private void RightHandTracking()
{
if (viveHandRight != null)
{
this.transform.position = viveHandRight.position;
this.transform.rotation = viveHandRight.rotation;
if (rightHandDevice.GetPress(SteamVR_Controller.ButtonMask.Touchpad))
{
gesture = GESTURE.POINT;
}
else if (rightHandDevice.GetPress(SteamVR_Controller.ButtonMask.Trigger))
{
gesture = GESTURE.GRAB;
}
else
{
gesture = GESTURE.IDLE;
}
}
else
{
Debug.Log("Looking for RightHand");
var go = GameObject.Find("RightHandPos");
if (go)
{
viveHandRight = go.transform;
// Assigning ViveControllerGrab.leftHandAnimator to be this animator
rightHandDevice = viveHandRight.parent.GetComponent<ViveControllerGrab>().device;
}
}
}
private double updateCurrentAngle(GESTURE gesture , GestureDatabase gestureDatabase)
{
double diffAngle = 0.0;
Skeleton lastSkeleton;
AppropriateJointInfo lastAptJointInfo;
Skeleton lastValidSkeleton;
AppropriateJointInfo lastValidAptJointInfo;
int indexOfLastValidGesture = (gesture == GESTURE.SWIPE_RIGHT) ?
indexOfLastValidSwipeRightFrame :
indexOfLastValidSwipeLeftFrame;
// compare the current frame with the last valid swipe right frame
gestureDatabase.getLastRecord(out lastSkeleton, out lastAptJointInfo);
gestureDatabase.getRecord(indexOfLastValidGesture, out lastValidSkeleton, out lastValidAptJointInfo);
HCI580_Geometry.Vector2D lastElbowShoulder = new HCI580_Geometry.Vector2D(
(lastAptJointInfo.shoulderRightPos.X - lastAptJointInfo.elbowRightPos.X),
(lastAptJointInfo.shoulderRightPos.Y - lastAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastElbowHand = new HCI580_Geometry.Vector2D(
(lastAptJointInfo.handRightPos.X - lastAptJointInfo.elbowRightPos.X),
(lastAptJointInfo.handRightPos.Y - lastAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastValidElbowShoulder = new HCI580_Geometry.Vector2D(
(lastValidAptJointInfo.shoulderRightPos.X - lastValidAptJointInfo.elbowRightPos.X),
(lastValidAptJointInfo.shoulderRightPos.Y - lastValidAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastValidElbowHand = new HCI580_Geometry.Vector2D(
(lastValidAptJointInfo.handRightPos.X - lastValidAptJointInfo.elbowRightPos.X),
(lastValidAptJointInfo.handRightPos.Y - lastValidAptJointInfo.elbowRightPos.Y));
diffAngle = lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand);
// Console.WriteLine("diff Angle " + diffAngle);
diffAngle = (gesture == GESTURE.SWIPE_RIGHT) ? (diffAngle < 0 ? 0 : diffAngle) : (diffAngle > 0 ? 0 : diffAngle);
// both the angles need to be added , as the diff angle will be negative for left swipes.
return ((gesture == GESTURE.SWIPE_RIGHT) ? this.currentSwipeRightAngle + diffAngle : this.currentSwipeLeftAngle + diffAngle);
}
/*
* <reset param="gesture">
* Takes the type of gesture and resets their apt parameters
* 1. resets the indexOfFirstValidGestureFrame , -1 is an invalid index
* 2. the indexOfLastValidGestureFrame
* 3. the Timers , current and start timer
* 4. the Timespan
* 5. the gestureStarted parameter to false
* 6. the currentAngle parameter to 0.
