/// <summary> Updates all variables that can change during the simulation.</summary>
/// <param name="data"></param>
public void UpdateVariables(SenseGloveCs.GloveData data)
{
this.dataLoaded = data.dataLoaded;
this.deviceID = data.deviceID;
this.gloveValues = data.gloveValues;
this.imuValues = data.imuValues;
this.imuCalibration = data.imuCalibration;
this.numberOfSensors = data.numberOfSensors;
this.packetsPerSecond = data.samplesPerSec;
this.calibrationStep = data.currentCalStep;
this.totalCalibrationSteps = data.totalCalSteps;
this.absoluteCalibratedWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.QcalibratedAbs);
this.absoluteWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.QwristAbs);
this.relativeWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.Qrelative);
SenseGlove_Data.GetChainVariables(ref data.kinematics.gloveLinks, ref this.glovePositions,
ref this.gloveAngles, ref this.gloveRotations, ref this.gloveLengths);
SenseGlove_Data.GetChainVariables(ref data.kinematics.fingers, ref this.handPositions,
ref this.handAngles, ref this.handRotations, ref this.handLengths);
}
//--------------------------------------------------------------------------------------------------------------------------
// Connection Methods
/// <summary> Link this Sense Glove to one of the SenseGlove_Manager's detected gloves. </summary>
/// <param name="gloveIndex"></param>
public bool LinkToGlove(int gloveIndex)
{
if (!this.IsLinked)
{
this.trackedGloveIndex = gloveIndex;
this.actualTrackedIndex = gloveIndex;
this.linkedGlove = SenseGlove_DeviceManager.GetSenseGlove(gloveIndex);
this.linkedGlove.OnFingerCalibrationFinished += LinkedGlove_OnCalibrationFinished;
//TODO: Subscribe to more events if needed
//uodating once so glovedata is available, but not through the UpdateHand command, as that one needs the glove to already be connected.
SenseGloveCs.GloveData rawData = this.linkedGlove.Update(UpdateLevel.HandPositions, this.solver, this.limitFingers, this.updateWrist, new Quat(0, 0, 0, 1), false);
this.linkedGloveData = new SenseGlove_Data(rawData);
this.OnGloveLink(); //Fire glove linked event.
return(true);
}
else
{
Debug.LogWarning("Could not Link the Sense Glove because it has already been assigned. Unlink it first bu calling the UnlinkGlove() Method.");
}
return(false);
}
//-------------------------------------------------------------------------------------------------------------------
// Constructor
/// <summary> Extract right-handed coordinate system data from the SenseGlove DLL and convert it into Unity values. </summary>
/// <param name="data"></param>
/// <param name="packets"></param>
/// <param name="totalCSteps"></param>
/// <param name="currCStep"></param>
public SenseGlove_Data(SenseGloveCs.GloveData data)
{
if (data != null)
{
this.dataLoaded = data.dataLoaded;
this.gloveSide = SenseGlove_Data.GetSide(data.kinematics.isRight);
this.deviceID = data.deviceID;
this.firmwareVersion = data.firmwareVersion;
this.gloveVersion = data.deviceVersion;
this.gloveValues = data.gloveValues;
this.imuValues = data.imuValues;
this.imuCalibration = data.imuCalibration;
this.packetsPerSecond = data.samplesPerSec;
this.numberOfSensors = data.numberOfSensors;
this.calibrationStep = data.currentCalStep;
this.totalCalibrationSteps = data.totalCalSteps;
this.absoluteCalibratedWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.QcalibratedAbs);
this.absoluteWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.QwristAbs);
this.relativeWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.Qrelative);
this.commonOriginPos = SenseGlove_Util.ToUnityPosition(data.kinematics.gloveRelPos);
this.commonOriginRot = SenseGlove_Util.ToUnityQuaternion(data.kinematics.gloveRelRot);
SenseGlove_Data.GetChainVariables(ref data.kinematics.gloveLinks, ref this.glovePositions,
ref this.gloveAngles, ref this.gloveRotations, ref this.gloveLengths);
SenseGlove_Data.GetChainVariables(ref data.kinematics.fingers, ref this.handPositions,
ref this.handAngles, ref this.handRotations, ref this.handLengths);
}
}
//--------------------------------------------------------------------------------------------------------------------------
// Class Methods
/// <summary> Updates this glove's data. </summary>
protected void UpdateGlove()
{
if (this.wasConnected && this.linkedGlove != null && this.IsConnected) //if we are connected then linkedGlove is assumed not null.
