/******************************************************************************
 * Copyright (C) Leap Motion, Inc. 2011-2017.                                 *
 * Leap Motion proprietary and  confidential.                                 *
 *                                                                            *
 * Use subject to the terms of the Leap Motion SDK Agreement available at     *
 * https://developer.leapmotion.com/sdk_agreement, or another agreement       *
 * between Leap Motion and you, your company or other organization.           *
 ******************************************************************************/

using InteractionEngineUtility;
using Leap.Unity.Space;
using Leap.Unity.Interaction.Internal;
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Leap.Unity.RuntimeGizmos;
using Leap.Unity.Attributes;

namespace Leap.Unity.Interaction {

  [Serializable]
  public class InteractionControllerSet : SerializableHashSet<InteractionController> { }

  /// <summary>
  /// Specified on a per-object basis to allow Interaction objects
  /// to ignore hover for the left hand, right hand, or both hands.
  /// </summary>
  public enum IgnoreHoverMode { None, Left, Right, Both }

  /// <summary>
  /// The Interaction Engine can be controlled by hands tracked by the
  /// Leap Motion Controller, or by remote-style held controllers
  /// such as the Oculus Touch or Vive controller.
  /// </summary>
  public enum ControllerType { Hand, XRController }

  [DisallowMultipleComponent]
  public abstract class InteractionController : MonoBehaviour,
                                                IInternalInteractionController {

    #region Inspector

    [Tooltip("The manager responsible for this interaction controller. Interaction "
           + "controllers should be children of their interaction manager.")]
    public InteractionManager manager;

    [Header("Interaction Types")]

    [Tooltip("If disabled, this interaction controller will not be used to generate "
           + "hover information or primary hover information. Warning: Primary hover "
           + "data is required for Interaction Engine user interface components like "
           + "InteractionButton and InteractionSlider to function, so this controller "
           + "won't able to interact with UI components.")]
    [SerializeField]
    [OnEditorChange("hoverEnabled")]
    private bool _hoverEnabled = true;
    public bool hoverEnabled {
      get { return _hoverEnabled; }
      set {
        _hoverEnabled = value;

        if (!_hoverEnabled) {
          ClearHoverTracking();
        }
      }
    }

    [Tooltip("If disabled, this interaction controller will not collide with interaction "
           + "objects and objects will not receive contact callbacks.")]
    [SerializeField]
    [OnEditorChange("contactEnabled")]
    private bool _contactEnabled = true;
    public bool contactEnabled {
      get { return _contactEnabled; }
      set {
        _contactEnabled = value;

        if (!_contactEnabled) {
          disableContactBoneCollision();

          ClearContactTracking();
        }
        else {
          resetContactBonePose();

          EnableSoftContact();
        }
      }
    }

    [Tooltip("If disabled, this interaction controller will not be able to grasp "
           + "interaction objects.")]
    [SerializeField]
    [OnEditorChange("graspingEnabled")]
    private bool _graspingEnabled = true;
    public bool graspingEnabled {
      get { return _graspingEnabled; }
      set {
        _graspingEnabled = value;

        if (!_graspingEnabled) {
          EnableSoftContact();
          ReleaseGrasp();
        }
      }
    }

    #endregion

    #region Public API

    /// <summary>
    /// Gets whether the underlying object (Leap hand or a held controller) is currently
    /// in a tracked state. Objects grasped by a controller that becomes untracked will
    /// become "suspended" and receive specific suspension callbacks. (Implementing any
    /// behaviour during the suspension state is left up to the developer, however.)
    /// </summary>
    public abstract bool isTracked { get; }

    /// <summary>
    /// Gets whether the underlying object (Leap hand or a held controller) is currently
    /// being moved or being actively manipulated by the player.
    /// </summary>
    public abstract bool isBeingMoved { get; }

    /// <summary>
    /// Gets whether the underlying object (Leap hand or a held controller) represents
    /// or is held by a left hand (true) or a right hand (false).
    /// </summary>
    public abstract bool isLeft { get; }

    /// <summary>
    /// Gets whether the underlying object (Leap hand or a held controller) represents
    /// or is held by a right hand (true) or a left hand (false).
    /// </summary>
    public bool isRight { get { return !isLeft; } }

    /// <summary>
    /// Returns the current position of this controller.
    /// </summary>
    public abstract Vector3 position { get; }

    /// <summary>
    /// Returns the current rotation of this controller.
    /// </summary>
    public abstract Quaternion rotation { get; }

    /// <summary>
    /// Returns the current velocity of this controller.
    /// </summary>
    public abstract Vector3 velocity { get; }

    /// <summary>
    /// Gets the type of controller this object represents underneath the
    /// InteractionController abstraction. If the type is ControllerType.Hand, the
    /// intHand property will contain the InteractionHand object this object abstracts
    /// from.
    /// </summary>
    public abstract ControllerType controllerType { get; }

    /// <summary>
    /// If this InteractionController's controllerType is ControllerType.Hand,
    /// this gets the InteractionHand, otherwise this returns null.
    /// </summary>
    public abstract InteractionHand intHand { get; }

    /// <summary>
    /// Contact requires knowledge of the controller's scale.
    /// TODO: Warn if the controller is scaled non-uniformly.
    /// </summary>
    public float scale { get { return this.transform.lossyScale.x; } }

    #endregion

    #region Events

    /// <summary>
    /// Called when this InteractionController begins primarily hovering over an InteractionBehaviour.
    /// If the controller transitions to primarily hovering a new object, OnEndPrimaryHoveringObject will
    /// first be called on the old object, then OnBeginPrimaryHoveringObject will be called for
    /// the new object.
    /// </summary>
    public Action<InteractionBehaviour> OnBeginPrimaryHoveringObject = (intObj) => { };

    /// <summary>
    /// Called when this InteractionController stops primarily hovering over an InteractionBehaviour.
    /// If the controller transitions to primarily-hovering a new object, OnEndPrimaryHoveringObject will
    /// first be called on the old object, then OnBeginPrimaryHoveringObject will be called for
    /// the new object.
    /// </summary>
    public Action<InteractionBehaviour> OnEndPrimaryHoveringObject = (intObj) => { };

    /// <summary>
    /// Called every (fixed) frame this InteractionController is primarily hovering over an InteractionBehaviour.
    /// </summary>
    public Action<InteractionBehaviour> OnStayPrimaryHoveringObject = (intObj) => { };

    #endregion

    #region Unity Events

    protected virtual void Reset() {
      if (manager == null) manager = GetComponentInParent<InteractionManager>();
    }

    protected virtual void OnEnable() {
      if (_contactInitialized) {
        EnableSoftContact();

        resetContactBonePose();
      }
    }

    protected virtual void Start() {
      if (manager == null) manager = InteractionManager.instance;
    }

    protected virtual void OnDisable() {
      if (_contactInitialized) {
        EnableSoftContact();
      }
      ReleaseGrasp();

      ClearHoverTracking();
      ClearPrimaryHoverTracking();
      ClearContactTracking();
    }

    #endregion

    // A list of InteractionControllers for use as a temporary buffer.
    private List<InteractionController> _controllerListBuffer = new List<InteractionController>();

    /// <summary>
    /// Called by the InteractionManager every fixed (physics) frame to populate the
    /// Interaction Hand with state from the Leap hand and perform bookkeeping operations.
    /// </summary>
    void IInternalInteractionController.FixedUpdateController() {
      fixedUpdateController();

      if (hoverEnabled)    fixedUpdateHovering();
      if (contactEnabled)  fixedUpdateContact();
      if (graspingEnabled) fixedUpdateGrasping();
    }

    public void NotifyObjectUnregistered(IInteractionBehaviour intObj) {
      ClearHoverTrackingForObject(intObj);
      ClearContactTrackingForObject(intObj);

      onObjectUnregistered(intObj);
    }

    /// <summary>
    /// This method is called by the InteractionController when it is notified by the
    /// InteractionManager that an InteractionBehaviour has been unregistered from the
    /// Interaction Engine. If your controller has any state that remembers or tracks
    /// interaction objects, this method should clear that state, because unregistered
    /// objects won't receive state updates or callbacks from this controller's
    /// Interaction Manager anymore.
    /// </summary>
    protected abstract void onObjectUnregistered(IInteractionBehaviour intObj);

    /// <summary>
    /// Called just before the InteractionController proceeds with its usual FixedUpdate.
    ///
    /// It's generally better to override this method instead of having your
    /// InteractionController implement FixedUpdate because its execution order relative
    /// to the Interaction Manager is fixed.
    /// </summary>
    protected virtual void fixedUpdateController() { }

    #region Hovering

    /// <summary>
    /// In addition to standard hover validity checks, you can set this filter property
    /// to further filter objects for hover consideration. Only objects for which this
    /// function returns true will be hover candidates (if the filter is not null).
    /// </summary>
    public Func<IInteractionBehaviour, bool> customHoverActivityFilter = null;

    // Hover Activity Filter
    private Func<Collider, IInteractionBehaviour> hoverActivityFilter;
    private IInteractionBehaviour hoverFilterFunc(Collider collider) {
      Rigidbody rigidbody = collider.attachedRigidbody;
      IInteractionBehaviour intObj = null;

      bool objectValidForHover = rigidbody != null
                                && manager.interactionObjectBodies.TryGetValue(rigidbody, out intObj)
                                && !intObj.ShouldIgnoreHover(this)
                                && (customHoverActivityFilter == null || customHoverActivityFilter(intObj));

      if (objectValidForHover) return intObj;
      else return null;
    }

    // Layer mask for the hover acitivity manager.
    private Func<int> hoverLayerMaskAccessor;

