/// <summary>
/// Updates a skeletal from glove data
/// </summary>
/// <param name="data">The glove data to be used for the update</param>
/// <param name="rootTransform">Root of the transform to be updated</param>
/// <param name="hand">Hand to be updated</param>
internal void Simulate(GLOVE_DATA data, ref Transform rootTransform, GLOVE_HAND hand)
{
for (int i = 0; i < 5; i++)
{
animationClip.SampleAnimation(gameObject, data.Fingers[i] * timeFactor);
GameObjectToSkeletal(ref rootTransform, i, data.Quaternion, hand);
}
}
/// <summary>
/// Retrieves the current Skeletal from the glove and
/// converts is from Manus to Unity format.
/// </summary>
/// <param name="unitySkel">Skeletal from Unity, which is to be updated.</param>
public void UpdateTransform(ref Transform rootTransform)
{
GLOVE_DATA data = new GLOVE_DATA();
if (Manus.SUCCESS == Manus.ManusGetData(hand, ref data))
{
hs.Simulate(data, ref rootTransform, hand);
}
}
public Transform GetFingerObject(ref Transform rootTransform, int finger)
{
GLOVE_DATA data = new GLOVE_DATA();
if (Manus.SUCCESS == Manus.ManusGetData(hand, ref data))
{
return(hs.GetFinger(data, finger, ref rootTransform, hand));
}
return(null);
}
internal static int ManusGetData(GLOVE_HAND hand, ref GLOVE_DATA data, uint timeout = 0) {
float[] AndroidData = Android.Call<float[]>("getData", (int)hand);
if (AndroidData.Length != 15) return ERROR;
data.Acceleration = new GLOVE_VECTOR(new List<float>(AndroidData).GetRange(0, 3).ToArray());
data.Euler = new GLOVE_VECTOR(new List<float>(AndroidData).GetRange(3, 3).ToArray());
data.Quaternion = new GLOVE_QUATERNION(new List<float>(AndroidData).GetRange(6, 4).ToArray());
data.Fingers = new List<float>(AndroidData).GetRange(10, 5).ToArray();
return SUCCESS;
}
internal static int ManusGetData(GLOVE_HAND hand, ref GLOVE_DATA data, uint timeout = 0)
{
float[] AndroidData = Android.Call <float[]>("getData", (int)hand);
if (AndroidData.Length != 15)
{
return(ERROR);
}
data.Acceleration = new GLOVE_VECTOR(new List <float>(AndroidData).GetRange(0, 3).ToArray());
data.Euler = new GLOVE_VECTOR(new List <float>(AndroidData).GetRange(3, 3).ToArray());
data.Quaternion = new GLOVE_QUATERNION(new List <float>(AndroidData).GetRange(6, 4).ToArray());
data.Fingers = new List <float>(AndroidData).GetRange(10, 5).ToArray();
return(SUCCESS);
}
public static extern int ManusGetData(GLOVE_HAND hand, out GLOVE_DATA data, uint timeout = 0);
internal static extern int ManusGetData(GLOVE_HAND hand, ref GLOVE_DATA data, uint timeout = 0);
internal static extern int ManusGetData(GLOVE_HAND hand, ref GLOVE_DATA data, uint timeout = 0);
public static extern int ManusGetData(GLOVE_HAND hand, out GLOVE_DATA data, uint timeout = 0);
/// <summary>
/// Gets the transform of a fingertop.
/// </summary>
/// <param name="data">Glove data</param>
/// <param name="finger">The finger you want</param>
/// <param name="rootTransform">Transform of hand</param>
/// <param name="hand">Which hand it is</param>
/// <returns>The fingertop from the finger you want</returns>
internal Transform GetFinger(GLOVE_DATA data, int finger, ref Transform rootTransform, GLOVE_HAND hand)
{
int j = 3;
return(FindDeepChild(rootTransform, "Finger_" + finger.ToString() + j.ToString()));
}
/// <summary>
/// Gets the transoform of a fingerPart.
/// </summary>
/// <param name="data">Glove data</param>
/// <param name="finger">The finger you want</param>
/// <param name="fingerPart">The fingerpart you want, for example the fingertop (Distal phalanges)</param>
/// <param name="rootTransform">Transform of hand</param>
/// <param name="hand">Which hand it is</param>
/// <returns>The fingertop from the finger you want</returns>
internal Transform GetFinger(GLOVE_DATA data, int finger, FingerPart fingerPart, ref Transform rootTransform, GLOVE_HAND hand)
{
int part = (int)fingerPart;
return(FindDeepChild(rootTransform, "Finger_" + finger.ToString() + part.ToString()));
}
