//用于计算左手/右手腕关节姿态(由动捕设备得到)和左手手背姿态(由数据手套得到)之间的四元数差值,该方法为动态调用,即每一帧都会调用该计算。 //适用于:当动捕设备有腕关节/手背节点时 private Quaternion CalculateDynamicOffset(GameObject tracker, VRTRIXDataWrapper glove, HANDTYPE type) { //计算场景中角色右手腕在unity世界坐标系下的旋转与手套的右手腕在手套追踪系统中世界坐标系下右手腕的旋转之间的角度差值,意在匹配两个坐标系的方向; if (type == HANDTYPE.RIGHT_HAND) { Quaternion rotation = glove.GetReceivedRotation(VRTRIXBones.R_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); Quaternion target = tracker.transform.rotation * qroffset * Quaternion.Euler(0, -90, 90); return(target * Quaternion.Inverse(rotation)); } //计算场景中角色左手腕在unity世界坐标系下的旋转与手套的左手腕在手套追踪系统中世界坐标系下左手腕的旋转之间的角度差值,意在匹配两个坐标系的方向; else if (type == HANDTYPE.LEFT_HAND) { Quaternion rotation = glove.GetReceivedRotation(VRTRIXBones.L_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); Quaternion target = tracker.transform.rotation * qloffset * Quaternion.Euler(0, 90, -90); return(target * Quaternion.Inverse(rotation)); } else { return(Quaternion.identity); } }
void Update() { if (RH_Mode && RH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (RH.GetReceivedRotation(VRTRIXBones.R_Hand) != Quaternion.identity && !qroffset_cal) { qroffset = CalculateStaticOffset(RH, HANDTYPE.RIGHT_HAND); qroffset_cal = true; } if (IsVREnabled && RH_tracker != null) { SetPosition(VRTRIXBones.R_Arm, RH_tracker.transform.position, RH_tracker.transform.rotation, RHTrackerOffset); } //以下是设置右手每个骨骼节点全局旋转(global rotation); for (int i = 0; i < (int)VRTRIXBones.L_Hand; ++i) { SetRotation((VRTRIXBones)i, RH.GetReceivedRotation((VRTRIXBones)i), HANDTYPE.RIGHT_HAND); } RH.SetThumbOffset(thumb_offset_R[0], VRTRIXBones.R_Thumb_1); RH.SetThumbOffset(thumb_offset_R[1], VRTRIXBones.R_Thumb_2); RH.SetThumbOffset(thumb_offset_R[2], VRTRIXBones.R_Thumb_3); RH.SetThumbSlerpRate(thumb_proximal_slerp, thumb_middle_slerp); RH.SetFinalFingerSpacing(final_finger_spacing); RH.SetFingerSpacing(finger_spacing); RH_Gesture = GloveGesture.GestureDetection(RH, HANDTYPE.RIGHT_HAND); } if (LH_Mode && LH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (LH.GetReceivedRotation(VRTRIXBones.L_Hand) != Quaternion.identity && !qloffset_cal) { qloffset = CalculateStaticOffset(LH, HANDTYPE.LEFT_HAND); qloffset_cal = true; } if (IsVREnabled && LH_tracker != null) { SetPosition(VRTRIXBones.L_Arm, LH_tracker.transform.position, LH_tracker.transform.rotation, LHTrackerOffset); } //以下是设置左手每个骨骼节点全局旋转(global rotation); for (int i = (int)VRTRIXBones.L_Hand; i < (int)VRTRIXBones.R_Arm; ++i) { SetRotation((VRTRIXBones)i, LH.GetReceivedRotation((VRTRIXBones)i), HANDTYPE.LEFT_HAND); } LH.SetThumbOffset(thumb_offset_L[0], VRTRIXBones.L_Thumb_1); LH.SetThumbOffset(thumb_offset_L[1], VRTRIXBones.L_Thumb_2); LH.SetThumbOffset(thumb_offset_L[2], VRTRIXBones.L_Thumb_3); LH.SetThumbSlerpRate(thumb_proximal_slerp, thumb_middle_slerp); LH.SetFinalFingerSpacing(final_finger_spacing); LH.SetFingerSpacing(finger_spacing); LH_Gesture = GloveGesture.GestureDetection(LH, HANDTYPE.LEFT_HAND); } }
void Update() { if (RH_Mode && RH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (RH.GetReceivedRotation(VRTRIXBones.R_Hand) != Quaternion.identity && !qroffset_cal) { qroffset = CalculateStaticOffset(RH, HANDTYPE.RIGHT_HAND); qroffset_cal = true; } if (IsVREnabled && RH_tracker != null) { SetPosition(VRTRIXBones.R_Arm, RH_tracker.transform.position, RH_tracker.transform.rotation, RHTrackerOffset); } //以下是设置右手每个骨骼节点全局旋转(global rotation); for (int i = 0; i < (int)VRTRIXBones.L_Hand; ++i) { SetRotation((VRTRIXBones)i, RH.GetReceivedRotation((VRTRIXBones)i), HANDTYPE.RIGHT_HAND); } RH_Gesture = GloveGesture.GestureDetection(RH, HANDTYPE.RIGHT_HAND); } if (LH_Mode && LH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (LH.GetReceivedRotation(VRTRIXBones.L_Hand) != Quaternion.identity && !qloffset_cal) { qloffset = CalculateStaticOffset(LH, HANDTYPE.LEFT_HAND); qloffset_cal = true; } if (IsVREnabled && LH_tracker != null) { SetPosition(VRTRIXBones.L_Arm, LH_tracker.transform.position, LH_tracker.transform.rotation, LHTrackerOffset); } //以下是设置左手每个骨骼节点全局旋转(global rotation); for (int i = (int)VRTRIXBones.L_Hand; i < (int)VRTRIXBones.R_Arm; ++i) { SetRotation((VRTRIXBones)i, LH.GetReceivedRotation((VRTRIXBones)i), HANDTYPE.LEFT_HAND); } LH_Gesture = GloveGesture.GestureDetection(LH, HANDTYPE.LEFT_HAND); } }
//用于计算初始化物体的姿态和手背姿态(由数据手套得到)之间的四元数差值,该方法为静态调用,即只在初始化的时候调用一次,之后所有帧均使用同一个四元数。 //适用于:当动捕设备没有腕关节/手背节点或者只单独使用手套,无其他定位硬件设备时。 private Quaternion CalculateStaticOffset(VRTRIXDataWrapper glove, HANDTYPE type) { if (type == HANDTYPE.RIGHT_HAND) { if (IsVREnabled) { float angle_offset = RH_tracker.transform.rotation.eulerAngles.z; return(Quaternion.AngleAxis(-angle_offset, Vector3.forward)); } else { Quaternion rotation = glove.GetReceivedRotation(VRTRIXBones.R_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); return(RH_ObjectToAlign.transform.rotation * Quaternion.Inverse(rotation)); } } else if (type == HANDTYPE.LEFT_HAND) { if (IsVREnabled) { float angle_offset = LH_tracker.transform.rotation.eulerAngles.z; return(Quaternion.AngleAxis(-angle_offset, Vector3.forward)); } else { Quaternion rotation = glove.GetReceivedRotation(VRTRIXBones.L_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); return(LH_ObjectToAlign.transform.rotation * Quaternion.Inverse(rotation)); } } else { return(Quaternion.identity); } }