    // Hover Activity Manager
    private ActivityManager<IInteractionBehaviour> _hoverActivityManager;
    public ActivityManager<IInteractionBehaviour> hoverActivityManager {
      get {
        if (_hoverActivityManager == null) {
          if (hoverActivityFilter == null) hoverActivityFilter = hoverFilterFunc;
          if (hoverLayerMaskAccessor == null) hoverLayerMaskAccessor = manager.GetInteractionLayerMask;

          _hoverActivityManager = new ActivityManager<IInteractionBehaviour>(manager.hoverActivationRadius,
                                                                             hoverActivityFilter);

          _hoverActivityManager.activationLayerFunction = hoverLayerMaskAccessor;
        }
        return _hoverActivityManager;
      }
    }

    /// <summary>
    /// Disables broadphase checks if an object is currently interacting with this hand.
    /// </summary>
    private bool _primaryHoverLocked = false;
    /// <summary>
    /// When set to true, locks the current primarily hovered object, even if the hand
    /// gets closer to a different object.
    /// </summary>
    public bool primaryHoverLocked {
      get { return _primaryHoverLocked; }
      set { _primaryHoverLocked = value; }
    }

    /// <summary>
    /// Sets the argument interaction object to be the current primary hover of this
    /// interaction controller and locks the primary hover state of the interaction
    /// controller.
    /// <see cref="primaryHoverLocked"/>
    /// </summary>
    public void LockPrimaryHover(InteractionBehaviour intObj) {
      _primaryHoveredObject = intObj;
      _primaryHoverLocked = true;
    }

    /// <summary>
    /// Gets the current position to check against nearby objects for hovering.
    /// Position is only used if the controller is currently tracked. For example,
    /// InteractionHand returns the center of the palm of the underlying Leap hand.
    /// </summary>
    public abstract Vector3 hoverPoint { get; }

    private HashSet<IInteractionBehaviour> _hoveredObjects = new HashSet<IInteractionBehaviour>();
    /// <summary>
    /// Returns a set of all Interaction objects currently hovered by this
    /// InteractionController.
    /// </summary>
    public ReadonlyHashSet<IInteractionBehaviour> hoveredObjects { get { return _hoveredObjects; } }

    protected abstract List<Transform> _primaryHoverPoints { get; }
    /// <summary>
    /// Gets the list of Transforms to consider against nearby objects to determine
    /// the closest object (primary hover) of this controller.
    /// </summary>
    public ReadonlyList<Transform> primaryHoverPoints { get { return _primaryHoverPoints; } }

    /// <summary>
    /// Gets whether the InteractionController is currently primarily hovering over
    /// any interaction object.
    /// </summary>
    public bool isPrimaryHovering { get { return primaryHoveredObject != null; } }

    private IInteractionBehaviour _primaryHoveredObject;
    /// <summary>
    /// Gets the InteractionBehaviour that is currently this InteractionController's
    /// primary hovered object, if there is one.
    /// </summary>
    public IInteractionBehaviour primaryHoveredObject { get { return _primaryHoveredObject; } }

    private float _primaryHoverDistance = float.PositiveInfinity;
    /// <summary>
    /// Gets the distance from the closest primary hover point on this controller to its
    /// primarily hovered object, if there are any.
    /// </summary>
    public float primaryHoverDistance { get { return _primaryHoverDistance; } }

    /// <summary>
    /// Gets the position of the primary hovering point that is closest to its primary
    /// hovered object, if this controller has a primary hover. Otherwise, returns
    /// Vector3.zero.
    /// </summary>
    public Vector3 primaryHoveringPoint {
      get {
        return isPrimaryHovering ? _primaryHoverPoints[_primaryHoverPointIdx].position
                                 : Vector3.zero;
      }
    }

    /// <summary>
    /// Gets the index in the primaryHoverPoints array of the primary hover point that is
    /// currently closest to this controller's primary hover object.
    /// </summary>
    public int primaryHoveringPointIndex { get { return _primaryHoverPointIdx; } }

    /// <summary> Index of the closest primary hover point in the primaryHoverPoints list. </summary>
    private int                         _primaryHoverPointIdx = -1;
    private List<IInteractionBehaviour> _perPointPrimaryHovered = new List<IInteractionBehaviour>();
    private List<float>                 _perPointPrimaryHoverDistance = new List<float>();

    private void fixedUpdateHovering() {
      using (new ProfilerSample("Fixed Update InteractionController Hovering")) {
        // Reset hover lock if the controller loses tracking.
        if (!isTracked && primaryHoverLocked) {
          _primaryHoverLocked = false;
        }

        // Update hover state.
        hoverActivityManager.activationRadius = manager.WorldHoverActivationRadius;

        Vector3? queryPosition = isTracked ? (Vector3?)hoverPoint : null;
        hoverActivityManager.UpdateActivityQuery(queryPosition, LeapSpace.allEnabled);

        // Add all returned objects as "hovered".
        // Find closest objects per primary hover point to update primary hover state.
        using (new ProfilerSample("Find Closest Objects for Primary Hover")) {
          refreshHoverState(_hoverActivityManager.ActiveObjects);
        }

        // Refresh buffer information from the previous frame to be able to fire
        // the appropriate hover state callbacks.
        refreshHoverStateBuffers();
        refreshPrimaryHoverStateBuffers();

        // Support interactions in curved ("warped") space by "unwarping" hands into
        // the curved space's physics (rectilinear) space.
        if (isTracked && isPrimaryHovering) {
          ISpaceComponent space = primaryHoveredObject.space;

          if (space != null
           && space.anchor != null
           && space.anchor.space != null) {
            unwarpColliders(primaryHoverPoints[_primaryHoverPointIdx], space);
          }
        }
      }
    }

    /// <summary>
    /// Implementing this method is necessary to support curved spaces as
    /// rendered by a Leap Graphic Renderer. See InteractionHand for an example
    /// implementation. (Implementing this method is optional if you are not
    /// using a curved space as rendered by a Leap Graphic Renderer.)
    /// </summary>
    /// <remarks>
    /// Warps the collider transforms of this controller by the inverse of the
    /// transformation that is applied on the provided warpedSpaceElement, using
    /// the primaryHoverPoint as the pivot transform for the transformation.
    ///
    /// ITransformer.WorldSpaceUnwarp is a useful method here. (ISpaceComponents
    /// contain references to their transformers via their anchors.)
    ///
    /// ISpaceComponents denote game objects whose visual positions are warped
    /// from rectilinear (non-warped) space into a curved space (via, for example,
    /// a LeapCylindricalSpace, which can only be rendered correctly by the Leap
    /// Graphic Renderer). This method reverses that transformation for the hand,
    /// bringing it into the object's rectilinear space, allowing objects curved
    /// in this way to correctly collide with the bones in the hand or collider of
    /// a held controller.
    ///
    /// The provided Transform is the closest primary hover point to any given
    /// primary hover candidate, so it is used as the pivot point for unwarping
    /// the colliders of this InteractionController.
    /// </remarks>
    protected abstract void unwarpColliders(Transform primaryHoverPoint,
                                            ISpaceComponent warpedSpaceElement);

    // Hover history, handled as part of the Interaction Manager's state-check calls.
    private IInteractionBehaviour _primaryHoveredLastFrame = null;
    private HashSet<IInteractionBehaviour> _hoveredLastFrame = new HashSet<IInteractionBehaviour>();

    /// <summary>
    /// Clears the previous hover state data and calculates it anew based on the
    /// latest hover and primary hover point data.
    /// </summary>
    private void refreshHoverState(HashSet<IInteractionBehaviour> hoverCandidates) {
      // Prepare data from last frame for hysteresis later on.
      int primaryHoverPointIdxLastFrame = _primaryHoveredLastFrame != null ? _primaryHoverPointIdx : -1;

      _hoveredObjects.Clear();

      IInteractionBehaviour lockedPrimaryHoveredObject = null;
      if (primaryHoverLocked) {
        lockedPrimaryHoveredObject = _primaryHoveredObject;
      }
      _primaryHoveredObject = null;
      _primaryHoverDistance = float.PositiveInfinity;
      _primaryHoverPointIdx = -1;
      _perPointPrimaryHovered.Clear();
      _perPointPrimaryHoverDistance.Clear();
      for (int i = 0; i < primaryHoverPoints.Count; i++) {
        _perPointPrimaryHovered.Add(null);
        _perPointPrimaryHoverDistance.Add(float.PositiveInfinity);
      }

      // We can only update hover information if there's tracked data.
      if (!isTracked) return;

      // Determine values to apply hysteresis to the primary hover state.
      float maxNewPrimaryHoverDistance = float.PositiveInfinity;
      if (_primaryHoveredLastFrame != null && primaryHoverPointIdxLastFrame != -1
          && primaryHoverPoints[primaryHoverPointIdxLastFrame] != null) {

        if (_contactBehaviours.ContainsKey(_primaryHoveredLastFrame)) {
          // If we're actually touching the last primary hover, prevent the primary hover from changing at all.
          maxNewPrimaryHoverDistance = 0F;
        }
        else {
          float distanceToLastPrimaryHover = _primaryHoveredLastFrame.GetHoverDistance(
                                               primaryHoverPoints[primaryHoverPointIdxLastFrame].position);
          // Otherwise...
          // The distance to a new object must be even closer than the current primary hover
          // distance in order for that object to become the new primary hover.
          maxNewPrimaryHoverDistance = distanceToLastPrimaryHover
                                       * distanceToLastPrimaryHover.Map(0.009F, 0.018F, 0.4F, 0.95F);

