//----------------------------------------------------------------------------------------------
// Construction
/// <summary> Create a new SG_HandPose from an internal SenseGlove Pose. </summary>
/// <param name="handPose"></param>
public SG_HandPose(SGCore.HandPose handPose)
{
jointAngles = Util.SG_Conversions.ToUnityEulers(handPose.handAngles);
jointRotations = Util.SG_Conversions.ToUnityQuaternions(handPose.jointRotations);
jointPositions = Util.SG_Conversions.ToUnityPositions(handPose.jointPositions, true);
normalizedFlexion = handPose.GetNormalizedFlexion();
}
public void SetupSequence()
{
if (user == null)
{
user = GameObject.FindObjectOfType <SG_User>();
}
SGCore.HandPose lh_openPose = SGCore.HandPose.FlatHand(false);
SGCore.HandPose lh_closedPose = SGCore.HandPose.Fist(false);
lh_interp = SGCore.Kinematics.HandInterpolator.BetweenPoses(lh_openPose, lh_closedPose);
SGCore.HandPose rh_openPose = SGCore.HandPose.FlatHand(true);
SGCore.HandPose rh_closedPose = SGCore.HandPose.Fist(true);
rh_interp = SGCore.Kinematics.HandInterpolator.BetweenPoses(rh_openPose, rh_closedPose);
//disable calibration on start. We're going to be the one's to control it.
SetCalibrationChecks(user.leftHand, false);
SetCalibrationChecks(user.rightHand, false);
//They're not allowed to grab objects yet
EnableGrasps(user.rightHand, false);
EnableGrasps(user.leftHand, false);
openClose_freq = 1 / openCloseTime;
if (exampleHandLeft != null && user.leftHand != null)
{
Transform exHand = exampleHandLeft.transform.parent != null ? exampleHandLeft.transform.parent : exampleHandLeft.transform;
exHand.parent = user.leftHand.transform;
exHand.localRotation = Quaternion.identity;
exHand.localPosition = Vector3.zero;
}
if (exampleHandRight != null && user.rightHand != null)
{
Transform exHand = exampleHandRight.transform.parent != null ? exampleHandRight.transform.parent : exampleHandRight.transform;
exHand.parent = user.rightHand.transform;
exHand.localRotation = Quaternion.identity;
exHand.localPosition = Vector3.zero;
}
if (beginImmedeately)
{
GoToStage(VoidStage.WaitingForFirst);
}
else
{
GoToStage(VoidStage.WaitForStart);
}
//MainInstr = " Before we can begin, we need to calibrate your hand(s).";
//currStage = VoidStage.WaitingForFirst;
if (GetCalibrationLayer(user.leftHand, out leftCalibration)) //if true, a calibration algorithm has been assigned,
{
leftCalibration.calibrationType = SG_CalibrationSequence.CalibrationType.Quick;
leftCalibration.startCondition = SG_CalibrationSequence.StartCondition.Manual;
}
else
{
Debug.LogError("Missing Calibration Layer for left hand!");
}
if (GetCalibrationLayer(user.rightHand, out rightCalibration))
{
rightCalibration.calibrationType = SG_CalibrationSequence.CalibrationType.Quick;
rightCalibration.startCondition = SG_CalibrationSequence.StartCondition.Manual;
}
else
{
Debug.LogError("Missing Calibration Layer for right hand!");
GoToStage(VoidStage.NoCalibrationError);
}
if (introAudio != null)
{
introTime = introAudio.clip.length + 0.5f;
introAudio.playOnAwake = false;
}
DisableAwake(moveFingersAudio);
DisableAwake(confirmAudio);
DisableAwake(completionAudio);
}