* </reset>
*/
private void reset(GESTURE gesture)
{
switch (gesture)
{
case GESTURE.SWIPE_RIGHT:
{
indexOfFirstValidSwipeRightFrame = -1; // reset the index
indexOfLastValidSwipeRightFrame = -1 ;
isSwipeRightGestureStarted = false; // gesture started false
currentSwipeRightAngle = 0; // current angle 0
currentSwipeRightTime = new DateTime(1,1,1); // reset the time to some invalid Time
startSwipeRightTime = new DateTime(1, 1, 1); ;
swipeRightTimeSpan = new TimeSpan(currentSwipeRightTime.Ticks - startSwipeRightTime.Ticks);
}
break;
case GESTURE.SWIPE_LEFT: // same as swipe right
{
indexOfFirstValidSwipeLeftFrame = -1 ;
indexOfLastValidSwipeLeftFrame = -1;
isSwipeLeftGestureStarted = false;
currentSwipeLeftAngle = 0;
currentSwipeLeftTime = new DateTime(1,1,1);
startSwipeLeftTime = new DateTime(1,1,1);
swipeLeftTimeSpan = new TimeSpan();
}
break;
}
}
private bool isIntermediaryFrameValidGestureFrame(GESTURE gesture, GestureDatabase gestureDatabase)
{
Skeleton currentSkeleton;
AppropriateJointInfo currentAptJointInfo;
gestureDatabase.getLastRecord(out currentSkeleton, out currentAptJointInfo);
switch (gesture)
{
case GESTURE.SWIPE_RIGHT:
{
HCI580_Geometry.Vector2D currentElbowShoulder = new HCI580_Geometry.Vector2D((currentAptJointInfo.shoulderRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.shoulderRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D currentElbowHand = new HCI580_Geometry.Vector2D((currentAptJointInfo.handRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.handRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
// check if hand Y > elbow Y , angle between elbowShoulder and elbowHand negative
if (currentAptJointInfo.handRightPos.Y > currentAptJointInfo.elbowRightPos.Y &&
currentElbowShoulder.cpsign(currentElbowHand) < 0)
{
return true;
}
}
break;
case GESTURE.SWIPE_LEFT:
{
HCI580_Geometry.Vector2D currentElbowShoulder = new HCI580_Geometry.Vector2D((currentAptJointInfo.shoulderRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.shoulderRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D currentElbowHand = new HCI580_Geometry.Vector2D((currentAptJointInfo.handRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.handRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
// check if hand Y > elbow Y , angle between elbowShoulder and elbowHand negative
if (currentAptJointInfo.handRightPos.Y > currentAptJointInfo.elbowRightPos.Y &&
currentElbowShoulder.cpsign(currentElbowHand) < 0)
{
return true;
}
}
break;
}
return false;
}
private bool isIntermediaryCumulativeAngularMotionValid(GESTURE gesture, GestureDatabase gestureDatabase)
{
Skeleton currentSkeleton;
AppropriateJointInfo currentAptInfo;
Skeleton firstValidSkeleton;
AppropriateJointInfo firstValidAptInfo;
int indexOfFirstValidMotion;
indexOfFirstValidMotion = (gesture == GESTURE.SWIPE_RIGHT) ?
indexOfFirstValidSwipeRightFrame :
indexOfFirstValidSwipeLeftFrame;
gestureDatabase.getLastRecord(out currentSkeleton, out currentAptInfo);
gestureDatabase.getRecord(indexOfFirstValidMotion,out firstValidSkeleton , out firstValidAptInfo);
HCI580_Geometry.Vector2D currentElbowShoulder = new HCI580_Geometry.Vector2D((currentAptInfo.shoulderRightPos.X - currentAptInfo.elbowRightPos.X),
(currentAptInfo.shoulderRightPos.Y - currentAptInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D currentElbowHand = new HCI580_Geometry.Vector2D((currentAptInfo.handRightPos.X - currentAptInfo.elbowRightPos.X),
(currentAptInfo.handRightPos.Y - currentAptInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D firstElbowShoulder = new HCI580_Geometry.Vector2D((firstValidAptInfo.shoulderRightPos.X - firstValidAptInfo.elbowRightPos.X),
(firstValidAptInfo.shoulderRightPos.Y - firstValidAptInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D firstElbowHand = new HCI580_Geometry.Vector2D((firstValidAptInfo.handRightPos.X - firstValidAptInfo.elbowRightPos.X),
(firstValidAptInfo.handRightPos.Y - firstValidAptInfo.elbowRightPos.Y));
double diffAngle = currentElbowShoulder.angleTo(currentElbowHand) - firstElbowShoulder.angleTo(firstElbowHand);
// Console.WriteLine("cumulative diff " + diffAngle);
return (gesture == GESTURE.SWIPE_RIGHT) ? (diffAngle > 0 ? true : false) : (diffAngle < 0 ? true : false);
}
// check for too fast and opposite movements
private bool isHandAngularChangeWithInBounds(GESTURE gesture , GestureDatabase gestureDatabase)
{
Skeleton lastSkeleton;
AppropriateJointInfo lastAptJointInfo;
Skeleton lastValidSkeleton;
AppropriateJointInfo lastValidAptJointInfo;
int indexOfLastValidGesture = (gesture == GESTURE.SWIPE_RIGHT) ?
