public static void UpdateOpenClose(bool isRight, SG_HandAnimator animater, bool calibrating, SGCore.Kinematics.HandInterpolator poseInterp, float normalizedTime01)
{
if (animater != null && calibrating && poseInterp != null)
{
SGCore.Kinematics.Vect3D[][] handAngles = SGCore.Kinematics.Values.FillZero(5, 3);
for (int f = 0; f < 5; f++)
{
if (f == 0)
{
handAngles[f][0].x = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Twist, normalizedTime01);
handAngles[f][0].z = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Abd, normalizedTime01);
handAngles[f][0].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Flex, normalizedTime01);
handAngles[f][1].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_MCP_Flex, normalizedTime01);
handAngles[f][2].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_IP_Flex, normalizedTime01);
}
else
{
SGCore.Finger finger = (SGCore.Finger)f;
handAngles[f][0].z = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_MCP_Abd, normalizedTime01);
handAngles[f][0].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_MCP_Flex, normalizedTime01);
handAngles[f][1].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_PIP_Flex, normalizedTime01);
handAngles[f][2].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_DIP_Flex, normalizedTime01);
}
}
animater.UpdateHand(new SG_HandPose(SGCore.HandPose.FromHandAngles(handAngles, isRight)));
}
}
/// <summary> Convert a fingle finger's flexion range and current flexion into a string representation. </summary>
/// <param name="flexion"></param>
/// <param name="finger"></param>
/// <returns></returns>
public string ToRangeString(float flexion, SGCore.Finger finger)
{
float min = GetMinFlexion(finger);
float max = GetMaxFlexion(finger);
return(ToBlockString(flexion, min, max, stringSteps));
}
/// <summary> Utility function te reiteve the maximum flexion fo a finger </summary>
/// <param name="finger"></param>
/// <returns></returns>
public float GetMaxFlexion(SGCore.Finger finger)
{
switch (finger)
{
case SGCore.Finger.Thumb:
return(thumbFlexMax);
case SGCore.Finger.Index:
return(indexFlexMax);
case SGCore.Finger.Middle:
return(middleFlexMax);
case SGCore.Finger.Ring:
return(ringFlexMax);
case SGCore.Finger.Pinky:
return(pinkyFlexMax);
}
return(1);
}
/// <summary> Send an impact vibration to this script's connected glove, based on a speed in m/s. Checks for SG_RigidBodies. </summary>
/// <param name="impactVelocity"></param>
public void SendImpactFeedback(float impactVelocity, Collider col)
{
if (handLocation != SG_HandSection.Unknown && impactVelocity >= minImpactSpeed)
{
SG_TrackedBody rbScript;
if (col == null || (col != null && !SG_TrackedBody.GetTrackedBodyScript(col, out rbScript))) //we either don't have a collider, or we do, but it doesn't have a RigidBody script.
{
int impactLevel;
//evaluate the intensity
if (impactVelocity > maxImpactSpeed || minImpactSpeed >= maxImpactSpeed)
{
impactLevel = maxBuzzLevel;
}
else
{
//map the impact parameters on the speed.
float mapped = Mathf.Clamp01(SG_Util.Map(impactVelocity, minImpactSpeed, maxImpactSpeed, 0, 1));
//we're actually start at minBuzzLevel; that's when you can start to feel the Sense Glove vibrations
impactLevel = (int)(SG_Util.Map(impactProfile.Evaluate(mapped), 0, 1, minBuzzLevel, maxBuzzLevel));
}
//actually send the effect
if (linkedGlove != null && vibrationTime > 0)
{
if (handLocation == SG_HandSection.Wrist) //it's a wrist.
{
linkedGlove.SendCmd(new SGCore.Haptics.TimedThumpCmd(impactLevel, vibrationTime));
}
else //finger
{
SGCore.Finger finger = (SGCore.Finger)handLocation; //can do this since the finger indices match
SGCore.Haptics.SG_TimedBuzzCmd buzzCmd = new SGCore.Haptics.SG_TimedBuzzCmd(finger, impactLevel, vibrationTime);
linkedGlove.SendCmd(buzzCmd);
}
cooldownTimer = 0; //reset cooldown for this finger.
}
}
}
}
