public static void UpdateHand(SG_HandAnimator animater, bool calibrating, SG_HandPose pose)
{
if (animater != null && calibrating)
{
animater.UpdateHand(pose);
}
}
public static void UpdateOpenClose(bool isRight, SG_HandAnimator animater, bool calibrating, SGCore.Kinematics.HandInterpolator poseInterp, float normalizedTime01)
{
if (animater != null && calibrating && poseInterp != null)
{
SGCore.Kinematics.Vect3D[][] handAngles = SGCore.Kinematics.Values.FillZero(5, 3);
for (int f = 0; f < 5; f++)
{
if (f == 0)
{
handAngles[f][0].x = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Twist, normalizedTime01);
handAngles[f][0].z = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Abd, normalizedTime01);
handAngles[f][0].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_CMC_Flex, normalizedTime01);
handAngles[f][1].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_MCP_Flex, normalizedTime01);
handAngles[f][2].y = poseInterp.CalculateAngle(SGCore.Kinematics.ThumbMovement.T_IP_Flex, normalizedTime01);
}
else
{
SGCore.Finger finger = (SGCore.Finger)f;
handAngles[f][0].z = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_MCP_Abd, normalizedTime01);
handAngles[f][0].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_MCP_Flex, normalizedTime01);
handAngles[f][1].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_PIP_Flex, normalizedTime01);
handAngles[f][2].y = poseInterp.CalculateAngle(finger, SGCore.Kinematics.FingerMovement.F_DIP_Flex, normalizedTime01);
}
}
animater.UpdateHand(new SG_HandPose(SGCore.HandPose.FromHandAngles(handAngles, isRight)));
}
}
//--------------------------------------------------------------------------------------------------------------------------
// Monobehaviour
private void Start()
{
// Attempt to retrieve missing references.
if (this.handAnimation == null && this.touchScript != null && this.touchScript.feedbackScript != null)
{
this.handAnimation = this.touchScript.feedbackScript.HandAnimation;
}
}
public static void SetHandExample(SG_HandAnimator animater, bool enabled)
{
if (animater != null)
{
animater.enabled = false;
if (animater.handModelInfo != null)
{
animater.handModelInfo.gameObject.SetActive(enabled);
}
}
}
/// <summary> Link relevant scripts to this trackedHand, if they have not been assinged yet. </summary>
protected void CheckForScripts()
{
//if (this.hardware == null) { this.hardware = this.gameObject.GetComponent<SG_HapticGlove>(); }
if (this.handModel == null)
{
this.handModel = this.GetComponentInChildren <SG_HandModelInfo>();
}
if (this.grabScript == null)
{
this.grabScript = this.GetComponentInChildren <SG_GrabScript>();
}
if (this.feedbackScript == null)
{
this.feedbackScript = this.GetComponentInChildren <SG_HandFeedback>();
}
if (this.handAnimation == null)
{
this.handAnimation = this.GetComponentInChildren <SG_HandAnimator>();
}
if (this.gestureLayer == null)
{
this.gestureLayer = this.GetComponentInChildren <SG_GestureLayer>();
}
if (this.statusIndicator == null)
{
this.statusIndicator = this.GetComponentInChildren <SG_HandStateIndicator>();
}
//Since both RB and PhysicsTrackingLayers have the same component, assing whichever one we haven't done yet.
if (this.rigidBodyLayer == null || this.physicsTrackingLayer == null)
{
SG_HandRigidBodies[] components = this.GetComponentsInChildren <SG_HandRigidBodies>();
for (int i = 0; i < components.Length; i++)
{
if (this.rigidBodyLayer == null && //we don't yet have a RigidBody Layer
(this.physicsTrackingLayer == null || !GameObject.ReferenceEquals(this.physicsTrackingLayer.gameObject, components[i].gameObject)))
{
rigidBodyLayer = components[i];
}
if (this.physicsTrackingLayer == null && //we don't yet have a RigidBody Layer
(this.rigidBodyLayer == null || !GameObject.ReferenceEquals(this.rigidBodyLayer.gameObject, components[i].gameObject)))
{
physicsTrackingLayer = components[i];
}
}
}
}