indexOfLastValidSwipeRightFrame :
indexOfLastValidSwipeLeftFrame;
if (indexOfLastValidGesture < 0)
{
return true;
}
// compare the current frame with the last valid swipe right frame
gestureDatabase.getLastRecord(out lastSkeleton , out lastAptJointInfo);
gestureDatabase.getRecord(indexOfLastValidGesture , out lastValidSkeleton , out lastValidAptJointInfo);
HCI580_Geometry.Vector2D lastElbowShoulder = new HCI580_Geometry.Vector2D(
(lastAptJointInfo.shoulderRightPos.X - lastAptJointInfo.elbowRightPos.X) ,
(lastAptJointInfo.shoulderRightPos.Y - lastAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastElbowHand = new HCI580_Geometry.Vector2D(
(lastAptJointInfo.handRightPos.X - lastAptJointInfo.elbowRightPos.X),
(lastAptJointInfo.handRightPos.Y - lastAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastValidElbowShoulder = new HCI580_Geometry.Vector2D(
(lastValidAptJointInfo.shoulderRightPos.X - lastValidAptJointInfo.elbowRightPos.X),
(lastValidAptJointInfo.shoulderRightPos.Y - lastValidAptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D lastValidElbowHand = new HCI580_Geometry.Vector2D(
(lastValidAptJointInfo.handRightPos.X - lastValidAptJointInfo.elbowRightPos.X),
(lastValidAptJointInfo.handRightPos.Y - lastValidAptJointInfo.elbowRightPos.Y));
if (Math.Abs(lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand)) > MAX_RATE_OF_ANGLE_CHANGE)
{
// Console.WriteLine("angle change too fast");
return false; // moving too fast
}
// Console.WriteLine("last frame Angle " + lastElbowShoulder.angleTo(lastElbowHand) + " last Valid Frame Angle " + lastValidElbowShoulder.angleTo(lastValidElbowHand) +
// " difference " + (lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand)));
switch (gesture)
{
case GESTURE.SWIPE_RIGHT:
{
/*
* we are getting only the magnitude of the angles here, so swipe right opposite is moving from larger angle to smaller angle
*/
if (lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand) <= -THRESHOLD_OPPOSITE_ANGLE)
{
// Console.WriteLine("Gesture : SWIPE RIGHT , OPPOSITE MOTION ....");
return false;
}
}
break;
case GESTURE.SWIPE_LEFT:
{
if (lastElbowShoulder.angleTo(lastElbowHand) - lastValidElbowShoulder.angleTo(lastValidElbowHand) >= THRESHOLD_OPPOSITE_ANGLE)
{
// Console.WriteLine("Gesture : SWIPE LEFT , OPPOSITE MOTION ....");
return false;
}
}
break;
}
return true;
}
private bool isFirstValidGestureFrame(GESTURE gesture , GestureDatabase gestureDatabase)
{
Skeleton skeleton;
AppropriateJointInfo aptJointInfo;
gestureDatabase.getLastRecord(out skeleton ,out aptJointInfo);
switch(gesture)
{
case GESTURE.SWIPE_RIGHT:
{
HCI580_Geometry.Vector2D elbowShoulder = new HCI580_Geometry.Vector2D((aptJointInfo.shoulderRightPos.X - aptJointInfo.elbowRightPos.X),
(aptJointInfo.shoulderRightPos.Y - aptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D elbowHand = new HCI580_Geometry.Vector2D((aptJointInfo.handRightPos.X - aptJointInfo.elbowRightPos.X),
(aptJointInfo.handRightPos.Y - aptJointInfo.elbowRightPos.Y));
// check if hand Y > elbow Y , hand X < elbow X and angle between elbowShoulder and elbowHand negative
if(aptJointInfo.handRightPos.Y > aptJointInfo.elbowRightPos.Y &&
