public void InjectHandUpdate(NewtonVR.NVRHand hand, LogData log, float time)
{
if (!Ready())
{
return;
}
ROSBridgeLib.ontology_msgs.HandUpdate msg = new ROSBridgeLib.ontology_msgs.HandUpdate();
msg.grasp = hand.HoldButtonAxis;
msg.use = hand.UseButtonAxis;
if (hand.CurrentlyInteracting != null)
{
msg.obj_inHand = hand.CurrentlyInteracting.gameObject.name;
}
else
{
msg.obj_inHand = "NONE";
}
msg.handState = new ROSBridgeLib.ontology_msgs.ObjUpdate();
msg.handState.timestamp = new ROSBridgeLib.msg_helpers.Time(time);
msg.handState.position = hand.transform.position;
msg.handState.orientation = hand.transform.rotation;
msg.handState.velocity = new Vector3(log.velocity[0], log.velocity[1], log.velocity[2]);
msg.handState.name = hand.gameObject.name;
if (msg.handState.name.Contains("left"))
{
l_hand_pub.Publish(msg);
}
else
{
r_hand_pub.Publish(msg);
}
}
void FixedUpdate()
{
if (!Ready() || nohands) //ros == null || !ros.connected)
{
return;
}
ROSBridgeLib.ontology_msgs.HandUpdate left = new ROSBridgeLib.ontology_msgs.HandUpdate();
left.grasp = LeftHand.HoldButtonAxis;
left.use = LeftHand.UseButtonAxis;
if (LeftHand.CurrentlyInteracting != null)
{
left.obj_inHand = LeftHand.CurrentlyInteracting.gameObject.name;
}
else
{
left.obj_inHand = "NONE";
}
left.handState = new ROSBridgeLib.ontology_msgs.ObjUpdate();
left.handState.timestamp = new ROSBridgeLib.msg_helpers.Time(ScenarioLogManager.Instance.GetLogTime());
left.handState.position = LeftHand.transform.position;
left.handState.orientation = LeftHand.transform.rotation;
left.handState.velocity = LeftHand.GetVelocityEstimation();
left.handState.name = LeftHand.gameObject.name;
l_hand_pub.Publish(left);
ROSBridgeLib.ontology_msgs.HandUpdate right = new ROSBridgeLib.ontology_msgs.HandUpdate();
right.grasp = RightHand.HoldButtonAxis;
right.use = RightHand.UseButtonAxis;
if (RightHand.CurrentlyInteracting != null)
{
right.obj_inHand = RightHand.CurrentlyInteracting.gameObject.name;
}
else
{
right.obj_inHand = "NONE";
}
right.handState = new ROSBridgeLib.ontology_msgs.ObjUpdate();
right.handState.timestamp = new ROSBridgeLib.msg_helpers.Time(ScenarioLogManager.Instance.GetLogTime());
right.handState.position = RightHand.transform.position;
right.handState.orientation = RightHand.transform.rotation;
right.handState.velocity = RightHand.GetVelocityEstimation();
right.handState.name = RightHand.gameObject.name;
r_hand_pub.Publish(right);
}
