private void SetupWrist()
{
if (this.glove != null && this.glove.gloveData.dataLoaded)
{
string ID = this.gloveData.deviceID;
if (this.gloveData.firmwareVersion <= 2.19f)
{
if (ID.Contains("120206"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quat.FromEuler(Mathf.PI / 2.0f, 0, Mathf.PI)); //correction for glove 1
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120101"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quat.FromEuler(Mathf.PI, 0, 0)); //correction for glove 1
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120203"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quat.FromEuler(0, 0, Mathf.PI / 2.0f)); //correction?
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120307") || ID.Contains("120304") || ID.Contains("120310") || ID.Contains("120309") || ID.Contains("120311") || ID.Contains("120312"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quat.FromEuler(0, 0, Mathf.PI)); //correction for glove 7 & 4?
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
}
}
}
/// <summary> Remove an object from this dropzone and restore its original settings. </summary>
/// <param name="objectIndex"></param>
public void RemoveObject(int objectIndex)
{
//SenseGlove_Debugger.Log("The script wishes to remove " + objectIndex);
if (objectIndex >= 0 && objectIndex < this.objectsInside.Count)
{
SenseGlove_Debugger.Log("removing " + this.objectsInside[objectIndex].name + " from the DropZone!");
SenseGlove_Grabable obj = this.objectsInside[objectIndex];
SenseGlove_Debugger.Log("RBProps.lengh = " + RBprops.Count);
if (obj.GetComponent <Rigidbody>() != null && RBprops[objectIndex] != null)
{ //if it is currently picked up, we assign the previous properties to its grabscript, which will then apply them once it lets go.
SenseGlove_Debugger.Log("It has a physicsBody");
if (obj.IsGrabbed())
{
obj.SetOriginalParent(this.originalParent[objectIndex]);
obj.SetRBProps(this.RBprops[objectIndex][0], this.RBprops[objectIndex][1]);
}
else
{
obj.transform.parent = this.originalParent[objectIndex];
obj.physicsBody.useGravity = this.RBprops[objectIndex][0];
obj.physicsBody.isKinematic = this.RBprops[objectIndex][1];
}
}
this.objectsInside.RemoveAt(objectIndex);
SenseGlove_Debugger.Log("Removed it from ObjectsInside!");
this.RBprops.RemoveAt(objectIndex);
this.originalParent.RemoveAt(objectIndex);
obj.SetInteractable(true); //now the function can also be used to force removal of the object.
this.OnObjectRemoved(obj);
}
}
// Update is called once per frame
void Update()
{
if (Input.GetKeyDown(resetKey))
{
SenseGlove_Debugger.Log("Reset!");
this.Reset();
}
}
//--------------------------------------------------------------------------------------------------------------------------
// Internal Calibration Algorithms
#region InternalCalibration
/// <summary> Reset the Calibration of the glove if, for instance, something went wrong, or if we are shutting down. </summary>
public void CancelCalibration()
{
if (linkedGlove != null)
{
linkedGlove.StopCalibration();
SenseGlove_Debugger.Log("Canceled Calibration");
}
}
// Runs every frame
private void Update()
{
if (Input.GetKeyDown(this.resetCalibrationKey))
{
SenseGlove_Debugger.Log("Resetting Hand Parameters");
this.senseGlove.ResetKinematics();
}
}
//------------------------------------------------------------------------------------------------------------------------------------
// (Semi)Automatic Calibration Steps
/// <summary> Start a semi-automatic calibration of the thumb, using thumb abduction. </summary>
public void CalibrateThumb()
{
if (this.GloveReady())
{
SenseGlove_Debugger.Log("Calibrating Thumb");
CalibrationAlgorithm algorithm = new Circle2D(new bool[] { true, false, false, false, false });
this.glove.StartSemiAutoCalibration(algorithm, true, 10, 1f, 5);
}
}
/// <summary> Fires when the Sense Glove has calculated new finger Lengths. </summary>
/// <param name="source"></param>
/// <param name="args"></param>
private void SenseGlove_OnCalibrationFinished(object source, CalibrationArgs args)
{
if (this.canUpdate)
{
//the new gloveLengths have already been applied to the SenseGlove-Object, but should be updated in the database.
HandProfile updatedProfile = new HandProfile(args.newFingerLengths);
UserProfiles.AddEntry(this.userName, updatedProfile); //update / add entry
SenseGlove_Debugger.Log("Updated " + this.userName);
}
}
/// <summary>
/// Calibrate the Wrist, based on the orientation of the foreArm.
/// </summary>
/// <returns></returns>
public bool CalibrateWrist()
{
if (glove != null && glove.IsConnected() && foreArm != null)
{
glove.CalibrateWrist(null, SenseGlove_Util.ToQuaternion(this.foreArm.transform.rotation));
SenseGlove_Debugger.Log("Calibrated Wrist");
return(true);
}
return(false);
}
/// <summary>
/// Set the current lowerArm quaternion as the 'zero'
/// </summary>
/// <param name="lowerArm"></param>
/// <returns></returns>
public bool CalibrateWrist(Quaternion lowerArm)
{
if (glove != null && glove.IsConnected())
{
glove.CalibrateWrist(null, SenseGlove_Util.ToQuaternion(lowerArm));
SenseGlove_Debugger.Log("Calibrated Wrist");
return(true);
}
return(false);
}
/// <summary> Reset the Calibration of the glove if, for instance, something went wrong. </summary>
public void CancelCalibration()
{
if (glove != null)
{
glove.StopCalibration();
this.calSteps = 0;
this.calibrating = false;
SenseGlove_Debugger.Log("Canceled Calibration");
}
}
private void TrackedGlove_OnCalibrationFinished(object source, CalibrationArgs args)
{
SenseGlove_Debugger.Log("Resizing Model.");
//Debug.Log( "Old: " + SenseGlove_Util.ToString(args.oldJointPositions[1]) + ", New: " + SenseGlove_Util.ToString(args.newJointPositions[1]));
Vector3 dJoints = args.newJointPositions[1] - args.oldJointPositions[1];
this.RescaleHand(args.newFingerLengths);
this.handGroup.transform.localPosition = this.handGroup.transform.localPosition - dJoints;
this.gloveGroup.transform.localPosition = this.gloveGroup.transform.localPosition - dJoints;
}
// Update is called once per frame
void Update()
{
if (this.senseGlove != null)
{
if (Input.GetKeyDown(this.calibrateWristKey))
{
this.senseGlove.CalibrateWrist();
}
///////
if (Input.GetKeyDown(this.calibrateFingersKey))
{
this.senseGlove.StartCalibration();
}
///////
if (Input.GetKeyDown(this.manualCalibrationKey))
{
this.senseGlove.NextCalibrationStep(this.calibrateFingersKey);
}
////////
if (Input.GetKeyDown(this.cancelCalibrationKey))
{
this.senseGlove.CancelCalibration();
}
/////////
if (Input.GetKeyDown(this.calibrateThumb))
{
this.senseGlove.CalibrateThumb();
}
/////////
if (Input.GetKeyDown(this.resetFingerLengthsKey))
{
SenseGlove_Debugger.Log("Reset Fingers");
this.senseGlove.ResetFingers();
}
}
if (grabScript != null)
{
if (Input.GetKeyDown(this.releaseObjectKey))
{
this.grabScript.ManualRelease(this.releaseTimeOut);
}
}
}
// OnApplicationQuit is called when the game shuts down.
