更新asmdef-调试

1 month ago · b84558c053
parent d2f64da996
commit b84558c053
24 changed files with 4484 additions and 1428 deletions
--- a/Runtime/HandDriverUPM.Runtime.asmdef
+++ b/Runtime/HandDriverUPM.Runtime.asmdef
@ -0,0 +1,15 @@
+{
+    "name": "HandDriverUPM.Runtime",
+    "references": [
+        "NaughtyAttributes",
+        "TouchSocket.Core"
+    ],
+    "optionalUnityReferences": [],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": []
+}
--- a/Demo/Plugins/NaughtyAttributes/Core/NaughtyAttributes.Core.asmdef
+++ b/Demo/Plugins/NaughtyAttributes/Core/NaughtyAttributes.Core.asmdef
@ -1,5 +1,6 @@
 {
    "name": "NaughtyAttributes.Core",
+    "rootNamespace": "",
    "references": [],
    "includePlatforms": [],
    "excludePlatforms": [],
@ -8,5 +9,6 @@
    "precompiledReferences": [],
    "autoReferenced": true,
    "defineConstraints": [],
-    "versionDefines": []
+    "versionDefines": [],
+    "noEngineReferences": false
 }
--- a/Demo/Prefab.meta
+++ b/Demo/Prefab.meta
@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: d0c2d958793f3a845b7527415f1bed20
+guid: 06420257790fc9846bbee56a7c878406
 folderAsset: yes
 DefaultImporter:
  externalObjects: {}
--- a/Demo/Prefab/LeftHand.prefab
+++ b/Demo/Prefab/LeftHand.prefab
--- a/Demo/Prefab/LeftHand.prefab.meta
+++ b/Demo/Prefab/LeftHand.prefab.meta
@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 083ca0b62ed8e7946ab41137fa38c29f
+guid: a97fe72600649684182927a02e1194f7
 PrefabImporter:
  externalObjects: {}
  userData: 
--- a/Demo/Prefab/RightHand.prefab
+++ b/Demo/Prefab/RightHand.prefab
--- a/Demo/Prefab/RightHand.prefab.meta
+++ b/Demo/Prefab/RightHand.prefab.meta
@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: e09785878aebc8240a376af4e7352916
+guid: 53ed27d046c70d24a98ab03e67b0f23d
 PrefabImporter:
  externalObjects: {}
  userData: 
--- a/Demo/Runtime.meta
+++ b/Demo/Runtime.meta
@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 6200c81c54c9c6048b548363ab35bf3d
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Demo/Runtime/HandDriverUPM.Runtime.asmdef
+++ b/Demo/Runtime/HandDriverUPM.Runtime.asmdef
@ -0,0 +1,7 @@
+{
+  "name": "HandDriver.Runtime",
+  "references": [
+    "TouchSocket",
+    "NaughtyAttributes.Core"
+  ]
+}
--- a/Demo/Runtime/HandDriverUPM.Runtime.asmdef.meta
+++ b/Demo/Runtime/HandDriverUPM.Runtime.asmdef.meta
@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: ae103f7d349d1d94e86ba5c8afbc8a44
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Demo/Runtime/Scripts.meta
+++ b/Demo/Runtime/Scripts.meta
@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: ca9f7a4701b0fa14d88c58c3b79ab9de
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
--- a/Demo/Runtime/Scripts/HandDriver.cs
+++ b/Demo/Runtime/Scripts/HandDriver.cs
@ -0,0 +1,698 @@
+using NaughtyAttributes;
+using System.Collections.Generic;
+using TouchSocket.Core;
+using UnityEngine;
+
+public class HandDriver : MonoBehaviour
+{
+    public Network Network;
+
+    public enum HandType
+    {
+        Left,
+        Right
+    }
+
+    public enum Axis
+    {
+        x,
+        y,
+        z,
+        x_n,
+        y_n,
+        z_n
+    }
+
+    public string CharacterName = string.Empty;
+    public HandType Hand;
+    private Dictionary<string, Quaternion> _originQuaternionDic;
+
+    public Transform Thumb1;
+    public Transform Thumb2;
+    public Transform Thumb3;
+
+    public Transform Index1;
+    public Transform Index2;
+    public Transform Index3;
+
+    public Transform Middle1;
+    public Transform Middle2;
+    public Transform Middle3;
+
+    public Transform Ring1;
+    public Transform Ring2;
+    public Transform Ring3;
+
+    public Transform Pinky1;
+    public Transform Pinky2;
+    public Transform Pinky3;
+
+    public Transform Wrist;
+
+    [Header("[Axis OffSet]")] 
+    public Axis Pitch = Axis.x;
+
+    public Axis Roll = Axis.y;
+
+    public Axis Yaw = Axis.z;
+
+    [Header("[IMU(On/Off)]")] public bool HasIMU = false;
+
+    [Header("[Thumb Root Coefficient]")] [Range(0, 1)] public float coefficient = 0.6f;
+
+    [Header("[Thumb Root OffSet]")] public Vector3 Thumb1Offset;
+
+    [Header("[App Options]")]
+    public bool NeedRealTransfrom;
+
+    //[HideInInspector]
+    public bool UsingNetwork;
+
+    public bool UsingAndroidService;
+
+    [Header("[Vector3 Angles]")]
+    public Vector3 thumb1;
+    public Vector3 thumb2;
+    public Vector3 thumb3;
+
+    public Vector3 index1;
+    public Vector3 index2;
+    public Vector3 index3;
+
+    public Vector3 middle1;
+    public Vector3 middle2;
+    public Vector3 middle3;
+
+    public Vector3 ring1;
