// Update is called once per frame.
void Update()
{
// Access the ThalmicMyo component attached to the Myo object.
ThalmicMyo thalmicMyo = myo.GetComponent<ThalmicMyo> ();
// Update references when the pose becomes fingers spread or the q key is pressed.
updateReference = false;
if (thalmicMyo.pose != _lastPose) {
_lastPose = thalmicMyo.pose;
if (thalmicMyo.pose == Pose.FingersSpread) {
updateReference = true;
ExtendUnlockAndNotifyUserAction(thalmicMyo);
}
}
//get speechManager instance
if (speech == null)
speech = SpeechManager.Instance;
if (dragging == null)
dragging = DraggingBehaviour.Instance;
if (speech != null && speech.IsSapiInitialized()) {
if (speech.IsPhraseRecognized()) {
switch (speech.GetPhraseTagRecognized())
{
case "RESET":
updateReference = true;
ExtendUnlockAndNotifyUserAction(thalmicMyo);
break;
case "KINECT":
dragging.bothEnabled = false;
dragging.kinectEnabled = true;
break;
case "MYO":
dragging.bothEnabled = false;
dragging.kinectEnabled = false;
ExtendUnlockAndNotifyUserAction(thalmicMyo);
break;
case "BOTH":
dragging.bothEnabled = true;
break;
default:
break;
}
speech.ClearPhraseRecognized();
}
}
if (Input.GetKeyDown ("r")) {
updateReference = true;
}
// Update references. This anchors the joint on-screen such that it faces forward away
// from the viewer when the Myo armband is oriented the way it is when these references are taken.
if (updateReference) {
// _antiYaw represents a rotation of the Myo armband about the Y axis (up) which aligns the forward
// vector of the rotation with Z = 1 when the wearer's arm is pointing in the reference direction.
_antiYaw = Quaternion.FromToRotation (
new Vector3 (myo.transform.forward.x, 0, myo.transform.forward.z),
new Vector3 (0, 0, 1)
);
// _referenceRoll represents how many degrees the Myo armband is rotated clockwise
// about its forward axis (when looking down the wearer's arm towards their hand) from the reference zero
// roll direction. This direction is calculated and explained below. When this reference is
// taken, the joint will be rotated about its forward axis such that it faces upwards when
// the roll value matches the reference.
Vector3 referenceZeroRoll = computeZeroRollVector (myo.transform.forward);
_referenceRoll = rollFromZero (referenceZeroRoll, myo.transform.forward, myo.transform.up);
}
// Current zero roll vector and roll value.
Vector3 zeroRoll = computeZeroRollVector (myo.transform.forward);
float roll = rollFromZero (zeroRoll, myo.transform.forward, myo.transform.up);
// The relative roll is simply how much the current roll has changed relative to the reference roll.
// adjustAngle simply keeps the resultant value within -180 to 180 degrees.
float relativeRoll = normalizeAngle (roll - _referenceRoll);
// antiRoll represents a rotation about the myo Armband's forward axis adjusting for reference roll.
Quaternion antiRoll = Quaternion.AngleAxis (relativeRoll, myo.transform.forward);
// Here the anti-roll and yaw rotations are applied to the myo Armband's forward direction to yield
// the orientation of the joint.
quatRotation = _antiYaw * antiRoll * Quaternion.LookRotation (myo.transform.forward);
transform.rotation = quatRotation;
// The above calculations were done assuming the Myo armbands's +x direction, in its own coordinate system,
// was facing toward the wearer's elbow. If the Myo armband is worn with its +x direction facing the other way,
// the rotation needs to be updated to compensate.
if (thalmicMyo.xDirection == Thalmic.Myo.XDirection.TowardWrist) {
// Mirror the rotation around the XZ plane in Unity's coordinate system (XY plane in Myo's coordinate
// system). This makes the rotation reflect the arm's orientation, rather than that of the Myo armband.
quatRotation = new Quaternion(transform.localRotation.x,
-transform.localRotation.y,
transform.localRotation.z,
-transform.localRotation.w);
transform.rotation = quatRotation;
}
}
void Start()
{
instance = this;
cursor.transform.position = Vector3.zero;
}