        }
      }

      foreach (IInteractionBehaviour behaviour in hoverCandidates) {
        // All hover candidates automatically count as hovered.
        _hoveredObjects.Add(behaviour);

        // Some objects can ignore consideration for primary hover as an
        // optimization, since it can require a lot of distance checks.
        if (behaviour.ignorePrimaryHover) continue;

        // Do further processing to determine the primary hover if primary hover isn't
        // locked.
        else if (!primaryHoverLocked) {
          processPrimaryHover(behaviour, maxNewPrimaryHoverDistance);
        }
      }

      // If the primary hover is locked, we need to process primary hover specifically
      // for the locked object.
      if (primaryHoverLocked && lockedPrimaryHoveredObject != null) {
        processPrimaryHover(lockedPrimaryHoveredObject, float.PositiveInfinity);
      }
    }

    private void processPrimaryHover(IInteractionBehaviour behaviour, float maxNewPrimaryHoverDistance) {
      // Check against all positions currently registered as primary hover points,
      // finding the closest one and updating hover data accordingly.
      float shortestPointDistance = float.PositiveInfinity;
      for (int i = 0; i < primaryHoverPoints.Count; i++) {
        var primaryHoverPoint = primaryHoverPoints[i];

        // It's possible to disable primary hover points to ignore them for hover
        // consideration.
        if (primaryHoverPoint == null) continue;
        if (!primaryHoverPoint.gameObject.activeInHierarchy) continue;

        // Skip non-index fingers for InteractionHands if they aren't extended.
        if (intHand != null) {
          if (!(intHand.leapHand).Fingers[i].IsExtended && i != 1) { continue; }
        }

        // Check primary hover for the primary hover point.
        float behaviourDistance = GetHoverDistance(primaryHoverPoint.position, behaviour);
        if (behaviourDistance < shortestPointDistance) {

          // This is the closest behaviour to this primary hover point.
          _perPointPrimaryHovered[i] = behaviour;
          _perPointPrimaryHoverDistance[i] = behaviourDistance;
          shortestPointDistance = behaviourDistance;

          if (primaryHoverLocked) {
            // If primary hover is locked, there's only one object to consider,
            // and the current primary hover point is the closest one to the object
            // so far, so update primary hover accordingly.
            _primaryHoveredObject = _perPointPrimaryHovered[i]; // (redundant)
            _primaryHoverDistance = _perPointPrimaryHoverDistance[i];
            _primaryHoverPointIdx = i;
          }
          else if (shortestPointDistance < _primaryHoverDistance
                   && (behaviour == _primaryHoveredLastFrame || behaviourDistance < maxNewPrimaryHoverDistance)) {

            // This is the closest behaviour to ANY primary hover point, and the
            // distance is less than the hysteresis distance to transition away from
            // the previous primary hovered object.
            _primaryHoveredObject = _perPointPrimaryHovered[i];
            _primaryHoverDistance = _perPointPrimaryHoverDistance[i];
            _primaryHoverPointIdx = i;
          }
        }
      }
    }

    /// <summary>
    /// Clears all hover tracking state and fires the hover-end callbacks immediately.
    /// If objects are still in the hover radius around this controller and the
    /// controller and manager are still active, HoverBegin callbacks will be invoked
    /// again on the next fixed frame.
    /// </summary>
    public void ClearHoverTracking() {
      _controllerListBuffer.Clear();
      _controllerListBuffer.Add(this);

      var tempObjs = Pool<HashSet<IInteractionBehaviour>>.Spawn();
      try {
        foreach (var intObj in hoveredObjects) {
          tempObjs.Add(intObj);
        }

        foreach (var intObj in tempObjs) {
          // Prevents normal hover state checking on the next frame from firing duplicate
          // hover-end callbacks. If the object is still hovered (and the controller is
          // still in an enabled state), the object WILL receive a hover begin callback
          // on the next frame.
          _hoveredObjects.Remove(intObj);
          _hoveredLastFrame.Remove(intObj);

          intObj.EndHover(_controllerListBuffer);
        }
      }
      finally {
        tempObjs.Clear();
        Pool<HashSet<IInteractionBehaviour>>.Recycle(tempObjs);
      }
    }

    /// <summary>
    /// Clears the hover tracking state for an object and fires the hover-end callback
    /// for that object immediately.
    ///
    /// If the object is still in the hover radius of this controller and the controller
    /// and manager are still active, the hover will begin anew on the next fixed frame.
    /// </summary>
    public void ClearHoverTrackingForObject(IInteractionBehaviour intObj) {
      if (!hoveredObjects.Contains(intObj)) return;

      _hoveredObjects.Remove(intObj);
      _hoveredLastFrame.Remove(intObj);

      _controllerListBuffer.Clear();
      _controllerListBuffer.Add(this);

      intObj.EndHover(_controllerListBuffer);
    }

    #region Hover State Checks

    private HashSet<IInteractionBehaviour> _hoverEndedBuffer = new HashSet<IInteractionBehaviour>();
    private HashSet<IInteractionBehaviour> _hoverBeganBuffer = new HashSet<IInteractionBehaviour>();

    private List<IInteractionBehaviour> _hoverRemovalCache = new List<IInteractionBehaviour>();
    private void refreshHoverStateBuffers() {
      _hoverBeganBuffer.Clear();
      _hoverEndedBuffer.Clear();

      var trackedBehaviours = _hoverActivityManager.ActiveObjects;
      foreach (var hoverable in trackedBehaviours) {
        bool inLastFrame = false, inCurFrame = false;
        if (hoveredObjects.Contains(hoverable)) {
          inCurFrame = true;
        }
        if (_hoveredLastFrame.Contains(hoverable)) {
          inLastFrame = true;
        }

        if (inCurFrame && !inLastFrame) {
          _hoverBeganBuffer.Add(hoverable);
          _hoveredLastFrame.Add(hoverable);
        }
        if (!inCurFrame && inLastFrame) {
          _hoverEndedBuffer.Add(hoverable);
          _hoveredLastFrame.Remove(hoverable);
        }
      }

      foreach (var hoverable in _hoveredLastFrame) {
        if (!trackedBehaviours.Contains(hoverable)) {
          _hoverEndedBuffer.Add(hoverable);
          _hoverRemovalCache.Add(hoverable);
        }
      }
      foreach (var hoverable in _hoverRemovalCache) {
        _hoveredLastFrame.Remove(hoverable);
      }
      _hoverRemovalCache.Clear();
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Outputs objects that stopped being hovered by this hand this frame into hoverEndedObjects and returns whether
    /// the output set is empty.
    /// </summary>
    bool IInternalInteractionController.CheckHoverEnd(out HashSet<IInteractionBehaviour> hoverEndedObjects) {
      // Hover checks via the activity manager are robust to destroyed or made-invalid objects,
      // so no additional validity checking is required.
      hoverEndedObjects = _hoverEndedBuffer;

      return _hoverEndedBuffer.Count > 0;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Outputs objects that began being hovered by this hand this frame into hoverBeganObjects and returns whether
    /// the output set is empty.
    /// </summary>
    bool IInternalInteractionController.CheckHoverBegin(out HashSet<IInteractionBehaviour> hoverBeganObjects) {
      hoverBeganObjects = _hoverBeganBuffer;
      return _hoverBeganBuffer.Count > 0;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Outputs objects that are currently hovered by this hand into hoveredObjects and returns whether the
    /// output set is empty.
    /// </summary>
    bool IInternalInteractionController.CheckHoverStay(out HashSet<IInteractionBehaviour> hoveredObjects) {
      hoveredObjects = _hoveredObjects;
      return hoveredObjects.Count > 0;
    }

    #endregion

    /// <summary>
    /// Clears primary hover tracking state for the current primary hovered object.
    ///
    /// If the current primary hover is still the most eligible hovered object and this
    /// controller and its manager are still active, primary hover will begin anew on
    /// the next fixed frame.
    /// </summary>
    public void ClearPrimaryHoverTracking() {
      if (!isPrimaryHovering) return;

      // This will cause the primary-hover-end check to return this object, and prevent
      // a duplicate primary-hover-end call when refreshPrimaryHoverStateBuffers() is
      // called on the next frame.
      var formerlyPrimaryHoveredObj = _primaryHoveredObject;
      _primaryHoveredObject = null;
      _primaryHoveredLastFrame = null;

      if (primaryHoverLocked) primaryHoverLocked = false;

      _controllerListBuffer.Clear();
      _controllerListBuffer.Add(this);

      formerlyPrimaryHoveredObj.EndPrimaryHover(_controllerListBuffer);
    }

    #region Primary Hover State Checks

    private IInteractionBehaviour _primaryHoverEndedObject = null;
    private IInteractionBehaviour _primaryHoverBeganObject = null;

    private void refreshPrimaryHoverStateBuffers() {
      if (primaryHoveredObject != _primaryHoveredLastFrame) {
        if (_primaryHoveredLastFrame != null) _primaryHoverEndedObject = _primaryHoveredLastFrame;
        else _primaryHoverEndedObject = null;

        _primaryHoveredLastFrame = primaryHoveredObject;

        if (_primaryHoveredLastFrame != null) _primaryHoverBeganObject = _primaryHoveredLastFrame;
        else _primaryHoverBeganObject = null;
      }
      else {
        _primaryHoverEndedObject = null;
        _primaryHoverBeganObject = null;
      }
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Returns whether an object stopped being primarily hovered by this hand this frame and, if so,
    /// outputs the object into primaryHoverEndedObject (it will be null otherwise).
    /// </summary>
    bool IInternalInteractionController.CheckPrimaryHoverEnd(out IInteractionBehaviour primaryHoverEndedObject) {
      primaryHoverEndedObject = _primaryHoverEndedObject;
      bool primaryHoverEnded = primaryHoverEndedObject != null;

      if (primaryHoverEnded && _primaryHoverEndedObject is InteractionBehaviour) {
        OnEndPrimaryHoveringObject(_primaryHoverEndedObject as InteractionBehaviour);
      }

      return primaryHoverEnded;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Returns whether an object began being primarily hovered by this hand this frame and, if so,
    /// outputs the object into primaryHoverBeganObject (it will be null otherwise).
    /// </summary>
    bool IInternalInteractionController.CheckPrimaryHoverBegin(out IInteractionBehaviour primaryHoverBeganObject) {
      primaryHoverBeganObject = _primaryHoverBeganObject;
      bool primaryHoverBegan = primaryHoverBeganObject != null;

      if (primaryHoverBegan && _primaryHoverBeganObject is InteractionBehaviour) {
        OnBeginPrimaryHoveringObject(_primaryHoverBeganObject as InteractionBehaviour);
      }

      return primaryHoverBegan;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Returns whether any object is the primary hover of this hand and, if so, outputs
    /// the object into primaryHoveredObject.
    /// </summary>
    bool IInternalInteractionController.CheckPrimaryHoverStay(out IInteractionBehaviour primaryHoveredObject) {
      primaryHoveredObject = _primaryHoveredObject;
      bool primaryHoverStayed = primaryHoveredObject != null;

      if (primaryHoverStayed && primaryHoveredObject is InteractionBehaviour) {
        OnStayPrimaryHoveringObject(primaryHoveredObject as InteractionBehaviour);
      }

      return primaryHoverStayed;
    }

    #endregion

    /// <summary>
    /// Returns the hover distance from the hoverPoint to the specified object, automatically
    /// accounting for ISpaceComponent warping if necessary.
    /// </summary>
    public static float GetHoverDistance(Vector3 hoverPoint, IInteractionBehaviour behaviour) {
      if (behaviour.space != null) {
        return behaviour.GetHoverDistance(TransformPoint(hoverPoint, behaviour.space));
      }
      else {
        return behaviour.GetHoverDistance(hoverPoint);
      }
    }

    /// <summary>
    /// Applies the spatial warping of the provided ISpaceComponent to a world-space point.
    /// </summary>
    public static Vector3 TransformPoint(Vector3 worldPoint, ISpaceComponent element) {
      if (element.anchor != null && element.anchor.space != null) {
        Vector3 localPos = element.anchor.space.transform.InverseTransformPoint(worldPoint);
        return element.anchor.space.transform.TransformPoint(element.anchor.transformer.InverseTransformPoint(localPos));
      }
      else {
        return worldPoint;
      }
    }

    #endregion

    #region Contact

    /// <summary>
    /// Gets the set of interaction objects that are currently touching this
    /// interaction controller.
    /// </summary>
    public ReadonlyHashSet<IInteractionBehaviour> contactingObjects { get { return _contactBehavioursSet; } }

    #region Contact Bones

    protected const float DEAD_ZONE_FRACTION = 0.04F;

    private float _softContactDislocationDistance = 0.03F;
    protected float softContactDislocationDistance {
      get { return _softContactDislocationDistance; }
      set { _softContactDislocationDistance = value; }
    }

    private static PhysicMaterial s_defaultContactBoneMaterial;
    protected static PhysicMaterial defaultContactBoneMaterial {
      get {
        if (s_defaultContactBoneMaterial == null) {
          initDefaultContactBoneMaterial();
        }
        return s_defaultContactBoneMaterial;
      }
    }

    /// <summary>
    /// ContactBones should have PhysicMaterials with a bounciness of
    /// zero and a bounce combine set to minimum.
    /// </summary>
    private static void initDefaultContactBoneMaterial() {
      if (s_defaultContactBoneMaterial == null) {
        s_defaultContactBoneMaterial = new PhysicMaterial();
      }
      s_defaultContactBoneMaterial.hideFlags = HideFlags.HideAndDontSave;
      s_defaultContactBoneMaterial.bounceCombine = PhysicMaterialCombine.Minimum;
      s_defaultContactBoneMaterial.bounciness = 0F;
    }

    private bool _contactInitialized = false;
    protected bool _wasContactInitialized { get { return _contactInitialized; } }
    public abstract ContactBone[] contactBones { get; }
    protected abstract GameObject contactBoneParent { get; }
    protected float lastObjectTouchedAdjustedMassMass = 0.2f;

    private Vector3[]    _boneTargetPositions;
    private Quaternion[] _boneTargetRotations;

    /// <summary>
    /// Called to initialize contact colliders. See remarks for implementation
    /// requirements.
    /// </summary>
    /// <remarks>
    /// initContact() should:
    /// - Return false at any time if initialization cannot be performed.
    /// - Ensure the "contactBones" property returns all contact colliders.
    ///   - (Construct contact colliders if they don't already exist.)
    /// - Ensure the "contactBoneParent" property returns the common parent of all
    ///   contact colliders.
    ///   - (Construct the contact bone parent if it doesn't already exist.)
    /// - Return true if initialization was successful.
    ///
    /// Contact will only begin updating after initialization succeeds, otherwise
    /// it will try to initialize again on the next fixed frame.
    ///
    /// After initialization, the contact bone parent's layer will be set to
    /// the Interaction Manager's contactBoneLayer.
    /// </remarks>
    protected abstract bool initContact();

    private void finishInitContact() {
      contactBoneParent.layer = manager.contactBoneLayer;
      contactBoneParent.transform.parent = manager.transform;

      var comment = contactBoneParent.GetComponent<ContactBoneParent>();
      if (comment == null) {
        comment = contactBoneParent.AddComponent<ContactBoneParent>();
      }
      comment.controller = this;

      foreach (var contactBone in contactBones) {
        contactBone.rigidbody.maxAngularVelocity = 30F;

        contactBone.gameObject.layer = manager.contactBoneLayer;
      }

      _boneTargetPositions = new Vector3[contactBones.Length];
      _boneTargetRotations = new Quaternion[contactBones.Length];
    }

    private void fixedUpdateContact() {
      // Make sure contact data is initialized.
      if (!_contactInitialized) {
        if (initContact()) {
          finishInitContact();
          _contactInitialized = true;
        }
        else {
          return;
        }
      }

      // Clear contact data if we lose tracking.
      if (!isTracked && _contactBehaviours.Count > 0) {
        _contactBehaviours.Clear();

        // Also clear soft contact state if tracking is lost.
        _softContactCollisions.Clear();
      }

      // Disable contact bone parent if we lose tracking.
      if (!isTracked) {
        contactBoneParent.SetActive(false);
        return;
      }
      else {
        if (!contactBoneParent.activeSelf) {
          contactBoneParent.SetActive(true);
        }
      }

      // Request and store target bone positions and rotations
      // for use during the contact update.
      using (new ProfilerSample("Update Contact Bone Targets")) {
        for (int i = 0; i < contactBones.Length; i++) {
          getColliderBoneTargetPositionRotation(i, out _boneTargetPositions[i],
                                                   out _boneTargetRotations[i]);
        }
      }

      using (new ProfilerSample("Update Contact Bones")) {
        normalizeBoneMasses();
        for (int i = 0; i < contactBones.Length; i++) {
          updateContactBone(i, _boneTargetPositions[i], _boneTargetRotations[i]);
        }
      }
      using (new ProfilerSample("Update Soft Contact")) {
        fixedUpdateSoftContact();
      }
      using (new ProfilerSample("Update Contact Callbacks")) {
        fixedUpdateContactState();
      }
    }

    /// <summary>
    /// If your controller features no moving colliders relative to itself, simply
    /// return the desired position and rotation for the given indexed contact bone
    /// in the contactBones array. (For example, by recording the local position and
    /// local rotation of each contact bone in initContact()). More complex controllers,
    /// such as InteractionHand, uses this method to set ContactBone target positions and
    /// rotations based on the tracked Leap hand.
    /// </summary>
    protected abstract void getColliderBoneTargetPositionRotation(int contactBoneIndex,
                                                          out Vector3 targetPosition,
                                                          out Quaternion targetRotation);

    private void normalizeBoneMasses() {
      //If any of the contact bones have contacted an object that the others have not
      //Propagate that change in mass to the rest of the bones in the hand
      float tempAdjustedMass = lastObjectTouchedAdjustedMassMass;
      for (int i = 0; i < contactBones.Length; i++) {
        if (contactBones[i]._lastObjectTouchedAdjustedMass != tempAdjustedMass) {
          tempAdjustedMass = contactBones[i]._lastObjectTouchedAdjustedMass;
          for (int j = 0; j < contactBones.Length; j++) {
            contactBones[j]._lastObjectTouchedAdjustedMass = tempAdjustedMass;
          }
          break;
        }
      }
      lastObjectTouchedAdjustedMassMass = tempAdjustedMass;
    }

    private void updateContactBone(int contactBoneIndex, Vector3 targetPosition, Quaternion targetRotation) {
      ContactBone contactBone = contactBones[contactBoneIndex];
      Rigidbody body = contactBone.rigidbody;

      // Infer ahead if the Interaction Manager has a moving frame of reference.
      //manager.TransformAheadByFixedUpdate(targetPosition, targetRotation, out targetPosition, out targetRotation);

      // Set a fixed rotation for bones; otherwise most friction is lost
      // as any capsule or spherical bones will roll on contact.
      using (new ProfilerSample("updateContactBone: MoveRotation")) {
        body.MoveRotation(targetRotation);
      }

      // Calculate how far off its target the contact bone is.
      float errorDistance = 0f;
      float errorFraction = 0f;
      using (new ProfilerSample("updateContactBone: errorDistance, errorFraction")) {
        Vector3 lastTargetPositionTransformedAhead = contactBone.lastTargetPosition;
        if (manager.hasMovingFrameOfReference) {
          manager.TransformAheadByFixedUpdate(contactBone.lastTargetPosition, out lastTargetPositionTransformedAhead);
        }
        errorDistance = Vector3.Distance(lastTargetPositionTransformedAhead, body.position);
        errorFraction = errorDistance / contactBone.width;
      }

      // Adjust the mass of the contact bone based on the mass of
      // the object it is currently touching.
      float speed = 0f;
      using (new ProfilerSample("updateContactBone: speed & massScale")) {
        speed = velocity.magnitude;
        float massScale = Mathf.Clamp(1.0F - (errorFraction * 2.0F), 0.1F, 1.0F)
                      * Mathf.Clamp(speed * 10F, 1F, 10F);
        body.mass = massScale * contactBone._lastObjectTouchedAdjustedMass;
      }

      // Potentially enable Soft Contact if our error is too large.
      using (new ProfilerSample("updateContactBone: maybe enable Soft Contact")) {
        if (!_softContactEnabled && errorDistance >= softContactDislocationDistance
          && speed < 1.5F
       /* && boneArrayIndex != NUM_FINGERS * BONES_PER_FINGER */) {
          EnableSoftContact();
        }
      }

      // Attempt to move the contact bone to its target position and rotation
      // by setting its target velocity and angular velocity. Include a "deadzone"
      // for position to avoid tiny vibrations.
      using (new ProfilerSample("updateContactBone: Move to target, with deadzone")) {
        float deadzone = Mathf.Min(DEAD_ZONE_FRACTION * contactBone.width, 0.01F * scale);
        Vector3 delta = (targetPosition - body.position);
        float deltaMag = delta.magnitude;
        if (deltaMag <= deadzone) {
          body.velocity = Vector3.zero;
          contactBone.lastTargetPosition = body.position;
        }
        else {
          delta *= (deltaMag - deadzone) / deltaMag;
          contactBone.lastTargetPosition = body.position + delta;

          Vector3 targetVelocity = delta / Time.fixedDeltaTime;
          float targetVelocityMag = targetVelocity.magnitude;
          body.velocity = (targetVelocity / targetVelocityMag)
                        * Mathf.Clamp(targetVelocityMag, 0F, 100F);
        }
        Quaternion deltaRot = targetRotation * Quaternion.Inverse(body.rotation);
        body.angularVelocity = PhysicsUtility.ToAngularVelocity(deltaRot, Time.fixedDeltaTime);
      }
    }

    #endregion

    #region Soft Contact

    private bool _softContactEnabled = false;
    public bool softContactEnabled { get { return _softContactEnabled; } }

    private bool _disableSoftContactEnqueued = false;
    private IEnumerator _delayedDisableSoftContactCoroutine;

    private Collider[] _softContactColliderBuffer = new Collider[32];

    private bool _notTrackedLastFrame = true;

    private void fixedUpdateSoftContact() {
      if (!isTracked) {
        _notTrackedLastFrame = true;
        return;
      }
      else {
        // If the hand was just initialized, initialize with soft contact.
        if (_notTrackedLastFrame) {
          EnableSoftContact();
        }

        _notTrackedLastFrame = false;
      }

      if (_softContactEnabled) {
        foreach (var contactBone in contactBones) {
#if UNITY_ANDROID
          //for(int i = 0; i < _softContactColliderBuffer.Length; i++) {
          //  _softContactColliderBuffer[i] = null;
          //}
          // HACK: assume only using hands on android
          // TODO: This probably doesn't take into accoutn ignoreContact settings
          PhysicsUtility.generateSphereContacts(contactBone.rigidbody.position,
                                                0.02f * manager.SimulationScale,
                                                contactBone.rigidbody.velocity,
                                                manager.interactionLayer.layerMask,
                                                ref manager._softContacts,
                                                ref manager._softContactOriginalVelocities,
                                                ref _softContactColliderBuffer);

          //for (int i = 0; i < _softContactColliderBuffer.Length; i++) {
          //  if (_softContactColliderBuffer[i] != null) {
          //    NotifySoftContactOverlap(contactBone, _softContactColliderBuffer[i]);
          //  }
          //}
#else
          Collider contactBoneCollider = contactBone.collider;
          if (contactBoneCollider is SphereCollider) {
            var boneSphere = contactBoneCollider as SphereCollider;

            int numCollisions = Physics.OverlapSphereNonAlloc(contactBone.transform.TransformPoint(boneSphere.center),
                                                              contactBone.transform.lossyScale.x * boneSphere.radius,
                                                              _softContactColliderBuffer,
                                                              manager.GetInteractionLayerMask(),
                                                              QueryTriggerInteraction.Ignore);
            for (int i = 0; i < numCollisions; i++) {
              //NotifySoftContactOverlap(contactBone, _softContactColliderBuffer[i]);

              // If the rigidbody is null, the object may have been destroyed.
              if (_softContactColliderBuffer[i].attachedRigidbody == null) continue;
              IInteractionBehaviour intObj;
              if (manager.interactionObjectBodies.TryGetValue(_softContactColliderBuffer[i].attachedRigidbody, out intObj)) {
                // Skip soft contact if the object is ignoring contact.
                if (intObj.ignoreContact) continue;
                if (intObj.isGrasped) continue;
              }

              PhysicsUtility.generateSphereContact(boneSphere, 0, _softContactColliderBuffer[i],
                                                   ref manager._softContacts,
                                                   ref manager._softContactOriginalVelocities);
            }
          }
          else if (contactBoneCollider is CapsuleCollider) {
            var boneCapsule = contactBoneCollider as CapsuleCollider;

            Vector3 point0, point1;
            boneCapsule.GetCapsulePoints(out point0, out point1);

            int numCollisions = Physics.OverlapCapsuleNonAlloc(point0, point1,
                                                               contactBone.transform.lossyScale.x * boneCapsule.radius,
                                                               _softContactColliderBuffer,
                                                               manager.GetInteractionLayerMask(),
                                                               QueryTriggerInteraction.Ignore);
            for (int i = 0; i < numCollisions; i++) {
              //NotifySoftContactOverlap(contactBone, _softContactColliderBuffer[i]);

              // If the rigidbody is null, the object may have been destroyed.
              if (_softContactColliderBuffer[i].attachedRigidbody == null) continue;
              IInteractionBehaviour intObj;
              if (manager.interactionObjectBodies.TryGetValue(_softContactColliderBuffer[i].attachedRigidbody, out intObj)) {
                // Skip soft contact if the object is ignoring contact.
                if (intObj.ignoreContact) continue;
                if (intObj.isGrasped) continue;
              }

              PhysicsUtility.generateCapsuleContact(boneCapsule, 0,
                                                    _softContactColliderBuffer[i],
                                                    ref manager._softContacts,
                                                    ref manager._softContactOriginalVelocities);
            }
          }
          else {
            var boneBox = contactBoneCollider as BoxCollider;

            if (boneBox == null) {
              Debug.LogError("Unsupported collider type in ContactBone. Supported "
                           + "types are SphereCollider, CapsuleCollider, and "
                           + "BoxCollider.", this);
              continue;
            }

            int numCollisions = Physics.OverlapBoxNonAlloc(boneBox.transform.TransformPoint(boneBox.center),
                                                           Vector3.Scale(boneBox.size * 0.5F, contactBone.transform.lossyScale),
                                                           _softContactColliderBuffer,
                                                           boneBox.transform.rotation,
                                                           manager.GetInteractionLayerMask(),
                                                           QueryTriggerInteraction.Ignore);
            for (int i = 0; i < numCollisions; i++) {
              //NotifySoftContactOverlap(contactBone, _softContactColliderBuffer[i]);

              // If the rigidbody is null, the object may have been destroyed.
              if (_softContactColliderBuffer[i].attachedRigidbody == null) continue;
              IInteractionBehaviour intObj;
              if (manager.interactionObjectBodies.TryGetValue(_softContactColliderBuffer[i].attachedRigidbody, out intObj)) {
                // Skip soft contact if the object is ignoring contact.
                if (intObj.ignoreContact) continue;
                if (intObj.isGrasped) continue;
              }

              PhysicsUtility.generateBoxContact(boneBox, 0, _softContactColliderBuffer[i],
                                                ref manager._softContacts,
                                                ref manager._softContactOriginalVelocities);
            }
          }
#endif
        }

        // TODO: Implement me to replace trigger colliders
        //FinishSoftContactOverlapChecks();

        //for (int i = 0; i < contactBones.Length; i++) {
        //  Vector3 bonePosition = _boneTargetPositions[i];
        //   Quaternion boneRotation = _boneTargetRotations[i];

        //   Generate soft contact data based on spheres at each bonePosition
        //   of radius softContactBoneRadius.
        //  bool sphereIntersecting;
        //  using (new ProfilerSample("Generate Soft Contacts")) {
        //    sphereIntersecting = PhysicsUtility.generateSphereContacts(bonePosition,
        //                                                               _softContactBoneRadius,
        //                                                               (bonePosition - _bonePositionsLastFrame[i]) / Time.fixedDeltaTime,
        //                                                               1 << manager.interactionLayer,
        //                                                               ref manager._softContacts,
        //                                                               ref manager._softContactOriginalVelocities,
        //                                                               ref _tempColliderArray);
        //  }

        //  _bonePositionsLastFrame[i] = bonePosition;

        //  softlyContacting = sphereIntersecting ? true : softlyContacting;
        //}

        if (_softContactCollisions.Count > 0) {
          _disableSoftContactEnqueued = false;
        }
        else {
          // If there are no detected Contacts, exit soft contact mode.
          DisableSoftContact();
        }
      }
    }

    /// <summary>
    /// Optionally override this method to perform logic just before soft contact
    /// is enabled for this controller.
    ///
    /// The InteractionHand implementation takes the opportunity to reset its contact
    /// bone's joints, which may have initialized slightly out of alignment on initial
    /// construction.
    /// </summary>
    protected virtual void onPreEnableSoftContact() { }

    /// <summary>
    /// Optioanlly override this method to perform logic just after soft contact
    /// is disabled for this controller.
    ///
    /// The InteractionHand implementation takes the opportunity to reset its contact
    /// bone's joints, which my have initialized slightly out of alignment on initial
    /// construction.
    /// </summary>
    protected virtual void onPostDisableSoftContact() { }

    public void EnableSoftContact() {
      if (!isTracked) return;
      using (new ProfilerSample("Enable Soft Contact")) {
        _disableSoftContactEnqueued = false;
        if (!_softContactEnabled) {
          onPreEnableSoftContact();

          _softContactEnabled = true;

          if (_delayedDisableSoftContactCoroutine != null) {
            manager.StopCoroutine(_delayedDisableSoftContactCoroutine);
          }
          for (int i = 0; i < contactBones.Length; i++) {
            if (contactBones[i].collider == null) continue;

            disableContactBoneCollision();
          }
        }
      }
    }

    public void DisableSoftContact() {
      using (new ProfilerSample("Enqueue Disable Soft Contact")) {
        if (!_disableSoftContactEnqueued) {
          _delayedDisableSoftContactCoroutine = DelayedDisableSoftContact();
          manager.StartCoroutine(_delayedDisableSoftContactCoroutine);
          _disableSoftContactEnqueued = true;
        }
      }
    }

    private IEnumerator DelayedDisableSoftContact() {
      if (_disableSoftContactEnqueued) { yield break; }
      yield return new WaitForSecondsRealtime(0.3f);
      if (_disableSoftContactEnqueued) {
        using (new ProfilerSample("Disable Soft Contact")) {
          _softContactEnabled = false;
          for (int i = 0; i < contactBones.Length; i++) {
            enableContactBoneCollision();
          }

          onPostDisableSoftContact();
        }
      }
    }

    #region Soft Contact Collision Tracking
    /*
    // TODO: Make this a thing so we aren't using triggers
    private void NotifySoftContactOverlap(ContactBone contactBone, Collider otherCollider) {

    }

    // TODO: Make this a thing so we aren't using triggers
    private void FinishSoftContactOverlapChecks() {

    }*/

    // TODO: Maintaining a reference to the interaction object doesn't appear to be
    // necessary here, so get rid of the Pair class as a small optimization
    private Dictionary<BoneIntObjPair, HashSet<Collider>> _softContactCollisions = new Dictionary<BoneIntObjPair, HashSet<Collider>>();

    private struct BoneIntObjPair : IEquatable<BoneIntObjPair> {
      public ContactBone bone;
      public IInteractionBehaviour intObj;

      public override bool Equals(object obj) {
        return obj is BoneIntObjPair && this == (BoneIntObjPair)obj;
      }
      public bool Equals(BoneIntObjPair other) {
        return this == other;
      }
      public static bool operator !=(BoneIntObjPair one, BoneIntObjPair other) {
        return !(one == other);
      }
      public static bool operator ==(BoneIntObjPair one, BoneIntObjPair other) {
        return one.bone == other.bone && one.intObj == other.intObj;
      }
      public override int GetHashCode() {
        return bone.GetHashCode() ^ intObj.GetHashCode();
      }
    }

    public void NotifySoftContactCollisionEnter(ContactBone bone,
                                                IInteractionBehaviour intObj,
                                                Collider collider) {
      var pair = new BoneIntObjPair() { bone = bone, intObj = intObj };

      if (!_softContactCollisions.ContainsKey(pair)) {
        _softContactCollisions[pair] = new HashSet<Collider>();
      }
      _softContactCollisions[pair].Add(collider);
    }

    public void NotifySoftContactCollisionExit(ContactBone bone,
                                               IInteractionBehaviour intObj,
                                               Collider collider) {
      var pair = new BoneIntObjPair() { bone = bone, intObj = intObj };

      if (!_softContactCollisions.ContainsKey(pair)) {
        Debug.LogError("No collision set found for this pair of collisions; Exit method "
                     + "was called without a prior, corresponding Enter method!", this);
      }
      _softContactCollisions[pair].Remove(collider);

      if (_softContactCollisions[pair].Count == 0) {
        _softContactCollisions.Remove(pair);
      }
    }

    #endregion

    #endregion

    #region Contact Callbacks

    private HashSet<IInteractionBehaviour> _contactBehavioursSet = new HashSet<IInteractionBehaviour>();

    private Dictionary<IInteractionBehaviour, int> _contactBehaviours = new Dictionary<IInteractionBehaviour, int>();
    private HashSet<IInteractionBehaviour> _contactBehavioursLastFrame = new HashSet<IInteractionBehaviour>();
    private List<IInteractionBehaviour> _contactBehaviourRemovalCache = new List<IInteractionBehaviour>();

    private HashSet<IInteractionBehaviour> _contactEndedBuffer = new HashSet<IInteractionBehaviour>();
    private HashSet<IInteractionBehaviour> _contactBeganBuffer = new HashSet<IInteractionBehaviour>();

    public void NotifyContactBoneCollisionEnter(ContactBone contactBone, IInteractionBehaviour interactionObj) {
      int count;
      if (_contactBehaviours.TryGetValue(interactionObj, out count)) {
        _contactBehaviours[interactionObj] = count + 1;
      }
      else {
        _contactBehaviours[interactionObj] = 1;
        _contactBehavioursSet.Add(interactionObj);
      }
    }

    public void NotifyContactBoneCollisionStay(ContactBone contactBone, IInteractionBehaviour interactionObj) {
      // If Contact state is cleared manually or due to the controller being disabled,
      // it will be restored here.

      int count;
      if (!_contactBehaviours.TryGetValue(interactionObj, out count)) {
        _contactBehaviours[interactionObj] = 1;
        _contactBehavioursSet.Add(interactionObj);
      }
    }

    public void NotifyContactBoneCollisionExit(ContactBone contactBone, IInteractionBehaviour interactionObj) {
      if (interactionObj.ignoreContact) {
        if (_contactBehaviours.ContainsKey(interactionObj)) _contactBehaviours.Remove(interactionObj);
        return;
      }

      // Sometimes when the controller is disabled and re-enabled, we might be missing the
      // key in the dictionary already.
      if (!_contactBehaviours.ContainsKey(interactionObj)) return;

      int count = _contactBehaviours[interactionObj];
      if (count == 1) {
        _contactBehaviours.Remove(interactionObj);
        _contactBehavioursSet.Remove(interactionObj);
      }
      else {
        _contactBehaviours[interactionObj] = count - 1;
      }
    }

    /// <summary>
    /// Clears contact state for this controller and fires the appropriate ContactEnd
    /// callbacks on currently-contacted interaction objects immediately.
    ///
    /// If the controller is still contacting objects and it and its manager are still
    /// active, contact will begin anew on the next fixed frame.
    /// </summary>
    public void ClearContactTracking() {
      _controllerListBuffer.Clear();
      _controllerListBuffer.Add(this);

      var tempObjs = Pool<HashSet<IInteractionBehaviour>>.Spawn();
      try {
        foreach (var intObj in contactingObjects) {
          tempObjs.Add(intObj);
        }

        foreach (var intObj in tempObjs) {
          _contactBehavioursSet.Remove(intObj);
          _contactBehaviours.Remove(intObj);
          _contactBehavioursLastFrame.Remove(intObj);

          intObj.EndContact(_controllerListBuffer);
        }
      }
      finally {
        Pool<HashSet<IInteractionBehaviour>>.Recycle(tempObjs);
      }
    }

    /// <summary>
    /// Clears contact state for the specified object and fires its ContactEnd callbacks
    /// immediately.
    ///
    /// If the controller is still contacting the object and it and its manager are still
    /// active, contact will begin anew on the next fixed frame.
    /// </summary>
    public void  ClearContactTrackingForObject(IInteractionBehaviour intObj) {
      if (!contactingObjects.Contains(intObj)) return;

      _contactBehavioursSet.Remove(intObj);
      _contactBehaviours.Remove(intObj);
      _contactBehavioursLastFrame.Remove(intObj);

      _controllerListBuffer.Clear();
      _controllerListBuffer.Add(this);

      intObj.EndContact(_controllerListBuffer);
    }

    /// <summary>
    /// Called as a part of the Interaction Hand's general fixed frame update,
    /// before any specific-callback-related updates.
    /// </summary>
    private void fixedUpdateContactState() {
      _contactEndedBuffer.Clear();
      _contactBeganBuffer.Clear();

      // Update contact ended state.
      _contactBehaviourRemovalCache.Clear();
      foreach (var interactionObj in _contactBehavioursLastFrame) {
        if (!_contactBehaviours.ContainsKey(interactionObj)
         || !contactBoneParent.activeInHierarchy
         /* || !contactEnabled TODO: Use properties to support disabling contact at runtime! */) {
          _contactEndedBuffer.Add(interactionObj);
          _contactBehaviourRemovalCache.Add(interactionObj);
        }
      }
      foreach (var interactionObj in _contactBehaviourRemovalCache) {
        _contactBehavioursLastFrame.Remove(interactionObj);
      }

      // Update contact began state.
      if (contactBoneParent.activeInHierarchy /* && contactEnabled TODO: can this just be removed cleanly?*/) {
        foreach (var intObjCountPair in _contactBehaviours) {
          var interactionObj = intObjCountPair.Key;
          if (!_contactBehavioursLastFrame.Contains(interactionObj)) {
            _contactBeganBuffer.Add(interactionObj);
            _contactBehavioursLastFrame.Add(interactionObj);
          }
        }
      }
    }

    private List<IInteractionBehaviour> _removeContactObjsBuffer = new List<IInteractionBehaviour>();
    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Outputs interaction objects that stopped being touched by this hand this frame into contactEndedObjects
    /// and returns whether the output set is empty.
    /// </summary>
    bool IInternalInteractionController.CheckContactEnd(out HashSet<IInteractionBehaviour> contactEndedObjects) {
      // Ensure contact objects haven't been destroyed or set to ignore contact
      _removeContactObjsBuffer.Clear();
      foreach (var objTouchCountPair in _contactBehaviours) {
        if (objTouchCountPair.Key.gameObject == null
            || objTouchCountPair.Key.rigidbody == null
            || objTouchCountPair.Key.ignoreContact
            || !isTracked) {
          _removeContactObjsBuffer.Add(objTouchCountPair.Key);
        }
      }

      // Clean out removed, invalid, or ignoring-contact objects
      foreach (var intObj in _removeContactObjsBuffer) {
        _contactBehaviours.Remove(intObj);
        _contactEndedBuffer.Add(intObj);
      }

      contactEndedObjects = _contactEndedBuffer;
      return _contactEndedBuffer.Count > 0;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Outputs interaction objects that started being touched by this hand this frame into contactBeganObjects
    /// and returns whether the output set is empty.
    /// </summary>
    bool IInternalInteractionController.CheckContactBegin(out HashSet<IInteractionBehaviour> contactBeganObjects) {
      contactBeganObjects = _contactBeganBuffer;
      return _contactBeganBuffer.Count > 0;
    }

    private HashSet<IInteractionBehaviour> _contactedObjects = new HashSet<IInteractionBehaviour>();
    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Outputs interaction objects that are currently being touched by the hand into contactedObjects
    /// and returns whether the output set is empty.
    /// </summary>
    bool IInternalInteractionController.CheckContactStay(out HashSet<IInteractionBehaviour> contactedObjects) {
      _contactedObjects.Clear();
      foreach (var objCountPair in _contactBehaviours) {
        _contactedObjects.Add(objCountPair.Key);
      }

      contactedObjects = _contactedObjects;
      return contactedObjects.Count > 0;
    }

    #endregion

    private void disableContactBoneCollision() {
      foreach (var contactBone in contactBones) {
        contactBone.collider.isTrigger = true;
      }
    }

    private void enableContactBoneCollision() {
      foreach (var contactBone in contactBones) {
        contactBone.collider.isTrigger = false;
      }
    }

    private void resetContactBonePose() {
      int index = 0;
      foreach (var contactBone in contactBones) {
        Vector3    position;
        Quaternion rotation;
        getColliderBoneTargetPositionRotation(index++, out position, out rotation);

        contactBone.rigidbody.position = position;
        contactBone.rigidbody.rotation = rotation;
        contactBone.rigidbody.velocity = Vector3.zero;
        contactBone.rigidbody.angularVelocity = Vector3.zero;
      }
    }

    #endregion

    #region Grasping

    /// <summary> Gets whether the controller is currently grasping an object. </summary>
    public bool isGraspingObject { get { return _graspedObject != null; } }

    /// <summary> Gets the object the controller is currently grasping, or null if there is no such object. </summary>
    public IInteractionBehaviour graspedObject { get { return _graspedObject; } }

    /// <summary> Gets the set of objects currently considered graspable. </summary>
    public ReadonlyHashSet<IInteractionBehaviour> graspCandidates { get { return graspActivityManager.ActiveObjects; } }

    /// <summary>
    /// Gets the points of the controller to add to the calculation to determine how
    /// held objects should move as the controller moves. Interaction Controllers utilize
    /// the Kabsch algorithm to determine this, which is most noticeable when using
    /// Leap hands via InteractionHands to manipulate held objects. Rigid controllers
    /// may simply return a single rigid point on the controller. Refer to InteractionHand
    /// for a reference implementation for dynamic controllers (e.g. hands).
    /// </summary>
    public abstract List<Vector3> graspManipulatorPoints { get; }

    /// <summary>
    /// Returns approximately where the controller is grasping the currently grasped
    /// InteractionBehaviour.
    /// This method will print an error if the controller is not currently grasping an object.
    /// </summary>
    public abstract Vector3 GetGraspPoint();

    /// <summary>
    /// Checks if the provided interaction object can be grasped by this interaction
    /// controller in its current state. If so, the controller will initiate a grasp and
    /// this method will return true, otherwise this method returns false.
    /// </summary>
    public bool TryGrasp(IInteractionBehaviour intObj) {
      if (checkShouldGraspAtemporal(intObj)) {
        _graspedObject = intObj;
        return true;
      }

      return false;
    }

    /// <summary>
    /// Seamlessly swap the currently grasped object for a replacement object.  It will
    /// behave like the hand released the current object, and then grasped the new object.
    /// 
    /// This method will not teleport the replacement object or move it in any way, it will
    /// just cause it to be grasped.  That means that you will be responsible for moving
    /// the replacement object into a reasonable position for it to be grasped.
    /// </summary>
    public virtual void SwapGrasp(IInteractionBehaviour replacement) {
      if (_graspedObject == null) {
        throw new InvalidOperationException("Cannot swap grasp if we are not currently grasping.");
      }

      if (replacement == null) {
        throw new ArgumentNullException("The replacement object is null!");
      }

      if (replacement.isGrasped && !replacement.allowMultiGrasp) {
        throw new InvalidOperationException("Cannot swap grasp if the replacement object is already grasped and does not support multi grasp.");
      }

      //Notify the currently grasped object that it is being released
      _releasingControllersBuffer.Clear();
      _releasingControllersBuffer.Add(this);
      _graspedObject.EndGrasp(_releasingControllersBuffer);

      //Switch to the replacement object
      _graspedObject = replacement;

      var tempControllers = Pool<List<InteractionController>>.Spawn();
      try {
        //Let the replacement object know that it is being grasped
        tempControllers.Add(this);
        replacement.BeginGrasp(tempControllers);
      } 
      finally {
        tempControllers.Clear();
        Pool<List<InteractionController>>.Recycle(tempControllers);
      }
    }

    /// <summary>
    /// Checks if the provided interaction object can be grasped by this interaction
    /// controller in its current state. If so, the controller will initiate a grasp and
    /// this method will return true, otherwise this method returns false.
    /// 
    /// This method is useful if the controller requires conditions to initiate a grasp
    /// that differ from the conditions necessary to maintain a grasp after it has been
    /// initiated. This method allows a grasp to occur if certain initiation conditions
    /// are not met, such as the motion of a hand's fingers towards the palm,
    /// but if the grasp holding conditions are met, such as the penetration of a hand's
    /// fingers inside the interaction object.
    /// </summary>
    protected abstract bool checkShouldGraspAtemporal(IInteractionBehaviour intObj);

    private Func<Collider, IInteractionBehaviour> graspActivityFilter;
    private IInteractionBehaviour graspFilterFunc(Collider collider) {
      Rigidbody body = collider.attachedRigidbody;
      IInteractionBehaviour intObj = null;

      bool validForGrasping = body != null
                           && manager.interactionObjectBodies.TryGetValue(body, out intObj)
                           && !intObj.ignoreGrasping;

      if (validForGrasping) return intObj;

      return null;
    }

    // Layer mask for the hover acitivity manager.
    private Func<int> graspLayerMaskAccessor;

    // Grasp Activity Manager
    private ActivityManager<IInteractionBehaviour> _graspActivityManager;
    /// <summary> Determines which objects are graspable any given frame. </summary>
    private ActivityManager<IInteractionBehaviour> graspActivityManager {
      get {
        if (_graspActivityManager == null) {
          if (graspActivityFilter == null) graspActivityFilter = graspFilterFunc;
          if (graspLayerMaskAccessor == null) graspLayerMaskAccessor = manager.GetInteractionLayerMask;

          _graspActivityManager = new ActivityManager<IInteractionBehaviour>(1F, graspActivityFilter);

          _graspActivityManager.activationLayerFunction = graspLayerMaskAccessor;
        }
        return _graspActivityManager;
      }
    }

    private IInteractionBehaviour _graspedObject = null;

    private void fixedUpdateGrasping() {
      using (new ProfilerSample("Fixed Update Controller Grasping")) {
        Vector3? graspPoint = isTracked ? (Vector3?)hoverPoint : null;
        graspActivityManager.UpdateActivityQuery(graspPoint, LeapSpace.allEnabled);

        fixedUpdateGraspingState();
      }
    }

    /// <summary>
    /// Called every fixed frame if grasping is enabled in the Interaction Manager.
    ///
    /// graspActivityManager.ActiveObjects will contain objects around the hoverPoint
    /// within the grasping radius -- in other words, objects eligible to be grasped
    /// by the controller. Refer to it to avoid checking grasp eligibility against all
    /// graspable objects in your scene.
    /// </summary>
    protected abstract void fixedUpdateGraspingState();