private static Quaternion GetOffset(GameObject objectToAlign, VRTRIXDataWrapper glove, HANDTYPE type) { //print("IMU: " + glove.GetReceivedRotation(VRTRIXBones.L_Hand).eulerAngles.y); //print("objectToAlign: " + objectToAlign.transform.rotation.eulerAngles.y); float offset = glove.GetReceivedRotation(VRTRIXBones.L_Hand).eulerAngles.y - objectToAlign.transform.rotation.eulerAngles.y - 90f; if (offset > 180f) { offset = 360f - offset; } else if (offset < -180f) { offset = 360f + offset; } //print(offset); return(new Quaternion(0, Mathf.Sin(-offset * degToRad / 2), 0, Mathf.Cos(-offset * degToRad / 2))); }
void FixedUpdate() { if (RH_Mode && RH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (RH.GetReceivedRotation(VRTRIXBones.R_Hand) != Quaternion.identity && !qroffset_cal) { qroffset = GetOffset(objectToAlign, RH, HANDTYPE.RIGHT_HAND); qroffset_cal = true; } SetRotation(VRTRIXBones.R_Forearm, RH.GetReceivedRotation(VRTRIXBones.R_Forearm), RH.DataValidStatus(VRTRIXBones.R_Forearm), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Hand, RH.GetReceivedRotation(VRTRIXBones.R_Hand), RH.DataValidStatus(VRTRIXBones.R_Hand), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_1, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_1), RH.DataValidStatus(VRTRIXBones.R_Thumb_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_2, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_2), RH.DataValidStatus(VRTRIXBones.R_Thumb_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_3, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_3), RH.DataValidStatus(VRTRIXBones.R_Thumb_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_1, RH.GetReceivedRotation(VRTRIXBones.R_Index_1), RH.DataValidStatus(VRTRIXBones.R_Index_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_2, RH.GetReceivedRotation(VRTRIXBones.R_Index_2), RH.DataValidStatus(VRTRIXBones.R_Index_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_3, RH.GetReceivedRotation(VRTRIXBones.R_Index_3), RH.DataValidStatus(VRTRIXBones.R_Index_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_1, RH.GetReceivedRotation(VRTRIXBones.R_Middle_1), RH.DataValidStatus(VRTRIXBones.R_Middle_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_2, RH.GetReceivedRotation(VRTRIXBones.R_Middle_2), RH.DataValidStatus(VRTRIXBones.R_Middle_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_3, RH.GetReceivedRotation(VRTRIXBones.R_Middle_3), RH.DataValidStatus(VRTRIXBones.R_Middle_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_1, RH.GetReceivedRotation(VRTRIXBones.R_Ring_1), RH.DataValidStatus(VRTRIXBones.R_Ring_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_2, RH.GetReceivedRotation(VRTRIXBones.R_Ring_2), RH.DataValidStatus(VRTRIXBones.R_Ring_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_3, RH.GetReceivedRotation(VRTRIXBones.R_Ring_3), RH.DataValidStatus(VRTRIXBones.R_Ring_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_1, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_1), RH.DataValidStatus(VRTRIXBones.R_Pinky_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_2, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_2), RH.DataValidStatus(VRTRIXBones.R_Pinky_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_3, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_3), RH.DataValidStatus(VRTRIXBones.R_Pinky_3), HANDTYPE.RIGHT_HAND); RH_Gesture = VRTRIXGloveGestureRecognition.GestureDetection(RH, HANDTYPE.RIGHT_HAND); } if (LH_Mode && LH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (LH.GetReceivedRotation(VRTRIXBones.L_Hand) != Quaternion.identity && !qloffset_cal) { qloffset = GetOffset(objectToAlign, LH, HANDTYPE.LEFT_HAND); qloffset_cal = true; } SetRotation(VRTRIXBones.L_Forearm, LH.GetReceivedRotation(VRTRIXBones.L_Forearm), LH.DataValidStatus(VRTRIXBones.L_Forearm), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Hand, LH.GetReceivedRotation(VRTRIXBones.L_Hand), LH.DataValidStatus(VRTRIXBones.L_Hand), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_1, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_1), LH.DataValidStatus(VRTRIXBones.L_Thumb_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_2, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_2), LH.DataValidStatus(VRTRIXBones.L_Thumb_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_3, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_3), LH.DataValidStatus(VRTRIXBones.L_Thumb_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_1, LH.GetReceivedRotation(VRTRIXBones.L_Index_1), LH.DataValidStatus(VRTRIXBones.L_Index_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