/// <summary> Update the Glove wireframe based off a GlovePose </summary>
/// <param name="glovePose"></param>
public void UpdateGlove(SGCore.SG.SG_GlovePose glovePose)
{
if (glovePose != null && this.gloveBase.activeInHierarchy)
{
Quaternion[][] angles = SG.Util.SG_Conversions.ToUnityQuaternions(glovePose.JointRotations);
Vector3[][] positions = SG.Util.SG_Conversions.ToUnityPositions(glovePose.JointPositions);
if (gloveJoints != null)
{
for (int f = 0; f < gloveJoints.Length; f++)
{
if (angles.Length > f)
{
for (int j = 0; j < gloveJoints[f].Length; j++)
{
if (angles[f].Length > j)
{
gloveJoints[f][j].rotation = this.wristTransform.rotation
* (angles[f][j]);
gloveJoints[f][j].localPosition = positions[f][j];
}
}
}
}
}
}
}
// Update is called once per frame
void Update()
{
//Keybinds
if (Input.GetKeyDown(this.toggleGloveKey))
{
this.GloveVisible = !GloveVisible;
}
if (Input.GetKeyDown(this.toggleHandKey))
{
this.HandVisible = !HandVisible;
}
//Automated Updates
if (this.glove != null && glove.IsConnected)
{
if (!setupComplete)
{
setupComplete = true;
this.HandGeometry = SGCore.Kinematics.BasicHandModel.Default(this.glove.IsRight);
//Debug.Log("WireFrame; " + this.HandGeometry.ToString());
this.CalibrateWrist();
SG_HandPose idleHand = SG_HandPose.Idle(glove.IsRight);
this.UpdateHand(idleHand);
if (this.glove.InternalGlove is SGCore.SG.SenseGlove)
{
// Debug.Log("Generated glove model for " + this.glove.GetInternalObject().GetDeviceID());
SGCore.SG.SG_GloveInfo gloveModel = ((SGCore.SG.SenseGlove) this.glove.InternalGlove).GetGloveModel();
GenerateGlove(gloveModel);
SGCore.SG.SG_GlovePose idlePose = SGCore.SG.SG_GlovePose.IdlePose(gloveModel);
this.UpdateGlove(idlePose);
}
}
if (this.wristTransform != null && this.foreArmTransform != null)
{
if (Input.GetKeyDown(this.resetWristKey))
{
this.CalibrateWrist();
}
Quaternion imu;
if (this.glove.GetIMURotation(out imu))
{
this.UpdateWrist(imu);
}
}
if (this.gloveBase.activeInHierarchy)
{
this.UpdateGlove();
}
if (this.handBase.activeInHierarchy)
{
this.UpdateHand();
}
}
}
