visual braille feedback for demonstration

sk_demo/src/Mono.cs

@@ -21,14 +21,68 @@ public class Mono {
 
   int last_xi = 0;
 
+  public class Character {
+    public string character;
+    public int[] dots;
+    public Character(string character, int[] dots) {
+      this.character = character;
+      this.dots = dots;
+    }
+  }
+
+  // braille dots
+  // {{0, 0,
+  //   0, 0,
+  //   0, 0
+  // }}, // _
+  // {{1, 0,
+  //   0, 0,
+  //   0, 0
+  // }}, // a
+  // {{1, 0,
+  //   1, 0,
+  //   0, 0
+  // }}, // b
+
   // alphabet a-z
-  string[] characters = new string[] {
+  // string[] characters = new string[] {
-    "_", "a", "b", "c", "d", "e", "f", "g", "h", "i", "j",
+  //   "_", "a", "b", "c", "d", "e", "f", "g", "h", "i", "j",
-    "k", "l", "m", "n", "o", "p", "q", "r", "s", "t",
+  //   "k", "l", "m", "n", "o", "p", "q", "r", "s", "t",
-    "u", "v", "w", "x", "y", "z"
+  //   "u", "v", "w", "x", "y", "z"
+  // };
+  Character[] characters = new Character[] {
+    new Character("_", new int[] {0, 0, 0, 0, 0, 0}),
+    new Character("a", new int[] {1, 0, 0, 0, 0, 0}),
+    new Character("b", new int[] {1, 0, 1, 0, 0, 0}),
+    new Character("c", new int[] {1, 1, 0, 0, 0, 0}),
+    new Character("d", new int[] {1, 1, 0, 1, 0, 0}),
+    new Character("e", new int[] {1, 0, 0, 1, 0, 0}),
+    new Character("f", new int[] {1, 1, 1, 0, 0, 0}),
+    new Character("g", new int[] {1, 1, 1, 1, 0, 0}),
+    new Character("h", new int[] {1, 0, 1, 1, 0, 0}),
+    new Character("i", new int[] {0, 1, 1, 0, 0, 0}),
+    new Character("j", new int[] {0, 1, 1, 1, 0, 0}),
+    new Character("k", new int[] {1, 0, 0, 0, 1, 0}),
+    new Character("l", new int[] {1, 0, 1, 0, 1, 0}),
+    new Character("m", new int[] {1, 1, 0, 0, 1, 0}),
+    new Character("n", new int[] {1, 1, 0, 1, 1, 0}),
+    new Character("o", new int[] {1, 0, 0, 1, 1, 0}),
+    new Character("p", new int[] {1, 1, 1, 0, 1, 0}),
+    new Character("q", new int[] {1, 1, 1, 1, 1, 0}),
+    new Character("r", new int[] {1, 0, 1, 1, 1, 0}),
+    new Character("s", new int[] {0, 1, 1, 0, 1, 0}),
+    new Character("t", new int[] {0, 1, 1, 1, 1, 0}),
+    new Character("u", new int[] {1, 0, 0, 0, 1, 1}),
+    new Character("v", new int[] {1, 0, 1, 0, 1, 1}),
+    new Character("w", new int[] {0, 1, 1, 1, 0, 1}),
+    new Character("x", new int[] {1, 1, 0, 0, 1, 1}),
+    new Character("y", new int[] {1, 1, 0, 1, 1, 1}),
+    new Character("z", new int[] {1, 0, 0, 1, 1, 1})
   };
 
 
+
+
   public void Init() {
     rig.Init();
 
@@ -61,8 +115,17 @@ public class Mono {
 
     int xi = (int)(rig.hand_1.palm.position.x * 20f);
     xi = Math.Clamp(xi + 10, 0, 26);
-    Log.Info($"xi: {xi}");
+
+    Matrix palm_ori = rig.hand_1.palm.ToMatrix();
+    Vec3 thumb_tip = palm_ori.Inverse * rig.hand_1.Get(FingerId.Thumb, JointId.Tip).position;
+    Vec3 index_knuckle = palm_ori.Inverse * rig.hand_1.Get(FingerId.Index, JointId.KnuckleMajor).position;
+    if (thumb_tip.z > index_knuckle.z - 1.5f * U.cm) {
+      Log.Info("thumb is up z");
+      xi = 0;
+    }
+
     if (xi != last_xi) {
+      Log.Info($"xi: {xi}");
       last_xi = xi;
       monoNet.value = xi;
       monoNet.send = true;
@@ -71,7 +134,7 @@ public class Mono {
     // HUD
     // void Text.Add(string text, Matrix transform, TextAlign position = TextAlign.Center, TextAlign align = TextAlign.Center, float offX = 0, float offY = 0, float offZ = 0)
     Text.Add(
-      characters[last_xi],
+      characters[last_xi].character,
       Matrix.TRS(
         rig.hand_1.palm.position + V.XYZ(0, 0.1f, 0),
         rig.head_ori * Quat.FromAngles(0, 180, 0),
@@ -81,6 +144,31 @@ public class Mono {
       TextAlign.Center,
       0, 0, 0
     );
+    // show the braille dots(spheres) above the text
+    for (int i = 0; i < 6; i++) {
+      float spacing = 0.015f;
+      float x_offset = i > 2 ? spacing * 0.5f : -spacing * 0.5f;
+      float y_offset = i > 2 ? (i - 3) * spacing : i * spacing;
+      // Mesh.Sphere.Draw(
+      //   mat.mono,
+      //   Matrix.TS(
+      //    
+      //     0.1f
+      //   ),
+      //   Color.White
+      // );
+      if (characters[last_xi].dots[i] == 1) {
+        Mesh.Sphere.Draw(
+          mat.mono,
+          Matrix.TS(
+            // rig.hand_1.palm.position + V.XYZ(x_offset, 0.1f, 0) + V.XYZ(0, 0.1f, 0) * i,
+            rig.hand_1.palm.position + V.XYZ(0, 0.2f, 0) + V.XYZ(x_offset, y_offset, 0),
+            0.01f
+          ) * Matrix.R(rig.head_ori),
+          Color.White
+        );
+      }
+    }
 
     // WORLD
     mesh_room.Draw(

todo.md

@@ -1,14 +1,15 @@
 ethan :  
-  [ ] bryan fix monado head bob/northstar  
+  [x] bryan fix monado head bob/northstar  
   [x] get the stereokit project into the repo  
+
   [ ] try cycling (left-- center(stay) right++)  
-  [ ] thumb lift for char input  
+  [x] thumb lift for char input  
 
 [x] for the servo frame allow for slide *in out adjustablity  
 
 niko :  
-  [ ] finger pad bridge  
+  [x] finger pad bridge  
-  [ ] flatten servo bottoms by adding material  
+  [x] flatten servo bottoms by adding material  
 
 
 *nice to have: