public AngleBasedHandModel()
{
rotation = new sQuaternion();
position = new sVector3(0, 0, 0);
thumb = new AngleBasedThumbModel();
for (int i = 0; i < fingers.Length; i++)
{
fingers[i] = new AngleBasedFingerModel();
}
}
public static sQuaternion normalized(sQuaternion quat)
{
quat.normalize();
return(quat);
}
public sQuaternion mirroredY()
{
sQuaternion temp = new sQuaternion(this.x, this.y, this.z, this.w);
return(temp.mirrorY());
}
// Update is called once per frame
void Update()
{
//TODO: this seems to not be correct; position values are funny
hand.rotation = root.rotation;
hand.position = root.position;
sQuaternion temp = Quaternion.Inverse(root.rotation) * thumb1.rotation;
if (rightHanded)
{
temp.mirrorX();
}
hand.thumb.tmc = temp;
hand.thumb.jointAngles [(int)AngleBasedThumbModel.Fingerjoints.TMC_X] = ((Quaternion)temp).eulerAngles.x;
hand.thumb.jointAngles [(int)AngleBasedThumbModel.Fingerjoints.TMC_Y] = ((Quaternion)temp).eulerAngles.y;
hand.thumb.jointAngles [(int)AngleBasedThumbModel.Fingerjoints.TMC_Z] = ((Quaternion)temp).eulerAngles.z;
hand.thumb.jointAngles [(int)AngleBasedThumbModel.Fingerjoints.MP] = Vector3.Angle(thumb1.forward, thumb2.forward);
hand.thumb.jointAngles [(int)AngleBasedThumbModel.Fingerjoints.IP] = Vector3.Angle(thumb3.forward, thumb2.forward);
temp = Quaternion.Inverse(root.rotation) * index1.rotation;
if (rightHanded)
{
temp.mirrorX();
}
hand.fingers [(int)AngleBasedHandModel.FingerName.index].mcp = temp;
hand.fingers[(int)AngleBasedHandModel.FingerName.index].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.MCP_SIDE] = ((Quaternion)temp).eulerAngles.y;
hand.fingers[(int)AngleBasedHandModel.FingerName.index].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.MCP_UP] = ((Quaternion)temp).eulerAngles.x;
hand.fingers[(int)AngleBasedHandModel.FingerName.index].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.PIP] = Vector3.Angle(index1.forward, index2.forward);
hand.fingers[(int)AngleBasedHandModel.FingerName.index].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.DIP] = Vector3.Angle(index2.forward, index3.forward);
temp = Quaternion.Inverse(root.rotation) * middle1.rotation;
if (rightHanded)
{
temp.mirrorX();
}
hand.fingers [(int)AngleBasedHandModel.FingerName.middle].mcp = temp;
hand.fingers[(int)AngleBasedHandModel.FingerName.middle].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.MCP_SIDE] = ((Quaternion)temp).eulerAngles.y;
hand.fingers[(int)AngleBasedHandModel.FingerName.middle].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.MCP_UP] = ((Quaternion)temp).eulerAngles.x;
hand.fingers[(int)AngleBasedHandModel.FingerName.middle].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.PIP] = Vector3.Angle(middle1.forward, middle2.forward);
hand.fingers[(int)AngleBasedHandModel.FingerName.middle].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.DIP] = Vector3.Angle(middle2.forward, middle3.forward);
temp = Quaternion.Inverse(root.rotation) * ring1.rotation;
if (rightHanded)
{
temp.mirrorX();
}
hand.fingers [(int)AngleBasedHandModel.FingerName.ring].mcp = temp;
hand.fingers[(int)AngleBasedHandModel.FingerName.ring].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.MCP_SIDE] = ((Quaternion)temp).eulerAngles.y;
hand.fingers[(int)AngleBasedHandModel.FingerName.ring].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.MCP_UP] = ((Quaternion)temp).eulerAngles.x;
hand.fingers[(int)AngleBasedHandModel.FingerName.ring].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.PIP] = Vector3.Angle(ring1.forward, ring2.forward);
hand.fingers[(int)AngleBasedHandModel.FingerName.ring].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.DIP] = Vector3.Angle(ring2.forward, ring3.forward);
temp = Quaternion.Inverse(root.rotation) * pinky1.rotation;
if (rightHanded)
{
temp.mirrorX();
}
hand.fingers [(int)AngleBasedHandModel.FingerName.pinky].mcp = temp;
hand.fingers[(int)AngleBasedHandModel.FingerName.pinky].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.MCP_SIDE] = ((Quaternion)temp).eulerAngles.y;
hand.fingers[(int)AngleBasedHandModel.FingerName.pinky].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.MCP_UP] = ((Quaternion)temp).eulerAngles.x;
hand.fingers[(int)AngleBasedHandModel.FingerName.pinky].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.PIP] = Vector3.Angle(pinky1.forward, pinky2.forward);
hand.fingers[(int)AngleBasedHandModel.FingerName.pinky].jointAngles[(int)AngleBasedFingerModel.Fingerjoints.DIP] = Vector3.Angle(pinky2.forward, pinky3.forward);
if (isDetecting)
{
if (Input.GetKeyDown("k"))
{
saveCurrentAs(trainingPosture);
}
else if (Input.GetKeyDown("s"))
{
PostureDataHandler.instance.saveData();
}
else
{
currentPosture = knn.detectPosture(hand);
if (poseText)
{
poseText.text = "Posture: " + currentPosture + "; Discomfort: " + getDiscomfort() + "; Comfort: " + Comfort.getRRPComponent(hand);
}
}
}
}
