/*
* Gets a secific proximity collider list
*/
public List <GameObject> GetCollisionList(ProximityType proximityType, SixenseHands hand)
{
List <GameObject> targetList = null;
switch (proximityType)
{
case ProximityType.INSTRUMENT_INTERIOR:
if (hand == SixenseHands.LEFT)
{
targetList = m_leftInstrumentInterior;
}
else if (hand == SixenseHands.RIGHT)
{
targetList = m_rightInstrumentInterior;
}
break;
case ProximityType.INSTRUMENT_PROXIMITY:
if (hand == SixenseHands.LEFT)
{
targetList = m_leftInstrumentProximity;
}
else if (hand == SixenseHands.RIGHT)
{
targetList = m_rightInstrumentProximity;
}
break;
case ProximityType.GENERATOR:
break;
}
return(targetList);
}
/*
* Adds a proximity target to a list of active colliders with a hand
*/
public void AddCollision(GameObject proximityTarget, SixenseHands hand, ProximityType proximityType)
{
List <GameObject> targetList = GetCollisionList(proximityType, hand);
if (!targetList.Contains(proximityTarget))
{
targetList.Add(proximityTarget);
}
}
void OnTriggerExit(Collider collider)
{
if (isActive)
{
if (collider.gameObject.layer == LayerMask.NameToLayer("SoundCollideable"))
{
SixenseHands hand = collider.gameObject.GetComponent <HydraHand>().Hand;
HydraController.Instance.RemoveCollision(proximityRoot, hand, proximityTarget);
}
}
}
/// <summary>
/// Gets the Controller object bound to the specified hand.
/// </summary>
public static Controller GetController(SixenseHands hand)
{
for (int i = 0; i < MAX_CONTROLLERS; i++)
{
if ((m_Controllers[i] != null) && (m_Controllers[i].Hand == hand))
{
return(m_Controllers[i]);
}
}
return(null);
}
/// <summary>
/// Gets the Controller object bound to the specified hand.
/// </summary>
public static Controller GetController(SixenseHands hand)
{
for (int i = 0; i < MAX_CONTROLLERS; i++)
{
if ((m_Controllers[i] != null) && (m_Controllers[i].Hand == hand))
{
return(m_Controllers[i]);
}
}
Debug.Log(m_Controllers[2]);
return(m_Controllers[3]);
//return null;
}
public Vector3 GetRotation(SixenseHands Hand)
{
if (Hand == SixenseHands.LEFT || (Hand == SixenseHands.RIGHT && !invertRightHand))
{
return(rotationModifier);
}
if (Hand == SixenseHands.RIGHT)
{
return(rotationModifier + invertRotationModifier);
}
return(defaultRotationModifier);
}
/// <summary>
/// Gets the Controller object bound to the specified hand.
/// </summary>
public static Controller GetController( SixenseHands hand )
{
for ( int i = 0; i < MAX_CONTROLLERS; i++ )
{
if ( ( m_Controllers[i] != null ) && ( m_Controllers[i].Hand == hand ) )
{
return m_Controllers[i];
}
}
return null;
}
internal void Update( ref SixensePlugin.sixenseControllerData cd )
{
m_Docked = ( cd.is_docked != 0 );
m_Hand = ( SixenseHands )cd.which_hand;
m_ButtonsPrevious = m_Buttons;
m_Buttons = ( SixenseButtons )cd.buttons;
m_Trigger = cd.trigger;
m_JoystickX = cd.joystick_x;
m_JoystickY = cd.joystick_y;
m_Position.Set( cd.pos[0], cd.pos[1], cd.pos[2] );
m_Rotation.Set( cd.rot_quat[0], cd.rot_quat[1], cd.rot_quat[2], cd.rot_quat[3] );
if ( m_Trigger > TriggerButtonThreshold )
{
m_Buttons |= SixenseButtons.TRIGGER;
}
}
internal Controller()
{
m_Enabled = false;
m_Docked = false;
m_Hand = SixenseHands.UNKNOWN;
m_HandBind = SixenseHands.UNKNOWN;
m_Buttons = 0;
m_ButtonsPrevious = 0;
m_Trigger = 0.0f;
m_JoystickX = 0.0f;
m_JoystickY = 0.0f;
m_Position.Set( 0.0f, 0.0f, 0.0f );
m_Rotation.Set( 0.0f, 0.0f, 0.0f, 1.0f );
}
/*
* Removes a proximity target from a list of active colliders with a hand
*/
public void RemoveCollision(GameObject proximityTarget, SixenseHands hand, ProximityType proximityType)
{
List <GameObject> targetList = GetCollisionList(proximityType, hand);
targetList.Remove(proximityTarget);
}
void Awake()
{
coordinateSystem = MonoBehaviour.FindObjectOfType(typeof(RUISCoordinateSystem)) as RUISCoordinateSystem;
localPosition = Vector3.zero;
localRotation = Quaternion.identity;
rawRotation = Quaternion.identity;
filterPos = new KalmanFilter();
filterPos.initialize(3,3);
filterPos.skipIdenticalMeasurements = true;
