/// <summary> Play an effect using the Thumper module on this glove (if it has any). </summary>
/// <param name="effect"></param>
/// <returns></returns>
public bool SendThumperCmd(SenseGloveCs.ThumperEffect effect)
{
if (GloveData.firmwareVersion >= 4.6f)
{
nextThump = (int)effect; //added to queue
Debug.Log("Queueing " + nextThump.ToString());
return(true);
}
else if (linkedGlove != null && linkedGlove.IsConnected())
{
if (SG_Util.Average(lastBrakeLvls) < thumpFFBThreshold)
{
return(linkedGlove.SendThumperCmd(effect));
}
}
return(false);
}
/// <summary> Retrieve the angular velocity of this Grabscript in rad/s </summary>
/// <returns></returns>
public Vector3 GetAngularVelocity()
{
return(SG_Util.Average(this.angularVelocities));
}
/// <summary> Retrieve the Velocity of this Grabscript in m/s </summary>
/// <returns></returns>
public Vector3 GetVelocity()
{
return(SG_Util.Average(this.velocities));
}
/// <summary> Update and flush all commands for this Sense Glove. </summary>
protected void FlushCmds() //only write brakecommands if we have recieved any.
{
int[] finalBrakeCmd = new int[5];
int[] finalBuzzCmd = new int[5];
if (FFB_Enabled) //update finalBrakeCmd
{
if (brakeQueue.Count > 0)
{
for (int i = 0; i < brakeQueue.Count; i++)
{
for (int f = 0; f < 5; f++)
{
finalBrakeCmd[f] = Mathf.Max(finalBrakeCmd[f], brakeQueue[i][f]);
}
}
}
else
{
finalBrakeCmd = lastBrakeLvls; //no new cmds, so lets stay as we are.
}
}
brakeQueue.Clear(); //clear buffer for next frame.
for (int i = 0; i < buzzQueue.Count;)
{
buzzQueue[i].Update(Time.deltaTime);
if (buzzQueue[i].FullyElapsed) //no more relevant cmds
{
buzzQueue.RemoveAt(i); //do nothing
}
else
{
if (buzz_Enabled)
{
buzzQueue[i].Merge(ref finalBuzzCmd); //add to final cmd
}
i++;
}
}
int finalThump = this.nextThump;
if (finalThump != (int)ThumperEffect.None && finalThump != (int)ThumperEffect.TurnOff &&
(SG_Util.Average(finalBrakeCmd) >= thumpFFBThreshold || SG_Util.Average(finalBuzzCmd) >= thumpBuzzThreshold))
{
Debug.Log("Too much other jazz, reset Thump");
finalThump = (int)ThumperEffect.None; //do not sent thumper commands if there is too much FFB active.
}
if (sendHaptics == HapticSendMode.OnChange)
{
if (finalThump != (int)ThumperEffect.None || !AlreadySent(finalBrakeCmd, lastBrakeLvls) || !AlreadySent(finalBuzzCmd, lastBuzzLvls))
{
WriteHaptics(finalBrakeCmd, finalBuzzCmd, finalThump);
}
}
else if (sendHaptics == HapticSendMode.OnChangeRepeat)
{
if (finalThump != (int)ThumperEffect.None || !AlreadySent(finalBrakeCmd, lastBrakeLvls) || !AlreadySent(finalBuzzCmd, lastBuzzLvls))
{
cmdsSend = 1; //its a new command
WriteHaptics(finalBrakeCmd, finalBuzzCmd, finalThump);
}
else if (cmdsSend < maxCmdRepeat)
{
cmdsSend++;
WriteHaptics(finalBrakeCmd, finalBuzzCmd, finalThump);
}
}
else if (sendHaptics == HapticSendMode.OnFrame)
{
WriteHaptics(finalBrakeCmd, finalBuzzCmd, finalThump);
}
}