aptJointInfo.handRightPos.X < aptJointInfo.elbowRightPos.X &&
elbowShoulder.cpsign(elbowHand) < 0)
{
return true;
}
}
break;
case GESTURE.SWIPE_LEFT:
{
HCI580_Geometry.Vector2D elbowShoulder = new HCI580_Geometry.Vector2D((aptJointInfo.shoulderRightPos.X - aptJointInfo.elbowRightPos.X),
(aptJointInfo.shoulderRightPos.Y - aptJointInfo.elbowRightPos.Y));
HCI580_Geometry.Vector2D elbowHand = new HCI580_Geometry.Vector2D((aptJointInfo.handRightPos.X - aptJointInfo.elbowRightPos.X),
(aptJointInfo.handRightPos.Y - aptJointInfo.elbowRightPos.Y));
// check if hand Y > elbow Y , hand X < elbow X and angle between elbowShoulder and elbowHand negative
if(aptJointInfo.handRightPos.Y > aptJointInfo.elbowRightPos.Y &&
aptJointInfo.handRightPos.X > aptJointInfo.elbowRightPos.X &&
elbowShoulder.cpsign(elbowHand) < 0)
{
return true;
}
}
break;
}
return false;
}
/*
* doc: The function takes the first valid gesture frame ,depending upon what the gesture is, and currently added
* and compares the shouldercenter position , which is representative of the body , accross these frames to
* check for out of range body movements
*/
private bool isBodyLinearDeflectionWithInBounds(GESTURE gesture , GestureDatabase gestureDatabase)
{
Skeleton firstValidSkeleton;
AppropriateJointInfo firstValidAptInfo;
Skeleton currentSkeleton;
AppropriateJointInfo currentAptInfo;
int indexOfFirstValidGesture = (gesture == GESTURE.SWIPE_LEFT) ?
indexOfFirstValidSwipeLeftFrame :
indexOfFirstValidSwipeRightFrame;
if(indexOfFirstValidGesture < 0)
return true;
gestureDatabase.getLastRecord(out currentSkeleton, out currentAptInfo); // last added frame
gestureDatabase.getRecord(indexOfFirstValidGesture , out firstValidSkeleton , out firstValidAptInfo); // first valid frame
// difference between joint positions of shouldercenter in currently added and first valid gesture frame
return isJointDelectionValid(currentAptInfo.shoulderCenterPos, firstValidAptInfo.shoulderCenterPos);
}
private void reset(GESTURE gesture)
{
switch (gesture)
{
case GESTURE.CONST_LEFT:
accelerationConstLeftHand = 1;
indexOfFirstValidConstLeftGestureFrame = -1;
indexOfLastValidConstLeftGestureFrame = -1;
isConstLeftHandGestureStarted = false;
startTimerConstLeftHand = new DateTime(1, 1, 1);
currentTimerConstLeftHand = new DateTime(1, 1, 1);
timeElapsedConstLeftHand = new TimeSpan(currentTimerConstLeftHand.Ticks - startTimerConstLeftHand.Ticks);
break;
case GESTURE.CONST_RIGHT:
accelerationConstRightHand = 1;
indexOfFirstValidConstRightGestureFrame = -1;
indexOfLastValidConstRightGestureFrame = -1;
isConstRightHandGestureStarted = false;
startTimerConstRightHand = new DateTime(1, 1, 1);
currentTimerConstRightHand = new DateTime(1, 1, 1);
timeElapsedConstRightHand = new TimeSpan(currentTimerConstRightHand.Ticks - startTimerConstRightHand.Ticks);
break;
}
}
private bool isIntermediaryCumulativeAngleDeflectionValid(GESTURE gesture , GestureDatabase gestureDatabase)
{
Skeleton firstValidSkeleton;
AppropriateJointInfo firstValidAptJointInfo;
Skeleton currentSkeleton;
AppropriateJointInfo currentAptJointInfo;
int indexOfFirstValidGestureFrame = (gesture == GESTURE.CONST_LEFT) ?