void OnApplicationQuit()
{
this.CancelCalibration();
if (glove != null && glove.IsConnected())
{
glove.SimpleBrakeCmd(0, 0, 0, 0, 0);
glove.Disconnect();
SenseGlove_Debugger.Log("Disconnected the SenseGlove on " + glove.communicator.Address());
}
SenseGloveCs.DeviceScanner.CleanUp();
}
void Start()
{
if (!this.CanInteract())
{
SenseGlove_Debugger.Log("Warning: " + this.name + " is unable to pick up anything.");
}
if (this.senseGlove == null)
{
this.senseGlove = this.GetComponent <SenseGlove_Object>();
}
}
/// <summary> Dispose of resources. </summary>
private void Dispose()
{
this.CancelCalibration();
if (glove != null && glove.IsConnected())
{
glove.StopBrakes();
glove.StopBuzzMotors();
glove.Disconnect();
SenseGlove_Debugger.Log("Disconnected the SenseGlove on " + glove.communicator.Address());
}
this.Disconnect();
}
/// <summary> Add an object to this DropZone, and apply the desired settings. </summary>
/// <param name="obj"></param>
public void AddObject(SenseGlove_Grabable obj)
{
SenseGlove_Debugger.Log("Adding " + obj.name + " to the DropZone!");
// remember original parent
if (obj.IsGrabbed())
{
this.originalParent.Add(obj.GetOriginalParent());
}
else
{
this.originalParent.Add(obj.transform.parent);
}
bool[] props = null;
if (this.snapToMe && (this.takeFromHand || !obj.IsGrabbed()))
{
obj.EndInteraction();
Transform zoneParent = this.snapTarget;
if (zoneParent == null)
{
zoneParent = this.gameObject.transform;
}
obj.gameObject.transform.parent = zoneParent;
obj.gameObject.transform.localPosition = Vector3.zero;
obj.gameObject.transform.localRotation = Quaternion.identity;
Rigidbody RB = obj.physicsBody;
if (RB != null)
{
if (obj.IsGrabbed())
{
props = obj.GetRBProps();
}
else
{
props = new bool[2] {
RB.useGravity, RB.isKinematic
};
}
RB.useGravity = false;
RB.isKinematic = true;
}
}
this.RBprops.Add(props);
this.objectsInside.Add(obj);
obj.SetInteractable(!this.disableInteration); //enable / disable interactions.
this.OnObjectDetected(obj);
}
/// <summary>
/// Disconnect and retry the connecting to the SenseGlove,
/// such as when a different glove is connected or when the (manual) connection is lost.
/// </summary>
public void RetryConnection()
{
this.Disconnect();
if (this.connectionMethod != ConnectionMethod.HardCoded)
{
if (!SenseGloveCs.DeviceScanner.IsScanning())
{
SenseGloveCs.DeviceScanner.pingTime = 200;
SenseGloveCs.DeviceScanner.scanDelay = 500;
SenseGloveCs.DeviceScanner.StartScanning(true);
}
}
else //we're dealing with a custom connection!