{
//lower arm rotation is set to identity (n/a) since we will calibrate at _HandModel Level
SenseGloveCs.GloveData rawData = this.linkedGlove.Update(UpdateLevel.HandPositions, this.solver, this.limitFingers, this.updateWrist,
new Quat(0, 0, 0, 1), false);
this.linkedGloveData.UpdateVariables(rawData);
}
}
public void ThreadProc()
{
while (UpdateThread.linkedGlove == null)
{
Thread.Sleep(10);
}
while (UpdateThread.linkedGlove != null)
{
rawData = linkedGlove.Update(UpdateLevel.HandPositions, this.solver, this.limitFingers, this.updateWrist, new Quat(0, 0, 0, 1), false);
Thread.Sleep(10);
}
}
protected override void SetupDevice()
{
this.linkedGlove = (SenseGlove)this.linkedDevice;
//this.linkedGlove.OnFingerCalibrationFinished += LinkedGlove_OnCalibrationFinished;
//uodating once so glovedata is available, but not through the UpdateHand command, as that one needs the glove to already be connected.
SenseGloveCs.GloveData rawData = this.linkedGlove.GetData(false);
this.linkedGloveData = new SenseGlove_Data(rawData);
//Device has been linked, now retrieve calibration.
string serialized;
if (SG.Calibration.SG_CalibrationStorage.LoadInterpolation(SenseGloveCs.DeviceType.SenseGlove, linkedGloveData.gloveSide, out serialized))
{
//Debug.Log("Loaded Calibration for the " + (linkedGloveData.gloveSide == GloveSide.LeftHand ? "Left Hand" : "Right Hand"));
linkedGlove.SetInterpolationValues(serialized); //sets internal values
}
}
/// <summary> Extract right-handed coordinate system data from the SenseGlove DLL and convert it into Unity values. </summary>
/// <param name="data"></param>
/// <param name="packets"></param>
/// <param name="totalCSteps"></param>
/// <param name="currCStep"></param>
public SenseGlove_Data(SenseGloveCs.GloveData data)
{
if (data != null)
{
this.gloveSide = SenseGlove_Data.GetSide(data.kinematics.isRight);
this.deviceID = data.deviceID;
this.firmwareVersion = data.firmwareVersion;
this.gloveVersion = data.deviceVersion;
this.packetsPerSecond = data.samplesPerSec;
this.commonOriginPos = SenseGlove_Util.ToUnityPosition(data.kinematics.gloveRelPos);
this.commonOriginRot = SenseGlove_Util.ToUnityQuaternion(data.kinematics.gloveRelRot);
this.UpdateVariables(data);
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Constructor
/// <summary> Extract right-handed coordinate system data from the SenseGlove DLL and convert it into Unity values. </summary>
/// <param name="data"></param>
/// <param name="packets"></param>
/// <param name="totalCSteps"></param>
/// <param name="currCStep"></param>
public SenseGlove_Data(SenseGloveCs.GloveData data, int packets, int totalCSteps, int currCStep)
{
if (data != null)
{
this.dataLoaded = data.dataLoaded;
this.isRight = data.isRight;
this.deviceID = data.deviceID;
this.firmwareVersion = data.firmwareVersion;
this.gloveVersion = data.gloveVersion;
this.gloveValues = data.gloveValues;
this.imuValues = data.imuValues;
this.packetsPerSecond = packets;
this.numberOfSensors = data.numberOfSensors;
this.calibrationStep = currCStep;
this.totalCalibrationSteps = totalCSteps;
this.absoluteCalibratedWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.QcalibratedAbs);
this.absoluteWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.QwristAbs);
this.relativeWrist = SenseGlove_Util.ToUnityQuaternion(data.wrist.Qrelative);
this.commonOriginPos = SenseGlove_Util.ToUnityPosition(data.handModel.gloveRelPos);
this.commonOriginRot = SenseGlove_Util.ToUnityQuaternion(data.handModel.gloveRelOrient);
this.gloveAngles = SenseGlove_Data.ToEuler(data.handModel.gloveAngles);
this.gloveLengths = SenseGlove_Data.ToVector3(data.handModel.gloveLengths);
this.gloveRotations = SenseGlove_Data.ToQuaternion(data.handModel.gloveRotations);
this.glovePositions = SenseGlove_Data.ToVector3(data.handModel.glovePositions);
this.handAngles = SenseGlove_Data.ToEuler(data.handModel.handAngles);
this.handLengths = SenseGlove_Data.ToVector3(data.handModel.handLengths);
this.handRotations = SenseGlove_Data.ToQuaternion(data.handModel.handRotations);
this.handPositions = SenseGlove_Data.ToVector3(data.handModel.handPositions);
}
}