indexOfFirstValidConstLeftGestureFrame :
indexOfFirstValidConstRightGestureFrame;
gestureDatabase.getLastRecord(out currentSkeleton , out currentAptJointInfo);
gestureDatabase.getRecord(indexOfFirstValidGestureFrame, out firstValidSkeleton , out firstValidAptJointInfo);
Vector2D currentElbowShoulder = new Vector2D((currentAptJointInfo.shoulderRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.shoulderRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
Vector2D currentElbowHand = new Vector2D((currentAptJointInfo.handRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.handRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
Vector2D firstElbowShoulder = new Vector2D((firstValidAptJointInfo.shoulderRightPos.X - firstValidAptJointInfo.elbowRightPos.X),
(firstValidAptJointInfo.shoulderRightPos.Y - firstValidAptJointInfo.elbowRightPos.Y));
Vector2D firstElbowHand = new Vector2D((firstValidAptJointInfo.handRightPos.X - firstValidAptJointInfo.elbowRightPos.X),
(firstValidAptJointInfo.handRightPos.Y - firstValidAptJointInfo.elbowRightPos.Y));
double angularDeflection = Math.Abs(currentElbowShoulder.angleTo(currentElbowHand) - firstElbowShoulder.angleTo(firstElbowHand));
if (angularDeflection <= THRESHOLD_ANGLE_DEFLECTION)
return true;
return false;
}
private bool isIntermediaryFrameValidGestureFrame(GESTURE gesture, GestureDatabase gestureDatabase)
{
Skeleton currentSkeleton;
AppropriateJointInfo currentAptJointInfo;
gestureDatabase.getLastRecord(out currentSkeleton, out currentAptJointInfo);
Vector2D currentElbowShoulder = new Vector2D((currentAptJointInfo.shoulderRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.shoulderRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
Vector2D currentElbowHand = new Vector2D((currentAptJointInfo.handRightPos.X - currentAptJointInfo.elbowRightPos.X),
(currentAptJointInfo.handRightPos.Y - currentAptJointInfo.elbowRightPos.Y));
double angle = currentElbowShoulder.angleTo(currentElbowHand);
switch (gesture)
{
case GESTURE.CONST_LEFT:
{
if (currentAptJointInfo.shoulderCenterPos.Y > currentAptJointInfo.handRightPos.Y &&
currentAptJointInfo.shoulderCenterPos.Y > currentAptJointInfo.elbowRightPos.Y &&
currentAptJointInfo.handRightPos.X < currentAptJointInfo.elbowRightPos.X &&
currentElbowShoulder.cpsign(currentElbowHand) > 0 &&
angle >= CONST_LEFT_GESTURE_MIN_THETA - THRESHOLD_ANGLE_DEFLECTION &&
angle <= CONST_LEFT_GESTURE_MAX_THETA + THRESHOLD_ANGLE_DEFLECTION)
{
return true;
}
}
break;
case GESTURE.CONST_RIGHT:
{
if (
currentAptJointInfo.shoulderCenterPos.Y > currentAptJointInfo.elbowRightPos.Y &&
currentAptJointInfo.elbowRightPos.Y > currentAptJointInfo.handRightPos.Y &&
currentAptJointInfo.handRightPos.X > currentAptJointInfo.elbowRightPos.X &&
currentElbowShoulder.cpsign(currentElbowHand) < 0 &&
angle >= CONST_RIGHT_GESTURE_MIN_THETA - THRESHOLD_ANGLE_DEFLECTION &&
angle <= CONST_RIGHT_GESTURE_MAX_THETA + THRESHOLD_ANGLE_DEFLECTION)
{
return true;
}
}
break;
}
return false;
}
private bool isHandAngleDeflectionWithInBounds(GESTURE gesture, GestureDatabase gestureDatabase)
{
Skeleton skeleton;
AppropriateJointInfo aptJoint;
switch (gesture)
{
case GESTURE.CONST_LEFT:
{
gestureDatabase.getLastRecord(out skeleton, out aptJoint);
Vector2D elbowShoulder = new Vector2D(aptJoint.shoulderRightPos.X - aptJoint.elbowRightPos.X, aptJoint.shoulderRightPos.Y - aptJoint.elbowRightPos.Y);