{
if (canReport)
{
SenseGlove_Debugger.Log("Attempting to connect to " + this.address);
}
Communicator PCB = null;
if (this.address.Contains("COM")) //Serial connections
{
if (this.address.Length > 4 && this.address.Length < 6)
{
this.address = "\\\\.\\" + this.address;
}
PCB = new SerialCommunicator(this.address);
}
if (PCB != null)
{
PCB.Connect();
if (PCB.IsConnected())
{
this.glove = new SenseGlove(PCB);
this.glove.OnFingerCalibrationFinished += Glove_OnFingerCalibrationFinished;
}
else if (canReport)
{
SenseGlove_Debugger.Log("ERROR: Could not connect to " + this.address);
canReport = false;
}
}
else if (canReport)
{
SenseGlove_Debugger.Log("ERROR: " + this.address + " is not a valid address.");
canReport = false;
}
}
this.elapsedTime = 0;
this.standBy = false;
}
/// <summary> Check if two SenseGlove_Touch scripts are touching the same object </summary>
/// <param name="other"></param>
/// <returns></returns>
public bool IsTouching(SenseGlove_Touch other)
{
if (other == null)
{
SenseGlove_Debugger.Log("Other is Null");
}
else
if (this.touchedObject != null && other.touchedObject != null)
{
return(GameObject.ReferenceEquals(this.touchedObject, other.touchedObject));
}
return(false);
}
/// <summary> Retrieve the Material properties from the chosen Library. </summary>
/// <param name="libName"></param>
/// <param name="matName"></param>
/// <returns></returns>
public static MaterialProps GetMaterial(string matName)
{
matName = matName.ToLowerInvariant(); //always convert to lower case to prevent typos on Dev/User side;
MaterialProps res;
if (materials.TryGetValue(matName, out res))
{
return(res);
}
else
{
SenseGlove_Debugger.Log("Error loading " + matName + ": No such material loaded.");
}
return(MaterialProps.Default());
}
private void TrackedGlove_OnGloveLoaded(object source, System.EventArgs args)
{
SenseGlove_Debugger.Log("Setting up WireFrame...");
SetupGlove(trackedGlove.GloveData());
SetupHand(trackedGlove.GloveData());
SetGlove(false); //hide the glove by default.
SetHand(true); //show the hand by default.
SetupGrabColliders();
this.setupComplete = true;
//remove the preview models, if any are available
if (this.preview != null)
{
Destroy(this.preview);
}
}
//--------------------------------------------------------------------------------------
// Profile / Class Methods
/// <summary> If this user exists within the database, apply their hand profile to this SenseGlove_Object. </summary>
/// <param name="userName"></param>
public void SetProfile(string name)
{
if (userName != null && userName.Length > 0)
{
this.canUpdate = false;
this.userName = name;
UserProfiles.SetLastUser(this.userName, this.senseGlove.GloveData().deviceID);
HandProfile newProfile = UserProfiles.GetProfile(name);
this.SetProfile(newProfile);
SenseGlove_Debugger.Log("Set Profile for " + this.userName);
this.canUpdate = true; //prevent additional calls to fingerCalibrationFinished while we update the profile.
}
else
{
SenseGlove_Debugger.LogWarning("Invalid Username");
}
}
/// <summary> Apply the profile when the Sense Glove has loaded </summary>
/// <param name="source"></param>
/// <param name="args"></param>
private void SenseGlove_OnGloveLoaded(object source, System.EventArgs args)
{
//check if a profile is already established for this glove. If not assign the name of this glove.
string ID = this.senseGlove.GloveData().deviceID;
string lastUsedName = UserProfiles.GetLastUser(ID);
if (lastUsedName.Length > 0)
{ //a lastUsedName exits
this.userName = lastUsedName;
}
else
{ //not been assigned yet, tell the database this is the new lastUser
UserProfiles.SetLastUser(this.userName, ID);
}
this.SetProfile(UserProfiles.GetProfile(this.userName));
SenseGlove_Debugger.Log("Applied profile for " + userName);
this.canUpdate = true;
}
//------------------------------------------------------------------------------------------------------------------------------------
// Backwards Compatibility Methods
#region BackwardsComp
/// <summary> Manually assign IMU Correction for old firmware versions. </summary>
private void SetupWrist()
{
if (this.glove != null && this.glove.gloveData.dataLoaded)
{
string ID = this.gloveData.deviceID;
if (ID.Contains("220102"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(Mathf.PI, 0, Mathf.PI / 2.0f)); //correction for glove 1
SenseGlove_Debugger.Log("Red Glove Compensation");
}
string[] gloveVersion = this.gloveData.firmwareVersion.Split('.');
if (gloveVersion[0][0] == 'v')
{
gloveVersion[0] = gloveVersion[0].Substring(1);
} //if there is a v in front of it, remove this.
int mainVersion = int.Parse(gloveVersion[0]);
int subVersion = int.Parse(gloveVersion[1]);
if (mainVersion <= 2 && subVersion <= 19)
{
if (ID.Contains("120206"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(Mathf.PI / 2.0f, 0, Mathf.PI)); //correction for glove 1
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120101"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(Mathf.PI, 0, 0)); //correction for glove 1
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120203"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(0, 0, Mathf.PI / 2.0f)); //correction?
