// Update is called once per frame
private void Update()
{
manus_hand_t leftHand;
manus_hand_t rightHand;
_leftRet = Manus.ManusGetHand(session, device_type_t.GLOVE_LEFT, out leftHand);
_rightRet = Manus.ManusGetHand(session, device_type_t.GLOVE_RIGHT, out rightHand);
// if the retrieval of the handdata is succesfull update the local value and wether the hand is closed
if (_leftRet == manus_ret_t.MANUS_SUCCESS)
{
_leftHand = leftHand;
UpdateCloseValue(TotalAverageValue(_leftHand), device_type_t.GLOVE_LEFT);
}
if (_rightRet == manus_ret_t.MANUS_SUCCESS)
{
_rightHand = rightHand;
UpdateCloseValue(TotalAverageValue(_rightHand), device_type_t.GLOVE_RIGHT);
}
if (Input.GetKeyDown(AutomaticCalibration))
{
Calibrate(device_type_t.GLOVE_LEFT);
Calibrate(device_type_t.GLOVE_RIGHT);
Debug.Log("Calibrated the hands with the Vive trackers");
}
ManualWristRotation();
}
/// <summary>
/// Get the average value of all fingers combined on the given hand
/// </summary>
/// <param name="hand"></param>
/// <returns></returns>
public double TotalAverageValue(manus_hand_t hand)
{
int sensors = 0;
double total = 0;
// Loop through all of the finger values
for (int bendPosition = 0; bendPosition < 10; bendPosition++)
{
// Only get the sensor values of the first bending point without the thumb (1,3,5,7)
if (bendPosition < 8)
{
sensors++;
total += hand.raw.finger_sensor[bendPosition];
//TODO
//0,1 - pinky
//2,3 - kmitza
//4,5 - ama
//6,7 - finger
//0 is open - 1 is closed
}
}
return(total / sensors);
}
/// <summary>
/// Get the average value of the first joints without the thumb
/// </summary>
/// <param name="deviceType"></param>
/// <returns></returns>
public double FirstJointAverage(device_type_t deviceType)
{
manus_hand_t hand = deviceType == device_type_t.GLOVE_LEFT ? _leftHand : _rightHand;
double total = hand.raw.finger_sensor[1];
total += hand.raw.finger_sensor[3];
total += hand.raw.finger_sensor[5];
total += hand.raw.finger_sensor[7];
return(total / 4);
}
public bool CalculateIsPointing(manus_hand_t hand)
{
//if etzba is open
if (Math.Abs(hand.raw.finger_sensor[6]) < 0.1 && Math.Abs(hand.raw.finger_sensor[7]) < 0.2)
{
//check that zeret,kmitsa,ama are closed
if (Math.Abs(hand.raw.finger_sensor[1] - 1) < 0.3 && Math.Abs(hand.raw.finger_sensor[3] - 1) < 0.3 && Math.Abs(hand.raw.finger_sensor[5] - 1) < 0.3)
{
return(true);
}
}
return(false);
}
IEnumerator PlayRecording(List <manus_hand_t> handData, List <manus_ret_t> succeses, device_type_t deviceType)
{
while (true)
{
//Loop through data
for (int i = 0; i < handData.Count; i++)
{
yield return(new WaitForFixedUpdate());
if (succeses.Count > 0)
{
if (deviceType == device_type_t.GLOVE_LEFT)
{
_leftRet = succeses[i];
}
else
{
_rightRet = succeses[i];
}
if (succeses[i] != manus_ret_t.MANUS_SUCCESS)
{
continue;
}
}
else
{
_leftRet = manus_ret_t.MANUS_SUCCESS;
_rightRet = manus_ret_t.MANUS_SUCCESS;
}
var manusHandT = handData[i];
switch (deviceType)
{
case device_type_t.GLOVE_LEFT:
_leftHand = manusHandT;
UpdateCloseValue(TotalAverageValue(_leftHand), deviceType);
break;
case device_type_t.GLOVE_RIGHT:
_rightHand = manusHandT;
UpdateCloseValue(TotalAverageValue(_rightHand), deviceType);
break;
}
}
}
}
/// <summary>
/// Get the average value of all fingers combined on the given hand
/// </summary>
/// <param name="hand"></param>
/// <returns></returns>
public double TotalAverageValue(manus_hand_t hand)
{
int sensors = 0;
double total = 0;
// Loop through all of the finger values
for (int bendPosition = 0; bendPosition < 10; bendPosition++)
{
// Only get the sensor values of the first bending point without the thumb (1,3,5,7)
if (bendPosition < 8)
{
sensors++;
total += hand.raw.finger_sensor[bendPosition];
}
}
return(total / sensors);
}
// Update is called once per frame
private void Update()
{
manus_hand_t leftHand;
manus_hand_t rightHand;
_leftRet = Manus.ManusGetHand(session, device_type_t.GLOVE_LEFT, out leftHand);
_rightRet = Manus.ManusGetHand(session, device_type_t.GLOVE_RIGHT, out rightHand);
// if the retrieval of the handdata is succesfull update the local value and wether the hand is closed
if (_leftRet == manus_ret_t.MANUS_SUCCESS)
{
_leftHand = leftHand;
UpdateCloseValue(TotalAverageValue(_leftHand), device_type_t.GLOVE_LEFT);
}
if (_rightRet == manus_ret_t.MANUS_SUCCESS)
{
_rightHand = rightHand;
UpdateCloseValue(TotalAverageValue(_rightHand), device_type_t.GLOVE_RIGHT);
}
ManualWristRotation();
}
public static extern manus_ret_t ManusGetHand_id(manus_session_t session, UInt32 dongle_id, device_type_t device_type, out manus_hand_t out_hand);
public static extern manus_ret_t ManusGetHand(manus_session_t session, device_type_t device_type, out manus_hand_t out_hand);
