private void SetRotation(VRTRIXBones bone, Quaternion rotation, bool valid, HANDTYPE type)
{
string bone_name = VRTRIXUtilities.GetBoneName((int)bone);
Quaternion qr = new Quaternion(1f, 0f, 0f, 0f);
GameObject obj = GameObject.Find(bone_name);
//print(obj);
if (obj != null)
{
if (!float.IsNaN(rotation.x) && !float.IsNaN(rotation.y) && !float.IsNaN(rotation.z) && !float.IsNaN(rotation.w))
{
if (valid)
{
if (type == HANDTYPE.LEFT_HAND)
{
//obj.transform.rotation = (rotation * qr);
obj.transform.rotation = qloffset * (rotation * qr);
//print(obj.transform.rotation);
}
else if (type == HANDTYPE.RIGHT_HAND)
{
//obj.transform.rotation = (rotation * qr);
obj.transform.rotation = qroffset * (rotation * qr);
}
}
}
}
}
//手腕关节位置赋值函数，通过手腕外加的定位物体位置计算手部关节位置。（如果模型为全身骨骼，无需使用该函数）
private void SetPosition(VRTRIXBones bone, Vector3 pos, Quaternion rot, Vector3 offset)
{
Transform obj = fingerTransformArray[(int)bone];
if (obj != null)
{
obj.position = pos + rot * offset;
}
}
private void SetPosition(VRTRIXBones bone, Vector3 pos, Quaternion rot, Vector3 offset)
{
string bone_name = VRTRIXUtilities.GetBoneName((int)bone);
GameObject obj = GameObject.Find(bone_name);
if (obj != null)
{
obj.transform.position = pos + rot * offset;
}
}
private void SetPosition(VRTRIXBones bone, Vector3 pos, Quaternion rot, Vector3 offset)
{
string bone_name = VRTRIXUtilities.GetBoneName((int)bone);
Transform t = FindNode(bone_name);
if (t != null)
{
t.position = pos + rot * offset;
}
}
//获取磁场校准水平，值越小代表效果越好
//! Get current calibration score for specific IMU sensor
/*!
* \param bone specific joint of hand.
* \return current calibration score for specific IMU sensor. Lower value of score means better calibration performance.
*/
public int GetCalScore(VRTRIXBones bone)
{
if ((int)bone < 16)
{
return(RH.GetReceivedCalScore(bone));
}
else
{
return(LH.GetReceivedCalScore(bone));
}
}
public Quaternion GetReceivedRotation(VRTRIXBones bone)
{
if ((int)bone < (int)VRTRIXBones.L_Hand)
{
return(data[(int)bone]);
}
else if ((int)bone < (int)VRTRIXBones.R_Arm)
{
return(data[(int)bone - 16]);
}
else
{
return(Quaternion.identity);
}
}
public float GetReceivedGestureAngle(VRTRIXBones bone)
{
Quaternion fingerOffest = Quaternion.identity;
if (bone == VRTRIXBones.L_Thumb_2)
{
fingerOffest = new Quaternion(0.49673f, 0.409576f, 0.286788f, 0.709406f); //(sin(70/2), 0, 0, cos(70/2))*(0, sin(60/2), 0, cos(60/2))
}
else if (bone == VRTRIXBones.R_Thumb_2)
{
fingerOffest = new Quaternion(-0.49673f, -0.409576f, 0.286788f, 0.709406f); //(sin(-70/2), 0, 0, cos(-70/2))*(0, sin(-60/2), 0, cos(-60/2))
}
return(((int)bone < 16) ? (Quaternion.Inverse(data[(int)bone]) * (data[(int)VRTRIXBones.R_Hand] * fingerOffest)).eulerAngles.z :
(Quaternion.Inverse(data[(int)bone - 16]) * (data[(int)VRTRIXBones.L_Hand - 16] * fingerOffest)).eulerAngles.z);
}
private void SetRotation(VRTRIXBones bone, Quaternion rotation, bool valid)
{
string bone_name = VRTRIXUtilities.GetBoneName((int)bone);
Transform t = FindNode(bone_name);
if (t != null)
{
if (!float.IsNaN(rotation.x) && !float.IsNaN(rotation.y) && !float.IsNaN(rotation.z) && !float.IsNaN(rotation.w))
{
if (valid)
{
t.rotation = CalculateDynamicOffset() * (rotation * Quaternion.Euler(modelOffset));
}
}
}
}
//! Set thumb offset to counteract the difference between hands & gloves sensor installation.
/*!
* \param offset Offset vector to set.
* \param joint the specific thumb joint to set.