Vector2D elbowHand = new Vector2D(aptJoint.handRightPos.X - aptJoint.elbowRightPos.X, aptJoint.handRightPos.Y - aptJoint.elbowRightPos.Y);
if (elbowShoulder.cpsign(elbowHand) > 0 &&
elbowShoulder.angleTo(elbowHand) >= CONST_LEFT_GESTURE_MIN_THETA - THRESHOLD_ANGLE_DEFLECTION &&
elbowShoulder.angleTo(elbowHand) <= CONST_LEFT_GESTURE_MAX_THETA + THRESHOLD_ANGLE_DEFLECTION)
{
return true;
}
break;
}
case GESTURE.CONST_RIGHT:
{
gestureDatabase.getLastRecord(out skeleton, out aptJoint);
Vector2D elbowShoulder = new Vector2D(aptJoint.shoulderRightPos.X - aptJoint.elbowRightPos.X, aptJoint.shoulderRightPos.Y - aptJoint.elbowRightPos.Y);
Vector2D elbowHand = new Vector2D(aptJoint.handRightPos.X - aptJoint.elbowRightPos.X, aptJoint.handRightPos.Y - aptJoint.elbowRightPos.Y);
if (elbowShoulder.cpsign(elbowHand) < 0 &&
elbowShoulder.angleTo(elbowHand) >= CONST_RIGHT_GESTURE_MIN_THETA - THRESHOLD_ANGLE_DEFLECTION &&
elbowShoulder.angleTo(elbowHand) <= CONST_RIGHT_GESTURE_MAX_THETA + THRESHOLD_ANGLE_DEFLECTION)
{
return true;
}
break;
}
}
return false;
}
private bool isFirstValidGestureFrame(GESTURE gesture, GestureDatabase gestureDatabase)
{
return isIntermediaryFrameValidGestureFrame(gesture , gestureDatabase);
}
private bool isBodyLinearDeflectionsWithInBounds(GESTURE gesture , GestureDatabase gestureDatabase)
{
if(gesture == GESTURE.CONST_LEFT)
if (indexOfFirstValidConstLeftGestureFrame < 0)
return true; // this is the start of the new Gesture, first frame of the new gesture
if (gesture == GESTURE.CONST_RIGHT)
if (indexOfFirstValidConstRightGestureFrame < 0)
return true; // this is the start of the new Gesture, first frame of the new gesture
int indexOfFirstValidGestureFrame = (gesture == GESTURE.CONST_LEFT) ? indexOfFirstValidConstLeftGestureFrame :
indexOfFirstValidConstRightGestureFrame;
Skeleton lastValidSkeleton;
AppropriateJointInfo lastAptInfo;
Skeleton firstValidSkeleton;
AppropriateJointInfo firstAptInfo;
gestureDatabase.getRecord(gestureDatabase.getTotalSize() - 1, out lastValidSkeleton, out lastAptInfo);
gestureDatabase.getRecord(indexOfFirstValidGestureFrame, out firstValidSkeleton, out firstAptInfo);
return (isPointWithInThreshold(lastAptInfo.shoulderCenterPos, firstAptInfo.shoulderCenterPos));
}
private void timer_Tick(object sender, EventArgs e)
{
int data;
txtBytesToRead.Text = bytesToRead.ToString();
txtQueueCount.Text = dataQueue.Count.ToString();
Update_btnConnect();
// check if queue is empty
if (dataQueue.Count > 0 && serialPort.IsOpen)
{
dataQueue.TryDequeue(out data);
// read a packet of data
// first find 255
while (data != 255)
{
dataQueue.TryDequeue(out data);
}
// retrieve x, y, z data, show in textbox and add to list
int avgCount; // how many to average
count++; // for x-axis of plot
try
{
avgCount = int.Parse(txtAvgN.Text);
}
catch (System.FormatException)
{
avgCount = 0;
}
int stddevCount;
try
{
stddevCount = int.Parse(txtStddevN.Text);
}
catch (System.FormatException)
{
stddevCount = 0;
}
for (READ_ACC curr = READ_ACC.X; curr != READ_ACC.OVER; curr++)
{
dataQueue.TryDequeue(out data);
switch (curr)
{
case READ_ACC.X:
txtX.Text = data.ToString();
while (x_acc.Count > stddevCount)
{
x_acc.RemoveAt(0);
}
x_acc.Add(data);
break;
case READ_ACC.Y:
txtY.Text = data.ToString();
while (y_acc.Count > stddevCount)
{
y_acc.RemoveAt(0);
}
y_acc.Add(data);
break;
case READ_ACC.Z:
txtZ.Text = data.ToString();
