void Update()
{
lock (_lock) {
armSynced = _myoArmSynced;
arm = _myoArm;
xDirection = _myoXDirection;
if (_myoQuaternion != null)
{
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null)
{
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null)
{
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
if (isPaired && streamEmg == Thalmic.Myo.Result.Success)
{
emg = _myo.emgData;
}
pose = _myoPose;
unlocked = _myoUnlocked;
}
}
void Update()
{
lock (_lock)
{
armSynced = _myoArmSynced;
arm = _myoArm;
xDirection = _myoXDirection;
//Felix
/*if (_myoQuaternion != null)
* {
* transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
* }*/
if (_myoAccelerometer != null)
{
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null)
{
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
//pose = _myoPose;
//Felix
if (Player != null && Player.Replaying && Player.FrameCount > 0)
{
MyoData mData = Player.GetCurrentFrame();
pose = mData.Pose;
transform.localRotation = mData.Quaternion;
if (Player != null && !Player.Focus)
{
Player.SetFocus(true);
}
}
else
{
pose = _myoPose;
if (armSynced && _myoQuaternion != null)
{
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X,
-_myoQuaternion.W);
if (Player != null && !Player.Focus)
{
Player.SetFocus(true);
}
}
else if (Player != null)
{
Player.SetFocus(false);
}
}
unlocked = _myoUnlocked;
}
}
void Update()
{
CheckRayCasting();
recPose = gameManager.GetComponent <MyoWebClient>().recPose;
recOrientation = gameManager.GetComponent <MyoWebClient>().recOrientation;
recXdir = gameManager.GetComponent <MyoWebClient>().recXdir;
bool updateReference = false;
if (recPose != lastPose)
{
lastPose = recPose;
if (recPose == Pose.FingersSpread)
{
updateReference = true;
}
}
if (Input.GetKeyDown("r"))
{
updateReference = true;
}
if (updateReference)
{
antiYaw = Quaternion.FromToRotation(
new Vector3(myoGameObject.transform.forward.x, 0, myoGameObject.transform.forward.z),
Camera.main.transform.forward
);
Vector3 referenceZeroRoll = computeZeroRollVector(myoGameObject.transform.forward);
referenceRoll = rollFromZero(referenceZeroRoll, myoGameObject.transform.forward, myoGameObject.transform.up);
}
// Current zero roll vector and roll value.
Vector3 zeroRoll = computeZeroRollVector(myoGameObject.transform.forward);
float roll = rollFromZero(zeroRoll, myoGameObject.transform.forward, myoGameObject.transform.up);
float relativeRoll = normalizeAngle(roll - referenceRoll);
Quaternion antiRoll = Quaternion.AngleAxis(relativeRoll, myoGameObject.transform.forward);
transform.rotation = antiYaw * antiRoll * Quaternion.LookRotation(myoGameObject.transform.forward);
if (recXdir == Thalmic.Myo.XDirection.TowardWrist)
{
transform.rotation = new Quaternion(transform.localRotation.x,
-transform.localRotation.y,
transform.localRotation.z,
-transform.localRotation.w);
}
}
void Update() {
lock (_lock) {
armRecognized = _myoArmRecognized;
arm = _myoArm;
xDirection = _myoXDirection;
if (_myoQuaternion != null) {
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null) {
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null) {
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
pose = _myoPose;
}
}
void Update()
{
lock (_lock) {
armSynced = _myoArmSynced;
arm = _myoArm;
xDirection = _myoXDirection;
/* if (_myoQuaternion != null) {
* transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
* }
* if (_myoAccelerometer != null) {
* accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
* }*/
/* if (_myoGyroscope != null) {
* gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
* }*/
pose = _myoPose;
unlocked = _myoUnlocked;
}
}
void Update()
{
lock (_lock) {
armRecognized = _myoArmRecognized;
arm = _myoArm;
xDirection = _myoXDirection;
if (_myoQuaternion != null)
{
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null)
{
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null)
{
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
pose = _myoPose;
}
}
void Update() {
lock (_lock) {
armSynced = _myoArmSynced;
arm = _myoArm;
xDirection = _myoXDirection;
if (_myoQuaternion != null) {
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null) {
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null) {
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
// if (isPaired && streamEmg == Thalmic.Myo.Result.Success) {
// emg = _myo.emgData;
// }
pose = _myoPose;
unlocked = _myoUnlocked;
}
}
public int[] Update()
{
// Line for mapping motion to avatar elbow
ClientRoutine_Sitting.elbowMyo = GetComponent <Transform>().rotation; //Supinate z, Internal rotation y, Bicep x,
lock (_lock) { // The lock keyword ensures that one thread does not enter a critical section of code while another thread is in the critical section.