*/
public void SetThumbOffset(Vector3 offset, VRTRIXBones joint)
{
switch (joint)
{
case (VRTRIXBones.R_Thumb_1): SetProximalThumbOffset(sp, offset.x, offset.y, offset.z); break;
case (VRTRIXBones.R_Thumb_2): SetIntermediateThumbOffset(sp, offset.x, offset.y, offset.z); break;
case (VRTRIXBones.R_Thumb_3): SetDistalThumbOffset(sp, offset.x, offset.y, offset.z); break;
case (VRTRIXBones.L_Thumb_1): SetProximalThumbOffset(sp, offset.x, offset.y, offset.z); break;
case (VRTRIXBones.L_Thumb_2): SetIntermediateThumbOffset(sp, offset.x, offset.y, offset.z); break;
case (VRTRIXBones.L_Thumb_3): SetDistalThumbOffset(sp, offset.x, offset.y, offset.z); break;
}
}
public int GetReceivedCalScore(VRTRIXBones bone)
{
switch (bone)
{
case VRTRIXBones.R_Index_2:
return(calscore[3]);
case VRTRIXBones.R_Middle_2:
return(calscore[2]);
case VRTRIXBones.R_Ring_2:
return(calscore[1]);
case VRTRIXBones.R_Pinky_2:
return(calscore[0]);
case VRTRIXBones.R_Thumb_2:
return(calscore[4]);
case VRTRIXBones.R_Hand:
return(calscore[5]);
case VRTRIXBones.L_Index_2:
return(calscore[3]);
case VRTRIXBones.L_Middle_2:
return(calscore[2]);
case VRTRIXBones.L_Ring_2:
return(calscore[1]);
case VRTRIXBones.L_Pinky_2:
return(calscore[0]);
case VRTRIXBones.L_Thumb_2:
return(calscore[4]);
case VRTRIXBones.L_Hand:
return(calscore[5]);
default:
return(0);
}
}
//手部关节旋转赋值函数，每一帧都会调用，通过从数据手套硬件获取当前姿态，进一步进行处理，然后给模型赋值。
private void SetRotation(VRTRIXBones bone, Quaternion rotation, HANDTYPE type)
{
Transform obj = fingerTransformArray[(int)bone];
if (obj != null)
{
if (!float.IsNaN(rotation.x) && !float.IsNaN(rotation.y) && !float.IsNaN(rotation.z) && !float.IsNaN(rotation.w))
{
if (type == HANDTYPE.LEFT_HAND)
{
Vector3 quat_vec = ml_axisoffset.MultiplyVector(new Vector3(rotation.x, rotation.y, rotation.z));
rotation = new Quaternion(quat_vec.x, quat_vec.y, quat_vec.z, rotation.w);
if (IsVREnabled)
{
//当VR环境下，根据固定在手腕上tracker的方向对齐手背方向。
obj.rotation = (bone == VRTRIXBones.L_Hand) ? CalculateDynamicOffset(LH_tracker, LH, HANDTYPE.LEFT_HAND) * rotation :
CalculateDynamicOffset(LH_tracker, LH, HANDTYPE.LEFT_HAND) * rotation * Quaternion.Euler(ql_modeloffset);
}
else
{
//当3D环境下，根据相机视角方向对齐手背方向。
obj.rotation = (bone == VRTRIXBones.L_Hand) ? qloffset * rotation :
qloffset *rotation *Quaternion.Euler(ql_modeloffset);
}
}
else if (type == HANDTYPE.RIGHT_HAND)
{
Vector3 quat_vec = mr_axisoffset.MultiplyVector(new Vector3(rotation.x, rotation.y, rotation.z));
rotation = new Quaternion(quat_vec.x, quat_vec.y, quat_vec.z, rotation.w);
if (IsVREnabled)
{
obj.rotation = (bone == VRTRIXBones.R_Hand) ? CalculateDynamicOffset(RH_tracker, RH, HANDTYPE.RIGHT_HAND) * rotation :
CalculateDynamicOffset(RH_tracker, RH, HANDTYPE.RIGHT_HAND) * rotation * Quaternion.Euler(qr_modeloffset);
}
else
{
obj.rotation = (bone == VRTRIXBones.R_Hand) ? qroffset * rotation :
qroffset *rotation *Quaternion.Euler(qr_modeloffset);
}
}
}
}
}
public bool DataValidStatus(VRTRIXBones bone)
{
switch (bone)
{
case VRTRIXBones.R_Index_1:
return(valid[3]);
case VRTRIXBones.R_Middle_1:
return(valid[2]);
case VRTRIXBones.R_Ring_1:
return(valid[1]);
case VRTRIXBones.R_Pinky_1:
return(valid[0]);
case VRTRIXBones.R_Thumb_1:
return(valid[4]);
case VRTRIXBones.L_Index_1:
return(valid[3]);
