/// <summary>
/// Feed the HandDataManager with the apollo hand data, this will only work if the stream type is set to custom.
/// </summary>
/// <param name="apolloHandData">The new apollo hand data.</param>
/// <param name="side">The side for which this data applies.</param>
public static void FeedCustomStreamHandData(ApolloHandData apolloHandData, GloveLaterality side)
{
if (OnNewCustomStreamHandData != null)
{
OnNewCustomStreamHandData(apolloHandData, side);
}
}
/// <summary>
/// Animate this hand using the given hand data.
/// </summary>
/// <param name="handData">The hand data that should be used to animate the hand.</param>
public virtual void AnimateHand(ApolloHandData handData)
{
RotateWrist(handData.processedWristImu);
const int thumb = (int)ApolloHandData.FingerName.Thumb;
const int CMC = (int)ApolloHandData.JointNameThumb.CMC;
RotateThumb(handData.fingers[thumb].joints[CMC]);
RotateFingers(handData);
}
private static void NewCustomData(ApolloHandData apolloHandData, GloveLaterality side)
{
//Log("Received new hand data for a " + side + " glove with device ID " + apolloHandData.deviceID + ".");
// Get ready to store the new data.
int playerIndex = -1;
device_type_t deviceType = device_type_t.GLOVE_LEFT;
if (!PrepareForNewData(true, side, apolloHandData.deviceID, out playerIndex, out deviceType))
{
// Failed to prepare for the new data. The new data cannot be stored.
// Printing a log message is done in the function, so don't print anything here.
return;
}
// Set the data.
playerData[playerIndex].handData[deviceType] = apolloHandData;
}
protected virtual void RotateFingers(ApolloHandData handData)
{
for (int fingerNum = 0; fingerNum < FingerControllers.Count; fingerNum++) // Go over all fingerData, including the thumb.
{
for (int jointNum = 1; jointNum <= 3; jointNum++) // CMC to IP for the thumb, MCP to DIP for the other fingerData.
{
ApolloHandData.FingerName convertedFingerNum = (ApolloHandData.FingerName)fingerNum;
try
{
FingerControllers[convertedFingerNum].RotatePhalange(jointNum, handData.fingers[fingerNum].joints[jointNum]);
}
catch (NullReferenceException)
{
Debug.LogError($"FingerControllers not found {convertedFingerNum} / {jointNum} / {fingerNum}");
}
}
}
}
public virtual void UpdateHand(ApolloHandData handData)
{
handData.UpdateGrabState();
}