+    public Vector3 ring2;
+    public Vector3 ring3;
+
+    public Vector3 pinky1;
+    public Vector3 pinky2;
+    public Vector3 pinky3;
+
+    [Header("[Controller Values]")]
+    public float Joy_X;
+    public float Joy_Y;
+    public bool Button_A;
+    public bool Button_B;
+    public bool Button_Joystick;
+    public bool Button_Menu;
+    public InputData inputData = new();
+
+    [Header("[Vibration Control]")]
+    public string SendBackIP;
+    public VibrationData vibrationData;
+
+    [BoxGroup("Vibrator 1"), Min(0), Label("Million Second")]
+    public int Duration1 = 20;
+    [BoxGroup("Vibrator 1"), Range(4, 10)]
+    public int Amplitude1 = 4;
+    [Button]
+    public void Vibrator_1Active()
+    {
+        if (Network == null) return;
+        SingleVirbator[] Virbators;
+        if (Hand == HandType.Left)
+        {
+            Virbators = new SingleVirbator[2]
+            {
+                new SingleVirbator(1, Duration1, Amplitude1),
+                new SingleVirbator()
+            };
+            vibrationData = new VibrationData(Virbators);
+        }
+        else
+        {
+            Virbators = new SingleVirbator[2]
+            {
+                new SingleVirbator(),
+                new SingleVirbator(1, Duration1, Amplitude1),
+            };
+            vibrationData = new VibrationData(Virbators);
+        }
+        Network.SendVibrationMsg(CharacterName, SendBackIP, vibrationData);
+    }
+
+    [BoxGroup("Vibrator 2"), Min(0), Label("Million Second")]
+    public int Duration2 = 20;
+    [BoxGroup("Vibrator 2"), Range(4, 10)]
+    public int Amplitude2 = 4;
+    [Button]
+    public void Vibrator_2Active()
+    {
+        if (Network == null) return;
+        SingleVirbator[] Virbators;
+        if (Hand == HandType.Left)
+        {
+            Virbators = new SingleVirbator[2]
+            {
+                new SingleVirbator(2, Duration2, Amplitude2),
+                new SingleVirbator()
+            };
+            vibrationData = new VibrationData(Virbators);
+        }
+        else
+        {
+            Virbators = new SingleVirbator[2]
+            {
+                new SingleVirbator(),
+                new SingleVirbator(2, Duration2, Amplitude2),
+            };
+            vibrationData = new VibrationData(Virbators);
+        }
+        Network.SendVibrationMsg(CharacterName, SendBackIP, vibrationData);
+    }
+    [Button]
+    public void BothActiveWithVibrator_1Parameters()
+    {
+        if (Network == null) return;
+        SingleVirbator[] Virbators;
+        if (Hand == HandType.Left)
+        {
+            Virbators = new SingleVirbator[2]
+            {
+                new SingleVirbator(3, Duration1, Amplitude1),
+                new SingleVirbator()
+            };
+            vibrationData = new VibrationData(Virbators);
+        }
+        else
+        {
+            Virbators = new SingleVirbator[2]
+            {
+                new SingleVirbator(),
+                new SingleVirbator(3, Duration1, Amplitude1),
+            };
+            vibrationData = new VibrationData(Virbators);
+        }
+        Network.SendVibrationMsg(CharacterName, SendBackIP, vibrationData);
+    }
+
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        if (GameObject.Find("Network") == null && (UsingAndroidService || UsingNetwork))
+        {
+            GameObject network = new GameObject("Network");
+            network.AddComponent<Network>();
+            Network = GameObject.Find("Network").GetComponent<Network>();
+        }
+        else if (UsingAndroidService || UsingNetwork)
+        {
+            Network = GameObject.Find("Network").GetComponent<Network>();
+        }
+
+        _originQuaternionDic = new Dictionary<string, Quaternion>();
+        InitJoints();
+
+        if (string.IsNullOrEmpty(SendBackIP) || UsingAndroidService)
+        {
+            SendBackIP = "127.0.0.1";
+        }
+
+        var Virbators = new SingleVirbator[2]
+        {
+            new SingleVirbator(0, 0, 1),
+            new SingleVirbator(0, 0, 1)
+        };
+
+        vibrationData = new VibrationData(Virbators);
+
+        if(UsingAndroidService)
+        {
+            CharacterName = "AndroidService";
+        }
+    }
+
+    private void InitJoints()
+    {
+        _originQuaternionDic.AddOrUpdate(Thumb1.name, Thumb1.localRotation);
+        _originQuaternionDic.AddOrUpdate(Thumb2.name, Thumb2.localRotation);
+        _originQuaternionDic.AddOrUpdate(Thumb3.name, Thumb3.localRotation);
+
+        _originQuaternionDic.AddOrUpdate(Index1.name, Index1.localRotation);