// filterRot = new KalmanFilter();
// filterRot.initialize(4,4);
// Mobile Razer Hydra base filtering
hydraBaseFilterPos = new KalmanFilter();
hydraBaseFilterPos.initialize(3,3);
hydraBaseFilterPos.skipIdenticalMeasurements = true;
// hydraBaseFilterRot = new KalmanFilter();
// hydraBaseFilterRot.initialize(4,4);
filterRot.skipIdenticalMeasurements = true;
// Yaw Drift Corrector invocations in Awake()
filterDrift = new KalmanFilter();
filterDrift.initialize(2,2);
transform.localPosition = defaultPosition;
eyeCenterPosition = defaultPosition;
measuredHeadPosition = defaultPosition;
hydraBasePosition = new Vector3(0, 0, 0);
hydraBaseRotation = Quaternion.identity;
ovrCameraRig = GetComponentInChildren<OVRCameraRig>();
if(ovrCameraRig != null && OVRManager.display != null && OVRManager.display.isPresent)
{
useOculusRiftRotation = true;
}
else
{
useOculusRiftRotation = false;
}
// Enforce rotation settings if rotation source is set to be same as position source
if (!pickRotationSource)
{
switch (headPositionInput)
{
case HeadPositionSource.Kinect1:
{
headRotationInput = HeadRotationSource.Kinect1;
rotationPlayerID = positionPlayerID;
rotationJoint = positionJoint;
break;
}
case HeadPositionSource.Kinect2:
{
headRotationInput = HeadRotationSource.Kinect2;
rotationPlayerID = positionPlayerID;
rotationJoint = positionJoint;
break;
}
case HeadPositionSource.PSMove:
{
headRotationInput = HeadRotationSource.PSMove;
rotationPSMoveID = positionPSMoveID;
break;
}
case HeadPositionSource.RazerHydra:
{
headRotationInput = HeadRotationSource.RazerHydra;
rotationRazerID = positionRazerID;
break;
}
case HeadPositionSource.InputTransform:
{
headRotationInput = HeadRotationSource.InputTransform;
rotationInput = positionInput;
break;
}
case HeadPositionSource.None:
{
headRotationInput = HeadRotationSource.None;
break;
}
}
}
filterPosition = false;
}
public HydraHand(SixenseHands hand )
{
this.hand = hand;
isLeftHand = (hand == SixenseHands.LEFT);
goal = isLeftHand ? AvatarIKGoal.LeftHand : AvatarIKGoal.RightHand;
}
//ENDOF LUKA CODE
internal void Update( ref SixensePlugin.sixenseControllerData cd )
{
m_Docked = ( cd.is_docked != 0 );
m_Hand = ( SixenseHands )cd.which_hand;
m_ButtonsPrevious = m_Buttons;
m_Buttons = ( SixenseButtons )cd.buttons;
m_Trigger = cd.trigger;
m_JoystickX = cd.joystick_x;
m_JoystickY = cd.joystick_y;
//LUKA CODE
if (recording && !startedRec) {
StartRecording ();
} else if (recording && startedRec && Time.time>=finishRecTime) {
StopRecording ();
}
Vector3 rawPos = new Vector3(cd.pos[0], cd.pos[1], cd.pos[2] );
for(int i =0; i<kStates.Length; i++){
kStates[i].kalman_update(rawPos[i]);
}
Vector3 filteredPos = new Vector3 (kStates [0].x, kStates [1].x, kStates [2].x);
if (recording && startedRec) {
tw.WriteLine(rawPos.x+" "+rawPos.y+" "+rawPos.z);
twFiltered.WriteLine(filteredPos.x+" "+filteredPos.y+" "+filteredPos.z);
}
if (useKalman) {
m_Position.Set (filteredPos.x, filteredPos.y, filteredPos.z);
} else {
m_Position.Set (rawPos.x, rawPos.y, rawPos.z);
}
Quaternion rot = new Quaternion (cd.rot_quat [0], cd.rot_quat [1], cd.rot_quat [2], cd.rot_quat [3]);
rot = rot * Quaternion.Euler (new Vector3 (225, 0, 0));
//m_Rotation.Set( rot[0], rot[1], rot[2], rot[3] );
//ENDOF LUKA CODE
//m_Position.Set (cd.pos [0], cd.pos [1], cd.pos [2]);
m_Rotation.Set( cd.rot_quat[0], cd.rot_quat[1], cd.rot_quat[2], cd.rot_quat[3] );
if ( m_Trigger > TriggerButtonThreshold )
{
m_Buttons |= SixenseButtons.TRIGGER;
}
}
internal Controller()
{
//LUKA CODE
processNoise = 0.1f;
sensorNoise = 1.0f;
estimatedError = 0.25f;
kStates = new KalmanState[3];
for(int i=0; i<kStates.Length; i++){
kStates[i] = new KalmanState(processNoise,sensorNoise,0.0f,estimatedError,0);
}
//ENDOF LUKA CODE
m_Enabled = false;
m_Docked = false;
m_Hand = SixenseHands.UNKNOWN;
m_HandBind = SixenseHands.UNKNOWN;
m_Buttons = 0;
m_ButtonsPrevious = 0;
m_Trigger = 0.0f;
m_JoystickX = 0.0f;
m_JoystickY = 0.0f;
m_Position.Set( 0.0f, 0.0f, 0.0f );
m_Rotation.Set( 0.0f, 0.0f, 0.0f, 1.0f );
}
