protected bool AddConstraint()
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(false);
}
if (m_PhysicsConstraint == null)
{
return(false);
}
bool addedToSimulation = false;
// Cannot fail since we require this component.
VRPhysicsBody body0 = GetComponent <VRPhysicsBody>();
VRPhysicsBody body1 = null;
if (m_ConnectedBody != null)
{
body1 = m_ConnectedBody.GetComponent <VRPhysicsBody>();
}
if (body0.PhysicsBody != null)
{
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
m_PhysicsConstraint.SetPosition(MiddleVRTools.FromUnity(scaleShearMatrix * Anchor));
m_PhysicsConstraint.SetAxis0(MiddleVRTools.FromUnity(Axis0));
m_PhysicsConstraint.SetAxis1(MiddleVRTools.FromUnity(Axis1));
m_PhysicsConstraint.SetBody(0, body0.PhysicsBody);
m_PhysicsConstraint.SetBody(1, body1 != null ? body1.PhysicsBody : null);
addedToSimulation = physicsEngine.AddConstraint(m_PhysicsConstraint);
if (addedToSimulation)
{
MiddleVRTools.Log(3, "[ ] The constraint '" + m_PhysicsConstraintName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(0, "[X] Failed to add the constraint '" +
m_PhysicsConstraintName + "' to the physics simulation.");
}
}
else
{
MiddleVRTools.Log(0, "[X] The PhysicsBody of '" + name +
"' for the U-joint physics constraint '" + m_PhysicsConstraintName +
"' is null.");
}
return(addedToSimulation);
}
protected void AttachOrDetachBody(bool doAttachement)
{
VRPhysicsBody physicsBodyComponent = GetComponent <VRPhysicsBody>();
if (physicsBodyComponent == null)
{
return;
}
vrPhysicsBody physicsBody = null;
if (MiddleVR.VRPhysicsMgr != null)
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine != null)
{
// Prefer to find the object by its name so we won't access
// a dangling pointer when the body was destroyed by MiddleVR.
physicsBody = physicsEngine.GetBody(m_PhysicsBodyName);
}
}
if (physicsBody == null)
{
return;
}
var kernel = MiddleVR.VRKernel;
var physicsBodyId = physicsBody.GetId();
if (doAttachement)
{
// Do "+1" because "0" means "unknown attach point type".
uint attachPointType = (uint)m_AttachPointType + 1;
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
var offsetTrans = scaleShearMatrix * m_OffsetTranslation;
var offsetRot = Quaternion.Euler(m_OffsetRotation);
var attachManipDeviceToBodyPrmsValue = vrValue.CreateList();
attachManipDeviceToBodyPrmsValue.AddListItem(m_ManipulationDeviceId);
attachManipDeviceToBodyPrmsValue.AddListItem(physicsBodyId);
attachManipDeviceToBodyPrmsValue.AddListItem(attachPointType);
attachManipDeviceToBodyPrmsValue.AddListItem(
MiddleVRTools.FromUnity(offsetTrans));
attachManipDeviceToBodyPrmsValue.AddListItem(
MiddleVRTools.FromUnity(offsetRot));
kernel.ExecuteCommand(
"Haption.IPSI.AttachManipulationDeviceToBody",
attachManipDeviceToBodyPrmsValue);
}
}
private vrPhysicsGeometry CreateGeometry(bool iAreChildGeometriesMerged)
{
string geometryName = m_PhysicsBodyName + ".Geometry";
MiddleVRTools.Log(4,
"[>] PhysicsBody: Creation of the physics geometry '" +
geometryName + "'.");
var rootMatrixWorld = transform.localToWorldMatrix;
vrPhysicsGeometry ret = new vrPhysicsGeometry(geometryName);
uint geometryIndex = 0;
var queue = new Queue <GameObject>();
queue.Enqueue(gameObject);
while (queue.Count > 0)
{
var go = queue.Dequeue();
Mesh mesh = null;
var meshCollider = go.GetComponent <MeshCollider>();
if (meshCollider != null && meshCollider.enabled)
{
mesh = meshCollider.sharedMesh;
if (mesh != null)
{
MiddleVRTools.Log(2,
"[ ] PhysicsBody: the GO '" + go.name +
"' will furnish a physics geometry for '" + geometryName +
"' from its MeshCollider.");
}
}
// No mesh from collider was found so let's try from the mesh filter.
if (mesh == null)
{
var meshFilter = go.GetComponent <MeshFilter>();
if (meshFilter != null)
{
mesh = meshFilter.sharedMesh;
if (mesh != null)
{
MiddleVRTools.Log(2,
"[ ] PhysicsBody: the GO '" + go.name +
"' will furnish a physics geometry for '" + geometryName +
"' from its MeshFilter.");
}
}
}
if (mesh != null)
{
// The top geometry keep its name, others will get the word "sub".
if (geometryIndex != 0)
{
ret.SetSubGeometryName(geometryIndex, geometryName + ".sub." + go.name);
}
ConvertGeometry(rootMatrixWorld, go.transform, mesh, ret, geometryIndex);
++geometryIndex;
MiddleVRTools.Log(4,
"[ ] PhysicsBody: Physics geometry created from GO '" +
go.name + "'.");
}
if (iAreChildGeometriesMerged)
{
foreach (Transform child in go.transform)
{
if (child.gameObject.activeSelf)
{
queue.Enqueue(child.gameObject);
}
}
}
}
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
ret.TransformStoredVertices(MVRTools.FromUnity(scaleShearMatrix));
MiddleVRTools.Log(4,
"[<] PhysicsBody: Creation of the physics geometry '" +
geometryName + "' ended.");
return(ret);
}