armSynced = _myoArmSynced;
arm = _myoArm;
xDirection = _myoXDirection;
if (_myoQuaternion != null)
{
transform.localRotation = new UnityEngine.Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null)
{
accelerometer = new UnityEngine.Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null)
{
gyroscope = new UnityEngine.Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
if (isPaired && streamEmg == Thalmic.Myo.Result.Success)
{
emg = _myo.emgData;
/*
* UnityEngine.Debug.Log("Size of raw emg array (ThalmicMyo): " + emg.Length);
* UnityEngine.Debug.Log("Timestamp: " + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff"));
* UnityEngine.Debug.Log("---------------------------------------------");
*/
}
pose = _myoPose;
unlocked = _myoUnlocked;
}
return(emg);
}
void myo_OnArmUnsync(object sender, Thalmic.Myo.MyoEventArgs e)
{
lock (_lock) {
_myoArmSynced = false;
_myoArm = Arm.Unknown;
_myoXDirection = XDirection.Unknown;
}
}
void myo_OnArmSync(object sender, Thalmic.Myo.ArmSyncedEventArgs e)
{
lock (_lock) {
_myoArmSynced = true;
_myoArm = e.Arm;
_myoXDirection = e.XDirection;
}
}
void Update()
{
armSynced = _myoArmSynced;
if (armSynced)
{
syncText.text = "Myo is synced!";
}
else
{
syncText.text = "Perform the sync motion.";
}
arm = _myoArm;
xDirection = _myoXDirection;
if (_myoQuaternion != null) {
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null) {
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null) {
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
pose = _myoPose;
if ((pose == Pose.Fist) && (armSynced)) {
fistText.text = "Curl or Punch";
}
else
{
fistText.text = "Make sure the myo is synced and make a fist!";
}
unlocked = _myoUnlocked;
}
void myo_OnArmSync(object sender, Thalmic.Myo.ArmSyncedEventArgs e)
{
lock (_lock) {
_myoArmSynced = true;
_myoArm = e.Arm;
_myoXDirection = e.XDirection;
accelerometer = new Vector3(0,0,0);
}
}
void Update()
{
lock (_lock) {
armSynced = _myoArmSynced;
arm = _myoArm;
xDirection = _myoXDirection;
if (_myoQuaternion != null)
{
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null)
{
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null)
{
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
if (isPaired && streamEmg == Thalmic.Myo.Result.Success)
{
emg = _myo.emgData;
//print ("EMG stream received: " + emg.Length); // 8
if (emg.Length == 8)
{
//print (emg[0] + " " + emg[1] + " " + emg[2] + " " + emg[3] + " " + emg[4] + " " + emg[5] + " " + emg[6] + " " + emg[7]);
//Savecsv();
/*
*
* string filePath = @"Saved_data.csv";
* string delimiter = ",";
*
* string[][] output = new string[][]{
* new string[]{emg[0].ToString()},
* new string[]{emg[1].ToString()},
* new string[]{emg[2].ToString()},
* new string[]{emg[3].ToString()},
* new string[]{emg[4].ToString()},
* new string[]{emg[5].ToString()},
* new string[]{emg[6].ToString()},
* new string[]{emg[7].ToString()},
* new string[]{"end"}
* };
* int length = output.GetLength(0);
* StringBuilder sb = new StringBuilder();
* for (int index = 0; index < length; index++)
* sb.AppendLine(string.Join(delimiter, output[index]));
*
* File.WriteAllText(filePath, sb.ToString());
*/
}
//foreach (int emgval in emg) { // doesn't work
// print ("emgval" + emgval);
//}
}
pose = _myoPose;
unlocked = _myoUnlocked;
}
}
private void ReceiveCallback(IAsyncResult AR)
{
//Check how much bytes are recieved and call EndRecieve to finalize handshake
int recieved = _clientSocket.EndReceive(AR);
if (recieved <= 0)
{
return;
}
//Copy the recieved data into new buffer , to avoid null bytes
byte[] recData = new byte[recieved];
Buffer.BlockCopy(_recieveBuffer, 0, recData, 0, recieved);
var rawReceiveData = System.Text.Encoding.Default.GetString(recData);
recString = rawReceiveData.Substring(0, rawReceiveData.IndexOf("\r\n"));
try {
var data = recString.Split(':');
recOrientation = new Quaternion(float.Parse(data[0].Split(',')[1]),
float.Parse(data[0].Split(',')[2]),
-float.Parse(data[0].Split(',')[0]),
-float.Parse(data[0].Split(',')[3]));
switch (data[1].Trim())
{
case "rest":
recPose = Thalmic.Myo.Pose.Rest;
break;
case "fist":
recPose = Thalmic.Myo.Pose.Fist;
break;
case "wavein":
recPose = Thalmic.Myo.Pose.WaveIn;
break;
case "waveout":
recPose = Thalmic.Myo.Pose.WaveOut;
break;
case "doubletap":
recPose = Thalmic.Myo.Pose.DoubleTap;
break;
case "fingerspread":
recPose = Thalmic.Myo.Pose.FingersSpread;
break;
default:
break;
}
switch (data[2].Trim())
{
case "toward_wrist":
recXdir = Thalmic.Myo.XDirection.TowardWrist;
break;
case "toward_elbow":
recXdir = Thalmic.Myo.XDirection.TowardElbow;
break;
}
}
catch (Exception ex)
{
Debug.Log(ex.Message);
}
_clientSocket.BeginReceive(_recieveBuffer, 0, _recieveBuffer.Length, SocketFlags.None, new AsyncCallback(ReceiveCallback), null);
}
void Update()
{
lock (_lock)
{
armSynced = _myoArmSynced;
arm = _myoArm;
xDirection = _myoXDirection;
if (_myoQuaternion != null)
{
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null)
{
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null)
{
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
unlocked = _myoUnlocked;
// Récupération de l'ancienne pose.
