public static void UpdateHand(SG_HandAnimator animater, bool calibrating, SG_HandPose pose)
{
if (animater != null && calibrating)
{
animater.UpdateHand(pose);
}
}
protected virtual void Start()
{
//sets the animation in a starting pose.
SG_HandPose startPose = SG_HandPose.Idle(this.handModelInfo != null ? this.handModelInfo.handSide != HandSide.LeftHand : true);
this.UpdateHand(startPose);
}
//-----------------------------------------------------------------------------------------------------------------------------------------
// Update Methods
#region Update
/// <summary>
/// Update the (absolute) finger orientations, which move realtive to the (absolute) wrist transform.
/// Note: This method is called after UpdateWrist() is called.
/// </summary>
/// <param name="data"></param>
public virtual void UpdateHand(SG_HandPose pose)
{
if (pose != null)
{
Quaternion[][] angles = pose.jointRotations;
Quaternion[][] corrections = handModelInfo.FingerCorrections;
Transform[][] fingerJoints = handModelInfo.FingerJoints;
if (corrections != null && fingerJoints != null)
{
for (int f = 0; f < fingerJoints.Length; f++)
{
if (pose.jointRotations.Length > f)
{
for (int j = 0; j < fingerJoints[f].Length; j++)
{
if (pose.jointRotations[f].Length > j)
{
fingerJoints[f][j].rotation = handModelInfo.wristTransform.rotation
* (angles[f][j] * corrections[f][j]);
}
}
}
}
}
}
}
public static void SetAnimation(SG_TrackedHand hand, bool enabled)
{
if (hand != null && hand.handAnimation != null)
{
hand.handAnimation.gameObject.SetActive(enabled);
if (!enabled)
{
hand.handAnimation.UpdateHand(SG_HandPose.Idle(hand.TracksRightHand));
}
}
}
//----------------------------------------------------------------------------------------------
// Hand Tracking Methods
/// <summary> Returns the HandPose from the Glove Hardware linked to this TrackedHand. </summary>
/// <param name="hand"></param>
/// <param name="pose"></param>
/// <returns></returns>
public virtual bool GetHandPose(out SG_HandPose pose)
{
if (this.gloveHardware != null && this.handModel != null)
{
SGCore.Kinematics.BasicHandModel HM = handModel.HandKinematics;
//Debug.Log("TrackedHand: " + HM.ToString());
return(this.gloveHardware.GetHandPose(this.handModel.HandKinematics, out pose, true));
}
pose = SG_HandPose.Idle(this.TracksRightHand);
return(false);
}
/// <summary> Returns a Hand Pose containing everything you'd want to animate a hand model in Unity. Using a custom HandProfile. </summary>
/// <returns></returns>
public bool GetHandPose(SGCore.Kinematics.BasicHandModel handDimensions, SGCore.HandProfile userProfile, out SG_HandPose pose, bool forceUpdate = false)
{
#if UNFINISHED_FEATURES
if (this.CVDataAvailable(forceUpdate)) //we are able to get CV data. Yay
{
pose = new SG_HandPose(SGCore.HandPose.FromHandAngles(lastCVData.handAngles, lastCVData.rightHand, handDimensions));
newPoseNeeded = false; //we don't need a new pose this frame, thank you.
lastHandModel = handDimensions;
lastHandPose = pose;
return(true);
}
#endif
if (this.lastGlove != null)
{
if (forceUpdate || newPoseNeeded) //we need a new pose
{
lastHandModel = handDimensions;
if (this.CalibrationStage == CalibrationStage.MoveFingers)
{
lastHandPose = SG_HandPose.Idle(this.IsRight);
newPoseNeeded = false; //we don't need a new pose this frame, thank you.
}
else if (this.CalibrationLocked && this.currentSequence != null)
{
//we should gram it from the calibrationSequence instead.
if (this.currentSequence.GetCalibrationPose(out lastHandPose))
{
newPoseNeeded = false;
}
}
else
{
SGCore.HandPose iPose;
if (lastGlove.GetHandPose(handDimensions, userProfile, out iPose))
{
lastHandPose = new SG_HandPose(iPose);
newPoseNeeded = false; //we don't need a new pose this frame, thank you.
}
}
}
// else we already have one, and don't want to force-update.
pose = lastHandPose;
return(lastHandPose != null);
}
else if (lastHandPose == null)
{
lastHandPose = SG_HandPose.Idle(this.IsRight);
} //only if we dont yet have a LastHandPose.
//otherwise we shouldn't bother
pose = lastHandPose;
return(false);
}
/// <summary> Retrieve the basic calibration pose. </summary>
/// <param name="calibrationPose"></param>
/// <returns></returns>
public bool GetCalibrationPose(out SG_HandPose calibrationPose)
{
if (this.internalSequence != null)
{
SGCore.HandPose pose;
if (this.internalSequence.GetHandPose(out pose))
{
calibrationPose = new SG.SG_HandPose(pose);
return(true);
}
}
calibrationPose = null;
return(false);
}
/// <summary> Returns a Hand Pose containing everything you'd want to animate a hand model in Unity. Using the global HandProfile. </summary>
/// <param name="handModel"></param>
/// <param name="pose"></param>
/// <param name="forceUpdate"></param>
/// <returns></returns>
public virtual bool GetHandPose(SGCore.Kinematics.BasicHandModel handModel, out SG_HandPose pose, bool forceUpdate = false)
{
return(GetHandPose(handModel, SG_HandProfiles.GetProfile(this.IsRight), out pose, forceUpdate));
}
