private int GetButtonIndex(SixenseButtons button)
{
switch (button)
{
case SixenseButtons.ONE:
return((int)VRInputDevice.VRControl.Action1);
case SixenseButtons.TWO:
return((int)VRInputDevice.VRControl.Action2);
case SixenseButtons.THREE:
return((int)VRInputDevice.VRControl.Action3);
case SixenseButtons.FOUR:
return((int)VRInputDevice.VRControl.Action4);
case SixenseButtons.BUMPER:
return((int)VRInputDevice.VRControl.Trigger2);
case SixenseButtons.START:
return((int)VRInputDevice.VRControl.Start);
case SixenseButtons.JOYSTICK:
return((int)VRInputDevice.VRControl.LeftStickButton);
}
// Not all buttons are currently mapped
return(-1);
}
public bool GetButtonUp(SixenseButtons button)
{
if (Controller != null)
return Controller.GetButtonUp(button);
else
return false;
}
/// <summary>
/// Returns true if the button parameter was released this frame.
/// </summary>
public bool GetButtonUp( SixenseButtons button )
{
return ( ( button & m_Buttons ) == 0 ) && ( ( button & m_ButtonsPrevious ) != 0 );
}
/// <summary>
/// Returns true if the button parameter is being pressed.
/// </summary>
public bool GetButton( SixenseButtons button )
{
return ( ( button & m_Buttons ) != 0 );
}
/// <summary>
/// Returns true if the button parameter was released this frame.
/// </summary>
public bool GetButtonUp(SixenseButtons button)
{
return(((button & m_Buttons) == 0) && ((button & m_ButtonsPrevious) != 0));
}
/// <summary>
/// Returns true if the button parameter is being pressed.
/// </summary>
public bool GetButton(SixenseButtons button)
{
return((button & m_Buttons) != 0);
}
internal void Update( ref SixensePlugin.sixenseControllerData cd )
{
m_Docked = ( cd.is_docked != 0 );
m_Hand = ( SixenseHands )cd.which_hand;
m_ButtonsPrevious = m_Buttons;
m_Buttons = ( SixenseButtons )cd.buttons;
m_Trigger = cd.trigger;
m_JoystickX = cd.joystick_x;
m_JoystickY = cd.joystick_y;
m_Position.Set( cd.pos[0], cd.pos[1], cd.pos[2] );
m_Rotation.Set( cd.rot_quat[0], cd.rot_quat[1], cd.rot_quat[2], cd.rot_quat[3] );
if ( m_Trigger > TriggerButtonThreshold )
{
m_Buttons |= SixenseButtons.TRIGGER;
}
}
internal Controller()
{
m_Enabled = false;
m_Docked = false;
m_Hand = SixenseHands.UNKNOWN;
m_HandBind = SixenseHands.UNKNOWN;
m_Buttons = 0;
m_ButtonsPrevious = 0;
m_Trigger = 0.0f;
m_JoystickX = 0.0f;
m_JoystickY = 0.0f;
m_Position.Set( 0.0f, 0.0f, 0.0f );
m_Rotation.Set( 0.0f, 0.0f, 0.0f, 1.0f );
}
//ENDOF LUKA CODE
internal void Update( ref SixensePlugin.sixenseControllerData cd )
{
m_Docked = ( cd.is_docked != 0 );
m_Hand = ( SixenseHands )cd.which_hand;
m_ButtonsPrevious = m_Buttons;
m_Buttons = ( SixenseButtons )cd.buttons;
m_Trigger = cd.trigger;
m_JoystickX = cd.joystick_x;
m_JoystickY = cd.joystick_y;
//LUKA CODE
if (recording && !startedRec) {
StartRecording ();
} else if (recording && startedRec && Time.time>=finishRecTime) {
StopRecording ();
}
Vector3 rawPos = new Vector3(cd.pos[0], cd.pos[1], cd.pos[2] );
for(int i =0; i<kStates.Length; i++){
kStates[i].kalman_update(rawPos[i]);
}
Vector3 filteredPos = new Vector3 (kStates [0].x, kStates [1].x, kStates [2].x);
if (recording && startedRec) {
tw.WriteLine(rawPos.x+" "+rawPos.y+" "+rawPos.z);
twFiltered.WriteLine(filteredPos.x+" "+filteredPos.y+" "+filteredPos.z);
}
if (useKalman) {
m_Position.Set (filteredPos.x, filteredPos.y, filteredPos.z);
} else {
m_Position.Set (rawPos.x, rawPos.y, rawPos.z);
}
Quaternion rot = new Quaternion (cd.rot_quat [0], cd.rot_quat [1], cd.rot_quat [2], cd.rot_quat [3]);
rot = rot * Quaternion.Euler (new Vector3 (225, 0, 0));
//m_Rotation.Set( rot[0], rot[1], rot[2], rot[3] );
//ENDOF LUKA CODE
//m_Position.Set (cd.pos [0], cd.pos [1], cd.pos [2]);
m_Rotation.Set( cd.rot_quat[0], cd.rot_quat[1], cd.rot_quat[2], cd.rot_quat[3] );
if ( m_Trigger > TriggerButtonThreshold )
{
m_Buttons |= SixenseButtons.TRIGGER;
}
}
internal Controller()
{
//LUKA CODE
processNoise = 0.1f;
sensorNoise = 1.0f;
estimatedError = 0.25f;
kStates = new KalmanState[3];
for(int i=0; i<kStates.Length; i++){
kStates[i] = new KalmanState(processNoise,sensorNoise,0.0f,estimatedError,0);
}
//ENDOF LUKA CODE
m_Enabled = false;
m_Docked = false;
m_Hand = SixenseHands.UNKNOWN;
m_HandBind = SixenseHands.UNKNOWN;
m_Buttons = 0;
m_ButtonsPrevious = 0;
m_Trigger = 0.0f;
m_JoystickX = 0.0f;
m_JoystickY = 0.0f;
m_Position.Set( 0.0f, 0.0f, 0.0f );
m_Rotation.Set( 0.0f, 0.0f, 0.0f, 1.0f );
}
