//Add vector/quarternion measurements to a finger
private void add_hand_fingers(ref manus_hand_t device, ref device_type_t side, ref Manus_hand_obj manus_hand)
{
List <Finger> single_hand_array = new List <Finger>(); //Finger array
List <pose> temp_finger; //Temporary array for bones.
for (int i = 0; i < 5; i++) //Illiterate through the fingers
{
temp_finger = new List <pose>();
for (int j = 0; j < 5; j++) //Illiterate through the poses.
{
pose temp_pose = new pose(); //Temporary pose format.
temp_pose.rotation = process_quat(device.fingers[i].joints[j].rotation);
temp_pose.translation = process_vector(device.fingers[i].joints[j].translation);
temp_finger.Add(temp_pose); //Add poses to a temporay finger array
}
Finger real_finger = new Finger(temp_finger); //Instantiate a finger class
single_hand_array.Add(real_finger); //Add the finger to the hand
}
//**NEW** Pass imu Data to device.
quat_t[] quarts = device.raw.imu;
Quaternion[] quarts_to_write = new Quaternion[2];
quarts_to_write[0] = process_quat(quarts[0]);
quarts_to_write[1] = process_quat(quarts[1]);
manus_hand.set_imus(quarts_to_write);
manus_hand.add_vector_fingers(single_hand_array); //Add in vector data from manus for each individual bone.
manus_hand.set_wrist(process_quat(device.wrist)); //**NEW** Add in wrist data into the manus_hand_obj
}
/// <summary>
/// Returns the Manus hand object based on the given enum request.
/// </summary>
/// <param name="device">The enum for left/right hand</param>
/// <returns>The Manus hand object</returns>
public static manus_hand_t GetHand(device_type_t device)
{
manus_hand_t tempHand = new manus_hand_t();
Manus.ManusGetHand(handData.Session, device, out tempHand);
return(tempHand);
}
//Add the calcuations for the arm calculations on the manus API
private void add_arm_calc(ref manus_hand_t hand, ref ik_body_t body_side, ref ik_profile_t my_profile, ref Manus_hand_obj my_hand)
{
//double arm_calcs[2];
ManusVR.Manus.ManusUpdateIK(session, ref body_side); //Broken, does nothing.
//Hand function to set the profile characteristics of the arm.
my_hand.set_lenghts_arm(my_profile.shoulderLength, my_profile.upperArmLength, my_profile.upperNeckLength, my_profile.lowerArmLength,
my_profile.lowerNeckLength, process_vector(my_profile.upperNeckOffset));
////print_quat(process_quat(body_side.left.lowerArm.rotation));
////print_vector(process_vector(body_side.left.lowerArm.translation));
}
public override bool IsFingerBent(Hand handId, Finger fingerId)
{
#if VRTK_DEFINE_SDK_MANUS_VR
manus_hand_t hand = GetHand(HandToDeviceType(handId));
ManusFingers fingerIndex = FingerIndiceToManusFinger(fingerId);
return(hand.raw.finger_sensor[(int)fingerIndex] >= FINGER_CLOSE_BEND_THRESHOLD);
#else
return(false);
#endif
}
//I start the program.
void Start()
{
Debug.Log("Starting Manus_API");
session = new IntPtr();
lefth = new manus_hand_t();
righth = new manus_hand_t();
leftraw = new manus_hand_raw_t();
rightraw = new manus_hand_raw_t();
myProfileL = new ik_profile_t();
myProfileR = new ik_profile_t();
left_arm = new ik_body_t();
right_arm = new ik_body_t();
isR = false;
isL = false;
Manus.ManusInit(out session);
Debug.Log("Done.");
}
//Function that phrases in a single finger
private void add_manus_hand(ref manus_hand_t hand, ref manus_hand_raw_t raw_hand, device_type_t which_hand_side, ik_body_t body_side, ik_profile_t my_profile)
{
//Manus Hand Objects
Manus_hand_obj hand_in_use = new Manus_hand_obj();
//Process data for the left hand, including raw data.
Manus.ManusGetHandRaw(session, which_hand_side, out raw_hand);
Manus.ManusGetProfile(session, out my_profile); ///Wrong assumption, it does not provide real-time data.
Manus.ManusGetHand(session, which_hand_side, out hand);
//Manus.ManusGetHand_id(session, 2602524395, which_hand_side, out hand);
Manus.ManusGetBatteryLevel(session, which_hand_side, out bat_value);
//Set Battery level
hand_in_use.set_bat(bat_value);
//Set Arm calculations
add_arm_calc(ref hand, ref body_side, ref my_profile, ref hand_in_use);
//Set the raw_double finger data from manus
add_hand_fingers_raw(ref raw_hand, ref which_hand_side, ref hand_in_use);
//Set manus_profile finger data
add_manus_profile_hands(ref my_profile, ref hand_in_use);
//Set regular Manus hand data
add_hand_fingers(ref hand, ref which_hand_side, ref hand_in_use);
//Add relevant data to the hands array
if (which_hand_side == device_type_t.GLOVE_LEFT)
{
//hands.insert(hands.begin(),hand_in_use); //Left Glove
hands[0] = hand_in_use;
}
else
{
//hands.assign(1, hand_in_use); //Right Glove
hands[1] = hand_in_use;
}
}