lastPose = pose;
// Récupération de la pose courant.
pose = _myoPose;
// Calibration de la position du Myo lorsque le joueur écarte les doigts.
if (pose == Pose.FingersSpread && !hasAlreadyCalibrate)
{
OrientationYI = myo.transform.forward.y;
OrientationZI = myo.transform.forward.z;
hasAlreadyCalibrate = true;
Debug.Log($"Initialisation des valeurs de l'orientation X({OrientationZI}) et Y({OrientationYI})");
}
if (pose == Pose.DoubleTap)
{
// Si le joueur fait 2 double tap à la suite --> rejouer.
if (hasDoubleTap && lastPose == Pose.Rest)
{
Replay();
}
hasDoubleTap = true;
}
else if (pose != Pose.Rest)
{
hasDoubleTap = false;
}
// Si le joueur n'a pas encore joué.
if (!hasAlreadyPlayed)
{
// Si la position du joueur est le poing
if (pose == Pose.Fist)
{
// Si l'accélération maximale est égale à 0 et donc que le joueur n'est pas entrain de lancer --> Début du lancer
if (AccelXMax == 0f)
{
// Vibration indiquant au joueur que le lancer à commencé.
_myo.Vibrate(VibrationType.Short);
}
// Si la position courante Y du myo est supérieure à la position Y initiale lors de la calibration --> Lancer le jeu.
if (myo.transform.forward.y > OrientationYI)
{
AvantLancer();
}
// Récupération
if (AccelXMax < _myoAccelerometer.X)
{
AccelXMax = _myoAccelerometer.X;
}
}
// Sinon, si l'accélération maximale est supérieure à 0, et donc que le joueur est dans un lancé => le joueur a finit son lancé donc on lance le jeu.
else if (AccelXMax > 0f)
{
AvantLancer();
}
// Si le joueur est en extension: déplacement de la boule vers la droite
else if (pose == Pose.WaveOut && lastPose != Pose.WaveOut)
{
if (ball.transform.position.x > -0.4f)
{
ball.transform.Translate(new Vector3(-0.1f, 0f, 0f));
}
}
// Si le joueur est en flexion: déplacement de la boule vers la gauche
else if (pose == Pose.WaveIn && lastPose != Pose.WaveIn)
{
if (ball.transform.position.x < 0.4f)
{
ball.transform.Translate(new Vector3(0.1f, 0f, 0f));
}
}
}
}
}
void Update() {
lock (_lock) {
armSynced = _myoArmSynced;
arm = _myoArm;
xDirection = XDirection.TowardWrist;//_myoXDirection;
if (_myoQuaternion != null) {
transform.localRotation = new Quaternion(_myoQuaternion.Y, _myoQuaternion.Z, -_myoQuaternion.X, -_myoQuaternion.W);
}
if (_myoAccelerometer != null) {
accelerometer = new Vector3(_myoAccelerometer.Y, _myoAccelerometer.Z, -_myoAccelerometer.X);
}
if (_myoGyroscope != null) {
gyroscope = new Vector3(_myoGyroscope.Y, _myoGyroscope.Z, -_myoGyroscope.X);
}
pose = _myoPose;
unlocked = _myoUnlocked;
/// Our code
Vector3 rot = transform.localRotation.eulerAngles;
float horizontalRotate = rot.z;
float verticalRotate = rot.y;
if (horizontalRotate > 180) {
horizontalRotate = 360 - horizontalRotate;
}
if (verticalRotate > 180) {
verticalRotate = 360 - verticalRotate;
}
if (Mathf.Abs(verticalRotate) < 5) {
verticalRotate = 0;
}
if (Mathf.Abs (horizontalRotate) < 5) {
horizontalRotate = 0;
}
print ("rotation is " + horizontalRotate + ", " + verticalRotate);
// comment
if (pose == Pose.Fist)
{
print ("Detected Fist pose");
paintbrush.GetComponent<PaintBrushScript>().setPainting (true);
}
if (numUpdates < startRuns) {
sumX += horizontalRotate;
sumY += verticalRotate;
print ("Collecting data " + numUpdates + ": " + sumX + ", " + sumY);
// else
} else if (numUpdates == startRuns) {
startingX = sumX / startRuns;
startingY = sumY / startRuns;
print ("averaging " + startingX + ", " + startingY + "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n");
} else {
Vector3 vel = new Vector3 (horizontalRotate, verticalRotate, 0);
vel.x -= startingX;
vel.y -= startingY;
vel = vel * velScale;
paintbrush.GetComponent<Rigidbody> ().velocity = vel;
print ("Velocity is " + vel.x + ", " + vel.y + ", " + vel.z);
}
numUpdates++;
}
}