+        _originQuaternionDic.AddOrUpdate(Index2.name, Index2.localRotation);
+        _originQuaternionDic.AddOrUpdate(Index3.name, Index3.localRotation);
+
+        _originQuaternionDic.AddOrUpdate(Middle1.name, Middle1.localRotation);
+        _originQuaternionDic.AddOrUpdate(Middle2.name, Middle2.localRotation);
+        _originQuaternionDic.AddOrUpdate(Middle3.name, Middle3.localRotation);
+
+        _originQuaternionDic.AddOrUpdate(Ring1.name, Ring1.localRotation);
+        _originQuaternionDic.AddOrUpdate(Ring2.name, Ring2.localRotation);
+        _originQuaternionDic.AddOrUpdate(Ring3.name, Ring3.localRotation);
+
+        _originQuaternionDic.AddOrUpdate(Pinky1.name, Pinky1.localRotation);
+        _originQuaternionDic.AddOrUpdate(Pinky2.name, Pinky2.localRotation);
+        _originQuaternionDic.AddOrUpdate(Pinky3.name, Pinky3.localRotation);
+
+        _originQuaternionDic.AddOrUpdate(Wrist.name, Wrist.localRotation);
+    }
+
+    private void Rotate(Transform tran, float angle, Axis angleType)
+    {
+        if (!NeedRealTransfrom) return;
+
+        float angleX = 0;
+        float angleY = 0;
+        float angleZ = 0;
+
+        switch (angleType)
+        {
+            case Axis.x_n:
+                angleX = -angle;
+                break;
+            case Axis.y_n:
+                angleY = -angle;
+                break;
+            case Axis.z_n:
+                angleZ = -angle;
+                break;
+            case Axis.x:
+                angleX = angle;
+                break;
+            case Axis.y:
+                angleY = angle;
+                break;
+            case Axis.z:
+                angleZ = angle;
+                break;
+        }
+
+        tran.Rotate(angleX, angleY, angleZ);
+    }
+
+    private Vector3 ConvertAngleToVec3(Vector3 current, float angle, Axis angleType)
+    {
+        float angleX = 0;
+        float angleY = 0;
+        float angleZ = 0;
+
+        switch (angleType)
+        {
+            case Axis.x_n:
+                angleX = -angle;
+                break;
+            case Axis.y_n:
+                angleY = -angle;
+                break;
+            case Axis.z_n:
+                angleZ = -angle;
+                break;
+            case Axis.x:
+                angleX = angle;
+                break;
+            case Axis.y:
+                angleY = angle;
+                break;
+            case Axis.z:
+                angleZ = angle;
+                break;
+        }
+
+        return current + new Vector3(angleX, angleY, angleZ);
+    }
+
+    private void ResetRotation(Transform trans)
+    {
+        if (_originQuaternionDic.TryGetValue(trans.name, out Quaternion rot))
+        {
+            trans.localRotation = rot;
+        }
+    }
+
+    public void GetVec3Value(Vector3[] value)
+    {
+        thumb1 = value[0];
+        thumb2 = value[1];
+        thumb3 = value[2];
+
+        index1 = value[3];
+        index2 = value[4];
+        index3 = value[5];
+
+        middle1 = value[6];
+        middle2 = value[7];
+        middle3 = value[8];
+
+        ring1 = value[9];
+        ring2 = value[10];
+        ring3 = value[11];
+
+        pinky1 = value[12];
+        pinky2 = value[13];
+        pinky3 = value[14];
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        if (UsingNetwork || UsingAndroidService)
+        {
+            UpdateThumb();
+            UpdateIndex();
+            UpdateMiddle();
+            UpdateRing();
+            UpdatePinky();
+
+            UpdateWrist();
+            UpdateController();
+        }
+    }
+
+    private void UpdateWrist()
+    {
+        if (HasIMU)
+        {
+            if (Hand == HandType.Left)
+            {
+                Quaternion quat_r = new Quaternion(
+                    Network.Convert2Angle(CharacterName, "l26"),//x
+                    Network.Convert2Angle(CharacterName, "l25"),//y
+                    Network.Convert2Angle(CharacterName, "l27"),//z
+                    Network.Convert2Angle(CharacterName, "l24"));//w
+                ResetRotation(Wrist);
+                quat_r = ConvertQuaternion(quat_r);
+                Wrist.rotation = quat_r;
+            }
+            else
+            {
+                Quaternion quat_r = new Quaternion(Network.Convert2Angle(CharacterName, "r26"),
+                    Network.Convert2Angle(CharacterName, "r25"),
+                    Network.Convert2Angle(CharacterName, "r27"), Network.Convert2Angle(CharacterName, "r24"));
+                ResetRotation(Wrist);
+                quat_r = ConvertQuaternion(quat_r);
+                Wrist.rotation = quat_r;
+            }
+        }
+    }
+