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
else if (ID.Contains("120307") || ID.Contains("120304") || ID.Contains("120310") || ID.Contains("120309") || ID.Contains("120311") || ID.Contains("120312"))
{
this.glove.gloveData.wrist.SetHardwareOrientation(Quaternions.FromEuler(0, 0, Mathf.PI)); //correction for glove 7 & 4?
SenseGlove_Debugger.Log("Firmware Version v2.19 or earlier. Adding Hardware Compensation");
}
}
}
}
/// <summary>
/// Perform the next calibration step of the fingers. If we are not already calibrating, start the calibration!
/// </summary>
/// <param name="calibrationKey">The key used to call this method, used for the debug messages.</param>
public void NextCalibrationStep(KeyCode calibrationKey)
{
if (glove != null && gloveReady)
{
if (!calibrating)
{
this.CancelCalibration();
this.StartCalibration(new bool[] { false, true, true, true, true }, true);
calSteps = 0;
// SenseGlove_Debugger.Log("Calibrate is called : " + calSteps);
}
else if (calSteps <= 3)
{
this.NextCalibrationStep();
// SenseGlove_Debugger.Log("NextStep is called : " + calSteps);
}
if (calSteps == 0)
{
calibrating = true;
SenseGlove_Debugger.Log("Started Calibration. Please stretch your fingers in front of you and press " + calibrationKey.ToString());
calSteps++;
}
else if (calSteps == 1)
{
SenseGlove_Debugger.Log("Step 1 completed. Please bend you MCP joint to 45* and press " + calibrationKey.ToString());
calSteps++;
}
else if (calSteps == 2)
{
SenseGlove_Debugger.Log("Step 2 completed. Please bend you MCP joint to 90* and press " + calibrationKey.ToString());
calSteps++;
}
else
{
SenseGlove_Debugger.Log("Step 3 completed. Calibration has finished.");
calibrating = false;
calSteps = 0;
}
}
}
/// <summary> Collect the absolute angles of the fingers in their 'calibration' pose, correct these with the current wrist orientation. </summary>
protected virtual void CollectCorrections() //virtual
{
if (this.fingerJoints != null && this.fingerJoints.Count > 0)
{
this.fingerCorrection.Clear();
for (int f = 0; f < this.fingerJoints.Count; f++)
{
List <Quaternion> fingerAngles = new List <Quaternion>();
for (int j = 0; j < this.fingerJoints[f].Count; j++)
{
fingerAngles.Add(Quaternion.Inverse(this.wristTransfrom.rotation) * this.fingerJoints[f][j].rotation);
}
this.fingerCorrection.Add(fingerAngles);
}
}
else
{
SenseGlove_Debugger.Log("Warning: No finger joints were collected...");
}
this.wristCorrection = Quaternion.Inverse(this.foreArmTransfrom.rotation) * this.wristTransfrom.rotation;
}
/// <summary> Activate the next step of the Sense Glove's manual calibration sequence; reporting the next step. </summary>
/// <param name="calibrationKey"></param>
/// <returns></returns>
public bool NextCalibrationStep(KeyCode calibrationKey)
{
if (!this.IsCalibrating())
{
// Start a new Calibration
CalibrateVariable whatTo = CalibrateVariable.FingerVariables;
//TODO : Make this dependant on solvers
bool strt = this.StartCalibration(whatTo, CollectionMethod.Manual);
if (strt)
{
SenseGlove_Debugger.Log("Started Calibration. Please stretch your fingers in front of you and press " + calibrationKey.ToString());
return(true);
}
}
else
{
bool added = this.glove.NextCalibrationStep();
if (added)
{
this.convertedGloveData.calibrationStep = this.convertedGloveData.calibrationStep + 1;
if (this.convertedGloveData.calibrationStep == 1)
{
