/// <summary>
/// Close G4 when application quits.
/// </summary>
void OnApplicationQuit()
{
if ((RGConn == true) || (LGConn == true))
{
CyberGloveUnityPlugin.Fini();
}
}
/// <summary>
/// Initialize the cybergloves, check connection in DCU and allocate.
/// </summary>
void Start()
{
//ClearConsole ();
for (int i = 0; i < MAX_GLOVES; i++)
{
m_Gloves [i] = new CyberGlove();
}
RGConn = CyberGloveUnityPlugin.InitRightGrasp();
Debug.Log(RGConn);
LGConn = CyberGloveUnityPlugin.InitLeftGrasp();
Debug.Log(LGConn);
if (!RGConn && !LGConn)
{
Debug.Log("DCU is not running or gloves not connected.\nIf connected check naming convention - RightGrasp and LeftGrasp. Devices must be added as cyberglove devices in DCU.");
}
else if (!RGConn && LGConn)
{
Debug.Log("RightGrasp not connected.\nIf connected check naming convention - RightGrasp. Device must be added as a cyberglove device in DCU.");
}
else if (RGConn && !LGConn)
{
Debug.Log("LeftGrasp not connected.\nIf connected check naming convention - LeftGrasp. Device must be added as a cyberglove device in DCU.");
}
else
{
Debug.Log("Nice!!\nPress Space to move hands down");
}
}
/// <summary>
/// Update the glove data once per frame.
/// </summary>
void Update()
{
// update glove data
uint numGlovesEnabled = 0;
CyberGloveUnityPlugin.CyberGloveData cd = new CyberGloveUnityPlugin.CyberGloveData();
cd.palmPos = new Vector3(0.0f, 0.0f, 0.0f);
cd.palmRot_quat = new Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
for (int i = 0; i < MAX_GLOVES; i++)
{
if (m_Gloves[i] != null)
{
if (i == 0) // GLOVE 0 IS TAKEN AS RIGHT GLOVE
{
if (RGConn == true)
{
CyberGloveUnityPlugin.UpdateRightGrasp();
float[] palmPos_arr = { 0.0f, 0.0f, 0.0f };
float[] palmRot_arr = { 0.0f, 0.0f, 0.0f, 1.0f };
CyberGloveUnityPlugin.GetPalmsPositionRT(palmPos_arr);
cd.palmPos.Set(palmPos_arr[0], palmPos_arr[1], palmPos_arr[2]);
cd.which_hand = (int)CyberGloveHandedness.RIGHT;
CyberGloveUnityPlugin.GetPalmsRotationRT(palmRot_arr);
cd.palmRot_quat.Set(palmRot_arr[0], palmRot_arr[1], palmRot_arr[2], palmRot_arr[3]);
for (int finger = 0; finger < 5; finger++)
{
for (int joint = 0; joint < 4; joint++)
{
float[] fingerJointPos_arr = { 0.0f, 0.0f, 0.0f };
float[] fingerJointRot_arr = { 0.0f, 0.0f, 0.0f, 1.0f };
CyberGloveUnityPlugin.GetFingersPositionRT(finger, joint, fingerJointPos_arr);
cd.fingerJointPos[finger, joint].Set(fingerJointPos_arr[0], fingerJointPos_arr[1], fingerJointPos_arr[2]);
CyberGloveUnityPlugin.GetFingersRotationRT(finger, joint, fingerJointRot_arr);
cd.fingerJointRot_quat[finger, joint].Set(fingerJointRot_arr[0], fingerJointRot_arr[1], fingerJointRot_arr[2], fingerJointRot_arr[3]);
}
}
m_Gloves[i].Update(ref cd);
m_Gloves[i].SetEnabled(true);
numGlovesEnabled++;
}
else
{
m_Gloves[i].SetEnabled(false);
}
}
else if (i == 1) // GLOVE 1 IS TAKEN AS LEFT GLOVE
{
if (LGConn == true)
{
CyberGloveUnityPlugin.UpdateLeftGrasp();
float[] palmPos_arr = { 0.0f, 0.0f, 0.0f };
float[] palmRot_arr = { 0.0f, 0.0f, 0.0f, 1.0f };
CyberGloveUnityPlugin.GetPalmsPositionLT(palmPos_arr);
cd.palmPos.Set(palmPos_arr[0], palmPos_arr[1], palmPos_arr[2]);
cd.which_hand = (int)CyberGloveHandedness.LEFT;
CyberGloveUnityPlugin.GetPalmsRotationLT(palmRot_arr);
cd.palmRot_quat.Set(palmRot_arr[0], palmRot_arr[1], palmRot_arr[2], palmRot_arr[3]);
for (int finger = 0; finger < 5; finger++)
{
for (int joint = 0; joint < 4; joint++)
{
float[] fingerJointPos_arr = { 0.0f, 0.0f, 0.0f };
float[] fingerJointRot_arr = { 0.0f, 0.0f, 0.0f, 1.0f };
CyberGloveUnityPlugin.GetFingersPositionLT(finger, joint, fingerJointPos_arr);
cd.fingerJointPos[finger, joint].Set(fingerJointPos_arr[0], fingerJointPos_arr[1], fingerJointPos_arr[2]);
CyberGloveUnityPlugin.GetFingersRotationLT(finger, joint, fingerJointRot_arr);
cd.fingerJointRot_quat[finger, joint].Set(fingerJointRot_arr[0], fingerJointRot_arr[1], fingerJointRot_arr[2], fingerJointRot_arr[3]);
}
}
m_Gloves[i].Update(ref cd);
m_Gloves[i].SetEnabled(true);
numGlovesEnabled++;
}
else
{
m_Gloves[i].SetEnabled(false);
}
}
}
}
}
// <summary>
/// Stop Active Finger/Palm Motor after 1 second
/// </summary>
public bool StopActuatorMotor(int hand, int finger)
{
bool result = CyberGloveUnityPlugin.StopActuator(hand, finger);
return(result);
}
// <summary>
/// Actuate Finger/Palm Motors
/// </summary>
public bool SetActuatorMotor(int hand, int finger, double amplitude)
{
bool result = CyberGloveUnityPlugin.SetActuator(hand, finger, amplitude);
return(result);
}
