示例#1
0
        // <summary>
        /// Update latest G4 sensor data
        /// </summary>
        internal void G4Update(ref CyberGloveUnityPlugin.G4Data gd)
        {
            m_G4sensorNo = ( AttachedG4SensorNo )gd.sensor_No;

            if (G4HomeSet == false)
            {
                if (Mathf.Abs(gd.G4Pos.x) <= 0.01f && Mathf.Abs(gd.G4Pos.y) <= 0.01f && Mathf.Abs(gd.G4Pos.z) <= 0.10f)
                {
                }
                else
                {
                    G4Cp.Set(gd.G4Pos.x, gd.G4Pos.y, gd.G4Pos.z);
                    G4Cori.Set(gd.G4Rot.x, gd.G4Rot.y, gd.G4Rot.z);                   //yaw pitch roll order reported by G4
                    G4HomeSet = true;
                }
            }
            else
            {
                Vector3 g4position = new Vector3(gd.G4Pos.x, gd.G4Pos.y, gd.G4Pos.z);
                Vector3 g4rotation = new Vector3(gd.G4Rot.x, gd.G4Rot.y, gd.G4Rot.z);

                if (Mathf.Abs(G4Cp.x) <= 0.01f && Mathf.Abs(G4Cp.y) <= 0.01f && Mathf.Abs(G4Cp.z) <= 0.01f)
                {
                    G4Cp   = g4position;
                    G4Cori = g4rotation;
                }
                else
                {
                    Vector3 G4trans = g4position - G4Cp;
                    m_PalmPosition.Set(G4trans.x, G4trans.y, G4trans.z);

                    //Vector3 rotation = new Vector3(gd.G4Rot.x,gd.G4Rot.y,gd.G4Rot.z); //x:yaw y:pitch z:roll order reported by G4
                    Vector3 rotation = new Vector3(gd.G4Rot.x, 0.0f, gd.G4Rot.z);
                    Vector3 G4ori    = G4Cori - rotation;

                    Quaternion G4rot_quat = new Quaternion(0.0f, 0.0f, 0.0f, 1.0f);
                    G4rot_quat     = EulerToQuat(-G4ori.y, -(pi - G4ori.z), G4ori.x);
                    m_PalmRotation = G4rot_quat * m_PalmRotation;
                }
            }
        }
示例#2
0
        internal CyberGlove()
        {
            m_Connected   = false;
            m_G4Connected = false;
            m_Handedness  = CyberGloveHandedness.UNKNOWN;
            m_G4sensorNo  = AttachedG4SensorNo.UNKNOWN;
            m_PalmPosition.Set(0.0f, 0.0f, 0.0f);
            m_PalmRotation.Set(0.0f, 0.0f, 0.0f, 1.0f);
            G4Cp.Set(0.0f, 0.0f, 0.0f);
            G4Cori.Set(0.0f, 0.0f, 0.0f);
            G4HomeSet = false;


            for (int finger = 0; finger < 5; finger++)      //5 fingers: Thumb, Index, Middle, Ring, Pinky
            {
                for (int joint = 0; joint < 4; joint++)     //4 joints: Inner, Middle, Outer, FingerTip
                {
                    m_fingerJointPos[finger, joint].Set(0.0f, 0.0f, 0.0f);
                    m_fingerJointRot_quat[finger, joint].Set(0.0f, 0.0f, 0.0f, 1.0f);
                }
            }
        }