SenseGlove_Debugger.Log("Step 1 completed. Please bend you MCP joint to 45* and press " + calibrationKey.ToString());
}
else if (this.convertedGloveData.calibrationStep == 2)
{
SenseGlove_Debugger.Log("Step 2 completed. Please bend you MCP joint to 90* and press " + calibrationKey.ToString());
}
else if (this.convertedGloveData.calibrationStep == 3)
{
SenseGlove_Debugger.Log("Step 3 completed. Calculating...");
}
}
}
return(false);
}
/// <summary> Connect this Grabable's rigidBody to another using a FixedJoint </summary>
/// <param name="other"></param>
/// <returns>True, if the connection was sucesfully made.</returns>
public bool ConnectJoint(Rigidbody other, float breakForce = 4000)
{
if (other != null)
{
if (this.physicsBody)
{
this.connection = this.physicsBody.gameObject.AddComponent <FixedJoint>();
this.connection.connectedBody = other;
this.connection.enableCollision = false;
this.connection.breakForce = breakForce;
return(true);
}
else
{
SenseGlove_Debugger.Log("Using a FixedJoint connection requires a Rigidbody.");
}
}
else
{
SenseGlove_Debugger.Log("No rigidbody to connect to " + other.name);
}
return(false);
}
/// <summary> If this WireFrame model has a grabscript, attach the appropriate colliders. </summary>
private void SetupGrabColliders()
{
if (!this.setupComplete)
{
SenseGlove_PhysGrab grabscript = this.GetComponent <SenseGlove_PhysGrab>();
if (grabscript != null)
{
//attack capsule colliders to the fingers
SenseGlove_Debugger.Log("Grabscript detected! Attaching colliders.");
List <List <Collider> > pickups = new List <List <Collider> >();
for (int f = 0; f < handPositions.Length; f++) //DEBUG : Only thumb & index
{
List <Collider> fingerColliders = new List <Collider>();
GameObject fingerTip = this.handPositions[f][handPositions[f].Length - 1];
SphereCollider C = fingerTip.AddComponent <SphereCollider>();
// C.radius = grabscript.pickupColliderSize; //determine collider size
fingerColliders.Add(C);
pickups.Add(fingerColliders);
}
grabscript.Setup(pickups, this.palmCollider);
}
//else try other forms of grabscripts
}
}
// Update is called once per frame
void Update()
{
if (!standBy)
{
if (this.elapsedTime < SenseGlove_Object.setupTime)
{
this.elapsedTime += Time.deltaTime;
}
else if (this.glove == null) //No connection yet...
{
if (this.connectionMethod == ConnectionMethod.HardCoded)
{
//no glove was ever assigned...
this.RetryConnection(); //keep trying!
}
else
{
SenseGlove myGlove = ExtractSenseGlove(SenseGloveCs.DeviceScanner.GetDevices());
if (myGlove != null) //The glove matches our parameters!
{
this.glove = myGlove;
SenseGlove_Manager.SetUsed(this.glove.GetData(false).deviceID, true);
this.glove.OnFingerCalibrationFinished += Glove_OnFingerCalibrationFinished;
}
else
{
if (this.canReport)
{
string message = this.gameObject.name + " looking for SenseGlove...";
if (this.connectionMethod == ConnectionMethod.FindNextLeftHand)
{
message = this.gameObject.name + " looking for left-handed SenseGlove...";
}
else if (this.connectionMethod == ConnectionMethod.FindNextRightHand)
{
message = this.gameObject.name + " looking for right-handed SenseGlove...";
}
SenseGlove_Debugger.Log(message);
this.canReport = false;
}
this.elapsedTime = 0;
}
}
}
else if (this.connectionMethod == ConnectionMethod.HardCoded && !this.glove.IsConnected())
{ //lost connection :(
this.canReport = true;
this.RetryConnection(); //keep trying!
