//Live Update function that allows dynamic checking if the Manus VR glove is in "pick-up" mode or rotate mode.
private void Update()
{
is_grab = manus_inpt.get_hand(is_right).get_grabbing(); //check if rightmost hand, true if so.
finger_array = manus_inpt.get_hand(is_right).get_raw_hand().ToArray();
int counter = 0;
//While grabbing is determined directly from the Manus VR API, thumbs up has been implemented on the application side.
//The following conditionals are used to determine if a Manus glove is thumbs-upping.
//Check if more than 8 fingers are compressed
for (int i = 0; i < 8; i++)
{
if (finger_array[i] > .85)
{
counter++;
}
}
//Check if two are at least uncompressed.
if (counter >= 7 && finger_array[8] < .3 && finger_array[9] < .3)
{
is_thumbs_up = true;
interact.Rotate();
}
else
{
is_thumbs_up = false;
}
//Grabbing conditional.
if (is_grab)
{
//target_object.transform.position = distance_to_target + this.transform.position;
interact.Pickup();
}
else
{
interact.Drop(this.GetComponent <Rigidbody>());
}
}
// Update is called once per frame
void Update()
{
device_obj = SteamVR_Controller.Input((int)track_obj.index);
//Conditionals for when the controller's trigger is pressed.
if (device_obj.GetPress
(SteamVR_Controller.ButtonMask.Trigger))
{
device_obj.TriggerHapticPulse(100);
interact.Pickup();
}
//Trigger conditional
if (device_obj.GetPressUp(SteamVR_Controller.ButtonMask.Trigger))
{
interact.Drop(device_obj);
}
//If the grip on the controller is gripped, the gripper on the UR will close
if (device_obj.GetPress(SteamVR_Controller.ButtonMask.Grip))
{
if (gripper_ratio < 1.0f)
{
gripper_ratio += gripper_speed;
}
if (gripper_ratio >= 1.0f)
{
gripper_ratio = 1.0f;
}
// device_obj.TriggerHapticPulse(10000);
device_obj.TriggerHapticPulse(100);
}
//IF the menu button is pressed, the gripper will attempt to open.
if (device_obj.GetPress(SteamVR_Controller.ButtonMask.ApplicationMenu))
{
release_gripper = !release_gripper;
}
//Release gripper conditional.
if (release_gripper)
{
//If greater, attempt to "close"
if (gripper_ratio > 0)
{
gripper_ratio -= gripper_speed;
}
//If shut, reset.
if (gripper_ratio <= 0)
{
gripper_ratio = 0;
device_obj.TriggerHapticPulse(10000);
release_gripper = false;
}
}
//Touchpad controls for rotating.
if (device_obj.GetPress(SteamVR_Controller.ButtonMask.Touchpad))
{
interact.Drop(device_obj);
float tiltAroundX = device_obj.GetAxis(Valve.VR.EVRButtonId.k_EButton_Axis0).x;
float tiltAroundY = device_obj.GetAxis(Valve.VR.EVRButtonId.k_EButton_Axis0).y;
interact.Rotate(tiltAroundX, tiltAroundY);
device_obj.TriggerHapticPulse(100);
// Debug.Log("Bounce");
}
if (device_obj.GetPressUp(SteamVR_Controller.ButtonMask.Touchpad))
{
interact.Drop(device_obj);
}
Vector2 trig_Val = device_obj.GetAxis(Valve.VR.EVRButtonId.k_EButton_SteamVR_Trigger);
}