//--------------------------------------------------------------------------------------------------------
// Calibration
/// <summary> Checks the calibration stage of this glove when it connects. </summary>
protected virtual void CheckForCalibration()
{
if (this.checkCalibrationOnStart && SGCore.Calibration.HG_CalCheck.NeedsCheck(this.DeviceType))
{
SGCore.Calibration.SensorRange lastRange;
if (SG_HandProfiles.LoadLastRange(this.lastGlove, out lastRange))
{
//Debug.Log("Loaded Last Range: " + lastRange.ToString(true));
Debug.Log("Please move your " + (this.IsRight ? "right" : "left") + " hand so we can determine of calibration is required");
this.CalibrationStage = CalibrationStage.MoveFingers; //todo: Check for Nova or SenseGlove DK1
this.calibrationCheck = new HG_CalCheck(lastRange);
}
else
{
//Debug.Log("There's no range from last time, so we start off with calibration regardless!");
this.CalibrationStage = CalibrationStage.CalibrationNeeded;
}
}
else
{
this.CalibrationStage = CalibrationStage.Done;
}
//CalibrationLocked = this.CalibrationStage == CalibrationStage.Calibrating; //only locked if we're calibrating
this.CalibrationStateChanged.Invoke();
}
/// <summary> Retrieve flexion angles, normalized to [0...1] or [fingers extended ... fingers flexed] </summary>
/// <param name="flexions"></param>
/// <param name="forceUpdate"></param>
/// <returns></returns>
public virtual bool GetNormalizedFlexion(out float[] flexions, bool forceUpdate = false)
{
if (lastHandModel == null)
{
lastHandModel = SGCore.Kinematics.BasicHandModel.Default(this.IsRight);
}
//if (lastProfile == null) { lastProfile = SGCore.HandProfile.Default(this.IsRight); }
return(GetNormalizedFlexion(lastHandModel, SG_HandProfiles.GetProfile(this.IsRight), out flexions, forceUpdate));
}
/// <summary> Takes a sensor range taked from a Calibration sequence and calibrates the hand accordingly.. </summary>
/// <param name="range"></param>
/// <returns></returns>
public virtual bool CalibrateHand(SGCore.Calibration.SensorRange range)
{
SGCore.HandProfile newProfile;
SGCore.Calibration.HG_CalibrationSequence.CompileProfile(range, this.DeviceType, this.IsRight, out newProfile);
SG_HandProfiles.SetProfile(newProfile);
//this.lastRange = new SGCore.Calibration.SensorRange(range); //deep copy
if (SG_HandProfiles.SaveLastRange(range, this.lastGlove))
{
//Debug.Log("Saved Range: " + range.ToString(true));
}
if (this.CalibrationStage != CalibrationStage.Done)
{
this.CalibrationStage = CalibrationStage.Done;
this.CalibrationStateChanged.Invoke();
}
return(true);
}
/// <summary> Returns a Hand Pose containing everything you'd want to animate a hand model in Unity. Using the global HandProfile. </summary>
/// <param name="handModel"></param>
/// <param name="pose"></param>
/// <param name="forceUpdate"></param>
/// <returns></returns>
public virtual bool GetHandPose(SGCore.Kinematics.BasicHandModel handModel, out SG_HandPose pose, bool forceUpdate = false)
{
return(GetHandPose(handModel, SG_HandProfiles.GetProfile(this.IsRight), out pose, forceUpdate));
}