}
else if (!gloveReady)
{
if (this.glove.GetData(false).dataLoaded)
{
bool runSetup = this.gloveData == null; //used to raise event only once!
float[][] oldFingerLengths = null;
float[][] oldStartPositions = null;
if (this.gloveData != null)
{
oldFingerLengths = this.GetFingerLengths();
oldStartPositions = SenseGlove_Util.ToPosition(this.GetStartJointPositions());
}
this.gloveData = this.glove.GetData(false); //get the latest data without calculating anything.
this.rightHand = this.gloveData.isRight; //so that users can use this variable during setup.
if (oldFingerLengths != null)
{
this.SetFingerLengths(oldFingerLengths);
} //re-apply old fingerlengths, if possible.
if (oldStartPositions != null)
{
this.SetStartJointPositions(oldStartPositions);
} //re=apply joint positions, if possible.
this.convertedGloveData = new SenseGlove_Data(this.gloveData, this.glove.communicator.samplesPerSecond,
this.glove.TotalCalibrationSteps(), this.glove.TotalCalibrationSteps());
this.SetupWrist();
this.calibratedWrist = false;
this.gloveReady = true;
if (runSetup)
{
this.originalLengths = this.gloveData.handModel.GetFingerLengths();
this.originalJoints = this.gloveData.handModel.GetJointPositions();
SenseGlove_Debugger.Log("Sense Glove " + this.convertedGloveData.deviceID + " is ready!");
this.GloveLoaded(); //raise the event!
}
}
}
else //glove != null && gloveReady!
{
this.CheckCalibration();
//Update to the latest GloveData.
this.UpdateGloveData();
//Calibrate once more after reconnecting to the glove.
if (!calibratedWrist)
{
this.CalibrateWrist();
this.calibratedWrist = true;
}
//Update the public values automatically.
if (connectionMethod != ConnectionMethod.HardCoded)
{
this.address = glove.communicator.Address();
}
this.rightHand = glove.IsRight();
}
}
}
// Update is called once per frame
void Update()
{
if (this.senseGlove != null && this.senseGlove.GloveReady())
{
if (Input.GetKeyDown(this.smallPresetKey))
{
SenseGlove_Debugger.Log("Set Small Hand Preset");
float[][] newLengths = new float[5][]
{
new float[3] {
25, 25, 20
},
new float[3] {
25, 20, 20
},
new float[3] {
30, 25, 20
},
new float[3] {
30, 20, 20
},
new float[3] {
20, 20, 20
}
};
this.senseGlove.SetFingerLengths(newLengths);
}
else if (Input.GetKeyDown(this.mediumPresetKey))
{
SenseGlove_Debugger.Log("Set Medium Hand Preset");
float[][] newLengths = new float[5][]
{
new float[3] {
30, 25, 20
},
new float[3] {
30, 25, 20
},
new float[3] {
35, 25, 20
},
new float[3] {
30, 25, 20
},
new float[3] {
25, 20, 20
}
};
this.senseGlove.SetFingerLengths(newLengths);
}
else if (Input.GetKeyDown(this.largePresetKey))
{
SenseGlove_Debugger.Log("Set Large Hand Preset");
float[][] newLengths = new float[5][]
{
new float[3] {
30, 25, 25
},
new float[3] {
35, 25, 25
},
new float[3] {
40, 35, 25
},
new float[3] {
35, 25, 20
},
new float[3] {
30, 20, 20
}
};
this.senseGlove.SetFingerLengths(newLengths);
}
if (Input.GetKeyDown(this.calibratePositionsKey))
{
SenseGlove_Debugger.Log("Calculating joint positions.");
this.senseGlove.CalculateJointPositions();
}
}
}