+    private void UpdateController()
+    {
+        if (Hand == HandType.Left)
+        {
+            Joy_X = Network.Convert2Angle(CharacterName, "l_joyX");
+            Joy_Y = Network.Convert2Angle(CharacterName, "l_joyY");
+            Button_A = Network.Convert2Bool(CharacterName, "l_aButton");
+            Button_B = Network.Convert2Bool(CharacterName, "l_bButton");
+            Button_Joystick = Network.Convert2Bool(CharacterName, "l_joyButton");
+            Button_Menu = Network.Convert2Bool(CharacterName, "l_menu");
+            inputData.joyX = Joy_X;
+            inputData.joyY = Joy_Y;
+            inputData.aButton = Button_A;
+            inputData.bButton = Button_B;
+            inputData.joyButton = Button_Joystick;
+            inputData.menu = Button_Menu;
+        }
+        else
+        {
+            Joy_X = Network.Convert2Angle(CharacterName, "r_joyX");
+            Joy_Y = Network.Convert2Angle(CharacterName, "r_joyY");
+            Button_A = Network.Convert2Bool(CharacterName, "r_aButton");
+            Button_B = Network.Convert2Bool(CharacterName, "r_bButton");
+            Button_Joystick = Network.Convert2Bool(CharacterName, "r_joyButton");
+            Button_Menu = Network.Convert2Bool(CharacterName, "r_menu");
+            inputData.joyX = Joy_X;
+            inputData.joyY = Joy_Y;
+            inputData.aButton = Button_A;
+            inputData.bButton = Button_B;
+            inputData.joyButton = Button_Joystick;
+            inputData.menu = Button_Menu;
+        }
+    }
+
+    //z轴朝上的右手坐标系 四元数 转换为 Y轴朝上的左手坐标系 四元数
+    private Quaternion ConvertQuaternion(Quaternion quat)
+    {
+        Quaternion quat_r = new Quaternion(quat.x, quat.y, quat.z, quat.w);
+        quat_r = Quaternion.Euler(quat_r.eulerAngles.z, -quat_r.eulerAngles.x, quat_r.eulerAngles.y);
+        return quat_r;
+    }
+
+    private void UpdateThumb()
+    {
+        if (NeedRealTransfrom)
+        {
+            ResetRotation(Thumb1);
+            ResetRotation(Thumb2);
+            ResetRotation(Thumb3);
+        }
+        if (Hand == HandType.Left)
+        {
+            var thumb3Pitch = Network.Convert2Angle(CharacterName, "l0");
+            var thumb2Pitch = Network.Convert2Angle(CharacterName, "l1");
+            var thumb1Pitch = Network.Convert2Angle(CharacterName, "l2") * coefficient + Thumb1Offset.y;
+            var thumb1Yaw = Network.Convert2Angle(CharacterName, "l3") + Thumb1Offset.z;
+            var thumb1Roll = Network.Convert2Angle(CharacterName, "l20") + Thumb1Offset.x;
+
+            thumb3 = ConvertAngleToVec3(Vector3.zero, thumb3Pitch, Pitch);
+            thumb2 = ConvertAngleToVec3(Vector3.zero, thumb2Pitch, Pitch);
+            thumb1 = ConvertAngleToVec3(Vector3.zero, thumb1Pitch, Pitch);
+            thumb1 = ConvertAngleToVec3(thumb1, thumb1Yaw, Yaw);
+            thumb1 = ConvertAngleToVec3(thumb1, thumb1Roll, Roll);
+
+            Rotate(Thumb3, thumb3Pitch, Pitch);
+            Rotate(Thumb2, thumb2Pitch, Pitch);
+            Rotate(Thumb1, thumb1Pitch, Pitch);
+            Rotate(Thumb1, thumb1Yaw, Yaw);
+            Rotate(Thumb1, thumb1Roll, Roll);
+        }
+        else
+        {
+
+            var thumb3Pitch = Network.Convert2Angle(CharacterName, "r0");
+            var thumb2Pitch = Network.Convert2Angle(CharacterName, "r1");
+            var thumb1Pitch = Network.Convert2Angle(CharacterName, "r2") * coefficient + Thumb1Offset.y;
+            var thumb1Yaw = Network.Convert2Angle(CharacterName, "r3") + Thumb1Offset.z;
+            var thumb1Roll = Network.Convert2Angle(CharacterName, "r20") + Thumb1Offset.x;
+
+            thumb3 = ConvertAngleToVec3(Vector3.zero, thumb3Pitch, Pitch);
+            thumb2 = ConvertAngleToVec3(Vector3.zero, thumb2Pitch, Pitch);
+            thumb1 = ConvertAngleToVec3(Vector3.zero, thumb1Pitch, Pitch);
+            thumb1 = ConvertAngleToVec3(thumb1, thumb1Yaw, Yaw);
+            thumb1 = ConvertAngleToVec3(thumb1, thumb1Roll, Roll);
+
+            Rotate(Thumb3, thumb3Pitch, Pitch);
+            Rotate(Thumb2, thumb2Pitch, Pitch);
+            Rotate(Thumb1, thumb1Pitch, Pitch);
+            Rotate(Thumb1, thumb1Yaw, Yaw);
+            Rotate(Thumb1, thumb1Roll, Roll);
+        }
+    }
+
+    private void UpdateIndex()
+    {
+        if (NeedRealTransfrom)
+        {
+            ResetRotation(Index1);
+            ResetRotation(Index2);
+            ResetRotation(Index3);
+        }
+        if (Hand == HandType.Left)
+        {
+            var index3Pitch = Network.Convert2Angle(CharacterName, "l4");
+            var index2Pitch = Network.Convert2Angle(CharacterName, "l5");
+            var index1Pitch = Network.Convert2Angle(CharacterName, "l6");
+            var index1Yaw = Network.Convert2Angle(CharacterName, "l7");
+            var index1Roll = Network.Convert2Angle(CharacterName, "l21");
+
+            index3 = ConvertAngleToVec3(Vector3.zero, index3Pitch, Pitch);
+            index2 = ConvertAngleToVec3(Vector3.zero, index2Pitch, Pitch);
+            index1 = ConvertAngleToVec3(Vector3.zero, index1Pitch, Pitch);
+            index1 = ConvertAngleToVec3(index1, index1Yaw, Yaw);
+            index1 = ConvertAngleToVec3(index1, index1Roll, Roll);
+
+            Rotate(Index3, index3Pitch, Pitch);
+            Rotate(Index2, index2Pitch, Pitch);
+            Rotate(Index1, index1Pitch, Pitch);
+            Rotate(Index1, index1Yaw, Yaw);
+            Rotate(Index1, index1Roll, Roll);
+        }
+        else
+        {
+            var index3Pitch = Network.Convert2Angle(CharacterName, "r4");
+            var index2Pitch = Network.Convert2Angle(CharacterName, "r5");
+            var index1Pitch = Network.Convert2Angle(CharacterName, "r6");
+            var index1Yaw = Network.Convert2Angle(CharacterName, "r7");
+            var index1Roll = Network.Convert2Angle(CharacterName, "r21");
+
+            index3 = ConvertAngleToVec3(Vector3.zero, index3Pitch, Pitch);
+            index2 = ConvertAngleToVec3(Vector3.zero, index2Pitch, Pitch);
+            index1 = ConvertAngleToVec3(Vector3.zero, index1Pitch, Pitch);
+            index1 = ConvertAngleToVec3(index1, index1Yaw, Yaw);
+            index1 = ConvertAngleToVec3(index1, index1Roll, Roll);
+
+            Rotate(Index3, index3Pitch, Pitch);
+            Rotate(Index2, index2Pitch, Pitch);
+            Rotate(Index1, index1Pitch, Pitch);
+            Rotate(Index1, index1Yaw, Yaw);
+            Rotate(Index1, index1Roll, Roll);
+        }
+    }
+
+    private void UpdateMiddle()
+    {
+        if (NeedRealTransfrom)
+        {
+            ResetRotation(Middle1);
+            ResetRotation(Middle2);
+            ResetRotation(Middle3);
+        }
+        if (Hand == HandType.Left)
+        {
+            var middle3Pitch = Network.Convert2Angle(CharacterName, "l8");
+            var middle2Pitch = Network.Convert2Angle(CharacterName, "l9");
+            var middle1Pitch = Network.Convert2Angle(CharacterName, "l10");
+            var middle1Yaw = Network.Convert2Angle(CharacterName, "l11");
+
+            middle3 = ConvertAngleToVec3(Vector3.zero, middle3Pitch, Pitch);
+            middle2 = ConvertAngleToVec3(Vector3.zero, middle2Pitch, Pitch);
+            middle1 = ConvertAngleToVec3(Vector3.zero, middle1Pitch, Pitch);
+            middle1 = ConvertAngleToVec3(middle1, middle1Yaw, Yaw);
+
+            Rotate(Middle3, middle3Pitch, Pitch);
+            Rotate(Middle2, middle2Pitch, Pitch);
+            Rotate(Middle1, middle1Pitch, Pitch);
+            Rotate(Middle1, middle1Yaw, Yaw);
+        }
+        else
+        {
+            var middle3Pitch = Network.Convert2Angle(CharacterName, "r8");
+            var middle2Pitch = Network.Convert2Angle(CharacterName, "r9");
+            var middle1Pitch = Network.Convert2Angle(CharacterName, "r10");
+            var middle1Yaw = Network.Convert2Angle(CharacterName, "r11");
+
+            middle3 = ConvertAngleToVec3(Vector3.zero, middle3Pitch, Pitch);
+            middle2 = ConvertAngleToVec3(Vector3.zero, middle2Pitch, Pitch);
+            middle1 = ConvertAngleToVec3(Vector3.zero, middle1Pitch, Pitch);
+            middle1 = ConvertAngleToVec3(middle1, middle1Yaw, Yaw);
+
+            Rotate(Middle3, middle3Pitch, Pitch);
+            Rotate(Middle2, middle2Pitch, Pitch);
+            Rotate(Middle1, middle1Pitch, Pitch);
+            Rotate(Middle1, middle1Yaw, Yaw);
+        }
+    }
+
+    private void UpdateRing()
+    {
+        if (NeedRealTransfrom)
+        {
+            ResetRotation(Ring1);
+            ResetRotation(Ring2);
+            ResetRotation(Ring3);
+        }
+        if (Hand == HandType.Left)
+        {
+            var ring3Pitch = Network.Convert2Angle(CharacterName, "l12");
+            var ring2Pitch = Network.Convert2Angle(CharacterName, "l13");
+            var ring1Pitch = Network.Convert2Angle(CharacterName, "l14");
+            var ring1Yaw = Network.Convert2Angle(CharacterName, "l15");
+
+            ring3 = ConvertAngleToVec3(Vector3.zero, ring3Pitch, Pitch);
+            ring2 = ConvertAngleToVec3(Vector3.zero, ring2Pitch, Pitch);
+            ring1 = ConvertAngleToVec3(Vector3.zero, ring1Pitch, Pitch);
+            ring1 = ConvertAngleToVec3(ring1, ring1Yaw, Yaw);
+
+            Rotate(Ring3, ring3Pitch, Pitch);