case VRTRIXBones.L_Middle_1:
return(valid[2]);
case VRTRIXBones.L_Ring_1:
return(valid[1]);
case VRTRIXBones.L_Pinky_1:
return(valid[0]);
case VRTRIXBones.L_Thumb_1:
return(valid[4]);
default:
return(true);
}
}
public float GetReceivedGestureAngle(VRTRIXBones bone)
{
switch (bone)
{
case VRTRIXBones.R_Index_2:
return((Quaternion.Inverse(data[3]) * data[5]).eulerAngles.z);
case VRTRIXBones.R_Middle_2:
return((Quaternion.Inverse(data[2]) * data[5]).eulerAngles.z);
case VRTRIXBones.R_Ring_2:
return((Quaternion.Inverse(data[1]) * data[5]).eulerAngles.z);
case VRTRIXBones.R_Pinky_2:
return((Quaternion.Inverse(data[0]) * data[5]).eulerAngles.z);
case VRTRIXBones.R_Thumb_2:
return((Quaternion.Inverse(data[4]) * (data[5] * R_thumb_offset)).eulerAngles.z);
case VRTRIXBones.L_Index_2:
return((Quaternion.Inverse(data[3]) * data[5]).eulerAngles.z);
case VRTRIXBones.L_Middle_2:
return((Quaternion.Inverse(data[2]) * data[5]).eulerAngles.z);
case VRTRIXBones.L_Ring_2:
return((Quaternion.Inverse(data[1]) * data[5]).eulerAngles.z);
case VRTRIXBones.L_Pinky_2:
return((Quaternion.Inverse(data[0]) * data[5]).eulerAngles.z);
case VRTRIXBones.L_Thumb_2:
return((Quaternion.Inverse(data[4]) * (data[5] * L_thumb_offset)).eulerAngles.z);
default:
return(0f);
}
}
//! Get current rotation of specific joint
/*!
* \param bone specific joint of hand.
* \return current rotation of specific joint.
*/
public Quaternion GetRotation(VRTRIXBones bone)
{
return(fingerTransformArray[(int)bone].rotation);
}
public Quaternion GetReceivedRotation(VRTRIXBones bone)
{
//UnityEngine.Debug.Log((Quaternion.Inverse(data[5]) * data[3]).eulerAngles.y);
switch (bone)
{
case VRTRIXBones.R_Forearm:
return(data[5]);
case VRTRIXBones.R_Hand:
return(data[5]);
case VRTRIXBones.R_Index_2:
return(data[3]);
case VRTRIXBones.R_Middle_2:
return(data[2]);
case VRTRIXBones.R_Ring_2:
return(data[1]);
case VRTRIXBones.R_Pinky_2:
return(data[0]);
case VRTRIXBones.R_Thumb_2:
return(data[15]);
case VRTRIXBones.R_Index_1:
return(data[9]);
case VRTRIXBones.R_Middle_1:
return(data[8]);
case VRTRIXBones.R_Ring_1:
return(data[7]);
case VRTRIXBones.R_Pinky_1:
return(data[6]);
case VRTRIXBones.R_Thumb_1:
return(data[10]);
case VRTRIXBones.R_Index_3:
return(data[14]);
case VRTRIXBones.R_Middle_3:
return(data[13]);
case VRTRIXBones.R_Ring_3:
return(data[12]);
case VRTRIXBones.R_Pinky_3:
return(data[11]);
case VRTRIXBones.R_Thumb_3:
return(data[4]);
case VRTRIXBones.L_Forearm:
return(data[5]);
case VRTRIXBones.L_Hand:
return(data[5]);
case VRTRIXBones.L_Index_2:
return(data[3]);
case VRTRIXBones.L_Middle_2:
return(data[2]);
case VRTRIXBones.L_Ring_2:
return(data[1]);
case VRTRIXBones.L_Pinky_2:
return(data[0]);
case VRTRIXBones.L_Thumb_2:
return(data[15]);
case VRTRIXBones.L_Index_1:
return(data[9]);
case VRTRIXBones.L_Middle_1:
return(data[8]);
case VRTRIXBones.L_Ring_1:
return(data[7]);
case VRTRIXBones.L_Pinky_1:
return(data[6]);
case VRTRIXBones.L_Thumb_1:
return(data[10]);
case VRTRIXBones.L_Index_3:
return(data[14]);
case VRTRIXBones.L_Middle_3:
return(data[13]);
case VRTRIXBones.L_Ring_3:
return(data[12]);
case VRTRIXBones.L_Pinky_3:
return(data[11]);
case VRTRIXBones.L_Thumb_3:
return(data[4]);
default:
return(Quaternion.identity);
}
}
