//Add the calcuations for the arm calculations on the manus API
private void add_arm_calc(ref manus_hand_t hand, ref ik_body_t body_side, ref ik_profile_t my_profile, ref Manus_hand_obj my_hand)
{
//double arm_calcs[2];
ManusVR.Manus.ManusUpdateIK(session, ref body_side); //Broken, does nothing.
//Hand function to set the profile characteristics of the arm.
my_hand.set_lenghts_arm(my_profile.shoulderLength, my_profile.upperArmLength, my_profile.upperNeckLength, my_profile.lowerArmLength,
my_profile.lowerNeckLength, process_vector(my_profile.upperNeckOffset));
////print_quat(process_quat(body_side.left.lowerArm.rotation));
////print_vector(process_vector(body_side.left.lowerArm.translation));
}
//I start the program.
void Start()
{
Debug.Log("Starting Manus_API");
session = new IntPtr();
lefth = new manus_hand_t();
righth = new manus_hand_t();
leftraw = new manus_hand_raw_t();
rightraw = new manus_hand_raw_t();
myProfileL = new ik_profile_t();
myProfileR = new ik_profile_t();
left_arm = new ik_body_t();
right_arm = new ik_body_t();
isR = false;
isL = false;
Manus.ManusInit(out session);
Debug.Log("Done.");
}
///***Wrong assumption, it does not provide real-time data***
private void add_manus_profile_hands(ref ik_profile_t my_profile, ref Manus_hand_obj my_hand)
{
List <double> temporary_finger_array = new List <double>(); //Temporary array for doubles to insert into finger.
List <Finger> fingers = new List <Finger>();
//Horrible method of phrasing, but what happens is that a List array is phrased over from the manus array
//Index Finger
for (int c = 0; c < 4; c++)
{
/// temporary_finger_array.Add(my_profile.handProfile.index.bones[c]);
temporary_finger_array.Add(my_profile.handProfile.fingers[0].bones[c]);
// Debug.Log(my_profile.handProfile.fingers[0].bones[c]);
// Debug.Log("Quack");
}
Finger index_bone = new Finger(temporary_finger_array); // Array is inserted into the finger object.
temporary_finger_array.Clear();
fingers.Add(index_bone);//Finger is added into hand.
//Middle Finger
for (int c = 0; c < 4; c++)
{
temporary_finger_array.Add(my_profile.handProfile.fingers[1].bones[c]);
}
Finger middle_bone = new Finger(temporary_finger_array); // Array is inserted into the finger object.
temporary_finger_array.Clear();
fingers.Add(middle_bone);//Finger is added into hand.
//Ring Finger
for (int c = 0; c < 4; c++)
{
temporary_finger_array.Add(my_profile.handProfile.fingers[2].bones[c]);
}
Finger ring_bone = new Finger(temporary_finger_array); // Array is inserted into the finger object.
temporary_finger_array.Clear();
fingers.Add(ring_bone);//Finger is added into hand.
//Pinky Finger
for (int c = 0; c < 4; c++)
{
temporary_finger_array.Add(my_profile.handProfile.fingers[3].bones[c]);
}
Finger pinky_bone = new Finger(temporary_finger_array); // Array is inserted into the finger object.
temporary_finger_array.Clear();
fingers.Add(pinky_bone);//Finger is added into hand.
//Thumb Finger
for (int c = 0; c < 4; c++)
{
temporary_finger_array.Add(my_profile.handProfile.fingers[4].bones[c]);
}
Finger thumb_bone = new Finger(temporary_finger_array); // Array is inserted into the finger object.
temporary_finger_array.Clear();
fingers.Add(thumb_bone); //Finger is added into hand.
my_hand.add_vector_fingers_manus_profile(fingers);
}
//Function that phrases in a single finger
private void add_manus_hand(ref manus_hand_t hand, ref manus_hand_raw_t raw_hand, device_type_t which_hand_side, ik_body_t body_side, ik_profile_t my_profile)
{
//Manus Hand Objects
Manus_hand_obj hand_in_use = new Manus_hand_obj();
//Process data for the left hand, including raw data.
Manus.ManusGetHandRaw(session, which_hand_side, out raw_hand);
Manus.ManusGetProfile(session, out my_profile); ///Wrong assumption, it does not provide real-time data.
Manus.ManusGetHand(session, which_hand_side, out hand);
//Manus.ManusGetHand_id(session, 2602524395, which_hand_side, out hand);
Manus.ManusGetBatteryLevel(session, which_hand_side, out bat_value);
//Set Battery level
hand_in_use.set_bat(bat_value);
//Set Arm calculations
add_arm_calc(ref hand, ref body_side, ref my_profile, ref hand_in_use);
//Set the raw_double finger data from manus
add_hand_fingers_raw(ref raw_hand, ref which_hand_side, ref hand_in_use);
//Set manus_profile finger data
add_manus_profile_hands(ref my_profile, ref hand_in_use);
//Set regular Manus hand data
add_hand_fingers(ref hand, ref which_hand_side, ref hand_in_use);
//Add relevant data to the hands array
if (which_hand_side == device_type_t.GLOVE_LEFT)
{
//hands.insert(hands.begin(),hand_in_use); //Left Glove
hands[0] = hand_in_use;
}
else
{
//hands.assign(1, hand_in_use); //Right Glove
hands[1] = hand_in_use;
}
}
