/// <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>
/// Keyboard shortcuts for debug purpose.
/// </summary>
private void KeyboardCommandToDexmo()
{
if (LibdexmoClientController == null || !LibdexmoClientController.Connected)
{
return;
}
if (Input.GetKeyDown(KeyCode.S))
{
SwitchHandPositionAndAttitudeReference();
}
if (Input.GetKeyDown(KeyCode.R))
{
foreach (UnityHandController handController in _handControllers)
{
if (handController.Active)
{
int assignedId = handController.DeviceInfo.AssignedId;
ImpedanceControlStopAllFingers(assignedId);
}
}
}
if (Input.GetKeyDown(KeyCode.U))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Right;
if (handRep != null)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[0].BendRotationBounds;
ModifyHandRotationBoundsMax(bounds, -0.1f);
}
}
if (Input.GetKeyDown(KeyCode.I))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Right;
if (handRep != null)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[0].BendRotationBounds;
ModifyHandRotationBoundsMax(bounds, 0.1f);
}
}
if (Input.GetKeyDown(KeyCode.J))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Right;
if (handRep != null)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[0].BendRotationBounds;
ModifyHandRotationBoundsMin(bounds, -0.1f);
}
}
if (Input.GetKeyDown(KeyCode.K))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Right;
if (handRep != null)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[0].BendRotationBounds;
ModifyHandRotationBoundsMin(bounds, 0.1f);
}
}
if (Input.GetKeyDown(KeyCode.T))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Left;
if (handRep != null)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[0].BendRotationBounds;
ModifyHandRotationBoundsMax(bounds, -0.1f);
}
}
if (Input.GetKeyDown(KeyCode.Y))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Left;
if (handRep != null)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[0].BendRotationBounds;
ModifyHandRotationBoundsMax(bounds, 0.1f);
}
}
if (Input.GetKeyDown(KeyCode.G))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Left;
if (handRep != null)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[0].BendRotationBounds;
ModifyHandRotationBoundsMin(bounds, -0.1f);
}
}
if (Input.GetKeyDown(KeyCode.H))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Left;
if (handRep != null)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[0].BendRotationBounds;
ModifyHandRotationBoundsMin(bounds, 0.1f);
}
}
if (Input.GetKeyDown(KeyCode.Alpha0))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Right;
if (handRep != null)
{
int n = 5;
for (int i = 0; i < n; i++)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[i].BendRotationBounds;
bounds.RestoreToDefault();
}
}
}
if (Input.GetKeyDown(KeyCode.Alpha9))
{
UnityHandRepresentation handRep = _handPool.HandPairs[0].Left;
if (handRep != null)
{
int n = 5;
for (int i = 0; i < n; i++)
{
BoundaryValue bounds = handRep.HandRotationBounds.Fingers[i].BendRotationBounds;
bounds.RestoreToDefault();
}
}
}
}