+            Rotate(Ring2, ring2Pitch, Pitch);
+            Rotate(Ring1, ring1Pitch, Pitch);
+            Rotate(Ring1, ring1Yaw, Yaw);
+        }
+        else
+        {
+            var ring3Pitch = Network.Convert2Angle(CharacterName, "r12");
+            var ring2Pitch = Network.Convert2Angle(CharacterName, "r13");
+            var ring1Pitch = Network.Convert2Angle(CharacterName, "r14");
+            var ring1Yaw = Network.Convert2Angle(CharacterName, "r15");
+
+            ring3 = ConvertAngleToVec3(Vector3.zero, ring3Pitch, Pitch);
+            ring2 = ConvertAngleToVec3(Vector3.zero, ring2Pitch, Pitch);
+            ring1 = ConvertAngleToVec3(Vector3.zero, ring1Pitch, Pitch);
+            ring1 = ConvertAngleToVec3(ring1, ring1Yaw, Yaw);
+
+            Rotate(Ring3, ring3Pitch, Pitch);
+            Rotate(Ring2, ring2Pitch, Pitch);
+            Rotate(Ring1, ring1Pitch, Pitch);
+            Rotate(Ring1, ring1Yaw, Yaw);
+        }
+    }
+
+    private void UpdatePinky()
+    {
+        if (NeedRealTransfrom)
+        {
+            ResetRotation(Pinky1);
+            ResetRotation(Pinky2);
+            ResetRotation(Pinky3);
+        }
+        if (Hand == HandType.Left)
+        {
+            var pinky3Pitch = Network.Convert2Angle(CharacterName, "l16");
+            var pinky2Pitch = Network.Convert2Angle(CharacterName, "l17");
+            var pinky1Pitch = Network.Convert2Angle(CharacterName, "l18");
+            var pinky1Yaw = Network.Convert2Angle(CharacterName, "l19");
+            var pinky1Roll = Network.Convert2Angle(CharacterName, "l22");
+
+            pinky3 = ConvertAngleToVec3(Vector3.zero, pinky3Pitch, Pitch);
+            pinky2 = ConvertAngleToVec3(Vector3.zero, pinky2Pitch, Pitch);
+            pinky1 = ConvertAngleToVec3(Vector3.zero, pinky1Pitch, Pitch);
+            pinky1 = ConvertAngleToVec3(pinky1, pinky1Yaw, Yaw);
+            pinky1 = ConvertAngleToVec3(pinky1, pinky1Roll, Roll);
+
+            Rotate(Pinky3, pinky3Pitch, Pitch);
+            Rotate(Pinky2, pinky2Pitch, Pitch);
+            Rotate(Pinky1, pinky1Pitch, Pitch);
+            Rotate(Pinky1, pinky1Yaw, Yaw);
+            Rotate(Pinky1, pinky1Roll, Roll);
+        }
+        else
+        {
+            var pinky3Pitch = Network.Convert2Angle(CharacterName, "r16");
+            var pinky2Pitch = Network.Convert2Angle(CharacterName, "r17");
+            var pinky1Pitch = Network.Convert2Angle(CharacterName, "r18");
+            var pinky1Yaw = Network.Convert2Angle(CharacterName, "r19");
+            var pinky1Roll = Network.Convert2Angle(CharacterName, "r22");
+
+            pinky3 = ConvertAngleToVec3(Vector3.zero, pinky3Pitch, Pitch);
+            pinky2 = ConvertAngleToVec3(Vector3.zero, pinky2Pitch, Pitch);
+            pinky1 = ConvertAngleToVec3(Vector3.zero, pinky1Pitch, Pitch);
+            pinky1 = ConvertAngleToVec3(pinky1, pinky1Yaw, Yaw);
+            pinky1 = ConvertAngleToVec3(pinky1, pinky1Roll, Roll);
+
+            Rotate(Pinky3, pinky3Pitch, Pitch);
+            Rotate(Pinky2, pinky2Pitch, Pitch);
+            Rotate(Pinky1, pinky1Pitch, Pitch);
+            Rotate(Pinky1, pinky1Yaw, Yaw);
+            Rotate(Pinky1, pinky1Roll, Roll);
+        }
+    }
+
+    public void ServiceVibrationControl(int VirbatorIndex = 1, int DurationSecond = 20, int Strength = 10)
+    {
+        if (Network == null || !UsingAndroidService) return;
+
+        SingleVirbator[] Virbators;
+        if (Hand == HandType.Left)
+        {
+            Virbators = new SingleVirbator[2]
+            {
+                new SingleVirbator(VirbatorIndex, DurationSecond, Strength),
+                new SingleVirbator()
+            };
+            vibrationData = new VibrationData(Virbators);
+        }
+        else
+        {
+            Virbators = new SingleVirbator[2]
+            {
+                new SingleVirbator(),
+                new SingleVirbator(VirbatorIndex, DurationSecond, Strength),
+            };
+            vibrationData = new VibrationData(Virbators);
+        }
+        Network.SendVibrationMsg("AndroidService", "127.0.0.1", vibrationData);
+    }
+}
--- a/Demo/Runtime/Scripts/HandDriver.cs.meta
+++ b/Demo/Runtime/Scripts/HandDriver.cs.meta
@ -0,0 +1,11 @@
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+guid: ff3bfb33faef00d40880dd5952fd19e9
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+  assetBundleVariant: 
--- a/Demo/Runtime/Scripts/InputData.cs
+++ b/Demo/Runtime/Scripts/InputData.cs
@ -0,0 +1,35 @@
+//Struct InputData is a struct that contains all of the button, finger, and linear inputs. This is what's sent to the driver via the named pipe.
