//-------------------------------------------------------------------------------------------------------------------
// Constructor
/// <summary> Extract right-handed coordinate system data from the SenseGlove DLL and convert it into Unity values. </summary>
/// <param name="data"></param>
/// <param name="packets"></param>
/// <param name="totalCSteps"></param>
/// <param name="currCStep"></param>
public SenseGlove_Data(SenseGloveCs.GloveData data)
{
if (data != null)
{
this.dataLoaded = data.dataLoaded;
this.gloveSide = SenseGlove_Data.GetSide(data.kinematics.isRight);
this.deviceID = data.deviceID;
this.firmwareVersion = data.firmwareVersion;
this.gloveVersion = data.deviceVersion;
this.gloveValues = data.gloveValues;
this.imuValues = data.imuValues;
this.imuCalibration = data.imuCalibration;
this.packetsPerSecond = data.samplesPerSec;
this.numberOfSensors = data.numberOfSensors;
this.calibrationStep = data.currentCalStep;
this.totalCalibrationSteps = data.totalCalSteps;
this.absoluteCalibratedWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.QcalibratedAbs);
this.absoluteWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.QwristAbs);
this.relativeWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.Qrelative);
this.commonOriginPos = SenseGlove_Util.ToUnityPosition(data.kinematics.gloveRelPos);
this.commonOriginRot = SenseGlove_Util.ToUnityQuaternion(data.kinematics.gloveRelRot);
SenseGlove_Data.GetChainVariables(ref data.kinematics.gloveLinks, ref this.glovePositions,
ref this.gloveAngles, ref this.gloveRotations, ref this.gloveLengths);
SenseGlove_Data.GetChainVariables(ref data.kinematics.fingers, ref this.handPositions,
ref this.handAngles, ref this.handRotations, ref this.handLengths);
}
}
//-------------------------------------------------------------------------------------------------------------------
// Constructor
/// <summary> Create an instance of SenseGlove_Data with default values. </summary>
protected SenseGlove_Data()
{
SetEmpty();
this.dataLoaded = false;
this.deviceID = "N\\A";
this.firmwareVersion = -1.0f;
this.gloveSide = GloveSide.Unknown;
this.gloveValues = new float[0][] { };
this.gloveVersion = "N\\A";
this.numberOfSensors = 0;
}
/// <summary> Retrieves an interpolator from the disk. Returns true if one is actually available. </summary>
/// <param name="side"></param>
/// <returns></returns>
public static bool LoadInterpolation(SenseGloveCs.DeviceType type, GloveSide side, out string output)
{
string FN = GetFilename(type, side);
string[] contents;
if (Util.FileIO.ReadTxtFile(calibrDir + FN, out contents) && contents.Length > 0)
{
output = contents[0];
return(output != null);
}
output = null;
return(false);
}
/// <summary> Extract right-handed coordinate system data from the SenseGlove DLL and convert it into Unity values. </summary>
/// <param name="data"></param>
/// <param name="packets"></param>
/// <param name="totalCSteps"></param>
/// <param name="currCStep"></param>
public SenseGlove_Data(SenseGloveCs.GloveData data)
{
if (data != null)
{
this.gloveSide = SenseGlove_Data.GetSide(data.kinematics.isRight);
this.deviceID = data.deviceID;
this.firmwareVersion = data.firmwareVersion;
this.gloveVersion = data.deviceVersion;
this.packetsPerSecond = data.samplesPerSec;
this.commonOriginPos = SenseGlove_Util.ToUnityPosition(data.kinematics.gloveRelPos);
this.commonOriginRot = SenseGlove_Util.ToUnityQuaternion(data.kinematics.gloveRelRot);
this.UpdateVariables(data);
}
}
//-------------------------------------------------------------------------------------------------------------------
// Constructor
/// <summary> Create an instance of SenseGlove_Data with default values. </summary>
private SenseGlove_Data()
{
Vector3[] zero = new Vector3[] { Vector3.zero, Vector3.zero, Vector3.zero };
Vector3[][] multiZero = new Vector3[5][] { zero, zero, zero, zero, zero };
Quaternion[] ident = new Quaternion[] { Quaternion.identity, Quaternion.identity, Quaternion.identity };
Quaternion[][] multiIdent = new Quaternion[5][] { ident, ident, ident, ident, ident };
this.absoluteCalibratedWrist = Quaternion.identity;
this.absoluteWrist = Quaternion.identity;
this.calibrationStep = -1;
this.commonOriginPos = Vector3.zero;
this.commonOriginRot = Quaternion.identity;
this.dataLoaded = false;
this.deviceID = "N\\A";
this.firmwareVersion = -1.0f;
this.gloveAngles = multiZero;
this.gloveLengths = multiZero;
this.glovePositions = multiZero;
this.gloveRotations = multiIdent;
this.gloveSide = GloveSide.Unknown;
this.gloveValues = new float[0][] { };
this.gloveVersion = "N\\A";
this.handAngles = multiZero;
this.handLengths = multiZero;
this.handPositions = multiZero;
this.handRotations = multiIdent;
this.imuCalibration = new int[4] {
-1, -1, -1, -1
};
this.imuValues = new float[] { 0, 0, 0, 1 };
this.numberOfSensors = 0;
this.packetsPerSecond = 0;
this.relativeWrist = Quaternion.identity;
this.totalCalibrationSteps = 0;
}
/// <summary> Stores a serialized value of an interpolator onto a disk. </summary>
/// <param name="interpolator"></param>
/// <param name="side"></param>
public static void StoreInterpolation(string interpolator, SenseGloveCs.DeviceType type, GloveSide side)
{
if (interpolator != null)
{
string FN = GetFilename(type, side);
string[] contents = new string[] { interpolator };
Util.FileIO.SaveTxtFile(calibrDir, FN, contents, false);
}
}
/// <summary> Generate a new filename for this calibration profile. </summary>
/// <param name="side"></param>
/// <returns></returns>
private static string GetFilename(SenseGloveCs.DeviceType type, GloveSide side)
{
string subFile = "SG-"; //dynamically generated later, when more devices become available.
return(subFile + (side == GloveSide.LeftHand ? "L" : "R") + ".txt");
}