    /// <summary>
    /// Optionally override this method to perform logic just before a grasped object is
    /// released because it is no longer eligible to be grasped by this controller or
    /// ReleaseGrasp() was manually called on the controller.
    /// </summary>
    protected virtual void onGraspedObjectForciblyReleased(IInteractionBehaviour objectToBeReleased) { }

    /// <summary>
    /// Returns whether this controller should grasp an object this fixed frame, and if so,
    /// sets objectToGrasp to the object the controller should grasp.
    /// </summary>
    protected abstract bool checkShouldGrasp(out IInteractionBehaviour objectToGrasp);

    /// <summary>
    /// Returns whether this controller should release an object this fixed frame, and if so,
    /// sets objectToRelease to the object the controller should release.
    /// </summary>
    protected abstract bool checkShouldRelease(out IInteractionBehaviour objectToRelease);

    private List<InteractionController> _releasingControllersBuffer = new List<InteractionController>();
    /// <summary>
    /// Releases the object this hand is holding and returns true if the hand was holding an object,
    /// or false if there was no object to release. The released object will dispatch OnGraspEnd()
    /// immediately. The hand is guaranteed not to be holding an object directly after this method
    /// is called.
    /// </summary>
    public bool ReleaseGrasp() {
      if (_graspedObject == null) {
        return false;
      }
      else {
        // Release this controller's grasp.
        _releasingControllersBuffer.Clear();
        _releasingControllersBuffer.Add(this);

        // Calling things in the right order requires we remember the object we're
        // releasing.
        var tempGraspedObject = _graspedObject;

        // Clear controller grasped object, and enable soft contact.
        EnableSoftContact();
        _graspedObject = null;

        // Fire object's grasp-end callback.
        tempGraspedObject.EndGrasp(_releasingControllersBuffer);

        // The grasped object was forcibly released; some controllers hook into this
        // by virtual method implementation.
        onGraspedObjectForciblyReleased(tempGraspedObject);

        return true;
      }
    }

    /// <summary>
    /// Helper static method for forcing multiple controllers to release their grasps
    /// on a single object simultaneously. All of the provided controllers must be
    /// grasping the argument interaction object.
    /// </summary>
    /// <details>
    /// The input controllers List is copied to a temporary (pooled) buffer before 
    /// release operations are actually carried out. This prevents errors that might
    /// arise from modifying a held-controllers list while enumerating through the same
    /// list.
    /// </details>
    public static void ReleaseGrasps(IInteractionBehaviour graspedObj,
                                     ReadonlyHashSet<InteractionController> controllers) {
      var controllersBuffer = Pool<List<InteractionController>>.Spawn();
      try {
        foreach (var controller in controllers) {
          if (controller.graspedObject != graspedObj) {
            Debug.LogError("Argument intObj " + graspedObj.name + " is not held by "
                         + "controller " + controller.name + "; skipping release for this "
                         + "controller.");
            continue;
          }

          controllersBuffer.Add(controller);
        }

        // Enable soft contact on releasing controllers, and clear grasp state.
        // Note: controllersBuffer is iterated twice to preserve state modification order.
        // For reference order, see InteractionController.ReleaseGrasp() above.
        foreach (var controller in controllersBuffer) {
          // Avoid "popping" of released objects by enabling soft contact on releasing
          // controllers.
          controller.EnableSoftContact();

          // Clear grasped object state.
          controller._graspedObject = null;
        }

        // Evaluate object logic for being released by each controller.
        graspedObj.EndGrasp(controllersBuffer);

        // Object was forcibly released, so fire virtual callbacks on each controller.
        foreach (var controller in controllersBuffer) {
          controller.onGraspedObjectForciblyReleased(graspedObj);
        }
      }
      finally {
        controllersBuffer.Clear();
        Pool<List<InteractionController>>.Recycle(controllersBuffer);
      }
    }

    /// <summary>
    /// As ReleaseGrasp(), but also outputs the released object into releasedObject if the hand
    /// successfully released an object.
    /// </summary>
    public bool ReleaseGrasp(out IInteractionBehaviour releasedObject) {
      releasedObject = _graspedObject;

      if (ReleaseGrasp()) {
        // releasedObject will be non-null
        return true;
      }

      // releasedObject will be null
      return false;
    }

    /// <summary>
    /// Attempts to release this hand's object, but only if the argument object is the object currently
    /// grasped by this hand. If the hand was holding the argument object, returns true, otherwise returns false.
    /// </summary>
    public bool ReleaseObject(IInteractionBehaviour toRelease) {
      if (toRelease == null) return false;

      if (_graspedObject == toRelease) {
        ReleaseGrasp();
        return true;
      }
      else {
        return false;
      }
    }

    #region Grasp State Checking

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Returns true if the hand just released an object and outputs the released object into releasedObject.
    /// </summary>
    bool IInternalInteractionController.CheckGraspEnd(out IInteractionBehaviour releasedObject) {
      releasedObject = null;

      bool shouldReleaseObject = false;

      // Check releasing against interaction state.
      if (_graspedObject == null) {
        return false;
      }
      else if (_graspedObject.ignoreGrasping) {
        onGraspedObjectForciblyReleased(_graspedObject);

        releasedObject = _graspedObject;
        shouldReleaseObject = true;
      }

      // Actually check whether the controller implementation will release its grasp.
      if (!shouldReleaseObject) shouldReleaseObject = checkShouldRelease(out releasedObject);

      if (shouldReleaseObject) {
        _graspedObject = null;
        EnableSoftContact(); // prevent objects popping out of the hand on release
        return true;
      }

      return false;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Returns true if the hand just grasped an object and outputs the grasped object into graspedObject.
    /// </summary>
    bool IInternalInteractionController.CheckGraspBegin(out IInteractionBehaviour newlyGraspedObject) {
      newlyGraspedObject = null;

      // Check grasping against interaction state.
      if (_graspedObject != null) {
        // Can't grasp any object if we're already grasping one or
        // if grasping is disabled.
        return false;
      }

      // Actually check whether the controller implementation will grasp.
      bool shouldGraspObject = checkShouldGrasp(out newlyGraspedObject);
      if (shouldGraspObject) {
        _graspedObject = newlyGraspedObject;

        return true;
      }

      return false;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Returns whether there the hand is currently grasping an object and, if it is, outputs that
    /// object into graspedObject.
    /// </summary>
    bool IInternalInteractionController.CheckGraspHold(out IInteractionBehaviour graspedObject) {
      graspedObject = _graspedObject;
      return graspedObject != null;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Returns whether the hand began suspending an object this frame and, if it did, outputs that
    /// object into suspendedObject.
    /// </summary>
    bool IInternalInteractionController.CheckSuspensionBegin(out IInteractionBehaviour suspendedObject) {
      suspendedObject = null;

      if (_graspedObject != null && !isTracked && !_graspedObject.isSuspended) {
        suspendedObject = _graspedObject;
      }

      return suspendedObject != null;
    }

    /// <summary>
    /// Called by the Interaction Manager every fixed frame.
    /// Returns whether the hand stopped suspending an object this frame and, if it did, outputs that
    /// object into resumedObject.
    /// </summary>
    bool IInternalInteractionController.CheckSuspensionEnd(out IInteractionBehaviour resumedObject) {
      resumedObject = null;

      if (_graspedObject != null && isTracked && _graspedObject.isSuspended) {
        resumedObject = _graspedObject;
      }

      return resumedObject != null;
    }

    #endregion

    #endregion

    #region Gizmos

    public static class GizmoColors {

      public static Color ContactBone       { get { return Color.green.WithAlpha(0.5F); } }
      public static Color SoftContactBone   { get { return Color.white.WithAlpha(0.5F); } }

      public static Color HoverPoint        { get { return Color.yellow.WithAlpha(0.5F); } }
      public static Color PrimaryHoverPoint { get { return Color.Lerp(Color.red, Color.yellow, 0.5F).WithAlpha(0.5F); } }

      public static Color GraspPoint        { get { return Color.Lerp(Color.blue, Color.cyan, 0.3F).WithAlpha(0.5F); } }
      public static Color Graspable         { get { return Color.cyan.WithAlpha(0.5F); } }

    }

    /// <summary>
    /// By default, this method will draw all of the colliders found in the
    /// contactBoneParent hierarchy, or draw the controller's soft contact
    /// representation when in soft contact mode. Optionally override this
    /// method to modify its behavior.
    /// </summary>
    public virtual void OnDrawRuntimeGizmos(RuntimeGizmoDrawer drawer) {
      if (!this.isActiveAndEnabled) return;

      if (contactBoneParent != null) {
        if (!softContactEnabled) {
          drawer.color = GizmoColors.ContactBone;
        }
        else {
          drawer.color = GizmoColors.SoftContactBone;
        }

        drawer.DrawColliders(contactBoneParent, true, true, true);
      }

      // Hover Point
      if (hoverEnabled) {
        drawHoverPoint(drawer, hoverPoint);
      }

      // Primary Hover Points
      if (hoverEnabled) {
        foreach (var point in primaryHoverPoints) {
          if (point == null) continue;
          drawPrimaryHoverPoint(drawer, point.position);
        }
      }
    }

    protected static void drawHoverPoint(RuntimeGizmoDrawer drawer, Vector3 pos) {
      drawer.color = GizmoColors.HoverPoint;
      drawer.DrawWireSphere(pos, 0.03F);
    }

    protected static void drawPrimaryHoverPoint(RuntimeGizmoDrawer drawer, Vector3 pos) {
      drawer.color = GizmoColors.PrimaryHoverPoint;
      drawer.DrawWireSphere(pos, 0.015F);
    }

    #endregion

  }

}
