//-----------------------------------------------------------------------------------------------------------------------------------------
// Monobeviour
// Use this for initialization
void Start()
{
GenerateFingers();
ResizeFingers();
SG_HandPose startPose = SG_HandPose.Idle(this.IsRight);
this.UpdateHand(startPose);
}
// Update is called once per frame
void Update()
{
//Keybinds
if (Input.GetKeyDown(this.toggleGloveKey))
{
this.GloveVisible = !GloveVisible;
}
if (Input.GetKeyDown(this.toggleHandKey))
{
this.HandVisible = !HandVisible;
}
//Automated Updates
if (this.glove != null && glove.IsConnected)
{
if (!setupComplete)
{
setupComplete = true;
this.HandGeometry = SGCore.Kinematics.BasicHandModel.Default(this.glove.IsRight);
//Debug.Log("WireFrame; " + this.HandGeometry.ToString());
this.CalibrateWrist();
SG_HandPose idleHand = SG_HandPose.Idle(glove.IsRight);
this.UpdateHand(idleHand);
if (this.glove.InternalGlove is SGCore.SG.SenseGlove)
{
// Debug.Log("Generated glove model for " + this.glove.GetInternalObject().GetDeviceID());
SGCore.SG.SG_GloveInfo gloveModel = ((SGCore.SG.SenseGlove) this.glove.InternalGlove).GetGloveModel();
GenerateGlove(gloveModel);
SGCore.SG.SG_GlovePose idlePose = SGCore.SG.SG_GlovePose.IdlePose(gloveModel);
this.UpdateGlove(idlePose);
}
}
if (this.wristTransform != null && this.foreArmTransform != null)
{
if (Input.GetKeyDown(this.resetWristKey))
{
this.CalibrateWrist();
}
Quaternion imu;
if (this.glove.GetIMURotation(out imu))
{
this.UpdateWrist(imu);
}
}
if (this.gloveBase.activeInHierarchy)
{
this.UpdateGlove();
}
if (this.handBase.activeInHierarchy)
{
this.UpdateHand();
}
}
}
// Update is called once per frame
void Update()
{
if (activeHand == null)
{
if (leftHand.gloveHardware.IsConnected || rightHand.gloveHardware.IsConnected)
{
activeHand = rightHand.gloveHardware.IsConnected ? rightHand : leftHand;
activeHand.handModel.gameObject.SetActive(true);
activeHand.handAnimation.updateWrist = true;
activeHand.handAnimation.CalibrateWrist();
activeHand.handAnimation.UpdateWrist(activeHand.GetIMURotation());
activeHand.handAnimation.UpdateHand(SG_HandPose.Idle(activeHand.TracksRightHand));
activeHand.feedbackScript.DebugEnabled = true;
activeHand.grabScript.DebugEnabled = true;
activeHand.rigidBodyLayer.DebugEnabled = true;
activeHand.physicsTrackingLayer.DebugEnabled = true;
calibrateWristBtn.gameObject.SetActive(true);
if (this.showing != ShowingLayer.PhysicsLayer)
{
activeHand.physicsTrackingLayer.gameObject.SetActive(false);
}
gestureUI.gestureLayer = activeHand.gestureLayer;
if (gestureUI.gestureLayer != null)
{
gestureUI.gestureToCheck = activeHand.gestureLayer.gestures.Length > 0 ? activeHand.gestureLayer.gestures[0] : null;
}
}
}
else
{
if (Input.GetKeyDown(nextKey))
{
NextStep();
}
else if (Input.GetKeyDown(prevKey))
{
PreviousStep();
}
if (Input.GetKeyDown(wristKey))
{
CalibrateWrist();
}
}
}
/// <summary> Update the hand wireframe based off a HandPose. </summary>
/// <param name="pose"></param>
public void UpdateHand(SG_HandPose pose)
{
if (pose != null)
{
//Debug.Log("WireFrame; " + this.HandGeometry.ToString());
if (this.iFingerCorrections == null)
{
this.CollectCorrections();
}
Quaternion[][] angles = pose.jointRotations;
Vector3[][] positions = pose.jointPositions;
if (fingerJoints != null && this.iFingerCorrections != null)
{
for (int f = 0; f < fingerJoints.Length; f++)
{
if (pose.jointRotations.Length > f)
{
for (int j = 0; j < fingerJoints[f].Length; j++)
{
if (pose.jointRotations[f].Length > j)
{
fingerJoints[f][j].rotation = this.wristTransform.rotation
* (angles[f][j] * this.iFingerCorrections[f][j]);
fingerJoints[f][j].localPosition = positions[f][j];
}
if (j > 0)
{
Debug.DrawLine(fingerJoints[f][j - 1].position, fingerJoints[f][j].position);
}
}
}
}
}
}
}
