector::Zero(), {});
+    GrabState = FSGGrabState(VirtualHand, FVector::Zero(), {}, nullptr, nullptr, nullptr, nullptr);
     TouchState = FSGTouchState(VirtualHand, nullptr, nullptr, nullptr, nullptr, nullptr);
 }
 

Source/SenseGlove/Private/SenseGlove/Haptics/SGGrabState.cpp

@@ -41,28 +41,28 @@
 
 FSGGrabState::FSGGrabState()
     : Hand(nullptr),
+      PreviousHandLocation(FVector::Zero()),
+      HandVelocityHistory{},
       ActorThumbCanGrab(nullptr),
       ActorIndexCanGrab(nullptr),
       ActorMiddleCanGrab(nullptr),
-      GrabbedActor(nullptr),
+      GrabbedActor(nullptr)
-      PreviousLocation(FVector::Zero()),
-      ReleaseVelocities{}
 {
 }
 
 FSGGrabState::FSGGrabState(USGVirtualHandComponent* InHand,
+                          const FVector& InPreviousHandLocation,
+                          const TArray<FVector>& InHandVelocityHistory,
                            AActor* InActorThumbCanGrab,
                            AActor* InActorIndexCanGrab,
                            AActor* InActorMiddleCanGrab,
-                           AActor* InGrabbedActor,
+                           AActor* InGrabbedActor)
-                           const FVector& InPreviousLocation,
-                           const TArray<FVector>& InReleaseVelocities)
     : Hand(InHand),
+      PreviousHandLocation(InPreviousHandLocation),
+      HandVelocityHistory(InHandVelocityHistory),
       ActorThumbCanGrab(InActorThumbCanGrab),
       ActorIndexCanGrab(InActorIndexCanGrab),
       ActorMiddleCanGrab(InActorMiddleCanGrab),
-      GrabbedActor(InGrabbedActor),
+      GrabbedActor(InGrabbedActor)
-      PreviousLocation(InPreviousLocation),
-      ReleaseVelocities(InReleaseVelocities)
 {
 }

Source/SenseGlove/Public/SenseGlove/GameFramework/SGPawn.h

@@ -154,7 +154,7 @@ private:
     USphereComponent* RightPinkyFingertipTouchCollider;
 
     UPROPERTY(EditAnywhere, Category="SenseGlove", meta=(AllowPrivateAccess="false"))
-    int32 MaxNumberOfReleaseVelocities;
+    int32 MaxNumberOfHandVelocitySamples;
 
 private:
     UPROPERTY(Transient)
@@ -275,14 +275,14 @@ public:
         return RightPinkyFingertipTouchCollider;
     }
 
-    FORCEINLINE int32 GetMaxNumberOfReleaseVelocities() const
+    FORCEINLINE int32 GetMaxNumberOfHandVelocitySamples() const
     {
-        return MaxNumberOfReleaseVelocities;
+        return MaxNumberOfHandVelocitySamples;
     }
 
-    FORCEINLINE void SetMaxNumberOfReleaseVelocities(const int32 InMaxNumberOfReleaseVelocities)
+    FORCEINLINE void SetMaxNumberOfHandVelocitySamples(const int32 InMaxNumberOfHandVelocitySamples)
     {
-        MaxNumberOfReleaseVelocities = InMaxNumberOfReleaseVelocities;
+        MaxNumberOfHandVelocitySamples = InMaxNumberOfHandVelocitySamples;
     }
 
 public:

Source/SenseGlove/Public/SenseGlove/Haptics/SGGrabState.h

@@ -55,6 +55,12 @@ public:
     UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "SenseGlove")
     USGVirtualHandComponent* Hand;
 
+    UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "SenseGlove")
+    FVector PreviousHandLocation;
+
+    UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "SenseGlove")
+    TArray<FVector> HandVelocityHistory;
+
     UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "SenseGlove")
     AActor* ActorThumbCanGrab;
 
@@ -67,20 +73,14 @@ public:
     UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "SenseGlove")
     AActor* GrabbedActor;
 
-    UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "SenseGlove")
-    FVector PreviousLocation;
-
-    UPROPERTY(VisibleAnywhere, BlueprintReadOnly, Category = "SenseGlove")
-    TArray<FVector> ReleaseVelocities;
-
 public:
     FSGGrabState();
 
     explicit FSGGrabState(USGVirtualHandComponent* InHand,
+                          const FVector& InPreviousHandLocation,
+                          const TArray<FVector>& InHandVelocityHistory,
                           AActor* InActorThumbCanGrab,
                           AActor* InActorIndexCanGrab,
                           AActor* InActorMiddleCanGrab,
-                          AActor* InGrabbedActor,
+                          AActor* InGrabbedActor);
-                          const FVector& InPreviousLocation,
-                          const TArray<FVector>& InReleaseVelocities);
 };