+public struct InputData
+{
+
+    public float joyX; //range: -1 -> 1
+    public float joyY; //range: -1 -> 1
+    public bool joyButton;
+    public bool trgButton;
+    public bool aButton;
+    public bool bButton;
+    public bool grab;
+    //public bool pinch;
+    public bool menu;
+    //public bool calibrate;
+    public bool trackpad_touch;
+    public float trgValue; //range: 0 -> 1
+
+    //constructor that uses a 1d array for flexion.
+    public InputData(float joyX, float joyY, bool joyButton, bool trgButton,
+        bool aButton, bool bButton, bool grab, bool pinch, bool menu, bool calibrate, float trgValue,bool trackpad_touch)
+    {
+        this.joyX = joyX;
+        this.joyY = joyY;
+        this.joyButton = joyButton;
+        this.trgButton = trgButton;
+        this.aButton = aButton;
+        this.bButton = bButton;
+        this.grab = grab;
+        //this.pinch = pinch;
+        this.menu = menu;
+        //this.calibrate = calibrate;
+        this.trgValue = trgValue;
+        this.trackpad_touch = trackpad_touch;
+    }
+}
--- a/Demo/Runtime/Scripts/InputData.cs.meta
+++ b/Demo/Runtime/Scripts/InputData.cs.meta
@ -0,0 +1,11 @@
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+  assetBundleVariant: 
--- a/Demo/Runtime/Scripts/Network.cs
+++ b/Demo/Runtime/Scripts/Network.cs
@ -0,0 +1,207 @@
+using Newtonsoft.Json.Linq;
+using System;
+using System.Collections.Concurrent;
+using System.IO;
+using System.Net;
+using System.Text;
+using TouchSocket.Core;
+using TouchSocket.Sockets;
+using UnityEngine;
+
+public class Network : MonoBehaviour
+{
+
+    public int Port = 5555;
+
+    private UdpSession _udpClient;
+
+    private ConcurrentDictionary<string, ConcurrentDictionary<string, string>> _deviceReadMessages;
+
+    private StreamWriter writer;
+    private string _txtPath;
+    void Start()
+    {
+        _txtPath = Application.dataPath + "stream.data";
+        _deviceReadMessages = new ConcurrentDictionary<string, ConcurrentDictionary<string, string>>();
+        _udpClient = new UdpSession();
+
+        _udpClient.Received += ReceiveMsg;
+
+        _udpClient.Setup(new TouchSocketConfig()
+                .SetBindIPHost(new IPHost(Port))
+                .SetUdpDataHandlingAdapter(() => new NormalUdpDataHandlingAdapter()))
+            .Start();
+
+        Debug.Log("UDP Client Start!!");
+
+    }
+
+
+    private void WriteIntoTxt(string message)
+    {
+        FileInfo file = new FileInfo(_txtPath);
+        if (!file.Exists)
+        {
+            writer = file.CreateText();
+        }
+        else
+        {
+            writer = file.AppendText();
+        }
+
+        writer.WriteLine(message);
+        writer.Flush();
+        writer.Dispose();
+        writer.Close();
+    }
+
+    private void ReceiveMsg(EndPoint endpoint, ByteBlock byteblock, IRequestInfo requestinfo)
+    {
+        string msg = Encoding.UTF8.GetString(byteblock.Buffer, 0, byteblock.Len);
+        Debug.Log(msg);
+        //WriteIntoTxt(msg);
+        JObject obj = JObject.Parse(msg);
+        var jps = obj.Properties();
+        foreach (var jp in jps)
+        {
+            string role_name = jp.Name;
+
+            JToken token = obj.GetValue(role_name);
+            JArray array = token["Parameter"] as JArray;
+            ConcurrentDictionary<string, string> _deviceMsg = new ConcurrentDictionary<string, string>();
+            for (int i = 0; i < array.Count; i++)
+            {
+                JObject obj1 = array[i] as JObject;
+                string key = obj1.GetValue("Name").ToString();
+                string value = obj1.GetValue("Value").ToString();
+                _deviceMsg.TryAdd(key, value);
+            }
+            if (_deviceReadMessages.ContainsKey(role_name))
+            {
+                _deviceReadMessages[role_name] = _deviceMsg;
+            }
+            else
+            {
+                _deviceReadMessages.TryAdd(role_name, _deviceMsg);
+            }
+            
+        }
+        //JToken token = obj.GetValue("Device1_"+Port);
+        //JArray array = token["Parameter"] as JArray;
+        //for (int i = 0; i < array.Count; i++)
+        //{
+        //    JObject obj1 = array[i] as JObject;
+        //    string key = obj1.GetValue("Name").ToString();
+        //    string value = obj1.GetValue("Value").ToString();
+        //    _device1ReadMessages.AddOrUpdate(key, value);
+        //}
+
+        //JToken token2 = obj.GetValue("Device2_"+Port);
+        //JArray array2 = token2["Parameter"] as JArray;
+        //for (int i = 0; i < array.Count; i++)
+        //{
+        //    JObject obj1 = array2[i] as JObject;
+        //    string key = obj1.GetValue("Name").ToString();