while (z_acc.Count > stddevCount)
{
z_acc.RemoveAt(0);
}
z_acc.Add(data);
break;
}
}
// retreive last x,y,z data
int xData = x_acc[x_acc.Count - 1];
int yData = y_acc[y_acc.Count - 1];
int zData = z_acc[z_acc.Count - 1];
if (!bomberGame.GetGameStatus())
{
if (grav.Count > avgCount)
{
grav.RemoveAt(0);
}
grav.Add(Calculate_grav(xData, yData, zData));
txtGAvg.Text = grav.Average().ToString();
// read threshold values
int xThreshold, yThreshold, zThreshold, yThresholdNeg, zThresholdNeg;
try
{
xThreshold = int.Parse(txtXThreshold.Text);
yThreshold = int.Parse(txtYThreshold.Text);
zThreshold = int.Parse(txtZThreshold.Text);
yThresholdNeg = int.Parse(txtYNeg.Text);
zThresholdNeg = int.Parse(txtZNeg.Text);
}
catch (System.FormatException)
{
xThreshold = 220;
yThreshold = 220;
zThreshold = 220;
yThresholdNeg = 100;
zThresholdNeg = 100;
}
// start gesture reading
if ((xData > xThreshold || zData > zThreshold || zData < zThresholdNeg) && gestureState == GESTURE.IDLE)
{
gestureState = GESTURE.START;
}
Update_orientation(xData, yData, zData);
Calculate_average(avgCount);
Calculate_std(stddevCount);
Update_gesture(xData, yData, zData, xThreshold, yThreshold, zThreshold, yThresholdNeg, zThresholdNeg);
Update_plot(xData, yData, zData, count);
}
while (dataQueue.Count > itemLimit)
{
dataQueue.TryDequeue(out int trash);
}
if (bomberGame.GetGameStatus())
{
bomberGame.UpdatePosition(ref bomberGame.bomber, xData, yData, zData); // update bomberman position
}
else if (btnStart.Text != "Start")
{
btnStart.Text = "Start";
}
}
}
private void Update_gesture(int xData, int yData, int zData,
int xThreshold, int yThreshold, int zThreshold, int yThresholdNeg, int zThresholdNeg)
{
switch (gestureState)
{
case (GESTURE.START):
gestureWatch.Start();
txtLED.BackColor = Color.Green;
gestureState = GESTURE.ACQUIRE;
break;
case (GESTURE.ACQUIRE):
if (gestureWatch.ElapsedMilliseconds > gestureTimeout)
{
gestureState = GESTURE.OVER;
Console.WriteLine("over 2s, restart");
}
else if (gestureWatch.ElapsedMilliseconds > displayTimeout)
{
txtGesture.Clear();
//Console.WriteLine("over 1s, display clear");
}
if (readGesture.Length <= 3)
{
if (xData > xThreshold && !readGesture.Contains("X") && !readGesture.Contains("Z") && !readGesture.Contains("z"))
{
readGesture += "X";
txtGesture.Text = readGesture;
}
if (zData < zThresholdNeg && !readGesture.Contains("z") && !readGesture.Contains("Z") && !readGesture.Contains("X") && !readGesture.Contains("Y"))
{
readGesture += "z";
txtGesture.Text = readGesture;
}
if (zData > zThreshold && !readGesture.EndsWith("Z") && !readGesture.EndsWith("z") && !readGesture.EndsWith("X") && !readGesture.EndsWith("Y") && !readGesture.EndsWith("y"))
{
readGesture += "Z";
txtGesture.Text = readGesture;
}
if (yData > yThreshold && !readGesture.Contains("Y") && (readGesture.Contains('X') || readGesture.Contains('Z')))
{
readGesture += "Y";
txtGesture.Text = readGesture;
}
if (yData < yThresholdNeg && !readGesture.EndsWith("y") && readGesture.Contains("ZY"))
{
readGesture += "y";
txtGesture.Text = readGesture;
}
}
switch (readGesture)
{
case "z":
txtGesture.Text = "Free fall";
break;
case "XY":
txtGesture.Text = "Frisbee throw";
break;
case "ZYy":
txtGesture.Text = "Wave";
break;
}
break;
case (GESTURE.OVER):
txtGesture.Clear();
txtLED.BackColor = Color.Red;
gestureWatch.Reset();
gestureState = GESTURE.IDLE;
readGesture = "";
break;
}
}
