/// <summary> Updates all variables that can change during the simulation.</summary>
/// <param name="data"></param>
public void UpdateVariables(SenseGloveCs.GloveData data)
{
this.dataLoaded = data.dataLoaded;
this.deviceID = data.deviceID;
this.gloveValues = data.gloveValues;
this.imuValues = data.imuValues;
this.imuCalibration = data.imuCalibration;
this.numberOfSensors = data.numberOfSensors;
this.packetsPerSecond = data.samplesPerSec;
this.calibrationStep = data.currentCalStep;
this.totalCalibrationSteps = data.totalCalSteps;
this.absoluteCalibratedWrist = SG_Util.ToUnityQuaternion(data.wrist.QcalibratedAbs);
this.absoluteWrist = SG_Util.ToUnityQuaternion(data.wrist.QwristAbs);
this.relativeWrist = SG_Util.ToUnityQuaternion(data.wrist.Qrelative);
SenseGlove_Data.GetChainVariables(ref data.kinematics.gloveLinks, ref this.glovePositions,
ref this.gloveAngles, ref this.gloveRotations, ref this.gloveLengths);
SenseGlove_Data.GetChainVariables(ref data.kinematics.fingers, ref this.handPositions,
ref this.handAngles, ref this.handRotations, ref this.handLengths);
}
/// <summary> Extract right-handed coordinate system data from the SenseGlove DLL and convert it into Unity values. </summary>
/// <param name="data"></param>
/// <param name="packets"></param>
/// <param name="totalCSteps"></param>
/// <param name="currCStep"></param>
public SenseGlove_Data(SenseGloveCs.GloveData data)
{
if (data != null)
{
this.gloveSide = SenseGlove_Data.GetSide(data.kinematics.isRight);
this.deviceID = data.deviceID;
this.firmwareVersion = data.firmwareVersion;
this.gloveVersion = data.deviceVersion;
this.packetsPerSecond = data.samplesPerSec;
this.commonOriginPos = SG_Util.ToUnityPosition(data.kinematics.gloveRelPos);
this.commonOriginRot = SG_Util.ToUnityQuaternion(data.kinematics.gloveRelRot);
this.UpdateVariables(data);
}
}
/// <summary> Fill the appropriate unity Quaternion and Vector3 arrays based on a single joing chain (finger or glove semgent) </summary>
/// <param name="chain"></param>
/// <param name="positions"></param>
/// <param name="angles"></param>
/// <param name="rotations"></param>
/// <param name="lengths"></param>
protected static void GetLinkVariables(ref SenseGloveCs.Kinematics.JointChain chain, ref Vector3[] positions, ref Vector3[] angles, ref Quaternion[] rotations, ref Vector3[] lengths)
{
int n = chain.joints.Length;
positions = new Vector3[n];
angles = new Vector3[n];
rotations = new Quaternion[n];
lengths = new Vector3[n - 1];
for (int j = 0; j < n; j++)
{
positions[j] = SG_Util.ToUnityPosition(chain.joints[j].position);
angles[j] = SG_Util.ToUnityEuler(chain.joints[j].relativeAngle);
rotations[j] = SG_Util.ToUnityQuaternion(chain.joints[j].rotation);
if (j < n - 1)
{
lengths[j] = SG_Util.ToUnityPosition(chain.lengths[j]);
}
}
}
