public static Phalange GetPhalange(GameObject parent, FingerIndex index, int pos, device_type_t DeviceType)
{
Phalange phalange = parent.AddComponent <Phalange>();
phalange.PhalangeData = new PhalangeData(index, pos, DeviceType);
return(phalange);
}
protected virtual Finger CreateFinger(FingerIndex finger)
{
return(HandFactory.GetFinger(_fingerTransforms[(int)finger][1].gameObject, finger,
HandType, this, DeviceType,
_fingerTransforms[(int)finger][1].gameObject, _fingerTransforms[(int)finger][2].gameObject,
_fingerTransforms[(int)finger][3].gameObject));
}
public static Finger GetFinger(GameObject parent, FingerIndex index, HandType handType, Hand hand, device_type_t deviceType,
GameObject phalange0, GameObject phalange1, GameObject phalange2)
{
Finger finger;
switch (handType)
{
case HandType.Normal:
finger = parent.AddComponent <RegularFinger>();
break;
case HandType.Physics:
finger = parent.AddComponent <PhysicsFinger>();
break;
default:
finger = parent.AddComponent <RegularFinger>();
break;
}
finger.Index = index;
finger.HandType = handType;
finger.DeviceType = deviceType;
finger.PhalangesGameObjects[1] = phalange0;
finger.PhalangesGameObjects[2] = phalange1;
finger.PhalangesGameObjects[3] = phalange2;
finger.Hand = hand;
return(finger);
}
protected override Finger CreateFinger(FingerIndex finger)
{
Finger f = base.CreateFinger(finger);
PhysicsFinger physicsFinger = f as PhysicsFinger;
physicsFinger.PhysicsFingerSettings = PhysicsFingerSettings;
return(f);
}
/// <summary>
/// Get the rotation of the given finger
/// </summary>
/// <param name="fingerIndex"></param>
/// <param name="deviceType"></param>
/// <param name="pose"></param>
/// <returns></returns>
public Quaternion GetFingerRotation(FingerIndex fingerIndex, device_type_t deviceType, int pose)
{
ApolloJointData hand = GetJointData(deviceType);
if (!hand.IsValid)
{
return(Quaternion.identity);
}
Quaternion fingerRotation = hand.fingers[(int)fingerIndex].joints[pose].rotation;
return(fingerRotation);
}
public Transform GetFingerTransform(device_type_t deviceType, FingerIndex finger, PhalangeType phalange)
{
switch (phalange)
{
case PhalangeType.Proximal:
return(GetHand(deviceType).GetFingerRig(finger).Proximal);
case PhalangeType.Intermedial:
return(GetHand(deviceType).GetFingerRig(finger).Intermedial);
case PhalangeType.Distal:
return(GetHand(deviceType).GetFingerRig(finger).Distal);
default:
throw new ArgumentOutOfRangeException("phalange", phalange, null);
}
}
/// <summary>
/// Get the rotation of the given finger
/// </summary>
/// <param name="fingerIndex"></param>
/// <param name="deviceType"></param>
/// <param name="pose"></param>
/// <returns></returns>
public Quaternion GetFingerRotation(FingerIndex fingerIndex, device_type_t deviceType, int pose)
{
manus_hand_t hand;
if (deviceType == device_type_t.GLOVE_LEFT)
{
hand = _leftHand;
}
else
{
hand = _rightHand;
}
Quaternion fingerRotation = hand.fingers[(int)fingerIndex].joints[pose].rotation;
if (fingerRotation == null)
{
return(Quaternion.identity);
}
return(fingerRotation);
}
public FingerRig GetFingerRig(FingerIndex finger)
{
switch (finger)
{
case FingerIndex.thumb:
return(Thumb);
case FingerIndex.index:
return(Index);
case FingerIndex.middle:
return(Middle);
case FingerIndex.ring:
return(Ring);
case FingerIndex.pink:
return(Pinky);
default:
throw new ArgumentOutOfRangeException("finger", finger, null);
}
}
public PhalangeData(FingerIndex fingerIndex, int pos, device_type_t DeviceTypeT)
{
this.FingerIndex = fingerIndex;
this.Pos = pos;
this.DeviceTypeT = DeviceTypeT;
}
