/// <summary>
/// Initialize hand controller pairs corresponding to each of the hand model pairs
/// configured in _handPool.HandPairs list. If any of the hand model in
/// _handPool.HandPairs is not configured properly, its corresponding hand controller
/// will be null and will not be updated afterwards.
/// </summary>
private void InitHandControllers()
{
_handModelCalibProfileManager = CalibrationProfileManager.Instance;
_handControllerPairs = new List <LeftRightPair <UnityHandController> >();
_handControllers = new List <UnityHandController>();
int n = _handPool.HandPairs.Count;
int vrControllerPairNum = _vrControllerObjReferencePairs.Count;
for (int i = 0; i < n; i++)
{
UnityHandRepresentation leftRep = _handPool.HandPairs[i].Left;
UnityHandController left = null;
if (leftRep.Initialized)
{
HandModelCalibrationProfile profile =
_handModelCalibProfileManager.FindProfile(
leftRep.GraphicsHandModel.Hand);
left = new UnityHandController(false, leftRep, this);
GameObject vrControllerObj = i < vrControllerPairNum ?
_vrControllerObjReferencePairs[i].Left : null;
Debug.Log(leftRep.GraphicsHandModel.Hand + "+++++++++++++++");
Debug.Log(profile);
Debug.Log("_handModelCalibProfileManager" + _handModelCalibProfileManager);
//Debug.Log(vrControllerObj);
//Debug.Log(rightRep.BendInwardLocalDirection);
left.StartInit(profile, vrControllerObj,
leftRep.BendInwardLocalDirection);
_handControllers.Add(left);
}
UnityHandRepresentation rightRep = _handPool.HandPairs[i].Right;
UnityHandController right = null;
if (rightRep.Initialized)
{
HandModelCalibrationProfile profile =
_handModelCalibProfileManager.FindProfile(
rightRep.GraphicsHandModel.Hand);
right = new UnityHandController(true, rightRep, this);
GameObject vrControllerObj = i < vrControllerPairNum ?
_vrControllerObjReferencePairs[i].Right : null;
right.StartInit(profile, vrControllerObj,
rightRep.BendInwardLocalDirection);
_handControllers.Add(right);
}
LeftRightPair <UnityHandController> pair =
new LeftRightPair <UnityHandController>(left, right);
_handControllerPairs.Add(pair);
}
}
private float GetJointSplitAngle(UnityHandController hand, UnityHandRepresentation rep, int finger, int joint)
{
if (isReady)
{
var value = hand.GetCurrentFingerRotationInfo().Fingers[finger].Split.Value;
var handProfile = profileMgr.FindProfile(rep.GraphicsHandModel.Hand);
if (handProfile != null)
{
var angle = handProfile.Fingers[finger].Joints[joint].SplitAngleExtreme * value;
return(angle);
}
}
return(0);
}
/* private float GetJointRotationAngle(UnityHandController hand, UnityHandRepresentation rep, int finger, int joint)
* {
* if (isReady)
* {
* var value = hand.GetCurrentFingerRotationInfo().Thumb.Rotate.Value;
* var handProfile = profileMgr.FindProfile(rep.GraphicsHandModel.Hand);
* if (handProfile != null)
* {
* // var angle = handProfile.Fingers[finger].Joints[joint]. value;\
* return 8;
* }
* }
* return 0;
* }*/
private float GetForceIndex(UnityHandController hand, UnityHandRepresentation rep)
{
if (isReady)
{
var handProfile = profileMgr.FindProfile(rep.GraphicsHandModel.Hand);
//float currentForce = 0;
if (handProfile != null)
{
var value = hand.Index.GetCollisionInfoOnTouch().FingerImpControlInfo.Stiffness;
//var value = hand.GetCollisionInfoOnTouch().FingerImpControlInfo.Stiffness;
return(value);
}
}
return(0);
}
private void FindController()
{
if (isReady)
{
return;
}
controller = DexmoController.Instance;
profileMgr = CalibrationProfileManager.Instance;
if (controller != null && profileMgr != null)
{
isReady = true;
leftHand = controller.HandControllerPairs[0].Left;
rightHand = controller.HandControllerPairs[0].Right;
leftRep = controller.HandPool.HandPairs[0].Left;
rightRep = controller.HandPool.HandPairs[0].Right;
}
}
/// <summary>
/// When VR controller GameObject is used as the reference to move hand models, it switches
/// the left/right VR controller reference for the left/right hand models, so if originally
/// left VR conroller moves the left hand model, it is now the right VR controller that moves
/// the left hand model.
/// </summary>
private void SwitchHandPositionAndAttitudeReference()
{
_isLeftRightReferenceReversed = !_isLeftRightReferenceReversed;
int pairNum = _vrControllerObjReferencePairs.Count;
int handControllerPairNum = _handControllerPairs.Count;
for (int i = 0; i < pairNum && i < handControllerPairNum; i++)
{
LeftRightPair <UnityHandController> handControllerPair = _handControllerPairs[i];
LeftRightPair <GameObject> vrControllerObjReferencePair = _vrControllerObjReferencePairs[i];
GameObject leftReference = vrControllerObjReferencePair.Left;
GameObject rightReference = vrControllerObjReferencePair.Right;
UnityHandController leftHandController = handControllerPair.Left;
UnityHandController rightHandController = handControllerPair.Right;
if (_isLeftRightReferenceReversed)
{
if (leftHandController != null)
{
leftHandController.AssignPositionAndAttitudeReference(rightReference);
}
if (rightHandController != null)
{
rightHandController.AssignPositionAndAttitudeReference(leftReference);
}
}
else
{
if (leftHandController != null)
{
leftHandController.AssignPositionAndAttitudeReference(leftReference);
}
if (rightHandController != null)
{
rightHandController.AssignPositionAndAttitudeReference(rightReference);
}
}
}
}
private void DisplayHandRotationNormalized(bool isRight)
{
string handLabel = isRight ? "Right Hand" : "Left Hand";
EditorGUILayout.LabelField(handLabel);
EditorGUI.indentLevel++;
if (_dexmoController.HandControllerPairs == null ||
_dexmoController.HandControllerPairs.Count == 0)
{
EditorGUILayout.LabelField(handLabel + " is not initialized.");
}
else
{
UnityHandController handController = isRight
? _dexmoController.HandControllerPairs[0].Right
: _dexmoController.HandControllerPairs[0].Left;
//if (!handController.Active)
//{
// EditorGUILayout.LabelField(handLabel + " is not active.");
//}
//else
{
IHandRotationNormalized handRotation =
handController.GetCurrentFingerRotationInfo();
int n = handRotation.Fingers.Length;
for (int i = 0; i < n; i++)
{
IFingerRotationNormalized fingerRotation =
handRotation.Fingers[i];
FingerType fingerType = (FingerType)i;
EditorGUILayout.LabelField(fingerType.ToString());
DisplayFingerRotationNormalized(fingerRotation);
}
}
}
EditorGUI.indentLevel--;
}
/// <summary>
/// Update hand controllers with hand mocap data.
/// </summary>
void FixedUpdate()
{
if (_keyboardControlTest)
{
Hand fakeHandData;
KeyboardControl(out fakeHandData);
UnityHandController hc =
_keyboardControlRight ? _handControllerPairs[0].Right : _handControllerPairs[0].Left;
hc.FixedUpdate(fakeHandData);
}
else
{
if (LibdexmoClientController == null)
{
return;
}
if (!LibdexmoClientController.Connected)
{
print("LibdexmoClientController not connected.");
return;
}
UpdateHandMotion();
}
}
