/// <summary> Retrieve flexion angles, normalized to [0...1] or [fingers extended ... fingers flexed] </summary>
/// <param name="flexions"></param>
/// <param name="forceUpdate"></param>
/// <returns></returns>
public virtual bool GetNormalizedFlexion(out float[] flexions, bool forceUpdate = false)
{
if (lastHandModel == null)
{
lastHandModel = SGCore.Kinematics.BasicHandModel.Default(this.IsRight);
}
//if (lastProfile == null) { lastProfile = SGCore.HandProfile.Default(this.IsRight); }
return(GetNormalizedFlexion(lastHandModel, SG_HandProfiles.GetProfile(this.IsRight), out flexions, forceUpdate));
}
// Update is called once per frame
void Update()
{
//Keybinds
if (Input.GetKeyDown(this.toggleGloveKey))
{
this.GloveVisible = !GloveVisible;
}
if (Input.GetKeyDown(this.toggleHandKey))
{
this.HandVisible = !HandVisible;
}
//Automated Updates
if (this.glove != null && glove.IsConnected)
{
if (!setupComplete)
{
setupComplete = true;
this.HandGeometry = SGCore.Kinematics.BasicHandModel.Default(this.glove.IsRight);
//Debug.Log("WireFrame; " + this.HandGeometry.ToString());
this.CalibrateWrist();
SG_HandPose idleHand = SG_HandPose.Idle(glove.IsRight);
this.UpdateHand(idleHand);
if (this.glove.InternalGlove is SGCore.SG.SenseGlove)
{
// Debug.Log("Generated glove model for " + this.glove.GetInternalObject().GetDeviceID());
SGCore.SG.SG_GloveInfo gloveModel = ((SGCore.SG.SenseGlove) this.glove.InternalGlove).GetGloveModel();
GenerateGlove(gloveModel);
SGCore.SG.SG_GlovePose idlePose = SGCore.SG.SG_GlovePose.IdlePose(gloveModel);
this.UpdateGlove(idlePose);
}
}
if (this.wristTransform != null && this.foreArmTransform != null)
{
if (Input.GetKeyDown(this.resetWristKey))
{
this.CalibrateWrist();
}
Quaternion imu;
if (this.glove.GetIMURotation(out imu))
{
this.UpdateWrist(imu);
}
}
if (this.gloveBase.activeInHierarchy)
{
this.UpdateGlove();
}
if (this.handBase.activeInHierarchy)
{
this.UpdateHand();
}
}
}
//----------------------------------------------------------------------------------------------
// Hand Tracking Methods
/// <summary> Returns the HandPose from the Glove Hardware linked to this TrackedHand. </summary>
/// <param name="hand"></param>
/// <param name="pose"></param>
/// <returns></returns>
public virtual bool GetHandPose(out SG_HandPose pose)
{
if (this.gloveHardware != null && this.handModel != null)
{
SGCore.Kinematics.BasicHandModel HM = handModel.HandKinematics;
//Debug.Log("TrackedHand: " + HM.ToString());
return(this.gloveHardware.GetHandPose(this.handModel.HandKinematics, out pose, true));
}
pose = SG_HandPose.Idle(this.TracksRightHand);
return(false);
}
/// <summary> Retrieve flexion angles, normalized to [0...1] or [fingers extended ... fingers flexed] </summary>
/// <param name="handModel"></param>
/// <param name="userProfile"></param>
/// <param name="flexions"></param>
/// <param name="forceUpdate"></param>
/// <returns></returns>
public virtual bool GetNormalizedFlexion(SGCore.Kinematics.BasicHandModel handModel, SGCore.HandProfile userProfile, out float[] flexions, bool forceUpdate = false)
{
SG_HandPose pose;
if (GetHandPose(handModel, userProfile, out pose, forceUpdate))
{
flexions = pose.normalizedFlexion;
return(true);
}
flexions = new float[5];
return(false);
}
/// <summary> Returns a Hand Pose containing everything you'd want to animate a hand model in Unity. Using a custom HandProfile. </summary>
/// <returns></returns>
public bool GetHandPose(SGCore.Kinematics.BasicHandModel handDimensions, SGCore.HandProfile userProfile, out SG_HandPose pose, bool forceUpdate = false)
{
#if UNFINISHED_FEATURES
if (this.CVDataAvailable(forceUpdate)) //we are able to get CV data. Yay
{
pose = new SG_HandPose(SGCore.HandPose.FromHandAngles(lastCVData.handAngles, lastCVData.rightHand, handDimensions));
newPoseNeeded = false; //we don't need a new pose this frame, thank you.
lastHandModel = handDimensions;
lastHandPose = pose;
return(true);
}
#endif
if (this.lastGlove != null)
{
if (forceUpdate || newPoseNeeded) //we need a new pose
{
lastHandModel = handDimensions;
if (this.CalibrationStage == CalibrationStage.MoveFingers)
{
lastHandPose = SG_HandPose.Idle(this.IsRight);
newPoseNeeded = false; //we don't need a new pose this frame, thank you.
}
else if (this.CalibrationLocked && this.currentSequence != null)
{
//we should gram it from the calibrationSequence instead.
if (this.currentSequence.GetCalibrationPose(out lastHandPose))
{
newPoseNeeded = false;
}
}
else
{
SGCore.HandPose iPose;
if (lastGlove.GetHandPose(handDimensions, userProfile, out iPose))
{
lastHandPose = new SG_HandPose(iPose);
newPoseNeeded = false; //we don't need a new pose this frame, thank you.
}
}
}
// else we already have one, and don't want to force-update.
pose = lastHandPose;
return(lastHandPose != null);
}
else if (lastHandPose == null)
{
lastHandPose = SG_HandPose.Idle(this.IsRight);
} //only if we dont yet have a LastHandPose.
//otherwise we shouldn't bother
pose = lastHandPose;
return(false);
}
/// <summary> Generates a BasicHandModel based on the Joint Transforms of this hand. </summary>
/// <returns></returns>
private SGCore.Kinematics.BasicHandModel GenerateHandModel()
{
bool right = this.handSide != HandSide.LeftHand;
float[][] handLenghts = new float[5][];
SGCore.Kinematics.Vect3D[] startPositions = new SGCore.Kinematics.Vect3D[5];
Transform[][] fingerJoints = FingerJoints;
SGCore.Kinematics.BasicHandModel defaultH = SGCore.Kinematics.BasicHandModel.Default(right);
for (int f = 0; f < 5; f++)
{
// SGCore.Kinematics.Vect3D lastPos = fingerJoints[f].Length > 0 ? SG_Util.ToPosition(fingerJoints[f][0].position, true)
// : defaultH.GetJointPosition((SGCore.Finger)f);
SGCore.Kinematics.Vect3D lastPos = fingerJoints[f].Length > 0 ? RelativePosition(fingerJoints[f][0], this.wristTransform)
: defaultH.GetJointPosition((SGCore.Finger)f);
startPositions[f] = lastPos; //the first position is the starting position.
handLenghts[f] = new float[3];
float[] defaultL = handLenghts[f] = defaultH.GetFingerLengths((SGCore.Finger)f);
for (int j = 1; j < 4; j++)
{
if (fingerJoints[f].Length > j)
{
SGCore.Kinematics.Vect3D currPos = RelativePosition(fingerJoints[f][j], this.wristTransform);
handLenghts[f][j - 1] = (currPos.x - lastPos.x); //converts from m to mm
lastPos = currPos; //update
}
else
{
handLenghts[f][j - 1] = defaultL[j - 1];
}
}
}
SGCore.Kinematics.BasicHandModel HM = new SGCore.Kinematics.BasicHandModel(right, handLenghts, startPositions);
//Debug.Log("Collected HandModelInfo: " + HM.ToString(true));
return(HM);
}
/// <summary> Returns a Hand Pose containing everything you'd want to animate a hand model in Unity. Using the global HandProfile. </summary>
/// <param name="handModel"></param>
/// <param name="pose"></param>
/// <param name="forceUpdate"></param>
/// <returns></returns>
public virtual bool GetHandPose(SGCore.Kinematics.BasicHandModel handModel, out SG_HandPose pose, bool forceUpdate = false)
{
return(GetHandPose(handModel, SG_HandProfiles.GetProfile(this.IsRight), out pose, forceUpdate));
}
