//I start the program.
void Start()
{
Debug.Log("Starting Manus_API");
session = new IntPtr();
lefth = new manus_hand_t();
righth = new manus_hand_t();
leftraw = new manus_hand_raw_t();
rightraw = new manus_hand_raw_t();
myProfileL = new ik_profile_t();
myProfileR = new ik_profile_t();
left_arm = new ik_body_t();
right_arm = new ik_body_t();
isR = false;
isL = false;
Manus.ManusInit(out session);
Debug.Log("Done.");
}
//Add finger calculations that are stated to be raw decimal calculations from the Manus SDK
//Phrase the array of raw finger calculations from the Manus SDK.
private void add_hand_fingers_raw(ref manus_hand_raw_t hand, ref device_type_t side, ref Manus_hand_obj manus_hand)
{
List <double> single_hand_array_raw = new List <double>();
bool set_grab = false;
bool set_thumbs_up = false;
for (int h = 0; h < 10; h++)
{
single_hand_array_raw.Add(hand.finger_sensor[h]);
}
int count_grab = 0;
int count_thumbs_up = 0;
//If the finger is compressed beyond .75, add as a compressed finger
foreach (double i in single_hand_array_raw)
{
if (i > .75)
{
count_grab++;
}
//if (i > .95)
// count_thumbs_up++;
}
//if ( single_hand_array_raw[8] < .3 && single_hand_array_raw[9] < .3 && count_thumbs_up >= 7)
//{
// set_thumbs_up = true;
//}
//If more than 8 fingers compressed, set grab.
if (count_grab > 8)
{
set_grab = true;
}
manus_hand.set_grabbing(set_grab);
manus_hand.set_hand_raw(single_hand_array_raw);
}
//Function that phrases in a single finger
private void add_manus_hand(ref manus_hand_t hand, ref manus_hand_raw_t raw_hand, device_type_t which_hand_side, ik_body_t body_side, ik_profile_t my_profile)
{
//Manus Hand Objects
Manus_hand_obj hand_in_use = new Manus_hand_obj();
//Process data for the left hand, including raw data.
Manus.ManusGetHandRaw(session, which_hand_side, out raw_hand);
Manus.ManusGetProfile(session, out my_profile); ///Wrong assumption, it does not provide real-time data.
Manus.ManusGetHand(session, which_hand_side, out hand);
//Manus.ManusGetHand_id(session, 2602524395, which_hand_side, out hand);
Manus.ManusGetBatteryLevel(session, which_hand_side, out bat_value);
//Set Battery level
hand_in_use.set_bat(bat_value);
//Set Arm calculations
add_arm_calc(ref hand, ref body_side, ref my_profile, ref hand_in_use);
//Set the raw_double finger data from manus
add_hand_fingers_raw(ref raw_hand, ref which_hand_side, ref hand_in_use);
//Set manus_profile finger data
add_manus_profile_hands(ref my_profile, ref hand_in_use);
//Set regular Manus hand data
add_hand_fingers(ref hand, ref which_hand_side, ref hand_in_use);
//Add relevant data to the hands array
if (which_hand_side == device_type_t.GLOVE_LEFT)
{
//hands.insert(hands.begin(),hand_in_use); //Left Glove
hands[0] = hand_in_use;
}
else
{
//hands.assign(1, hand_in_use); //Right Glove
hands[1] = hand_in_use;
}
}