_2, LH.GetReceivedRotation(VRTRIXBones.L_Index_2), LH.DataValidStatus(VRTRIXBones.L_Index_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_3, LH.GetReceivedRotation(VRTRIXBones.L_Index_3), LH.DataValidStatus(VRTRIXBones.L_Index_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_1, LH.GetReceivedRotation(VRTRIXBones.L_Middle_1), LH.DataValidStatus(VRTRIXBones.L_Middle_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_2, LH.GetReceivedRotation(VRTRIXBones.L_Middle_2), LH.DataValidStatus(VRTRIXBones.L_Middle_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_3, LH.GetReceivedRotation(VRTRIXBones.L_Middle_3), LH.DataValidStatus(VRTRIXBones.L_Middle_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_1, LH.GetReceivedRotation(VRTRIXBones.L_Ring_1), LH.DataValidStatus(VRTRIXBones.L_Ring_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_2, LH.GetReceivedRotation(VRTRIXBones.L_Ring_2), LH.DataValidStatus(VRTRIXBones.L_Ring_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_3, LH.GetReceivedRotation(VRTRIXBones.L_Ring_3), LH.DataValidStatus(VRTRIXBones.L_Ring_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_1, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_1), LH.DataValidStatus(VRTRIXBones.L_Pinky_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_2, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_2), LH.DataValidStatus(VRTRIXBones.L_Pinky_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_3, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_3), LH.DataValidStatus(VRTRIXBones.L_Pinky_3), HANDTYPE.LEFT_HAND); //print(GameObject.Find("L_Thumb_1").transform.rotation * Quaternion.Inverse(LH.GetReceivedRotation(VRTRIXBones.L_Hand))); //print(GameObject.Find("L_Index_2").transform.rotation + " , " + GameObject.Find("L_Hand").transform.rotation + " ," + GameObject.Find("L_Index_2").transform.rotation* Quaternion.Inverse(GameObject.Find("L_Hand").transform.rotation)); //print(LH.DataValidStatus(VRTRIXBones.L_Index_1) + ", " + LH.DataValidStatus(VRTRIXBones.L_Middle_1) + ", " + LH.DataValidStatus(VRTRIXBones.L_Ring_1) + ", " + LH.DataValidStatus(VRTRIXBones.L_Pinky_1) + ", " + LH.DataValidStatus(VRTRIXBones.L_Thumb_1)); LH_Gesture = VRTRIXGloveGestureRecognition.GestureDetection(LH, HANDTYPE.LEFT_HAND); } }
// Update is called once per frame void Update() { if (m_timeCounter < m_refreshTime) { m_timeCounter += Time.deltaTime; m_frameCounter++; } else { //This code will break if you set your m_refreshTime to 0, which makes no sense. m_lastFramerate = (float)m_frameCounter / m_timeCounter; m_frameCounter = 0; m_timeCounter = 0.0f; } if (RH_Mode && RH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (RH.GetReceivedRotation(VRTRIXBones.R_Hand) != Quaternion.identity && !qroffset_cal) { qroffset = GetOffset(RH_tracker, RH, HANDTYPE.RIGHT_HAND); qroffset_cal = true; } SetPosition(VRTRIXBones.R_Hand, RH_tracker.transform.position, RH_tracker.transform.rotation, troffset); SetRotation(VRTRIXBones.R_Forearm, RH.GetReceivedRotation(VRTRIXBones.R_Forearm), RH.DataValidStatus(VRTRIXBones.R_Forearm), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Hand, RH.GetReceivedRotation(VRTRIXBones.R_Hand), RH.DataValidStatus(VRTRIXBones.R_Hand), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_1, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_1), RH.DataValidStatus(VRTRIXBones.R_Thumb_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_2, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_2), RH.DataValidStatus(VRTRIXBones.R_Thumb_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_3, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_3), RH.DataValidStatus(VRTRIXBones.R_Thumb_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_1, RH.GetReceivedRotation(VRTRIXBones.R_Index_1), RH.DataValidStatus(VRTRIXBones.R_Index_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_2, RH.GetReceivedRotation(VRTRIXBones.R_Index_2), RH.DataValidStatus(VRTRIXBones.R_Index_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_3, RH.GetReceivedRotation(VRTRIXBones.R_Index_3), RH.DataValidStatus(VRTRIXBones.R_Index_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_1, RH.GetReceivedRotation(VRTRIXBones.R_Middle_1), RH.DataValidStatus(VRTRIXBones.R_Middle_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_2, RH.GetReceivedRotation(VRTRIXBones.R_Middle_2), RH.DataValidStatus(VRTRIXBones.R_Middle_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_3, RH.GetReceivedRotation(VRTRIXBones.R_Middle_3), RH.DataValidStatus(VRTRIXBones.R_Middle_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_1, RH.GetReceivedRotation(VRTRIXBones.R_Ring_1), RH.DataValidStatus(VRTRIXBones.R_Ring_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_2, RH.GetReceivedRotation(VRTRIXBones.R_Ring_2), RH.DataValidStatus(VRTRIXBones.R_Ring_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_3, RH.GetReceivedRotation(VRTRIXBones.R_Ring_3), RH.DataValidStatus(VRTRIXBones.R_Ring_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_1, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_1), RH.DataValidStatus(VRTRIXBones.R_Pinky_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_2, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_2), RH.DataValidStatus(VRTRIXBones.R_Pinky_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_3, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_3), RH.DataValidStatus(VRTRIXBones.R_Pinky_3), HANDTYPE.RIGHT_HAND); } if (LH_Mode && LH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (LH.GetReceivedRotation(VRTRIXBones.L_Hand) != Quaternion.identity && !qloffset_cal) { qloffset = GetOffset(LH_tracker, LH, HANDTYPE.LEFT_HAND); qloffset_cal = true; } SetPosition(VRTRIXBones.L_Hand, LH_tracker.transform.position, LH_tracker.transform.rotation, tloffset); SetRotation(VRTRIXBones.L_Forearm, LH.GetReceivedRotation(VRTRIXBones.L_Forearm), LH.DataValidStatus(VRTRIXBones.L_Forearm), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Hand, LH.GetReceivedRotation(VRTRIXBones.L_Hand), LH.DataValidStatus(VRTRIXBones.L_Hand), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_1, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_1), LH.DataValidStatus(VRTRIXBones.L_Thumb_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_2, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_2), LH.DataValidStatus(VRTRIXBones.L_Thumb_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_3, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_3), LH.DataValidStatus(VRTRIXBones.L_Thumb_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_1, LH.GetReceivedRotation(VRTRIXBones.L_Index_1), LH.DataValidStatus(VRTRIXBones.L_Index_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_2, LH.GetReceivedRotation(VRTRIXBones.L_Index_2), LH.DataValidStatus(VRTRIXBones.L_Index_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_3, LH.GetReceivedRotation(VRTRIXBones.L_Index_3), LH.DataValidStatus(VRTRIXBones.L_Index_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_1, LH.GetReceivedRotation(VRTRIXBones.L_Middle_1), LH.DataValidStatus(VRTRIXBones.L_Middle_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_2, LH.GetReceivedRotation(VRTRIXBones.L_Middle_2), LH.DataValidStatus(VRTRIXBones.L_Middle_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_3, LH.GetReceivedRotation(VRTRIXBones.L_Middle_3), LH.DataValidStatus(VRTRIXBones.L_Middle_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_1, LH.GetReceivedRotation(VRTRIXBones.L_Ring_1), LH.DataValidStatus(VRTRIXBones.L_Ring_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_2, LH.GetReceivedRotation(VRTRIXBones.L_Ring_2), LH.DataValidStatus(VRTRIXBones.L_Ring_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_3, LH.GetReceivedRotation(VRTRIXBones.L_Ring_3), LH.DataValidStatus(VRTRIXBones.L_Ring_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_1, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_1), LH.DataValidStatus(VRTRIXBones.L_Pinky_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_2, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_2), LH.DataValidStatus(VRTRIXBones.L_Pinky_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_3, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_3), LH.DataValidStatus(VRTRIXBones.L_Pinky_3), HANDTYPE.LEFT_HAND); //UnityEngine.Debug.Log(VRTRIXDataWrapper.Angle(LH.GetReceivedRotation(VRTRIXBones.L_Index_2), LH.GetReceivedRotation(VRTRIXBones.L_Hand))); //print("Quat Index: " + GameObject.Find("L_Index_2").transform.rotation); //print("Local Quat * Quat Hand: " + GameObject.Find("L_Index_2").transform.localRotation * GameObject.Find("L_Hand").transform.rotation); //print("Euler Index: " + GameObject.Find("L_Index_2").transform.localRotation.eulerAngles); //print("Local Quat * Quat Index1: " + (Quaternion.Inverse(GameObject.Find("L_Index_1").transform.rotation) * GameObject.Find("L_Index_2").transform.rotation).eulerAngles); } }
// Update is called once per frame void Update() { if (m_timeCounter < m_refreshTime) { m_timeCounter += Time.deltaTime; m_frameCounter++; } else { //This code will break if you set your m_refreshTime to 0, which makes no sense. m_lastFramerate = (float)m_frameCounter / m_timeCounter; m_frameCounter = 0; m_timeCounter = 0.0f; } fps.text = "FRAME RATE: " + m_lastFramerate.ToString() + " fps"; if (RH_Mode && RH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (RH.GetReceivedRotation(VRTRIXBones.R_Hand) != Quaternion.identity && !qroffset_cal) { qroffset = GetOffset(objectToAlign, RH, HANDTYPE.RIGHT_HAND); qroffset_cal = true; } rh_radio.text = "Radio Strength: " + RH.GetReceiveRadioStrength().ToString() + " dB"; rh_cal.text = "Cal Score: " + RH.GetReceivedCalScoreMean().ToString(); R_data_rate_text.text = "RIGHT HAND DATA RATE: " + RH.GetReceivedDataRate().ToString() + "/s"; SetRotation(VRTRIXBones.R_Forearm, RH.GetReceivedRotation(VRTRIXBones.R_Forearm), RH.DataValidStatus(VRTRIXBones.R_Forearm), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Hand, RH.GetReceivedRotation(VRTRIXBones.R_Hand), RH.DataValidStatus(VRTRIXBones.R_Hand), HANDTYPE.RIGHT_HAND); R_hand_text.text = "R_Hand " + RH.GetReceivedRotation(VRTRIXBones.R_Hand).ToString() + " " + RH.GetReceivedCalScore(VRTRIXBones.R_Hand).ToString(); SetRotation(VRTRIXBones.R_Thumb_1, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_1), RH.DataValidStatus(VRTRIXBones.R_Thumb_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_2, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_2), RH.DataValidStatus(VRTRIXBones.R_Thumb_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_3, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_3), RH.DataValidStatus(VRTRIXBones.R_Thumb_3), HANDTYPE.RIGHT_HAND); R_thumb_text.text = "R_Thumb " + RH.GetReceivedRotation(VRTRIXBones.R_Thumb_2).ToString() + " " + RH.GetReceivedCalScore(VRTRIXBones.R_Thumb_2).ToString(); SetRotation(VRTRIXBones.R_Index_1, RH.GetReceivedRotation(VRTRIXBones.R_Index_1), RH.DataValidStatus(VRTRIXBones.R_Index_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_2, RH.GetReceivedRotation(VRTRIXBones.R_Index_2), RH.DataValidStatus(VRTRIXBones.R_Index_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_3, RH.GetReceivedRotation(VRTRIXBones.R_Index_3), RH.DataValidStatus(VRTRIXBones.R_Index_3), HANDTYPE.RIGHT_HAND); R_index_text.text = "R_Index " + RH.GetReceivedRotation(VRTRIXBones.R_Index_2).ToString() + " " + RH.GetReceivedCalScore(VRTRIXBones.R_Index_2).ToString(); SetRotation(VRTRIXBones.R_Middle_1, RH.GetReceivedRotation(VRTRIXBones.R_Middle_1), RH.DataValidStatus(VRTRIXBones.R_Middle_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_2, RH.GetReceivedRotation(VRTRIXBones.R_Middle_2), RH.DataValidStatus(VRTRIXBones.R_Middle_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_3, RH.GetReceivedRotation(VRTRIXBones.R_Middle_3), RH.DataValidStatus(VRTRIXBones.R_Middle_3), HANDTYPE.RIGHT_HAND); R_middle_text.text = "R_Middle " + RH.GetReceivedRotation(VRTRIXBones.R_Middle_2).ToString() + " " + RH.GetReceivedCalScore(VRTRIXBones.R_Middle_2).ToString(); SetRotation(VRTRIXBones.R_Ring_1, RH.GetReceivedRotation(VRTRIXBones.R_Ring_1), RH.DataValidStatus(VRTRIXBones.R_Ring_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_2, RH.GetReceivedRotation(VRTRIXBones.R_Ring_2), RH.DataValidStatus(VRTRIXBones.R_Ring_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_3, RH.GetReceivedRotation(VRTRIXBones.R_Ring_3), RH.DataValidStatus(VRTRIXBones.R_Ring_3), HANDTYPE.RIGHT_HAND); R_ring_text.text = "R_Ring " + RH.GetReceivedRotation(VRTRIXBones.R_Ring_2).ToString() + " " + RH.GetReceivedCalScore(VRTRIXBones.R_Ring_2).ToString(); SetRotation(VRTRIXBones.R_Pinky_1, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_1), RH.DataValidStatus(VRTRIXBones.R_Pinky_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_2, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_2), RH.DataValidStatus(VRTRIXBones.R_Pinky_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_3, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_3), RH.DataValidStatus(VRTRIXBones.R_Pinky_3), HANDTYPE.RIGHT_HAND); R_pinky_text.text = "R_Pinky " + RH.GetReceivedRotation(VRTRIXBones.R_Pinky_2).ToString() + " " + RH.GetReceivedCalScore(VRTRIXBones.R_Pinky_2).ToString(); } if (LH_Mode && LH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (LH.GetReceivedRotation(VRTRIXBones.L_Hand) != Quaternion.identity && !qloffset_cal) { qloffset = GetOffset(objectToAlign, LH, HANDTYPE.LEFT_HAND); qloffset_cal = true; } lh_radio.text = "Radio Strength: " + LH.GetReceiveRadioStrength().ToString() + " dB"; lh_cal.text = "Cal Score: " + LH.GetReceivedCalScoreMean().ToString(); L_data_rate_text.text = "LEFT HAND DATA RATE: " + LH.GetReceivedDataRate().ToString() + "/s"; SetRotation(VRTRIXBones.L_Forearm, LH.GetReceivedRotation(VRTRIXBones.L_Forearm), LH.DataValidStatus(VRTRIXBones.L_Forearm), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Hand, LH.GetReceivedRotation(VRTRIXBones.L_Hand), LH.DataValidStatus(VRTRIXBones.L_Hand), HANDTYPE.LEFT_HAND); L_hand_text.text = "L_HAND: " + LH.GetReceivedRotation(VRTRIXBones.L_Hand) + " " + LH.GetReceivedCalScore(VRTRIXBones.L_Hand).ToString(); SetRotation(VRTRIXBones.L_Thumb_1, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_1), LH.DataValidStatus(VRTRIXBones.L_Thumb_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_2, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_2), LH.DataValidStatus(VRTRIXBones.L_Thumb_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_3, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_3), LH.DataValidStatus(VRTRIXBones.L_Thumb_3), HANDTYPE.LEFT_HAND); L_thumb_text.text = "L_THUMB: " + LH.GetReceivedRotation(VRTRIXBones.L_Thumb_2) + " " + LH.GetReceivedCalScore(VRTRIXBones.L_Thumb_2).ToString(); SetRotation(VRTRIXBones.L_Index_1, LH.GetReceivedRotation(VRTRIXBones.L_Index_1), LH.DataValidStatus(VRTRIXBones.L_Index_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_2, LH.GetReceivedRotation(VRTRIXBones.L_Index_2), LH.DataValidStatus(VRTRIXBones.L_Index_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_3, LH.GetReceivedRotation(VRTRIXBones.L_Index_3), LH.DataValidStatus(VRTRIXBones.L_Index_3), HANDTYPE.LEFT_HAND); L_index_text.text = "L_INDEX: " + LH.GetReceivedRotation(VRTRIXBones.L_Index_2) + " " + LH.GetReceivedCalScore(VRTRIXBones.L_Index_2).ToString(); SetRotation(VRTRIXBones.L_Middle_1, LH.GetReceivedRotation(VRTRIXBones.L_Middle_1), LH.DataValidStatus(VRTRIXBones.L_Middle_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_2, LH.GetReceivedRotation(VRTRIXBones.L_Middle_2), LH.DataValidStatus(VRTRIXBones.L_Middle_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_3, LH.GetReceivedRotation(VRTRIXBones.L_Middle_3), LH.DataValidStatus(VRTRIXBones.L_Middle_3), HANDTYPE.LEFT_HAND); L_middle_text.text = "L_MIDDLE: " + LH.GetReceivedRotation(VRTRIXBones.L_Index_2) + " " + LH.GetReceivedCalScore(VRTRIXBones.L_Index_2).ToString(); SetRotation(VRTRIXBones.L_Ring_1, LH.GetReceivedRotation(VRTRIXBones.L_Ring_1), LH.DataValidStatus(VRTRIXBones.L_Ring_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_2, LH.GetReceivedRotation(VRTRIXBones.L_Ring_2), LH.DataValidStatus(VRTRIXBones.L_Ring_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_3, LH.GetReceivedRotation(VRTRIXBones.L_Ring_3), LH.DataValidStatus(VRTRIXBones.L_Ring_3), HANDTYPE.LEFT_HAND); L_ring_text.text = "L_RING: " + LH.GetReceivedRotation(VRTRIXBones.L_Ring_2) + " " + LH.GetReceivedCalScore(VRTRIXBones.L_Ring_2).ToString(); SetRotation(VRTRIXBones.L_Pinky_1, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_1), LH.DataValidStatus(VRTRIXBones.L_Pinky_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_2, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_2), LH.DataValidStatus(VRTRIXBones.L_Pinky_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_3, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_3), LH.DataValidStatus(VRTRIXBones.L_Pinky_3), HANDTYPE.LEFT_HAND); L_pinky_text.text = "L_PINKY: " + LH.GetReceivedRotation(VRTRIXBones.L_Pinky_2) + " " + LH.GetReceivedCalScore(VRTRIXBones.L_Pinky_2).ToString(); //print(GameObject.Find("L_Thumb_1").transform.rotation * Quaternion.Inverse(LH.GetReceivedRotation(VRTRIXBones.L_Hand))); //print(GameObject.Find("L_Index_2").transform.rotation + " , " + GameObject.Find("L_Hand").transform.rotation + " ," + GameObject.Find("L_Index_2").transform.rotation* Quaternion.Inverse(GameObject.Find("L_Hand").transform.rotation)); //print(LH.DataValidStatus(VRTRIXBones.L_Index_1) + ", " + LH.DataValidStatus(VRTRIXBones.L_Middle_1) + ", " + LH.DataValidStatus(VRTRIXBones.L_Ring_1) + ", " + LH.DataValidStatus(VRTRIXBones.L_Pinky_1) + ", " + LH.DataValidStatus(VRTRIXBones.L_Thumb_1)); } }
// Update is called once per frame void Update() { if (RH_Mode && RH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (RH.GetReceivedRotation(VRTRIXBones.R_Hand) != Quaternion.identity && !qroffset_cal) { qroffset = GetOffset(RH_tracker, RH, HANDTYPE.RIGHT_HAND); qroffset_cal = true; } SetPosition(VRTRIXBones.R_Hand, RH_tracker.transform.position, RH_tracker.transform.rotation, troffset); SetRotation(VRTRIXBones.R_Forearm, RH.GetReceivedRotation(VRTRIXBones.R_Forearm), RH.DataValidStatus(VRTRIXBones.R_Forearm), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Hand, RH.GetReceivedRotation(VRTRIXBones.R_Hand), RH.DataValidStatus(VRTRIXBones.R_Hand), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_1, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_1), RH.DataValidStatus(VRTRIXBones.R_Thumb_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_2, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_2), RH.DataValidStatus(VRTRIXBones.R_Thumb_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_3, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_3), RH.DataValidStatus(VRTRIXBones.R_Thumb_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_1, RH.GetReceivedRotation(VRTRIXBones.R_Index_1), RH.DataValidStatus(VRTRIXBones.R_Index_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_2, RH.GetReceivedRotation(VRTRIXBones.R_Index_2), RH.DataValidStatus(VRTRIXBones.R_Index_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_3, RH.GetReceivedRotation(VRTRIXBones.R_Index_3), RH.DataValidStatus(VRTRIXBones.R_Index_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_1, RH.GetReceivedRotation(VRTRIXBones.R_Middle_1), RH.DataValidStatus(VRTRIXBones.R_Middle_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_2, RH.GetReceivedRotation(VRTRIXBones.R_Middle_2), RH.DataValidStatus(VRTRIXBones.R_Middle_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_3, RH.GetReceivedRotation(VRTRIXBones.R_Middle_3), RH.DataValidStatus(VRTRIXBones.R_Middle_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_1, RH.GetReceivedRotation(VRTRIXBones.R_Ring_1), RH.DataValidStatus(VRTRIXBones.R_Ring_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_2, RH.GetReceivedRotation(VRTRIXBones.R_Ring_2), RH.DataValidStatus(VRTRIXBones.R_Ring_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_3, RH.GetReceivedRotation(VRTRIXBones.R_Ring_3), RH.DataValidStatus(VRTRIXBones.R_Ring_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_1, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_1), RH.DataValidStatus(VRTRIXBones.R_Pinky_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_2, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_2), RH.DataValidStatus(VRTRIXBones.R_Pinky_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_3, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_3), RH.DataValidStatus(VRTRIXBones.R_Pinky_3), HANDTYPE.RIGHT_HAND); } if (LH_Mode && LH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (LH.GetReceivedRotation(VRTRIXBones.L_Hand) != Quaternion.identity && !qloffset_cal) { qloffset = GetOffset(LH_tracker, LH, HANDTYPE.LEFT_HAND); qloffset_cal = true; } SetPosition(VRTRIXBones.L_Hand, LH_tracker.transform.position, LH_tracker.transform.rotation, tloffset); SetRotation(VRTRIXBones.L_Forearm, LH.GetReceivedRotation(VRTRIXBones.L_Forearm), LH.DataValidStatus(VRTRIXBones.L_Forearm), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Hand, LH.GetReceivedRotation(VRTRIXBones.L_Hand), LH.DataValidStatus(VRTRIXBones.L_Hand), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_1, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_1), LH.DataValidStatus(VRTRIXBones.L_Thumb_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_2, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_2), LH.DataValidStatus(VRTRIXBones.L_Thumb_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_3, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_3), LH.DataValidStatus(VRTRIXBones.L_Thumb_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_1, LH.GetReceivedRotation(VRTRIXBones.L_Index_1), LH.DataValidStatus(VRTRIXBones.L_Index_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_2, LH.GetReceivedRotation(VRTRIXBones.L_Index_2), LH.DataValidStatus(VRTRIXBones.L_Index_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_3, LH.GetReceivedRotation(VRTRIXBones.L_Index_3), LH.DataValidStatus(VRTRIXBones.L_Index_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_1, LH.GetReceivedRotation(VRTRIXBones.L_Middle_1), LH.DataValidStatus(VRTRIXBones.L_Middle_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_2, LH.GetReceivedRotation(VRTRIXBones.L_Middle_2), LH.DataValidStatus(VRTRIXBones.L_Middle_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_3, LH.GetReceivedRotation(VRTRIXBones.L_Middle_3), LH.DataValidStatus(VRTRIXBones.L_Middle_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_1, LH.GetReceivedRotation(VRTRIXBones.L_Ring_1), LH.DataValidStatus(VRTRIXBones.L_Ring_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_2, LH.GetReceivedRotation(VRTRIXBones.L_Ring_2), LH.DataValidStatus(VRTRIXBones.L_Ring_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_3, LH.GetReceivedRotation(VRTRIXBones.L_Ring_3), LH.DataValidStatus(VRTRIXBones.L_Ring_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_1, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_1), LH.DataValidStatus(VRTRIXBones.L_Pinky_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_2, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_2), LH.DataValidStatus(VRTRIXBones.L_Pinky_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_3, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_3), LH.DataValidStatus(VRTRIXBones.L_Pinky_3), HANDTYPE.LEFT_HAND); } }
// Update is called once per frame void Update() { if (m_timeCounter < m_refreshTime) { m_timeCounter += Time.deltaTime; m_frameCounter++; } else { //This code will break if you set your m_refreshTime to 0, which makes no sense. m_lastFramerate = (float)m_frameCounter / m_timeCounter; m_frameCounter = 0; m_timeCounter = 0.0f; } if (RH_Mode && RH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (RH.GetReceivedRotation(VRTRIXBones.R_Hand) != Quaternion.identity && !qroffset_cal) { qroffset = GetOffset(RH_tracker, RH, HANDTYPE.RIGHT_HAND); qroffset_cal = true; } SetPosition(VRTRIXBones.R_Hand, RH_tracker.transform.position, RH_tracker.transform.rotation, troffset); SetRotation(VRTRIXBones.R_Forearm, RH.GetReceivedRotation(VRTRIXBones.R_Forearm), RH.DataValidStatus(VRTRIXBones.R_Forearm), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Hand, RH.GetReceivedRotation(VRTRIXBones.R_Hand), RH.DataValidStatus(VRTRIXBones.R_Hand), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_1, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_1), RH.DataValidStatus(VRTRIXBones.R_Thumb_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_2, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_2), RH.DataValidStatus(VRTRIXBones.R_Thumb_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Thumb_3, RH.GetReceivedRotation