+        //    string value = obj1.GetValue("Value").ToString();
+        //    _device2ReadMessages.AddOrUpdate(key, value);
+        //}
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+
+    }
+
+    public float Convert2Angle(string role_name, string key)
+    {
+        float angle = 0;
+        if (!string.IsNullOrEmpty(role_name))
+        {
+            if (!_deviceReadMessages.ContainsKey(role_name))
+            {
+                return 0;
+            }
+            string str = _deviceReadMessages[role_name][key];
+
+            if (!string.IsNullOrEmpty(str))
+            {
+                angle = Single.Parse(str);
+            }
+        }
+        return angle;
+    }
+
+    public bool Convert2Bool(string role_name, string key)
+    {
+        bool flag = false;
+        if (!string.IsNullOrEmpty(role_name))
+        {
+            if (!_deviceReadMessages.ContainsKey(role_name))
+            {
+                return false;
+            }
+            string str = _deviceReadMessages[role_name][key];
+
+            if (!string.IsNullOrEmpty(str))
+            {
+                flag = bool.Parse(str);
+            }
+        }
+        return flag;
+    }
+
+    public void SendVibrationMsg(string RoleName, string IP, VibrationData data)
+    {
+        var json_role = new JObject();
+        var json_one = new JObject();
+        var parameterArrayLeft = new JArray();
+        var parameterArrayRight = new JArray();
+
+        var _Lpara_active = new JObject();
+        _Lpara_active.Add("Name", "Vibrators");
+        _Lpara_active.Add("Value", data.Virbators[0].ActiveCommand);
+
+        var _Lpara_duration = new JObject();
+        _Lpara_duration.Add("Name", "Duration");
+        _Lpara_duration.Add("Value", data.Virbators[0].Duration);
+
+        var _Lpara_amplitude = new JObject();
+        _Lpara_amplitude.Add("Name", "Amplitude");
+        _Lpara_amplitude.Add("Value", data.Virbators[0].Amplitude);
+
+        parameterArrayLeft.Add(_Lpara_active);
+        parameterArrayLeft.Add(_Lpara_duration);
+        parameterArrayLeft.Add(_Lpara_amplitude);
+
+        var _Rpara_active = new JObject();
+        _Rpara_active.Add("Name", "Vibrators");
+        _Rpara_active.Add("Value", data.Virbators[1].ActiveCommand);
+
+        var _Rpara_duration = new JObject();
+        _Rpara_duration.Add("Name", "Duration");
+        _Rpara_duration.Add("Value", data.Virbators[1].Duration);
+
+        var _Rpara_amplitude = new JObject();
+        _Rpara_amplitude.Add("Name", "Amplitude");
+        _Rpara_amplitude.Add("Value", data.Virbators[1].Amplitude);
+
+        parameterArrayRight.Add(_Rpara_active);
+        parameterArrayRight.Add(_Rpara_duration);
+        parameterArrayRight.Add(_Rpara_amplitude);
+
+        json_one.Add("LeftHand", parameterArrayLeft);
+        json_one.Add("RightHand", parameterArrayRight);
+        json_role.Add(RoleName, json_one);
+
+        Debug.Log(json_role.ToJson());
+        _udpClient.Send(new IPEndPoint(IPAddress.Parse(IP), 8920), Encoding.UTF8.GetBytes(json_role.ToJson()));
+    }
+
+    private void OnDestroy()
+    {
+        _udpClient.Received -= ReceiveMsg;
+        _udpClient.Stop();
+        _udpClient.Dispose();
+    }
+}
--- a/Demo/Runtime/Scripts/Network.cs.meta
+++ b/Demo/Runtime/Scripts/Network.cs.meta
@ -0,0 +1,11 @@
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--- a/Demo/Runtime/Scripts/VibrationData.cs
+++ b/Demo/Runtime/Scripts/VibrationData.cs
@ -0,0 +1,33 @@
+
+public struct SingleVirbator
+{
+    public int ActiveCommand;
+    public int Duration;
+    public int Amplitude;
+
+    public SingleVirbator(int command = 1, int duration = 0, int amplitude = 4)
+    {
+        command = command < 1 ? 1 : command > 3 ? 3 : command;
+        duration = duration < 0 ? 0 : duration;
+        amplitude = amplitude < 4 ? 4 : amplitude > 10 ? 10 : amplitude;
+
+        ActiveCommand = command;
+        Duration = duration;
+        Amplitude = amplitude;
+    }
+}
+
+public class VibrationData
+{
+    public SingleVirbator[] Virbators = new SingleVirbator[2];
+
+    public VibrationData(SingleVirbator[] virbators)
+    {
+        if (virbators.Length != 2) return;
+
+        for (int i = 0; i < virbators.Length; i++)
+        {
+            Virbators[i] = virbators[i];
+        }
+    }
+}
--- a/Demo/Runtime/Scripts/VibrationData.cs.meta
+++ b/Demo/Runtime/Scripts/VibrationData.cs.meta
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--- a/Demo/Scenes/Sample.unity
+++ b/Demo/Scenes/Sample.unity
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+++ b/Demo/Scenes/UdexrealSample.unity.meta
@ -1,5 +1,5 @@
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