LeapMotionでトラッキングさせる手のモデルの位置を、キー入力で操作したい

Unity5.6.3p2で、LeapMotionとOculus Riftを用いて実験をしています。

F1～F6、1～6、spaceキーを押すとLeapMotionで認識した左手のモデルの位置が少しずつ左右にズレるようになっています。

Oculus Riftを起動していない状態でUnityを動かすとGameビュー上では想定通りの動作をしていて問題ないのですが、Oculus Riftを起動した状態だとキーを押しても動きません(例えばF4を押しても動くときと動かない時がある)。

先輩からの引継ぎで、今は直接質問できないのでここで質問させていただきます。どこに問題があるのか見当がつかないのでとりあえず直接関わりがありそうなコードを貼りました。判断材料が足りないようでしたら適宜追加します。どうぞよろしくお願いいたします。

このようなエラーも出ます。Vector3が問題なのはわかるのですが…
NullReferenceException: Object reference not set to an instance of an object
RiggedFinger.Update () (at Assets/LeapMotion/Scripts/Hands/RiggedFinger.cs:77)

C#
1using UnityEngine;
2using System.Collections;
3using Leap;
4
5public class RiggedFinger : FingerModel
6{
7    public bool deformPosition = false;
8
9    public Vector3 modelFingerPointing = Vector3.forward;
10    public Vector3 modelPalmFacing = -Vector3.up;
11    private GameObject centerObj;
12    
13    public Quaternion Reorientation()
14    {
15        return Quaternion.Inverse(Quaternion.LookRotation(modelFingerPointing, -modelPalmFacing));
16    }
17
18    /** Updates the bone rotations. */
19    public override void UpdateFinger()
20    {
21        for (int i = 0; i < bones.Length; ++i)
22        {
23            if (bones[i] != null)
24            {
25                bones[i].rotation = GetBoneRotation(i) * Reorientation();
26                if (deformPosition)
27                {
28                    bones[i].position = GetBoneCenter(i);
29                }
30            }
31        }
32    }
33    private void Start()
34    {
35        print("2");
36        centerObj = GameObject.Find("Brush1"); //試しのコメントアウト
37        
38        centerObj.transform.position = new Vector3(centerObj.transform.position.x, centerObj.transform.position.y, centerObj.transform.position.z);
39    }
40    public void Update()
41    {
42        Hand righthand = GetLeapHand();
43        //print(111);
44
45        if (righthand.IsRight)
46        {
47            Finger finger = GetLeapFinger();
48            Finger.FingerType fType = fingerType;
49            if (fType == Finger.FingerType.TYPE_INDEX)
50            {
51                Vector3 pencilposition = this.bones[3].position;
52                
53                Quaternion pencilrotation = GetBoneRotation(3) * Reorientation();
54                pencilrotation = Quaternion.Euler(20, 0, 80);
55
56                
57                Vector3 position = this.centerObj.transform.position;
58                centerObj.transform.position = new Vector3(pencilposition.x, pencilposition.y, pencilposition.z);
59                centerObj.transform.rotation = new Quaternion(pencilrotation.w, pencilrotation.x, pencilrotation.y, pencilrotation.z);
60            }
61        }
62
63        
64    }
65    
66}

C#
1RiggedHand.cs
2using UnityEngine;
3    using System.Collections;
4    using Leap;
5
6// Class to setup a rigged hand based on a model.
7public class LeapUtil
8{
9    public static Vector3 ToPositionVector3(Vector position)
10    {
11        return new Vector3(position.x, position.y, -position.z);
12    }
13
14    public static Vector3 ToVector3(Vector v)
15    {
16        return new Vector3(v.x, v.y, v.z);
17    }
18
19    public static void LookAt(Transform t, Vector norlmal)
20    {
21        t.LookAt(t.position + ToPositionVector3(norlmal), Vector3.forward);
22    }
23
24}
25public class RiggedHand : HandModel {
26    float alpha = 0;
27    int beta = 1;
28    bool is_z_pressed = false;
29    bool is_k_pressed = false;
30    Vector3 stop;
31    
32    Quaternion stop1;
33    Quaternion stop2;
34    public Vector3 modelFingerPointing = Vector3.forward;
35    public Vector3 modelPalmFacing = -Vector3.up;
36    private GameObject knifeObj;
37
38    public override void InitHand() {
39        print("1");
40    UpdateHand();
41    }
42
43    public Quaternion Reorientation() {
44    return Quaternion.Inverse(Quaternion.LookRotation(modelFingerPointing, -modelPalmFacing));
45    }
46
47    public override void UpdateHand()
48    {
49        Hand rightgesture = GetLeapHand();
50
51
52        if (rightgesture.IsLeft)
53        {
54            if (palm != null)
55            {
56                Vector3 position = GetPalmPosition();
57
58                if (Input.GetKeyDown(KeyCode.F1))
59                {
60                    alpha = -0.3f;
61                    //print("a");
62                }
63                if (Input.GetKeyDown(KeyCode.F2))
64                {
65                    alpha = -0.25f;
66                }
67                if (Input.GetKeyDown(KeyCode.F3))
68                {
69                    alpha = -0.2f;
70                }
71                if (Input.GetKeyDown(KeyCode.F4))
72                {
73                    alpha = -0.15f;
74                }
75                if (Input.GetKeyDown(KeyCode.F5))
76                {
77                    alpha = -0.1f;
78                }
79                if (Input.GetKeyDown(KeyCode.F6))
80                {
81                    alpha = -0.05f;
82                }
83                if (Input.GetKeyDown(KeyCode.Space))
84                {
85                    alpha = 0;
86                }
87                if (Input.GetKeyDown(KeyCode.Alpha1))
88                {
89                    alpha = 0.05f;
90                }
91                if (Input.GetKeyDown(KeyCode.Alpha2))
92                {
93                    alpha = 0.1f;
94                }
95                if (Input.GetKeyDown(KeyCode.Alpha3))
96                {
97                    alpha = 0.15f;
98                }
99                if (Input.GetKeyDown(KeyCode.Alpha4))
100                {
101                    alpha = 0.2f;
102                }
103                if (Input.GetKeyDown(KeyCode.Alpha5))
104                {
105                    alpha = 0.25f;
106                }
107                if (Input.GetKeyDown(KeyCode.Alpha6))
108                {
109                    alpha = 0.3f;
110                }
111                
112                if (Input.GetKeyDown(KeyCode.Z))
113                {
114
115
116
117                    
118                    Vector3 stop = new Vector3(palm.position.x, palm.position.y, palm.position.z);
119                    
120                    Quaternion stop1 = GetPalmRotation() * Reorientation();
121                    Quaternion stop2 = GetArmRotation() * Reorientation();
122                    stop1 = Quaternion.Euler(0, -85, 190);
123                    stop2 = Quaternion.Euler(0, -85, 180);
124                    is_z_pressed = true;
125                    //print("rubber hand position:"+stop.x);
126
127                    
128                    palm.position = new Vector3(stop.x, stop.y, stop.z);
129
130                    //palm.position = palm.transform.position;
131
132                    palm.transform.rotation = new Quaternion(stop1.w, stop1.x, stop1.y, stop1.z);
133                    forearm.rotation = new Quaternion(stop2.w, stop2.x, stop2.y, stop2.z);
134                    //Instantiate(palm, newStop, palm.transform.rotation);
135
136
137                }
138                if (!is_z_pressed) //Zキーが押されていないなら
139                {
140
141
142
143
144
145                    palm.position = new Vector3(position.x + alpha, position.y, position.z);
146                    palm.rotation = GetPalmRotation() * Reorientation();
147                    if (forearm != null)
148                        forearm.rotation = GetArmRotation() * Reorientation();
149
150                    for (int i = 0; i < fingers.Length; ++i)
151                    {
152                        if (fingers[i] != null)
153                        {
154                            fingers[i].fingerType = (Finger.FingerType)i;
155                            fingers[i].UpdateFinger();
156                        }
157                    }
158
159                }
160
161            }
162
163
164        }
165        if (rightgesture.IsRight)
166        {
167            if (palm != null)
168            {
169                Vector3 position = GetPalmPosition();
170
171                if (Input.GetKeyDown(KeyCode.Q))
172                {
173                    alpha = 0.2f;
174                    print("a");
175                }
176                if (Input.GetKeyDown(KeyCode.W))
177                {
178                    alpha = 0.4f;
179                }
180                if (Input.GetKeyDown(KeyCode.E))
181                {
182                    alpha = 0.5f;
183                }
184                if (Input.GetKeyDown(KeyCode.Space))
185                {
186                    alpha = 0;
187                }
188                palm.position = new Vector3(position.x + alpha, position.y, position.z);
189                palm.rotation = GetPalmRotation() * Reorientation();
190            }
191
192            if (forearm != null)
193                forearm.rotation = GetArmRotation() * Reorientation();
194
195            for (int i = 0; i < fingers.Length; ++i)
196            {
197                if (fingers[i] != null)
198                {
199                    fingers[i].fingerType = (Finger.FingerType)i;
200                    fingers[i].UpdateFinger();
201                }
202            }
203        }
204    }
205    private void Start()
206    {
207
208        knifeObj = GameObject.Find("knife");
209        knifeObj.transform.position = new Vector3(knifeObj.transform.position.x, knifeObj.transform.position.y, knifeObj.transform.position.z);
210
211    }
212    public void Update()
213    {
214        //print(knifeobj.transform.position);
215
216        if (Input.GetKeyDown(KeyCode.K))
217        {
218            Vector3 knifeposition = new Vector3(0.1f, 0.8f, -9.9f);
219            knifeObj.transform.position = new Vector3(knifeposition.x, knifeposition.y, knifeposition.z);
220            //knifeObj.transform.localPosition = Vector3.MoveTowards(knifeObj.transform.localPosition, stop, 10f);
221            is_k_pressed = true;
222
223        }
224        if (is_k_pressed)
225        {
226
227            Vector3 palmpoint = GetPalmPosition();
228            print(palmpoint);
229            knifeObj.transform.position = Vector3.MoveTowards(knifeObj.transform.position, palmpoint, 0.8f * Time.deltaTime);
230        }
231        if (Input.GetKeyDown(KeyCode.S))
232        {
233            Application.LoadLevel("test2");
234        }
235    }
236
237}

izmktr

2019/07/05 08:34

rightgesture.IsLeft や palm の値を画面に出してみてはどうでしょうかおそらくここのif文で弾かれていると思います

hoheinabachan

2019/07/05 09:58 編集

それぞれDebug.logで出力しましたがNullにはなっていないようでした。上の方のスクリプトの、Vector3のエラーの数が起動するとどんどん増えていくのですが、それによる処理の遅延かもしれません(先ほどかなりラグがありましたが正常に動いたので)

sakura_hana

2019/07/07 05:37

RiggedFinger.csの77行目ってどこですかね？「Vector3のエラーの数」ってことは「this.bones[3]」とか「this.centerObj」がNullになってる予感がします。問題になってる行を確認してみてください。参考： https://docs.unity3d.com/ja/current/Manual/NullReferenceException.html

hoheinabachan

2019/07/08 00:10

失礼致しました、Vector3 pencilposition = bones[3].position;の部分です。