(VRTRIXBones.R_Thumb_3), RH.DataValidStatus(VRTRIXBones.R_Thumb_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_1, RH.GetReceivedRotation(VRTRIXBones.R_Index_1), RH.DataValidStatus(VRTRIXBones.R_Index_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_2, RH.GetReceivedRotation(VRTRIXBones.R_Index_2), RH.DataValidStatus(VRTRIXBones.R_Index_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Index_3, RH.GetReceivedRotation(VRTRIXBones.R_Index_3), RH.DataValidStatus(VRTRIXBones.R_Index_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_1, RH.GetReceivedRotation(VRTRIXBones.R_Middle_1), RH.DataValidStatus(VRTRIXBones.R_Middle_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_2, RH.GetReceivedRotation(VRTRIXBones.R_Middle_2), RH.DataValidStatus(VRTRIXBones.R_Middle_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Middle_3, RH.GetReceivedRotation(VRTRIXBones.R_Middle_3), RH.DataValidStatus(VRTRIXBones.R_Middle_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_1, RH.GetReceivedRotation(VRTRIXBones.R_Ring_1), RH.DataValidStatus(VRTRIXBones.R_Ring_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_2, RH.GetReceivedRotation(VRTRIXBones.R_Ring_2), RH.DataValidStatus(VRTRIXBones.R_Ring_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Ring_3, RH.GetReceivedRotation(VRTRIXBones.R_Ring_3), RH.DataValidStatus(VRTRIXBones.R_Ring_3), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_1, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_1), RH.DataValidStatus(VRTRIXBones.R_Pinky_1), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_2, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_2), RH.DataValidStatus(VRTRIXBones.R_Pinky_2), HANDTYPE.RIGHT_HAND); SetRotation(VRTRIXBones.R_Pinky_3, RH.GetReceivedRotation(VRTRIXBones.R_Pinky_3), RH.DataValidStatus(VRTRIXBones.R_Pinky_3), HANDTYPE.RIGHT_HAND); RH_Gesture = VRTRIXGloveGestureRecognition.GestureDetection(RH, HANDTYPE.RIGHT_HAND); } if (LH_Mode && LH.GetReceivedStatus() == VRTRIXGloveStatus.NORMAL) { if (LH.GetReceivedRotation(VRTRIXBones.L_Hand) != Quaternion.identity && !qloffset_cal) { qloffset = GetOffset(LH_tracker, LH, HANDTYPE.LEFT_HAND); qloffset_cal = true; } SetPosition(VRTRIXBones.L_Hand, LH_tracker.transform.position, LH_tracker.transform.rotation, tloffset); SetRotation(VRTRIXBones.L_Forearm, LH.GetReceivedRotation(VRTRIXBones.L_Forearm), LH.DataValidStatus(VRTRIXBones.L_Forearm), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Hand, LH.GetReceivedRotation(VRTRIXBones.L_Hand), LH.DataValidStatus(VRTRIXBones.L_Hand), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_1, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_1), LH.DataValidStatus(VRTRIXBones.L_Thumb_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_2, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_2), LH.DataValidStatus(VRTRIXBones.L_Thumb_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Thumb_3, LH.GetReceivedRotation(VRTRIXBones.L_Thumb_3), LH.DataValidStatus(VRTRIXBones.L_Thumb_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_1, LH.GetReceivedRotation(VRTRIXBones.L_Index_1), LH.DataValidStatus(VRTRIXBones.L_Index_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_2, LH.GetReceivedRotation(VRTRIXBones.L_Index_2), LH.DataValidStatus(VRTRIXBones.L_Index_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Index_3, LH.GetReceivedRotation(VRTRIXBones.L_Index_3), LH.DataValidStatus(VRTRIXBones.L_Index_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_1, LH.GetReceivedRotation(VRTRIXBones.L_Middle_1), LH.DataValidStatus(VRTRIXBones.L_Middle_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_2, LH.GetReceivedRotation(VRTRIXBones.L_Middle_2), LH.DataValidStatus(VRTRIXBones.L_Middle_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Middle_3, LH.GetReceivedRotation(VRTRIXBones.L_Middle_3), LH.DataValidStatus(VRTRIXBones.L_Middle_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_1, LH.GetReceivedRotation(VRTRIXBones.L_Ring_1), LH.DataValidStatus(VRTRIXBones.L_Ring_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_2, LH.GetReceivedRotation(VRTRIXBones.L_Ring_2), LH.DataValidStatus(VRTRIXBones.L_Ring_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Ring_3, LH.GetReceivedRotation(VRTRIXBones.L_Ring_3), LH.DataValidStatus(VRTRIXBones.L_Ring_3), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_1, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_1), LH.DataValidStatus(VRTRIXBones.L_Pinky_1), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_2, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_2), LH.DataValidStatus(VRTRIXBones.L_Pinky_2), HANDTYPE.LEFT_HAND); SetRotation(VRTRIXBones.L_Pinky_3, LH.GetReceivedRotation(VRTRIXBones.L_Pinky_3), LH.DataValidStatus(VRTRIXBones.L_Pinky_3), HANDTYPE.LEFT_HAND); LH_Gesture = VRTRIXGloveGestureRecognition.GestureDetection(LH, HANDTYPE.LEFT_HAND); //if(LH_Gesture == VRTRIXGloveGesture.BUTTONGRAB) //{ // Debug.Log(LH_Gesture); //} } }